CN110576432A - Four-degree-of-freedom cylindrical coordinate parallel robot with same branched chain structure - Google Patents
Four-degree-of-freedom cylindrical coordinate parallel robot with same branched chain structure Download PDFInfo
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- CN110576432A CN110576432A CN201910851498.5A CN201910851498A CN110576432A CN 110576432 A CN110576432 A CN 110576432A CN 201910851498 A CN201910851498 A CN 201910851498A CN 110576432 A CN110576432 A CN 110576432A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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Abstract
The invention discloses a four-degree-of-freedom column coordinate parallel robot with the same branched chain structure.A column platform defines a YOZ reference surface, and first rotating shafts of two first driving devices and second rotating shafts of two second driving devices are parallel to a Z axis and are symmetrical relative to the YOZ reference surface; the first rotating shaft and the second rotating shaft are correspondingly connected with the first driving arm and the second driving arm; when the four branched chains are parallelogram composite chains, one of two shaft levers of each branched chain is parallel to the Z axis and correspondingly fixedly connected to the movable platform, and the other branched chain is parallel to the Z axis and correspondingly fixedly connected to the first driving arm or the second driving arm; when the four branched chains are single chains, one second shaft of the two cross shafts of each branched chain is parallel to the Z shaft and correspondingly and rotatably connected to the movable platform, and the other second shaft of the two cross shafts of each branched chain is parallel to the Z shaft and correspondingly and rotatably connected to the first driving arm or the second driving arm. The parallel robot can meet the control requirement of stable four degrees of freedom, and has compact structure and flexible motion.
Description
Technical Field
The invention relates to the field of parallel robots, in particular to a four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure.
Background
The plastic industry, the electronic product industry, the pharmaceutical industry and the food industry are important links in national industrial systems in China. In order to improve the production efficiency of the industry, production lines of various products are continuously developed and used. However, most of the tasks of packing, sorting, combining and disassembling goods in a light production line of the industry to which China belongs currently adopt manual labor, which results in high labor production cost on one hand and is not beneficial to exerting the potential production efficiency of the production line on the other hand. The competitiveness of the industry in China is declining, and the automation degree of the industry is in urgent need to be improved. The introduction of industrial robot technology is an important means to solve the above problems.
Early industrial robots for the packaging, sorting, combining and dismantling tasks of goods in light production lines were implemented by means of a tandem mechanism. The series mechanism is formed by connecting kinematic pairs in sequence, is an open-loop structure, has large industrial space and high flexibility, but also has obvious defects: the accumulation of errors of each kinematic pair causes low precision of the tail end, low rigidity, large inertia and poor dynamic performance. The parallel mechanism is a closed loop structure, and a movable platform part of the parallel mechanism is connected with a fixed platform through at least two independent kinematic chains. Compared with a series mechanism, the parallel mechanism has the advantages of high rigidity, high precision, good dynamic performance, compact structure and the like.
Based on the advantages of a parallel mechanism, CLAVEL provides a Delta parallel mechanism (US4976582) which is composed of three symmetrical branched chains and can realize three-dimensional translation, and the Delta parallel mechanism has the characteristic of high-speed motion; to further increase the flexibility and efficiency of the picking action, PIERROT et al propose H4 parallel mechanisms with four branches, a double-acting platform part feature, which can achieve SCARA motion (US2009019960 and EP 1084802); adept was then successfully commercialized, typically represented by the "Adept Quattrro" parallel robot.
for the advantages and disadvantages of the above partial designs, some documents have commented on, and the disadvantages are summarized as follows:
Patent CN202592386 indicates that in patent US20090019960 and EP1084802, a plurality of parts of a moving platform part of an H4 mechanism are in the same plane, which results in that the moving platform part has a large size and is not compact enough, and two adjacent branched chains drive one part of the moving platform part, which has a poor force transmission effect and is not beneficial to improving the efficiency of the mechanism; patents CN 101863023024 and CN10261201 indicate that the size of the movable platform component in patents US20090019960 and EP1084802 is large, the amplification mechanism arranged thereon increases the movable platform component, the driving component is equivalent to a group of opposite sides of a parallelogram, the structure is not compact, the movement is not flexible, the stress is not uniform, and the improvement of the mechanism efficiency is not facilitated; patent CN102229141 indicates that in patents US20090019960 and EP1084802, there are only two driven parts of the movable platform part, and these two parts are equivalent to a set of opposite sides of a parallelogram, and such driving manner is not flexible, and the stress condition is not uniform, which is not favorable for smooth operation of the mechanism.
