US-12623356-B2 - Parallel robot

US12623356B2US 12623356 B2US12623356 B2US 12623356B2US-12623356-B2

Abstract

A parallel robot includes a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device. The transmission device includes an output end. Each branch chain includes a first end connected to the output end and a second end connected to the moving platform. The driving device is configured to drive the transmission device to move. The force/torque sensor is configured to sense the force and/or torque between the driving device and the output end. The control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement.

Inventors

Xuesen LI
Hao Jiang
Shiquan Wang
Shaobo Hu
Maozhi Liu
Da Xi

Assignees

SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD.
FLEXIV LTD.

Dates

Publication Date: 20260512
Application Date: 20221128

Claims (5)

1 . A parallel robot, comprising: a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device; wherein the transmission device is connected to the base and comprises an output end; the plurality of branch chains are located between the base and the moving platform in parallel, each branch chain comprises a first end connected to the output end and a second end connected to the moving platform; each driving device is connected to one transmission device and is configured to drive the transmission device to move, so as to enable the transmission device to drive the branch chain to move; each force/torque sensor is connected to one output end and is configured to sense force and/or torque between the driving device and the output end and output the force and/or torque to the control device; the control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement; wherein the transmission device comprises a guiding element and a transmission element slidably connected to the guiding element, the output end is slidably connected to the guiding element and is connected to the transmission element and the first end, the driving device drives the transmission element to move linearly back and forth along the guiding element, the force/torque sensor is a force sensor.
2 . The parallel robot according to claim 1 , further comprising a brake, wherein when the force sensed by the force sensor exceeds a preset range, the control device activates the brake to brake the driving device.
3 . The parallel robot according to claim 1 , wherein three branch chains are provided.
4 . The parallel robot according to claim 1 , wherein the branch chain comprises a master arm and a slave arm, and the output end is connected to one end of the master arm, the other end of the master arm is connected to one end of the slave arm, the other end of the slave arm is connected to the moving platform.
5 . The parallel robot according to claim 1 , wherein the control device and the driving device are connected by wires, and both the control device and the driving device are fixed to the base.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a U.S. national phase application under 35 U.S.C. § 371 based upon international patent application No. PCT/CN2022/134602, filed on Nov. 28, 2022, the content of which is hereby incorporated by reference in its entirety. TECHNICAL FIELD The present disclosure relates to robots, in particular to a parallel robot. BACKGROUND Parallel robots, such as Delta robots, have characteristics of fast movement speed, precise positioning, low cost, and high efficiency, which have been widely used in industrial operations such as picking, palletizing, and packaging of food, pharmaceuticals, and electronic products. Conventional parallel robots are controlled by position control methods, so that the above applications are limited to moving objects between different positions, a application range of parallel robots need to be increased. SUMMARY According to some embodiments, a parallel robot that can increase an application range is provided. A parallel robot includes a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device. The transmission device is connected to the base and comprises an output end, the plurality of branch chains are located between the base and the moving platform in parallel, each branch chain comprises a first end connected to the output end and a second end connected to the moving platform, each driving device is connected to one transmission device and is configured to drive the transmission device to move, so as to enable the transmission device to drive the branch chain to move, each force/torque sensor is connected to one output end and is configured to sense force and/or torque between the driving device and the output end and output the force and/or torque to the control device, the control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement. In one of the embodiments, the transmission device comprises a reducer connected to the output end, and the force/torque sensor is a torque sensor. In one of the embodiments, the reducer is a harmonic reducer. In one of the embodiments, a transmission speed ratio of the harmonic reducer is of 50 to 120. In one of the embodiments, the base comprises a support shaft, the reducer is connected to the support shaft, the transmission device further comprises a cross-roller bearing sleeved on the support shaft, the torque sensor is located between the support shaft and the cross-roller bearing. In one of the embodiments, the transmission device comprises a guiding element and a transmission element slidably connected to the guiding element, the output end is slidably connected to the guiding element and is connected to the transmission element and the first end, the driving device drives the transmission element to move linearly back and forth along the guiding element, the force/torque sensor is a force sensor. The parallel robot further includes a brake, when the force or torque sensed by the force/torque sensor exceeds a preset range, the control device activates the brake to brake the driving device. In one of the embodiments, three branch chains are provided. In one of the embodiments, the branch chain comprises a master arm and a slave arm, and the output end is connected to one end of the master arm, the other end of the master arm is connected to one end of the slave arm, the other end of the slave arm is connected to the moving platform. In one of the embodiments, the control device and the driving device are connected by wires, and both the control device and the driving device are fixed to the base. In the above-mentioned parallel robot, since the force/torque sensor is provided, the force and/or torque on the output end of the transmission device adjacent to the branch chain can be obtained, a power of the driving device can be adjusted according to the preset rule when there is a difference between the force or displacement actually output by the moving platform and the target force or displacement to be loaded on the moving platform, so that the moving platform can output the required force or displacement. In this way, the force or displacement loaded on the moving platform can be controlled in real time, thereby increasing an application range of the parallel robot, such as polishing workpieces or giving massages to people, etc. Details of one or more embodiments of the present disclosure are set forth in the following drawings and descriptions. Other objects, purposes and advantages will become apparent upon review of the following specification, drawings and claims. BRIEF DESCRIPTION OF THE DRAW