201127576 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】 ' 酬《機H人大多制三至六自心對稱結構，1採用 球鉸、胡克鉸或移動副作為運動副實現三至六自由产之 空間運動。上述並聯機器人之上平台（移動平台）:下 平台（機架）間通常以六分支結構相連，每一分支社構 〇 上設有驅動11以改Μ分支結構長度，使上平台之i置 與姿態變化’然其轉複雜，製造成本較高，且較難控 制。輕工、食品和電子等行業之自動化生產線中，諸如 分揀、包裝、封裝等作業需末端執行器可於平面内高速 運動之機器人’然採用上述結構複雜之多自由度空間並 聯機器人則實無必要，且成本較高。 【發明内容】 [0003] 〇 [0004] 寥於上述狀況，有必要提供―難構簡單、成本較低且 便於控制之並聯機器人。 -種並聯機器人，其包括機架、移動平台及連接於機架 與移動平台間且於同-平面内運動之二連接分支結構。 每-連接分支結構包括與機架連接之平移機構以及由平 移機構㈣之平行四邊形捍組。平行四相独包括平 行設置之第一連桿及第二連桿，該第一連桿與第二連桿 均與該平移機構以及移動平台鉸接。 [0005] 上述並聯機器人藉由二平移機構配合運動，分別帶動二 平行四邊形桿組及移動平台運動，可實現移動平台於一 099103910 表單編號A0101 第3頁/共16頁 0992007329-0 201127576 預设平面内平動，其結構汽 A , B果、成本較低。採用平行四 邊形桿組可使移動平台僅作 卞動，從而便於控制及定位 【實施方式】 [0006] [0007] [0008] [0009] 下面結合附圖及具體實施方式對本發明之I聯機器人作 進一步詳細說明。 請參閱圖1，本發明實施方式之並聯機器人m包括機架 W移動平D2G、連接於機架1()與移動平台则之二連 接刀支、.、。構30a、30b以及—旋轉务支結構4〇。旋轉分支 、’。構40之輸出端（圖未標）可轉動地μ於移動平台 ’輸出端可安裝4具、吸盤等末端執行‘器，以執行相應 任務一連接分支結構30a、30b協調配合運動，可帶動 移動平台20於一預設平面内平動，旋轉分支結構4〇可帶 動末端執行器轉動，從而使末端執行器實現三自由度運 動。 本實施方式中，二連接分支結構30a、30b之結構相同， 且呈左右對稱設置。ά下以連接分支結構3〇a為例進行說 明。連接分支結構3〇a包括平移機構31&以及由平移機構 31a帶動之平行四邊形桿組32a。 請同時參見圖2，平移機構31a包括連接板311、驅動件 312、由驅動件312驅動之螺桿313以及與螺桿313套接並 由螺桿313帶動之傳動螺母314。 連接板311設於機架1〇一側且與機架1〇固定連接，如可採 用焊接方式固定連接。驅動件312設於連接板311之一端 099103910 表單編號A0101 第4頁/共16頁 0992007329-0 [0010] 201127576 連接板311之另_端設有轉動支承螺桿μ 315。螺桿313相對於咖嶋延伸。連接板^ Ο [0011] ==3延伸方向平行設置之滑_2。傳動螺 鬼狀，其一表面開設有與滑軌3112滑動配入 之滑槽（圖未標）。驅動件312可為步進電機、祠服電機口 等。驅動件312驅動螺桿如旋轉時，螺桿313與傳動螺 母314唾合以帶動傳動螺母314沿螺桿313之延伸方向作 直線運動。可㈣解，平移㈣31a祕產生平移運動， 其不限於實施方式中之螺桿、螺母結構，還可採用帶傳 動、氣壓驅動等方式來實現平移運動。 平行四邊形棒組32a包括第一連桿321、第二連桿323以 及第三連桿324。第一連桿321與第二連桿323相互平行 設置，第三連桿324二端分別與第一連桿321及第二連桿 323鉸接。第一連桿321及第二連桿323遠離第三連桿324 〇 [0012] 之端部與移動平台20鉸接。第三連桿324還包括連接部 3241。連接部3241跨傳動螺母314固定連接，從而傳動 螺母314作直線運動唆，可帶動第三連桿324運動，以使 平行四邊形桿組32a於平面内擺動。 第一連桿321·—端部均呈叉形結構，且二端分別開設欽接 孔3221a、3221b ’第三連桿324及移動平台20分別開設 鉸接孔3243、2011 ’銷軸2012穿設鉸接孔3221a及鉸接 孔2011將第一連桿321與移動平台20鉸接，銷軸3245穿 設鉸接孔3221b及鉸接孔3243將第一連桿321與第三連桿 324鉸接。 [0013] 第二連桿323包括二相互平行之連接桿3231、3232。連 099103910 表單編號A0101 第5頁/共16頁 0992007329-0 201127576 [0014] [0015] [0016] [0017] [0018] 接桿3231、3232所處之平面與連接分支結構3〇a、3〇1)之 運動平面垂直。連接捍3231、3232分別設於移動平台2〇 —相對側，每一連接桿3231二端分別與第三連桿犯4及移 動平台20鉸接。設置連接桿3231、3232可增強連接分支 結構30a之承載能力，並有助於提高移動平台別運動之平 穩性。 連接分支結構30b與連接分支結構3〇a結構相同其包括 平移機構31b以及由平移機構31b帶動之平行四邊形桿組 32b。 請同時參見圖3，旋轉分支結構4〇包括驅動件41、由驅動 件41帶動之齒輪42、由齒輪42帶動旋轉之旋轉桿43、與 移動平台2G轉動連接之輸出桿44以及連接齒輪42與旋轉 桿43之連接結構45。 旋轉桿43與輸出桿44設於二連接分支結構3〇a、_間。 輪出桿44自由端從移動平备2〇底部伸油，並可安裝末端 執行器，以完成相應任務。 機架10大致呈矩形板狀’其中部開設安裝孔1Q2，以供旋 轉桿43穿設。第二驅動件41安裝於機架_面且鄰近安 裝孔102 ’其動力傳遞至齒輪42。 旋轉桿43包括輸入端431及輸出端432。輸入端43ι穿設 文敬孔102及齒輪42並從機架1〇頂部伸出。輸出端似藉 由多自由度鉸鏈4321與輸出桿44連接。本實施方式中， 多自由度鉸鏈4321為胡克鉸，輸出桿44藉由連接銷3 與多自由度鉸鏈4321連接。 099103910 表單編號A0101 第6頁/共16頁 0992007329-0 201127576 [0019] 連接結構45用於實現旋轉桿43隨齒輪42轉動、隨移動平 台20擺動及沿旋轉桿43軸向移動。連接結構45包括連接 齒輪42與旋轉桿43之胡克鉸4211，以及連接胡克鉸4211 之上较接部4211a與旋轉桿43之移動副（圖未標）。該移 動副可為鍵連接結構。 [0〇2〇]輸出桿44大致呈階梯軸狀，移動平台20開設有階梯孔 2014 ’輸出桿44可轉動地穿設於階梯孔2014並由設於階 梯孔2014内之軸承組件442滚動支承，從而輸出桿44可 〇 相對移動平台2〇自由轉動。設於輛承組件442頂端之螺母 (圖未標）與輸出桿44螺接，以限制輸出桿44沿其轴向 移動，從而驗出桿44可隨移動平台2〇平動，以及隨旋轉 桿43旋轉，安裝於輸出桿44輸出端之末端執行器可實現 三自由度運動。 [0021]以下介紹本發明實施方式之並聯機器人1〇〇動作過程。請 同時參閱圖4，當連接分支結構3〇a之平移機構3U沿3方 向並朝遠離移動m侧平移，而連接分支結構3〇b之 ϋ 平移機構31b沿齡方向保持於原來位置時，則移動平台20 向右側平動’於平行四邊形桿組32a、32b之作用下，移 動平台20可始終保持水平。旋轉分支結構40之旋轉桿43 相對機架U)擺動並相對於機架1G沿旋轉桿43軸向移動， 以使安裝㈣出祕末端之末魏行輯義平台卿 動至預設位置。與此類似，藉由第一平移機構3u、仙 相互配合’協調動作，即可實現移動平台2〇於平面内之 精確定位’藉由旋轉分支結構4〇還可控制旋轉角度，以 實現安裝於輸出桿44自由端之末端執行器作三自由度運 099103910 表單編號A0101 0992007329-0 第7頁/共16頁 201127576 動。