in conclusion, the four-degree-of-freedom high-speed parallel robot with excellent research and development performance is still a hot point of attention in the field of robots, and the four-degree-of-freedom high-speed parallel robot with compact structure and flexible motion certainly has wide scientific research and application prospects.
disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, one object of the present invention is to provide a four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure, which realizes four-degree-of-freedom motion, and has a simple structure and flexible motion.
The four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure comprises the following components:
A post platform defining a YOZ reference plane, a length direction of the post platform extending along a Z axis;
The driving device comprises two first driving devices, a second driving device and a driving device, wherein each first driving device comprises a first driver, a first rotating shaft and a first driving arm; the first driver is arranged on the column platform and connected with the first rotating shaft so as to drive the first rotating shaft to rotate, one end of the first driving arm is sleeved and fixed on the outer peripheral surface of the first rotating shaft so as to enable the first driving arm to rotate along with the rotation of the first rotating shaft, the two first rotating shafts are arranged along the direction parallel to the Z axis, and the two first driving arms are symmetrical relative to the YOZ reference plane;
The two second driving devices each comprise a second driver, a second rotating shaft and a second driving arm; the second driver is arranged on the column platform and connected with the second rotating shaft so as to drive the second rotating shaft to rotate, one end of the second driving arm is sleeved and fixed on the outer peripheral surface of the second rotating shaft so as to enable the second driving arm to rotate along with the rotation of the second rotating shaft, the two second rotating shafts are arranged along the direction parallel to the Z axis and are spaced apart from each other in the Z axis direction relative to the two first rotating shafts, and the two first driving arms are symmetrical relative to the YOZ reference plane;
A moving platform spaced from the column platform in a direction along the Y-axis;
the four branched chains are all parallelogram composite chains, each parallelogram composite chain comprises two shaft levers and two chain levers, the connection between the shaft levers and the chain levers in the same parallelogram composite chain is a spherical hinge, one of the two shaft levers of the same parallelogram composite chain is fixedly connected to the movable platform, the other shaft lever of the same parallelogram composite chain is fixedly connected to the corresponding first driving arm or the second driving arm, and the axes of the two shaft levers of the same parallelogram composite chain are parallel to the Z axis; or
The four branched chains are respectively single chains, each single chain comprises a single rod and two cross shafts, each cross shaft comprises a first shaft and a second shaft which are perpendicular to each other, the first shafts are connected with the two ends of the single rod in a rotating mode, the first shafts are parallel to each other in the same single chain, one of the second shafts in the same single chain is connected to the movable platform in a rotating mode, the other one of the second shafts in the same single chain is connected to the corresponding first driving arm or the second driving arm in a rotating mode, and the second shafts in the same single chain are parallel to the Z shaft.
According to the four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure, the control requirement of stable four degrees of freedom can be met. Specifically, the three-dimensional movement of the movable platform in the column coordinate space along the X, Y, Z axis and the one-dimensional rotation freedom degree around the Z axis are realized by controlling the two first driving devices and the two second driving devices to drive the corresponding branched chains. The four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure provided by the embodiment of the invention has the advantages of compact structure and flexible motion.
According to one embodiment of the present invention, the column platform comprises a column platform body and two first mounting parts and two second mounting parts connected to the column platform body, one of the two first mounting parts and one of the two second mounting parts are located on one side of the column platform body at intervals along the Z-axis direction, the other of the two first mounting parts and the other of the two second mounting parts are located on the other side of the column platform body at intervals along the Z-axis direction, and the two first mounting parts and the two second mounting parts are symmetrical with respect to the YOZ reference plane; two first drive arrangement installs respectively two on the first installation department, two second drive arrangement installs respectively two on the second installation department.
