201215796 六、發明說明： 【發明所屬之技術領域】 [0001] 本發明涉及一種並聯機器人。 [先前技術3 [〇〇〇2] —般並聯機器人大多採用二至六自由度對稱结構，且常 採用球鉸、胡克鉸作為運動副實現三至六自由度之空間 運動。上述並聯機器人之上平台（定平台）與下平台（ 動平台）間通常以六支鏈相連’每一支鏈上設有驅動器 以改變各支鏈之長度，使下平台位置和姿態變化，然 〇 其結構複雜，製造成本較高，且較難控制。 【發明内容】 [0003] 鑒於上述狀況，有必要提供一種結構簡單、成本較低且 便於控制之並聯機器人。 [〇〇〇4] 一種並聯機器人，其包括定平台、動平台、安裝於動平 台之末端執行器，以及並聯安裝於定平台與動平台間之 四支鏈。每一支鏈包抟安裝於定平台之旋轉驅動件，由 Q 旋轉驅動件帶動之驅動桿，以及課於驅動桿與動平台間 之平行四邊形桿組，平行四邊形桿組一端由第一轉動副 與驅動桿連接，另一端由第二轉動副與動平台連接，第 一轉動副之轴線與第二轉動副之軸線相互平行。 [0005] 上述並聯機器人在四主铋+ 。 文鏠之協同作用下，能夠實現空間 三平移運動以及一旋轉運私 啊逆動，控制較為便利。上述並聯 機器人藉由第一轉動副及 J久第二轉動副取代一般之球副或 虎克鉸’可簡化並聯機器χ λι 人之結構，並降低製造成本》 【實施方式】 099134537 表單編號Α0101 第3百，· 0992060312-0 η/共16頁 201215796 [0006] 本發明之並聯機器人能夠實現空間三平移運動以及一旋 轉運動。上述平移運動是指一物體於空間運動，其上任 意二點間之連線於運動過程中始終保持平行之運動。上 述旋轉運動之轉動軸線始終保持平行。下面結合附圖及 具體實施方式對本發明之並聯機器人作進一步詳細說明 〇201215796 VI. Description of the Invention: [Technical Field of the Invention] [0001] The present invention relates to a parallel robot. [Prior Art 3 [〇〇〇2] Most parallel robots generally use two- to six-degree-of-freedom symmetrical structures, and often use ball joints and Hook hinges as motion pairs to achieve three to six degrees of freedom in space motion. The upper platform (fixed platform) and the lower platform (moving platform) of the parallel robot are usually connected by six branches. 'Each branch is provided with a driver to change the length of each branch to change the position and posture of the lower platform. The structure is complicated, the manufacturing cost is high, and it is difficult to control. SUMMARY OF THE INVENTION [0003] In view of the above circumstances, it is necessary to provide a parallel robot that is simple in structure, low in cost, and easy to control. [〇〇〇4] A parallel robot comprising a fixed platform, a moving platform, an end effector mounted on the moving platform, and four branches connected in parallel between the fixed platform and the moving platform. Each chain package is mounted on a rotating drive member of the fixed platform, a driving rod driven by the Q rotary driving member, and a parallelogram rod group between the driving rod and the moving platform, and one end of the parallelogram rod group is composed of the first rotating pair The driving rod is connected, and the other end is connected to the moving platform by the second rotating pair, and the axis of the first rotating pair and the axis of the second rotating pair are parallel to each other. [0005] The parallel robot described above is in the four main 铋+. Under the synergy of Wenyu, it is possible to realize the three-translational motion of space and the reverse movement of a rotating and private operation, and the control is convenient. The above-mentioned parallel robot can replace the general ball pair or the Hooke hinge by the first rotating pair and the J second second rotating pair, which can simplify the structure of the parallel machine λ λι and reduce the manufacturing cost. [Embodiment] 099134537 Form No. Α 0101 3 hundred, · 0992060312-0 η / a total of 16 pages 201215796 [0006] The parallel robot of the present invention is capable of realizing a spatial three translational motion and a rotational motion. The