Large-angle five-degree-of-freedom hybrid robot

Abstract

The present invention relates to the field of robotics, and in particular to a large-angle five-degree-of-freedom hybrid robot, comprising a frame; a static platform disposed on the frame; a fixed platform disposed on the frame; a dynamic platform disposed between the static platform and the fixed platform; a support column disposed between the static platform and the fixed platform; a terminal swing head disposed on the dynamic platform; a linear drive module disposed on the support column; a linear drive module disposed on the static platform; a rope module disposed on the static platform, the movable end of the rope module being connected to the terminal swing head; an articulated assembly, one end of which is connected to the movable end of the linear drive module and the other end is connected to the dynamic platform; and an end effector disposed on the dynamic platform. The large-angle five-degree-of-freedom hybrid robot of the present invention utilizes a rope module to replace a portion of the rigid rods, effectively reducing the robot's own weight and inertia, and facilitating simplified control. The use of a pair of flexible ropes with consistent rope lengths realizes two rotational degrees of freedom of the terminal swing head, and the rotation angle is much larger than that of traditional robots. It has good application prospects in the fields of sorting and assembly.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a large-angle five-degree-of-freedom hybrid robot. Background Art

[0002] With the rapid development of my country's industry, the market demand for robots is increasing. Currently, most robots on the market are either serial or parallel robots. Serial robots have a simpler structure and control, but their stiffness and precision are limited. Parallel robots offer the advantages of high stiffness and precision, but their workspace is relatively small. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: in order to overcome the problems of limited stiffness and precision of serial robots in the prior art and the relatively small working space and small rotation angle of parallel robots, a large-angle five-degree-of-freedom hybrid robot is provided.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a large-angle five-degree-of-freedom hybrid robot, including a frame; a static platform, arranged on the frame; a fixed platform, arranged on the frame; a dynamic platform, arranged between the static platform and the fixed platform; a support column, arranged between the static platform and the fixed platform; an end swing head, arranged on the dynamic platform; a linear drive module, arranged on the support column; a rope module, arranged on the static platform, the movable end of the rope module is connected to the end swing head; an articulated assembly, one end of which is connected to the movable end of the linear drive module and the other end is connected to the dynamic platform; and an end actuator, arranged on the dynamic platform.

[0005] Hybrid robots inherit the advantages of serial and parallel robots, possessing more degrees of freedom, enabling flexible, multi-angle manipulation, while also offering high precision and high rigidity. Five-degree-of-freedom rigid-flexible robots with large-angle turning capabilities offer greater advantages in areas such as sorting.

[0006] Furthermore, the rope module includes a rope driving component, a flexible rope and a wire locker. The rope driving component is arranged on a static platform, and the wire locker is arranged on a dynamic platform. One end of the flexible rope is connected to the output end of the rope driving component, and the other end is connected to the wire locker.

[0007] Furthermore, the movable platform is provided with an end swing head, and the end swing head is connected to the movable platform by a ball joint.

[0008] Furthermore, the linear drive module includes a base, a drive motor, a coupling, a screw and a slider. The base is connected to the support column, the drive motor is installed on the base and connected to the screw through the coupling, the screw is rotatably connected to the base, the slider slides along the axial direction of the screw and on the base, the screw is threadedly connected to the slider, and the slider is connected to the hinge assembly.

[0009] Furthermore, the articulated assembly includes an upper connecting rod, a lower connecting rod, a left connecting rod and a right connecting rod, one end of the left connecting rod is hinged to the upper connecting rod, and the other end is hinged to the lower connecting rod; one end of the right connecting rod is hinged to the upper connecting rod, and the other end is hinged to the lower connecting rod; the upper connecting rod is connected to the slider, and the lower connecting rod is connected to the moving platform; the upper connecting rod, the lower connecting rod, the left connecting rod and the right connecting rod form a parallelogram mechanism.

[0010] Furthermore, ball joints are used between the upper connecting rod and the left connecting rod, between the upper connecting rod and the right connecting rod, between the lower connecting rod and the left connecting rod, and between the upper connecting rod and the right connecting rod.

[0011] Furthermore, there are multiple rope modules arrayed along the circumference of the moving platform.

[0012] Furthermore, there are multiple articulated assemblies arranged in a circumferential array along the moving platform.