According to a further embodiment of the present invention, the first mounting portion includes a first plate, the first plate extends in a plane direction perpendicular to the Z axis and is fixed to the column platform main body, the first plate is provided with a first pivot hole, the first pivot passes through the first pivot hole, the first driver and the first driving arm are respectively located at two sides of the first plate, and the first driver is fixed to the first plate; the second installation part comprises a second plate, the second plate is parallel to the first plate and fixed to the column platform main body, a second rotating shaft hole is formed in the second plate, the second rotating shaft penetrates through the second rotating shaft hole, the second driver and the second driving arm are located on two sides of the second plate respectively, and the second driver is fixed to the second plate.
According to a still further embodiment of the present invention, the second mounting portion further includes a third plate, and the third plate is disposed in parallel between the second plate and the third plate and fixed to the column platform main body.
According to a still further embodiment of the present invention, the second mounting portion further includes a connecting member, and the second plate and the third plate are fixed to the column platform main body through the connecting member.
According to a still further embodiment of the present invention, the connecting member includes a frame formed by sequentially connecting a first connecting plate, a second connecting plate, and a third connecting plate, one end of each of the first connecting plate and the third connecting plate is fixed to the column platform main body, and the other end of each of the first connecting plate and the third connecting plate opposite to the first connecting plate is fixed to the second plate and the third plate through the second connecting plate; the first driver passes through the frame when mounted on the first plate.
According to a still further embodiment of the present invention, the first and third connecting plates have corresponding first and second chamfered surfaces, respectively, with first and second notches being formed between the first chamfered surface and the column platform body and between the second chamfered surface and the main platform body, respectively.
According to some embodiments of the present invention, the movable platform comprises a movable platform main body, two first connecting portions and two second connecting portions, one of the two first connecting portions and one of the two second connecting portions are spaced apart on one side of the movable platform main body, the other of the two first connecting portions and the other of the two second connecting portions are spaced apart on the other side of the movable platform main body, and the two first connecting portions and the two second connecting portions are symmetrical with respect to the YOZ reference plane; one end of two of the four branched chains is connected with the other end of the two first driving arms respectively, and the other end of two of the four branched chains is connected with two first connecting parts of the movable platform respectively; one ends of the other two of the four branched chains are respectively connected with the other ends of the two second driving arms, and the other two of the four branched chains are respectively connected with the two second connecting parts of the movable platform.
According to some embodiments of the invention, the column platform further comprises a support block connected to one end of the column platform for supporting the column platform.
according to one embodiment of the invention, the column platform is connected to a motor, which drives the column platform in rotation around the Z-axis.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a four-degree-of-freedom cylindrical coordinate parallel robot having the same branched chain structure according to an embodiment of the present invention.
fig. 2 is a schematic structural diagram of a four-degree-of-freedom cylindrical coordinate parallel robot having the same branched chain structure according to another embodiment of the present invention.
Reference numerals:
A four degree of freedom cylindrical coordinate parallel robot 1000.
Column platform 1 first mounting section 12 first mounting section 121 second mounting section 13 second plate 131 third plate 132 connecting piece 133 first connecting plate 1331 first chamfered surface 133101 second connecting plate 1332 of column platform body 11
First drive device 2 first actuator 21 first active arm 22
Second drive device 3 second driver 31 second master arm 32
Movable platform 4 first connecting part 42 and second connecting part 43 of movable platform main body 41
Branched 5-shaft 51-link 52-single-link 53-cross-shaft 54 first shaft 541 second shaft 542
Bearing block 6
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A four-degree-of-freedom cylindrical coordinate parallel robot 1000 having the same branched structure according to an embodiment of the present invention is described below with reference to fig. 1 and 2.