above-mentioned translational motion refers to an object moving in space, and the connection between any two points on it is always parallel motion during the movement. The axis of rotation of the above rotary motion is always parallel. The parallel robot of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0007] 請同時參見圖1至圖3，本發明實施方式之並聯機器人100 包括定平台10、動平台20、安裝於動平台20之末端執行 器30，以及並聯安裝於定平台10與動平台20間之四支鏈 50a、50b、50c、50.d ° 在上述四支鏈50a，50b，50c， 50d之協同作用下，動平台20能夠實現沿空間坐標系之X 、Y、Z軸之平移運動以及繞Z軸之旋轉運動。末端執行器 30可為夾爪、吸盤等，結合不同之末端執行器30，並聯 機器人100可相應完成搬運及定位等各種工作。 [0008] 定平台10大致呈矩形，四支鏈50a、50b、50c、50d具有 相同之結構，且均佈於定平台10之四週。採用對稱設置 之結構，可使動平台20受力更均勻，運動精度提高、誤 差減小。 [0009] 以下僅以支鏈50a為例，對各支鏈之機構進行詳細說明。 請參見圖1至圖3，支鏈50a包括安裝於定平台10之旋轉驅 動件51a，由旋轉驅動件51a帶動之驅動桿52a，以及設 於驅動桿52a與動平台20間之平行四邊形桿組53a。平行 四邊形桿組53a—端由第一轉動副501與驅動桿52a連接 ，另一端由第二轉動副502與動平台20連接。第一轉動副 501之軸線與第二轉動副502之軸線相互平行。旋轉驅動 099134537 表單編號A0101 第4頁/共16頁 0992060312-0 201215796 [0010] ο [0011] ο 099134537 件51a用於輸出旋轉運動，以使驅動桿52a轉動。本實施 方式中，旋轉驅動件51 a採用伺服馬達，從而可藉由控制 裝置對其旋轉運動進行精確控制。支鏈50b、50c、5〇d 之結構在此不再贅述。其中，支鏈50b包括旋轉驅動件 5lb、驅動桿52b以及平行四邊形桿組53b ;支鏈50c包括 旋轉驅動件51c、驅動桿52c以及平行四邊形桿組53c ; 支鏈50d包括旋轉驅動件51d、驅動桿52d以及平行四邊 形桿組5 3 d。 動平台20包括固定座21以及二相對設置之轉動件22。固 定座21包括相互乎行設置之三固定板211，末端執行器3〇 可轉動地安裝於位於中間之_定'板211上。二轉動件22呈 板狀且平行設置，並與固定座21二侧轉動連接，從而轉 動件22與固定座21共同形成一平行四邊形結構。 進一步，動平台20還包括一固定設置於轉動件22之第一 齒輪24。末端執行器30—端固定設有一與第一齒輪24嚙 合之第二齒輪31。因第一齒輪24與第二齒輪31嚙合，當 轉動件22帶動第一睡輪24轉軔時’可藉由第一齒輪24驅 動第二齒輪31轉動’從而使末端執行器30相對固定座21 旋轉。本實施方式中，第一齒輪為24為半圓形直齒漸開 線齒輪，第一齒輪24之半徑大致為第二齒輪31半徑之3倍 ，藉由第二齒輪31可將轉動件22之旋轉角度放大3倍後傳 遞至末端執行器’以使末端執行器30獲得更大之轉動 範圍。 本實施方式中’平行四邊形桿組53a括相對設置之第一連 桿531、第二連桿532 ’以及二相對設置之擺桿533、534 表單編號A0101 第5頁/共16頁 0992060312-0 [0012] 201215796 [0013] [0014] [0015] 099134537 。第一連桿531由第-轉動副5G1與驅動柳轉動連接， 第二連桿532由第二轉動副502與轉動件㈣動連接。如 圖1所示’相鄰設置之二平行四邊形桿組心、咖由第二 轉動副與其中-轉動件22連接，另二平行四邊形桿組 53c、53d由第二轉動副502與另—轉動件22連接。四第二連桿532分別連接於動平台2〇之四週，且兩㈣目對平行 設置。 請再次參見圖2與圖3，擺桿533、咖之相對二端分別由 第三轉動副503及第四轉動副·4與第一連桿53ι及第二 連桿5 3 2轉動連接。第三轉動副5〇 3之軸線與第一轉動副 501之軸線垂直’第四轉動咖4之軸線與第二轉動副 502之軸線垂直。本發明之並聯機器人1〇〇藉由第一轉動 副5〇1、第二轉動副502、第三轉動副503及第四轉動副 504取代習知技術中之相或虎缺，可簡化並聯機器人 之結構’並降低製造成本。 以下詳細介紹本發明實施_之補機器人⑽之作動原 理。並聯機H人100能夠於實現沿空間座標之三坐標轴χ 、Y、Z之平移運動以及沿—坐標轴z之旋轉運動，以下舉 例說明。 請參見圖1與圖4，當相對設置之支鏈5〇a、5()c之旋轉驅 動件51a、51c分別驅動驅動桿52a、52c擺動，而支鏈 50b ' 50d之旋轉驅動件51b、51d不動作時平行四邊形 桿組53a、53c驅動動平台2〇移動。在平行四邊形桿組 53b、53d之共同約束下，動平台2()沿以作平移運動。 與此類似，當支鏈5Qb ' 5〇d之旋轉驅動件训、5Μ分別 表單編號A0101 第6頁/共ι6頁 0992060312 201215796 驅動驅動桿52b ' 52d擺動’而支鏈5Ga、*之旋轉驅動 件51a、51c不動作時，動平台20沿X軸作平移運動。當 支鏈50a、50b、50c、50d之旋轉驅動件5U、5汕、51c 、5ld分別媒動對應之驅動桿52a、52b、52c、52d同時 動作時，動平台2 0沿Z抽作平移運動。 [0016] Ο [0017] ❹ [0018] [0019] [0020] [0021] [0022] 099134537 請參見圖1與圖5，當相鄰設置之支鏈5〇a、5肫之旋轉驅 動件51a、51b分別驅動驅動桿52a、52b擺動，而支鏈 5〇c、50d不動作時，平行四邊形桿組53a、5扑之協同運 動將驅動與之相連之轉動件22相對固定座21轉動，此時 ，平行四邊形桿組53(、53d相應擺動，而使另一轉動件 22相對固定座21轉動，跟隨轉動件22轉動之第—齒輪以 驅動第二齒輪31旋轉，從而使末端執行：器3〇繞2軸轉動。 综上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式，自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ，皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本發明實施方式之並聯機器人之立體圖。 圖2係圖1中II處之局部放大圖。 圖3係圖1中III處之局部放大圖。 圖4係圖1所示並聯機器人之動平台作平移運動時之狀雜 示意圖。 圖5係圖1所示並聯機器人之動平台作旋轉運動時之狀態 表單編號A0101 第7頁/共16頁 0992060312-0 201215796 示意圖。 