201127576 VI. Description of the Invention: [Technical Field to Which the Invention Is Applicable] [0001] The present invention relates to a parallel robot. [Prior Art] 'Reward' machine H people mostly make three to six self-centered symmetrical structures, 1 using ball hinges, Hook hinges or moving pairs as the motion pair to achieve three to six free-form space movements. The platform above the parallel robot (mobile platform): the lower platform (rack) is usually connected by a six-branch structure, and each branch is provided with a drive 11 to change the length of the branch structure, so that the upper platform is placed The change in posture is 'complex, the manufacturing cost is high, and it is difficult to control. In automated production lines for industries such as light industry, food and electronics, such as sorting, packaging, packaging, etc., robots that require end-effectors to move at high speeds in the plane, but use the above-mentioned complex multi-degree-of-freedom space parallel robots. Necessary and costly. SUMMARY OF THE INVENTION [0003] In view of the above situation, it is necessary to provide a parallel robot that is difficult to construct, low in cost, and easy to control. A parallel robot comprising a frame, a mobile platform and a two-connected branch structure connected between the frame and the mobile platform and moving in the same plane. Each of the connected branch structures includes a translation mechanism coupled to the frame and a parallelogram set of the transfer mechanism (4). The parallel four-phase single includes a first link and a second link that are arranged in parallel, and the first link and the second link are both hinged to the translation mechanism and the moving platform. [0005] The above-mentioned parallel robot cooperates with two translation mechanisms to respectively drive the movement of the two parallelogram rod groups and the mobile platform, and can realize the movement platform at a 099103910. Form No. A0101 Page 3/16 pages 0992007329-0 201127576 Preset plane Internal translation, its structure steam A, B fruit, low cost. The use of the parallelogram pole set enables the mobile platform to be tilted only, thereby facilitating control and positioning. [Embodiment] [0007] [0008] [0009] [0028] The following is a description of the I-linked robot of the present invention with reference to the accompanying drawings and specific embodiments. Further details. Referring to FIG. 1, a parallel robot m according to an embodiment of the present invention includes a rack W moving flat D2G, a connecting bracket 1 (connected to the rack 1) and a mobile platform, and two connecting knives, . The structures 30a, 30b and the rotating branch structure 4〇. Rotate branch, '. The output end of the structure 40 (not shown) is rotatably movably mounted on the mobile platform 'the output end can be installed 4, the end of the suction cup, etc. to perform the corresponding task - the connection branch structure 30a, 30b coordinated movement, can drive the movement The platform 20 is translated in a predetermined plane, and the rotating branch structure 4 带 can drive the end effector to rotate, so that the end effector realizes three degrees of freedom motion. In the present embodiment, the two connection branch structures 30a and 30b have the same structure and are symmetrically disposed in the left-right direction. The squat is described by taking the connection branch structure 3〇a as an example. The connecting branch structure 3A includes a translation mechanism 31& and a parallelogram rod group 32a driven by the translation mechanism 31a. Referring to FIG. 2 at the same time, the translation mechanism 31a includes a connecting plate 311, a driving member 312, a screw 313 driven by the driving member 312, and a transmission nut 314 which is sleeved with the screw 313 and driven by the screw 313. The connecting plate 311 is disposed on one side of the frame 1 and fixedly connected to the frame 1 , for example, can be fixedly connected by welding. The driving member 312 is disposed at one end of the connecting plate 311. 