As shown in fig. 1 and 2, a four-degree-of-freedom cylindrical coordinate parallel robot 1000 having the same branched structure according to an embodiment of the present invention includes a cylindrical stage 1, two first driving devices 2, two second driving devices 3, a movable stage 4, and four branched chains 5.
Wherein the column platform 1 defines a YOZ reference plane. The YOZ reference plane proposed here is a virtual reference plane that is assumed to be fixed relative to the column platform 1, rather than necessarily a surface on the column platform 1 being referred to as a reference plane, the reference plane being referenced only to describe the mutual positional relationship of other components. For the convenience of describing the working principle of the parallel robot by referring to the drawings, a cylindrical coordinate system composed of an X axis, a Y axis, a Z axis and a three-axis intersection O shown in fig. 1 and fig. 2 is also introduced, and the cylindrical coordinate is also referred to as a phrase defining member when defining the member, which is mainly for reflecting the freedom of movement of the member, but has no limitation on the orientation of the robot in practical production.
Specifically, the length direction of the column platform 1 extends along the Z-axis.
Each first driving device 2 comprises a first driver 21, a first rotating shaft and a first driving arm 22; the first driver 21 is disposed on the column platform 1 and connected to the first rotating shaft to drive the first rotating shafts to rotate, one end of the first driving arm 22 is sleeved on the outer peripheral surface of the first rotating shaft to enable the first driving arm 22 to rotate along with the rotation of the first rotating shaft, the two first rotating shafts are disposed along a direction parallel to the Z axis, and the two first driving arms 22 are symmetrical with respect to the YOZ reference plane.
Each second driving device 3 includes a second driver 31, a second rotating shaft, and a second driving arm 32; the second driver 31 is disposed on the column platform 1 and connected to the second rotating shaft to drive the second rotating shaft to rotate, one end of the second driving arm 32 is sleeved on the outer peripheral surface of the second rotating shaft to enable the second driving arm 32 to rotate along with the second rotating shaft, the two second rotating shafts are disposed along a direction parallel to the Z axis and spaced apart from each other in the Z axis direction relative to the two first rotating shafts, and the two first driving arms 22 are symmetrical relative to the YOZ reference plane.
The movable stage 4 is spaced apart from the column stage 1 in the Y-axis direction.
In the embodiment of the present invention, the four branches 5 may be both parallelogram composite chains (as shown in fig. 1) and single chains (as shown in fig. 2).
as shown in fig. 1, when the four branched chains 5 are all parallelogram composite chains, each parallelogram composite chain includes two shaft levers 51 and two chain levers 52, the connection between the shaft lever 51 and the chain lever 52 in the same parallelogram composite chain is a spherical hinge, one of the two shaft levers 51 of the same parallelogram composite chain is fixedly connected to the movable platform 4, the other one of the two shaft levers is fixedly connected to the corresponding first driving arm 22 or second driving arm 32, and the axes of the two shaft levers 51 of the same parallelogram composite chain are parallel to the Z axis;
As shown in fig. 2, when the four branched chains 5 are respectively single chains, each single chain includes a single rod 53 and two cross shafts 54, each cross shaft 54 includes a first shaft 541 and a second shaft 542 perpendicular to each other, the two first shafts 541 in the same single chain are rotatably connected to two ends of the single rod 53, the two first shafts 541 in the same single chain are parallel to each other, one of the two second shafts 542 in the same single chain is rotatably connected to the movable platform 4, the other one of the two second shafts 542 is rotatably connected to the corresponding first active arm 22 or second active arm 32, and the two second shafts 542 in the same single chain are parallel to the Z axis.
The four-degree-of-freedom cylindrical coordinate parallel robot 1000 with the same branched chain structure according to the embodiment of the present invention can achieve the stable four-degree-of-freedom control requirement no matter the robot structure with the parallelogram composite chain shown in fig. 1 or the robot structure with the single chain shown in fig. 2. Specifically, the three-dimensional movement and the one-dimensional rotational degree of freedom of the movable platform 4 along the axis X, Y, Z in the cylindrical coordinate space are realized by controlling the two first driving devices 2 and the two second driving devices 3 to drive the corresponding branched chains 5. The four-degree-of-freedom cylindrical coordinate parallel robot 1000 with the same branched chain structure according to the embodiment of the invention has the advantages of compact structure and flexible motion.