【主要元件符號說明】 [0023] 並聯機器人100 [0024] 定平台10 [0025] 動平台2 0 [0026] 末端執行器30 [0027] 支鏈 50a、50b、50c、50d [0028] 旋轉驅動件 51a、51b、51c、51d [0029] 驅動桿 52a、52b、52c、52d [0030] 平行四邊形桿組53a、53b、53c、53d [0031] 第一轉動副501 [0032] 第二轉動副5 0 2 [0033] 第三轉動副503 [0034] 第四轉動副504 [0035] 固定座21 [0036] 轉動件2 2 [0037] 固定板211 [0038] 第一齒輪24 [0039] 第二齒輪31 [0040] 第一連桿 531 099134537 表單編號A0101 第8頁/共16頁 0992060312-0 201215796 [0041] 第二連桿 532 [0042] 擺桿 533、534Referring to FIG. 1 to FIG. 3 simultaneously, the parallel robot 100 of the embodiment of the present invention includes a fixed platform 10, a movable platform 20, an end effector 30 mounted on the movable platform 20, and a parallel installation on the fixed platform 10 and the movable platform. The four branches 50a, 50b, 50c, 50.d ° in the synergy of the above four branches 50a, 50b, 50c, 50d, the movable platform 20 can realize the X, Y, Z axis along the space coordinate system Translational motion and rotational motion about the Z axis. The end effector 30 can be a jaw, a suction cup, etc., in combination with different end effectors 30, and the parallel robot 100 can perform various tasks such as handling and positioning. The platform 10 is substantially rectangular, and the four branches 50a, 50b, 50c, 50d have the same structure and are evenly distributed around the fixed platform 10. With the symmetrical arrangement, the moving platform 20 can be more evenly loaded, the motion accuracy is improved, and the error is reduced. [0009] Hereinafter, only the branch 50a will be taken as an example, and the mechanism of each branch will be described in detail. Referring to FIGS. 1 to 3, the branch 50a includes a rotary driving member 51a mounted on the fixed platform 10, a driving rod 52a driven by the rotary driving member 51a, and a parallelogram rod group disposed between the driving rod 52a and the movable platform 20. 53a. The parallelogram bar group 53a-end is connected to the drive rod 52a by the first rotation pair 501, and the other end is connected to the movable platform 20 by the second rotation pair 502. The axis of the first rotating pair 501 and the axis of the second rotating pair 502 are parallel to each other. Rotary Drive 099134537 Form No. A0101 Page 4 of 16 0992060312-0 201215796 [0010] ο 099134537 The piece 51a is used to output a rotational motion to rotate the drive rod 52a. In the present embodiment, the rotary driving member 51a employs a servo motor so that the rotational movement of the rotary motion can be precisely controlled by the control device. The structure of the branches 50b, 50c, 5〇d will not be described here. Wherein, the branch 50b includes a rotary driving member 51b, a driving rod 52b, and a parallelogram rod group 53b; the branch chain 50c includes a rotation driving member 51c, a driving rod 52c, and a parallelogram rod group 53c; the branch chain 50d includes a rotation driving member 51d, and is driven Rod 52d and parallelogram rod set 5 3 d. The movable platform 20 includes a fixing base 21 and two oppositely disposed rotating members 22. The fixing base 21 includes three fixing plates 211 which are disposed to each other, and the end effector 3 is rotatably mounted on the intermediate