[0013] The beneficial effects of the present invention are:

[0014] 1. The large-angle, five-degree-of-freedom hybrid robot of this invention utilizes rope modules instead of some rigid rods, effectively reducing the robot's weight and inertia, simplifying control. The use of a pair of flexible ropes of uniform length enables two rotational degrees of freedom for the end-mounted head, and the rotation angle is significantly greater than that of traditional robots. It has promising application prospects in the fields of sorting and assembly.

[0015] 2. The upper connecting rod, the lower connecting rod, the left connecting rod and the right connecting rod form a parallelogram mechanism to improve the stability of the dynamic platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 This is a schematic diagram of the overall structure of a large-angle five-degree-of-freedom hybrid robot embodied in the present invention;

[0018] Figure 2 This is a schematic structural diagram of a four-ball joint parallelogram mechanism and connecting components of a large-angle five-degree-of-freedom hybrid robot embodied in the present invention;

[0019] Figure 3 This is a schematic structural diagram of a large-angle five-degree-of-freedom hybrid robot comprising a lower connecting rod, a moving platform, an end swing head, and an end effector;

[0020] Figure 4 The present invention is a structural schematic diagram of a large-angle five-degree-of-freedom hybrid robot linear transmission module.

[0021] In the figure: 1. Frame; 2. Static platform; 3. Moving platform; 4. End swing head; 5. End actuator; 6. Linear drive module; 7. Rope drive; 8. Support column; 9. Fixed platform; 10. Flexible rope; 11. Wire locker; 12. Connecting assembly; S1. Ball joint 1; S2. Ball joint 2; S3. Ball joint 3; S4. Ball joint 4; S5. Ball joint 5; L1. Left connecting rod; L2. Right connecting rod; L3. Upper connecting rod; L4. Lower connecting rod; 61. Articulated assembly; 62. Screw; 63. Slider; 64. Base; 65. Coupling; 66. Drive motor. DETAILED DESCRIPTION

[0022] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0023] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be broadly understood, for example, to mean fixed, removable, or integral; mechanically or electrically connected; directly or indirectly through an intermediary; or internally connected between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The invention discloses a large-angle five-degree-of-freedom hybrid robot.

[0025] Reference Figures 1 to 4A large-angle five-degree-of-freedom hybrid robot includes a frame 1, to which a static platform 2 and a fixed platform 9 are fixedly connected, and three support columns 8 are fixedly connected between the static platform 2 and the fixed platform 9. A dynamic platform 3 is also provided between the static platform 2 and the fixed platform 9, and the dynamic platform 3 is connected to an end swing head 4 through a ball joint S5. Each support column 8 is provided with a linear drive module 6, and the three support columns 8 are evenly arranged around the dynamic platform 3. A rope module is also connected to the static platform 2, and three rope modules are provided along the circumference of the dynamic platform 3. The movable end of the rope module is connected to the end swing head 4. The movable end of the linear drive module 6 is connected to a hinge assembly 61, and the other end of the hinge assembly 61 is connected to the dynamic platform 3. An end effector 5 is fixedly connected to the end swing head 4, and the end effector 5 can be a suction cup or a clamp, etc.

[0026] Specifically, the rope module includes a rope driver 7, flexible ropes 10, and a wire locker 11. The rope driver 7 is fixedly connected to the stationary platform 2, while the wire locker 11 is fixedly connected to the end swing head 4. One end of the flexible rope 10 is connected to the output end of the rope driver 7, and the other end is connected to the wire locker 11. The three sets of flexible ropes 10 are of the same length, and the rope lengths vary uniformly to limit the rotation of the end swing head 4 along the Z axis, ensuring that the deflection angle of the end swing head 4 along the Z axis is always 0° during movement.

[0027] Specifically, the linear drive module 6 includes a base 64, a drive motor 66, a coupling 65, a screw and a slider 63. The base 64 is fixedly connected to the support column 8. The drive motor 66 is installed on the base 64 and is connected to the screw through the coupling 65. The screw is rotatably connected to the base 64. The slider 63 slides along the axial direction of the screw and is connected to the base 64. The screw is threadedly connected to the slider 63, and the slider 63 is connected to the hinge assembly 61.

[0028] Specifically, the hinge assembly 61 includes an upper connecting rod L3, a lower connecting rod L4, a left connecting rod L1, and a right connecting rod L2. One end of the left connecting rod L1 is hinged to the upper connecting rod L3, and the other end is hinged to the lower connecting rod L4. The right connecting rod L2 is hinged to the upper connecting rod L3 at one end, and to the lower connecting rod L4 at the other end. The upper connecting rod L3 is connected to the slider 63 via the connecting assembly 12, while the lower connecting rod L4 is connected to the movable platform 3. The upper connecting rod L3, the lower connecting rod L4, the left connecting rod L1, and the right connecting rod L2 form a parallelogram mechanism.