According to one embodiment of the invention, the column platform 1 is connected to a motor (not shown in the figures) which drives the column platform 1 in rotation around the Z-axis. That is to say, the column platform 1 can be driven by the motor, and the column platform 1 can rotate 360 degrees around the Z axis, so as to drive the first driving device 2, the second driving device 3, the branched chain 5 and the movable platform 4 to integrally rotate 360 degrees around the Z axis, which is beneficial to expanding the working space of the movable platform 4.
As shown in fig. 1, according to one embodiment of the present invention, the column platform 1 includes a column platform main body 11 and two first mount portions 12 and two second mount portions 13 attached to the column platform main body 11, one of the two first mount portions 12 and one of the two second mount portions 13 are located on one side of the column platform main body 11 at a distance in the Z-axis direction, the other of the two first mount portions 12 and the other of the two second mount portions 13 are located on the other side of the column platform main body 11 at a distance in the Z-axis direction, and the two first mount portions 12 and the two second mount portions 13 are symmetrical with respect to the YOZ reference plane; the two first driving devices 2 are respectively mounted on the two first mounting portions 12, and the two second driving devices 3 are respectively mounted on the two second mounting portions 13. Therefore, the first driving device 2 and the second driving device 3 are convenient to install, and the assembling structure of the first driving device 2 and the second driving device 3 and the column platform 1 is compact. .
According to a further embodiment of the present invention, the first mounting portion 12 includes a first plate 121, the first plate 121 extends in a plane direction perpendicular to the Z axis and is fixed to the column platform body 11, the first plate 121 is provided with a first pivot hole through which the first pivot passes, the first driver 21 and the first driving arm 22 are respectively located at both sides of the first plate 121, and the first driver 21 is fixed to the first plate 121; the second mounting portion 13 includes a second plate 131, the second plate 131 is parallel to the first plate 121 and fixed to the column platform body 11, a second rotating shaft hole is formed in the second plate 131, the second rotating shaft passes through the second rotating shaft hole, the second driver 31 and the second driving arm 32 are respectively located on two sides of the second plate 131, and the second driver 31 is fixed to the second plate 131. Therefore, the first plate 121 and the second plate 131 are simple in structure, the first driving device 2 is installed through the first plate 121, and the second driving device 3 is installed through the second plate 131, so that the installation is convenient and the efficiency is high.
according to a still further embodiment of the present invention, the second mounting portion 13 further includes a third plate 132, and the third plate 132 is disposed in parallel between the second plate 131 and the third plate 132 and fixed to the column platform body 11. By providing a third plate 132
According to a further embodiment of the present invention, the second mounting portion 13 further comprises a connecting member 133, and the second plate 131 and the third plate 132 are fixed to the column platform body 11 by the connecting member 133. It is understood that the connecting member 133 may support the second plate 131 and the third plate 132.
According to a still further embodiment of the present invention, the connection member 133 includes a frame formed by sequentially connecting a first connection plate 1331, a second connection plate 1332 and a third connection plate 1333, one end of each of the first connection plate 1331 and the third connection plate 1333 being fixed to the column platform body 11, and the other opposite end of each of the first connection plate 1331 and the third connection plate 1333 being fixed to the second plate block 131 and the third plate block 132 through the second connection plate 1332; the first driver 21 passes through the frame while being mounted on the first plate 121. It can be understood that, on the one hand, the frame supports the second plate 131 and the third plate 132, and on the other hand, the space in the frame can accommodate the first driver 21, so as to avoid the interference between the first driver 21 and the second mounting portion 13, thereby being beneficial to the compact structure and convenient installation of the four-degree-of-freedom cylindrical coordinate parallel robot 1000 with the same branched chain structure according to the embodiment of the present invention.