plate 211 located in the middle. The two rotating members 22 are plate-like and arranged in parallel, and are rotatably coupled to the two sides of the fixing base 21, so that the rotating member 22 and the fixing base 21 together form a parallelogram structure. Further, the movable platform 20 further includes a first gear 24 fixedly disposed to the rotating member 22. The end effector 30 is fixedly provided with a second gear 31 that meshes with the first gear 24. Because the first gear 24 meshes with the second gear 31, when the rotating member 22 drives the first sleeping wheel 24 to rotate, the second gear 31 can be rotated by the first gear 24 to make the end effector 30 opposite to the fixed seat 21 Rotate. In the embodiment, the first gear 24 is a semi-circular straight-tooth involute gear, and the radius of the first gear 24 is approximately three times the radius of the second gear 31, and the rotating member 22 can be rotated by the second gear 31. The rotation angle is magnified 3 times and then transmitted to the end effector' to achieve a greater range of rotation for the end effector 30. In the present embodiment, the 'parallelogram rod group 53a includes the first link 531, the second link 532' and the oppositely disposed swing rods 533, 534. Form No. A0101 Page 5 / Total 16 pages 0992060312-0 [ 0012] [0013] [0015] [9915] 099134537. The first link 531 is rotationally coupled to the drive shaft by the first rotational pair 5G1, and the second link 532 is movably coupled to the rotary member (4) by the second rotary pair 502. As shown in FIG. 1 , the two adjacent quadrangular poles of the adjacent arrangement are connected to the middle rotating member 22 by the second rotating pair, and the other parallelogram sets 53c and 53d are rotated by the second rotating pair 502 and the other. Piece 22 is connected. The four second links 532 are respectively connected to the periphery of the movable platform 2, and the two (four) eyes are arranged in parallel. Referring to FIG. 2 and FIG. 3 again, the opposite ends of the swing lever 533 and the coffee are rotatably connected to the first link 53 and the second link 53 by the third rotating pair 503 and the fourth rotating pair 4. The axis of the third rotational pair 5〇3 is perpendicular to the axis of the first rotational pair 501. The axis of the fourth rotary coffee 4 is perpendicular to the axis of the second rotational pair 502. The parallel robot 1 of the present invention can replace the phase in the prior art or the tiger lack by the first rotating pair 5〇1, the second rotating pair 502, the third rotating pair 503, and the fourth rotating pair 504, thereby simplifying the parallel robot The structure' and reduce manufacturing costs. The operation principle of the complementary robot (10) of the present invention will be described in detail below. And the online H-100 can realize the translational motion of the three coordinate axes χ, Y, Z along the space coordinate and the rotational motion along the coordinate axis z, as illustrated by the following example. Referring to FIG. 1 and FIG. 4, when the rotationally