099103910 Form No. A0101 Page 4 of 16 0992007329-0 [0010] 201127576 The other end of the connecting plate 311 is provided with a rotating support screw μ 315. The screw 313 extends relative to the curry. Connecting plate ^ Ο [0011] ==3 Slide _2 set in parallel with the extension direction. The drive screw has a ghost shape, and a surface thereof is provided with a sliding groove (not shown) which is slidably fitted with the slide rail 3112. The driving member 312 can be a stepping motor, a motor port, or the like. When the driving member 312 drives the screw to rotate, the screw 313 is splined with the driving nut 314 to drive the transmission nut 314 to move linearly along the extending direction of the screw 313. (4) Solution, translation (4) 31a secret produces translational motion, which is not limited to the screw and nut structure in the embodiment, and the translational motion can be realized by means of belt driving and pneumatic driving. The parallelogram bar group 32a includes a first link 321, a second link 323, and a third link 324. The first link 321 and the second link 323 are disposed in parallel with each other, and the two ends of the third link 324 are respectively hinged with the first link 321 and the second link 323. The first link 321 and the second link 323 are hinged from the end of the third link 324 〇 [0012] to the mobile platform 20. The third link 324 also includes a connecting portion 3241. The connecting portion 3241 is fixedly coupled across the transmission nut 314 such that the transmission nut 314 moves linearly, and the third link 324 can be moved to swing the parallelogram rod group 32a in a plane. The first connecting rods 321·-ends have a fork-shaped structure, and the two ends respectively define the adjoining holes 3221a and 3221b. The third connecting rod 324 and the moving platform 20 respectively open the hinged holes 3243 and 2011. The hole 3221a and the hinge hole 2011 hinge the first link 321 and the moving platform 20. The pin 3245 passes through the hinge hole 3221b and the hinge hole 3243 to articulate the first link 321 and the third link 324. [0013] The second link 323 includes two connecting rods 3231, 3232 that are parallel to each other.连099103910 Form No. A0101 Page 5 / Total 16 Pages 0992007329-0 201127576 [0015] [0017] [0018] The planes and connection branch structures 3〇a, 3〇 where the posts 3231, 3232 are located 1) The motion plane is vertical. The connecting ports 3231 and 3232 are respectively disposed on opposite sides of the moving platform 2, and the two ends of each connecting rod 3231 are respectively hinged with the third connecting rod 4 and the moving platform 20. The provision of the connecting rods 3231, 3232 enhances the load carrying capacity of the connecting branch structure 30a and helps to improve the stability of the moving platform. The connecting branch structure 30b has the same structure as the connecting branch structure 3a, which includes a translation mechanism 31b and a parallelogram rod group 32b driven by the translation mechanism 31b. Referring to FIG. 3 at the same time, the rotating branch structure 4 includes a driving member 41, a gear 42 driven by the driving member 41, a rotating rod 43 driven by the