[0029] More specifically, the connections between the upper connecting rod L3 and the left connecting rod L1, between the upper connecting rod L3 and the right connecting rod L2, between the lower connecting rod L4 and the left connecting rod L1, and between the upper connecting rod L3 and the right connecting rod L2 are respectively achieved by ball joint 1 S1, ball joint 2 S2, ball joint 3 S3 and ball joint 4 S4.

[0030] Working Principle: Utilizing a rope module to replace some rigid rods effectively reduces the robot's weight and inertia, simplifying control. A pair of flexible ropes 10 of uniform length enables two degrees of freedom for the end effector 4, achieving a significantly greater degree of freedom compared to traditional robots. This holds great promise for applications in sorting and assembly. The coordinated use of the linear drive module 6, articulated assembly 61, rope module, and end effector 4 enables large-distance, three-dimensional movement and large-angle, two-dimensional rotation of the end effector 5.

[0031] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A large-angle five-degree-of-freedom hybrid robot, characterized in that: include Rack (1); A static platform (2) is provided on the frame (1); A fixed platform (9) is provided on the frame (1); The moving platform (3) is arranged between the static platform (2) and the fixed platform (9); Support columns (8) are provided between the static platform (2) and the fixed platform (9), and three support columns (8) are provided, and the three support columns (8) are evenly arranged around the dynamic platform (3); The end swing head (4) is arranged on the moving platform (3); A linear drive module (6) is provided on the support column (8), and each support column (8) is provided with a linear drive module (6); A rope module is provided on the static platform (2), wherein the movable end of the rope module is connected to the end swing head (4), and three rope modules are provided along the circumference of the dynamic platform (3); Three hinge assemblies (61), one hinge assembly (61) is connected to a linear drive module (6), one end of the hinge assembly (61) is connected to the movable end of the corresponding linear drive module (6), and the other end is connected to the movable platform (3); The end actuator (5) is arranged on the moving platform (3), and the end swing head (4) is connected to the moving platform (3) by a ball joint.

2. The large-angle five-degree-of-freedom hybrid robot according to claim 1, characterized in that: The rope module comprises a rope driving component (7), a flexible rope (10) and a wire locker (11); the rope driving component (7) is arranged on a static platform (2); the wire locker (11) is arranged on a dynamic platform (3); one end of the flexible rope (10) is connected to the output end of the rope driving component (7), and the other end is connected to the wire locker (11).

3. The large-angle five-degree-of-freedom hybrid robot according to claim 2, characterized in that: The linear drive module (6) comprises a base (64), a drive motor (66), a coupling (65), a screw and a slider (63); the base (64) is connected to the support column (8); the drive motor (66) is mounted on the base (64) and connected to the screw through the coupling (65); the screw is rotatably connected to the base (64); the slider (63) slides along the axial direction of the screw and is connected to the base (64); the screw is threadedly connected to the slider (63); and the slider (63) is connected to the hinge assembly (61).

4. The large-angle five-degree-of-freedom hybrid robot according to claim 3, characterized in that: The hinge assembly (61) comprises an upper connecting rod (L3), a lower connecting rod (L4), a left connecting rod (L1) and a right connecting rod (L2); one end of the left connecting rod (L1) is hinged to the upper connecting rod (L3), and the other end is hinged to the lower connecting rod (L4); one end of the right connecting rod (L2) is hinged to the upper connecting rod (L3), and the other end is hinged to the lower connecting rod (L4); the upper connecting rod (L3) is connected to the slider (63), and the lower connecting rod (L4) is connected to the moving platform (3); the upper connecting rod (L3), the lower connecting rod (L4), the left connecting rod (L1) and the right connecting rod (L2) form a parallelogram mechanism.

5. The large-angle five-degree-of-freedom hybrid robot according to claim 4, characterized in that: Ball joints are used between the upper connecting rod (L3) and the left connecting rod (L1), between the upper connecting rod (L3) and the right connecting rod (L2), between the lower connecting rod (L4) and the left connecting rod (L1), and between the upper connecting rod (L3) and the right connecting rod (L2).

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