driven members 51a, 51c of the oppositely disposed branches 5a, 5()c respectively drive the driving rods 52a, 52c to swing, the rotating driving members 51b of the branches 50b' 50d, When the 51d does not operate, the parallelogram rod groups 53a, 53c drive the movable platform 2〇 to move. Under the common constraint of the parallelogram rod sets 53b, 53d, the movable platform 2 () is moved in translation. Similarly, when the branch 5Qb '5〇d rotary drive train, 5Μ respectively form number A0101 page 6 / total ι6 page 0992060312 201215796 drive drive rod 52b '52d swing' and the branch 5Ga, * rotary drive When the 51a, 51c are not in operation, the movable platform 20 performs a translational movement along the X axis. When the rotary driving members 5U, 5b, 51c, and 5ld of the branches 50a, 50b, 50c, and 50d respectively drive the corresponding driving rods 52a, 52b, 52c, and 52d to simultaneously act, the movable platform 20 moves along the Z for translational movement. . [0017] ❹ [0018] [0020] [0020] [0022] 099134537 Referring to FIG. 1 and FIG. 5, when the adjacently arranged branches 5〇a, 5肫 of the rotary driving member 51a 51b drives the drive rods 52a, 52b to swing, and when the branches 5〇c, 50d do not operate, the coordinated movement of the parallelogram rod sets 53a, 5 will drive the rotating member 22 connected thereto to rotate relative to the fixed seat 21, At this time, the parallelogram rod group 53 (, 53d swings correspondingly, and the other rotating member 22 rotates relative to the fixed seat 21, and follows the first gear rotated by the rotating member 22 to drive the second gear 31 to rotate, thereby causing the end to execute: In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and the present invention cannot be limited thereby. The equivalent modifications or variations made by those skilled in the art in light of the spirit of the present invention are intended to be included in the following claims. FIG. 1 is a parallel robot according to an embodiment of the present invention. The perspective view of Figure 2 Figure 3 is a partial enlarged view of the portion of the parallel robot shown in Figure 1. Figure 4 is a schematic diagram of the parallel robot shown in Figure 1. State Form No. A0101 Page 7 of 16 0992060312-0 201215796 Schematic diagram of the main platform as a rotary motion [Main component symbol description] [0023] Parallel robot 100 [0024] Fixed platform 10 [0025] Moving platform 2 0 End effector 30 [0027] Branches 50a, 50b, 50c, 50d [0028] Rotary drive members 51a, 51b, 51c, 51d [0029] Drive rods 52a, 52b, 52c, 52d [0030] Parallelogram rods Group 53a, 53b, 53c, 53d [0031] First Rotating Pair 501 [0032] Second Rotating Pair 5 0 2 [0033] Third Rotating Pair 503 [0034] Fourth Rotating Pair 504 [0035] Mounting Seat 21 [0036] Rotating member 2 2 [0037] fixing plate 211 [0038] first gear 24 [0039] second gear 31 [0040] first link 531 099134537 Form No. A0101 Page 8 / Total 16 pages 0992060312-0 201215796 [0041 Second link 532 [0042] swing lever 533, 534
099134537 表單編號A0101 第9頁/共16頁 0992060312-0099134537 Form No. A0101 Page 9 of 16 0992060312-0