gear 42, an output rod 44 rotatably connected to the moving platform 2G, and a connecting gear 42 and The connecting structure 45 of the rotating rod 43. The rotating rod 43 and the output rod 44 are disposed between the two connecting branch structures 3a, _. The free end of the wheel bar 44 extends from the bottom of the moving pan 2 and can be fitted with an end effector to perform the corresponding task. The frame 10 has a substantially rectangular plate shape. The mounting hole 1Q2 is opened in the middle portion thereof for the rotary lever 43 to pass through. The second driving member 41 is mounted to the frame_face and is adjacent to the mounting hole 102' to transmit power to the gear 42. The rotating rod 43 includes an input end 431 and an output end 432. The input end 43 is threaded through the Venue hole 102 and the gear 42 and protrudes from the top of the frame 1. The output appears to be connected to the output rod 44 by a multi-degree of freedom hinge 4321. In the present embodiment, the multi-degree of freedom hinge 4321 is a Hook hinge, and the output rod 44 is connected to the multi-degree of freedom hinge 4321 by the connecting pin 3. 099103910 Form No. A0101 Page 6 of 16 0992007329-0 201127576 [0019] The connecting structure 45 is used to realize the rotation of the rotating lever 43 with the gear 42, the swinging with the moving platform 20, and the axial movement along the rotating rod 43. The connecting structure 45 includes a Hook hinge 4211 that connects the gear 42 and the rotating lever 43, and a moving pair (not shown) that connects the connecting portion 4211a of the Hook hinge 4211 with the rotating lever 43. The moving pair can be a keyed connection structure. [0〇2〇] The output rod 44 is substantially stepped, and the moving platform 20 is provided with a stepped hole 2014. The output rod 44 is rotatably inserted through the stepped hole 2014 and is rolled by the bearing assembly 442 provided in the stepped hole 2014. The support is such that the output rod 44 is free to rotate relative to the moving platform 2〇. A nut (not shown) disposed at the top of the bearing member 442 is screwed to the output rod 44 to restrict the output rod 44 from moving along its axial direction, so that the check rod 44 can be moved with the moving platform 2, and with the rotating rod The 43-rotation, end effector mounted on the output end of the output rod 44 enables three degrees of freedom motion. [0021] The following is a description of the parallel robot 1 〇〇 action process of the embodiment of the present invention. Referring to FIG. 4 at the same time, when the translation mechanism 3U connecting the branch structures 3A is translated in the 3 direction and away from the moving m side, and the translation mechanism 31b connecting the branch structures 3〇b is kept in the original position, The mobile platform 20 is translated to the right side by the action of the parallelogram bar sets 32a, 32b, and the mobile platform 20 can always be level. The rotating rod 43 of the rotating branch structure 40 swings relative to the frame U) and moves axially along the rotating rod 43 with respect to the frame 1G, so that the end of the mounting end (4) is moved to the preset position. Similarly, the first translation mechanism 3u and the squad cooperate with each other to coordinate the action, so that the precise positioning of the mobile platform 2 in the plane can be achieved. The rotation angle can also be controlled by rotating the branch structure 4 to achieve installation. The end of the free end of the output rod 44 is three degrees of freedom. 099103910 Form No. A0101 0992007329-0 Page 7 of 16 201127576.