According to a still further embodiment of the present invention, the first connection plate 1331 and the third connection plate 1333 have corresponding first and second chamfered surfaces 133101 and 1333, respectively, and a first notch and a second notch are formed between the first chamfered surface 133101 and the column platform body 11 and between the second chamfered surface and the main platform body, respectively, so that the first actuator 21 can be conveniently installed through the first notch and the second notch, and the operation is convenient.
according to some embodiments of the present invention, the pillar platform body 11, the first mounting portion 12, and the second mounting portion 13 are integrally formed, so that the structure is relatively stable, and the assembling efficiency is improved.
According to some embodiments of the present invention, the movable platform 4 includes a movable platform main body 41, two first connecting portions 42 and two second connecting portions 43, one of the two first connecting portions 42 and one of the two second connecting portions 43 are spaced apart on one side of the movable platform main body 41, the other of the two first connecting portions 42 and the other of the two second connecting portions 43 are spaced apart on the other side of the movable platform main body 41, and the two first connecting portions 42 and the two second connecting portions 43 are symmetrical with respect to the YOZ reference plane; one end of each of the two branched chains 5 in the four branched chains 5 is connected with the other end of each of the two first driving arms 22, and the other end of each of the two branched chains 5 in the four branched chains 5 is connected with two first connecting portions 42 of the movable platform 4; one ends of the other two branched chains 5 of the four branched chains 5 are respectively connected with the other ends of the two second driving arms 32, and the other ends of the other two branched chains 5 of the four branched chains 5 are respectively connected with the two second connecting parts 43 of the movable platform 4. By providing the two first connecting portions 42 and the two second connecting portions 43 on the movable platform main body 41, the installation with the corresponding four branched chains 5 is facilitated.
According to some embodiments of the invention, further comprising a support pedestal 6, the support pedestal 6 being connected to one end of the column platform 1 for supporting the column platform 1.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A four-degree-of-freedom cylindrical coordinate parallel robot with the same branched chain structure is characterized by comprising:
A post platform defining a YOZ reference plane, a length direction of the post platform extending along a Z axis;
The driving device comprises two first driving devices, a second driving device and a driving device, wherein each first driving device comprises a first driver, a first rotating shaft and a first driving arm; the first driver is arranged on the column platform and connected with the first rotating shaft so as to drive the first rotating shaft to rotate, one end of the first driving arm is sleeved and fixed on the outer peripheral surface of the first rotating shaft so as to enable the first driving arm to rotate along with the rotation of the first rotating shaft, the two first rotating shafts are arranged along the direction parallel to the Z axis, and the two first driving arms are symmetrical relative to the YOZ reference plane;
The two second driving devices each comprise a second driver, a second rotating shaft and a second driving arm; the second driver is arranged on the column platform and connected with the second rotating shaft so as to drive the second rotating shaft to rotate, one end of the second driving arm is sleeved and fixed on the outer peripheral surface of the second rotating shaft so as to enable the second driving arm to rotate along with the rotation of the second rotating shaft, the two second rotating shafts are arranged along the direction parallel to the Z axis and are spaced apart from each other in the Z axis direction relative to the two first rotating shafts, and the two first driving arms are symmetrical relative to the YOZ reference plane;
A moving platform spaced from the column platform in a direction along the Y-axis;
The four branched chains are all parallelogram composite chains, each parallelogram composite chain comprises two shaft levers and two chain levers, the connection between the shaft levers and the chain levers in the same parallelogram composite chain is a spherical hinge, one of the two shaft levers of the same parallelogram composite chain is fixedly connected to the movable platform, the other shaft lever of the same parallelogram composite chain is fixedly connected to the corresponding first driving arm or the second driving arm, and the axes of the two shaft levers of the same parallelogram composite chain are parallel to the Z axis; or
The four branched chains are respectively single chains, each single chain comprises a single rod and two cross shafts, each cross shaft comprises a first shaft and a second shaft which are perpendicular to each other, the first shafts are connected with the two ends of the single rod in a rotating mode, the first shafts are parallel to each other in the same single chain, one of the second shafts in the same single chain is connected to the movable platform in a rotating mode, the other one of the second shafts in the same single chain is connected to the corresponding first driving arm or the second driving arm in a rotating mode, and the second shafts in the same single chain are parallel to the Z shaft.
2. the four-degree-of-freedom column coordinate parallel robot with the same branched structure as the claim 1, wherein the column platform comprises a column platform body and two first mounting parts and two second mounting parts connected to the column platform body, one of the two first mounting parts and one of the two second mounting parts are located at one side of the column platform body at intervals along the Z-axis direction, the other of the two first mounting parts and the other of the two second mounting parts are located at the other side of the column platform body at intervals along the Z-axis direction, and the two first mounting parts and the two second mounting parts are symmetrical with respect to the YOZ reference plane; two first drive arrangement installs respectively two on the first installation department, two second drive arrangement installs respectively two on the second installation department.
3. The four-degree-of-freedom cylindrical coordinate parallel robot having the same branched structure as the claim 2, wherein the first mounting portion includes a first plate extending in one plane direction perpendicular to the Z-axis and fixed to the cylindrical platform body, the first plate is provided with a first pivot hole through which the first pivot passes, the first driver and the first driving arm are respectively located at both sides of the first plate, and the first driver is fixed to the first plate; the second installation part comprises a second plate, the second plate is parallel to the first plate and fixed to the column platform main body, a second rotating shaft hole is formed in the second plate, the second rotating shaft penetrates through the second rotating shaft hole, the second driver and the second driving arm are located on two sides of the second plate respectively, and the second driver is fixed to the second plate.
4. The four-degree-of-freedom cylindrical coordinate parallel robot with the same branched-chain structure as in claim 3, wherein the second mounting portion further comprises a third plate, and the third plate is disposed in parallel between the second plate and the third plate and fixed to the cylindrical platform body.
5. the four-degree-of-freedom cylindrical coordinate parallel robot with the same branched structure according to claim 4, wherein the second mounting portion further comprises a connecting member, and the second plate and the third plate are fixed to the cylindrical platform body through the connecting member.
6. The four-degree-of-freedom cylindrical coordinate parallel robot with the same branched-chain structure as in claim 5, wherein the connecting member comprises a frame formed by sequentially connecting a first connecting plate, a second connecting plate and a third connecting plate, one end of each of the first connecting plate and the third connecting plate is fixed to the cylindrical platform body, and the other opposite end of each of the first connecting plate and the third connecting plate is fixed to the second plate and the third plate through the second connecting plate; the first driver passes through the frame when mounted on the first plate.
7. the four-degree-of-freedom column coordinate parallel robot having the same branched structure of claim 6, wherein the first connecting plate and the third connecting plate have corresponding first and second chamfered surfaces, respectively, and first and second gaps are formed between the first chamfered surface and the column platform body and between the second chamfered surface and the main platform body, respectively.
8. The four-degree-of-freedom cylindrical coordinate parallel robot with the same branched structure according to any one of claims 1 to 7, wherein the movable platform comprises a movable platform main body, two first connecting parts and two second connecting parts, one of the two first connecting parts and one of the two second connecting parts are spaced apart on one side of the movable platform main body, the other of the two first connecting parts and the other of the two second connecting parts are spaced apart on the other side of the movable platform main body, and the two first connecting parts and the two second connecting parts are symmetrical to the YOZ reference plane; one end of two of the four branched chains is connected with the other end of the two first driving arms respectively, and the other end of two of the four branched chains is connected with two first connecting parts of the movable platform respectively; one ends of the other two of the four branched chains are respectively connected with the other ends of the two second driving arms, and the other two of the four branched chains are respectively connected with the two second connecting parts of the movable platform.
9. The four-degree-of-freedom column coordinate parallel robot with the same branched chain structure as in any one of claims 1-7, further comprising a support base connected to one end of the column platform for supporting the column platform.
10. The four-degree-of-freedom cylindrical coordinate parallel robot with the branched chain structure of claim 1, wherein the cylindrical platform is connected with a motor, and the motor drives the cylindrical platform to rotate around a Z axis.
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