[0022]可以理解，如末端執行器盔愛# # B …、而疑轉即可滿足工作要求， 亦可省卻旋轉分支結構4〇， 错由平移機構31a、31b分別 帶動平行四邊形桿組32a'32b及移動平台動以實 現移動平台20於平面内之二自由度運動。本實施方式中 ’二連接分支結獅a、3〇b之結構相同且呈對稱結構， 當然其亦可不完全相同。 闺综上觀，本㈣私符合發財狀要件，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】 [0024] 圖1係本發明實施方式之並聯機器人立體組裝圖。 [0025] 圖2係圖1所示並聯機器人之立體分解圖：。 [0026] 圖3係圖1所示並聯機器人旋轉分支結構之立體分解圖。 [0027] 圖4係圖1所示並聯機器人之工作狀態示意圖。 【主要元件符號說明】 [0028] 並聯機器人1〇〇 [0029] 機架 1〇 [0030] 移動平台20 [0031] 連接分支結構30a、30b 099103910 表單編號A0101 第8頁/共16頁 0992007329-0 201127576 [0032] 旋轉分支結構40 [0033] 平移機構31a、31b [0034] 平行四邊形桿組32a、32b ' [0035] 連接板311 [0036] 驅動件31 2、41 [0037] 螺桿313 [0038] 〇 傳動螺母314 [0039] 支承座315 [0040] 滑軌3112 [0041] 第一連桿321 [0042] 第二連桿323 [0043] ;亲+呈 2 2 4 .： ·. [0044] ❹ [0045] ::-i .'' ,·:···:、 νΆ ·, >ν 連接部3241 鉸接孔 3221a、3243、3221b、2011 [0046] 銷軸 2012、3245 [0047] 連接桿3231、3232 [0048] 齒輪42 [0049] 旋轉桿43 [0050] 輸出桿4 4 099103910 表單編號A0101 第9頁/共16頁 0992007329-0 201127576 [0051] 連接結構45 [0052] 安裝孔1 0 2 [0053] 輸入端431 [0054] 輸出端432 [0055] 多自由度鉸鏈4321 [0056] 連接銷 2013 [0057] 胡克鉸 4211 [0058] 上鉸接部4211a [0059] 階梯孔 2014 [0060] 軸承組件442 0992007329-0 099103910 表單編號A0101 第10頁/共16頁[0022] It can be understood that, if the end effector helmet loves ##B ..., and the suspected rotation can meet the working requirements, the rotating branch structure 4〇 can also be omitted, and the parallelogram rod group 32a' is driven by the translation mechanism 31a, 31b, respectively. The 32b and the mobile platform move to realize the two-degree-of-freedom movement of the mobile platform 20 in the plane. In the present embodiment, the structures of the two connected branches, the lions a and 3, b are the same and have a symmetrical structure, and of course, they may not be identical. In summary, this (4) private compliance with the requirements of the financial situation, the patent application is filed according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the present invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS [0024] FIG. 1 is a perspective assembled view of a parallel robot according to an embodiment of the present invention. 2 is an exploded perspective view of the parallel robot shown in FIG. 1: 3 is an exploded perspective view showing the rotating branch structure of the parallel robot shown in FIG. 1. 4 is a schematic view showing the working state of the parallel robot shown in FIG. 1. [Description of Main Component Symbols] [0028] Parallel Robot 1〇〇 [0029] Rack 1〇 [0030] Mobile Platform 20 [0031] Connection Branch Structure 30a, 30b 099103910 Form No. A0101 Page 8 of 16 Page 0992007329-0 201127576 [0032] Rotating Branch Structure 40 [0033] Translation Mechanisms 31a, 31b [0034] Parallelogram Rod Sets 32a, 32b ' [0035] Connecting Plate 311 [0036] Drives 31 2, 41 [0037] Screw 313 [0038] 〇 drive nut 314 [0039] support base 315 [0040] slide rail 3112 [0041] first link 321 [0042] second link 323 [0043]; pro + 2 2 4 .: .. [0044] ❹ ::-i .'' , ·:···:, νΆ ·, >ν connecting portion 3241 hinge holes 3221a, 3243, 3221b, 2011 [0046] pin shaft 2012, 3245 [0047] connecting rod 3231 3232 [0048] Gear 42 [0049] Rotary lever 43 [0050] Output lever 4 4 099103910 Form number A0101 Page 9 / Total 16 page 0992007329-0 201127576 [0051] Connection structure 45 [0052] Mounting hole 1 0 2 [ 0053] Input 431 [0054] Output 432 [0055] Multi-degree of freedom hinge 4321 [0056] Connecting pin 2013 [0057] Hook hinge 4211 [0058] Upper hinge 4211a [0059] Stepped Hole 2014 [0060] Bearing Assembly 442 0992007329-0 099103910 Form No. A0101 Page 10 of 16