Five-degree-of-freedom large workspace series-parallel hybrid robot

Abstract

The application provides a five-degree-of-freedom large workspace series-parallel hybrid robot, and belongs to the technical field of robots; the five-degree-of-freedom large workspace series-parallel hybrid robot comprises a base, a rotating platform, a truss, a connecting plate, a pulley transmission device, a movable platform, a terminal turntable, a terminal actuator, five motors and a first branch and a second branch which are installed in parallel between the rotating platform and the movable platform; the first branch is sequentially connected with connecting rod one and connecting rod three from the rotating platform to the movable platform; the second branch is sequentially connected with connecting rod two, the pulley transmission device and connecting rod four from the rotating platform to the movable platform; the five-degree-of-freedom motion is realized by adopting the hybrid structure, the structure is simple, the manufacturing cost is low, meanwhile, the five-degree-of-freedom large workspace series-parallel hybrid robot has the advantages of high speed, high rigidity, low inertia and super large workspace and the like, and has a good application prospect in the fields of logistics sorting and laser processing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, and in particular to a five-degree-of-freedom large workspace serial-parallel hybrid robot. BACKGROUND

[0002] At present, the express industry in China is in a stage of rapid development, and the automation of the sorting link is the consistent pursuit of various express companies. The automatic equipment used in the sorting field at present is divided into serial robots and parallel robots. Due to the arrangement of the motor of the serial robot at each rotating joint and the mechanical arm away from the base, the mechanical arm structure is complex, heavy, high inertia, and it is difficult to achieve high-speed sorting; as a multi-branch coupling mechanism, the parallel robot can achieve high-speed and high-precision motion, but its workspace is limited, and it is difficult to adapt to the actual operation requirements of the logistics sorting assembly line.

[0003] The patent with the application number CN 215785053 U proposes a sorting scheme using a parallel robot. Due to the structural limitations of the proposed parallel robot, this scheme has the problem of small workspace, limited sorting categories, and poor work effect. The patent with the application number CN 216609065 U proposes a SCARA robot. This robot uses a serial structure, and the rigidity of the robot is low. Multiple motors are arranged on the mechanical arm, close to the end of the robot, making the robot have high inertia and not high enough speed. SUMMARY

[0004] In view of the deficiencies of the prior art, the technical scheme of the present application provides a five-degree-of-freedom large workspace serial-parallel hybrid robot.

[0005] The technical scheme of the present application provides a five-degree-of-freedom large workspace serial-parallel hybrid robot, which includes a base, a rotating platform, a truss, a connecting plate, a belt wheel transmission device, a moving platform, an end turret, an end effector, five motors, and a first branch and a second branch installed in parallel between the rotating platform and the moving platform. The rotating platform is connected to the base through a rotating pair one and is driven by a motor one. The motor one is fixed to the base. One end of the truss is fixed to the rotating platform, and the other end of the truss is fixed to the connecting plate. The axis of the rotating pair one is collinear with the output shaft of the motor one, and the direction is vertical. The first branch is above the second branch.

[0006] The first branch is sequentially connected with motor three, connecting rod one, U-shaped fork one and connecting rod three from the base to the moving platform; the motor three is fixedly connected to the rotating platform; the connecting rod one is fixedly connected to the output shaft of the motor three, connected to the connecting plate through rotary pair two and connected to the U-shaped fork one through rotary pair three; the connecting rod three is connected to the U-shaped fork one through rotary pair four and connected to the moving platform through rotary pair eleven; the rotary pair two axis is collinear with the output shaft of the motor three, and the rotary pair three axis is perpendicular to and intersects with the rotary pair two axis; the rotary pair four is collinear with the center line of the connecting rod three, the rotary pair four is perpendicular to and intersects with the rotary pair three axis, the rotary pair four intersects with the rotary pair two axis, and the rotary pair eleven is perpendicular to the rotary pair four axis;

[0007] The second branch is sequentially connected with motor two, connecting rod two, belt wheel transmission device and connecting rod four from the base to the moving platform; the belt wheel transmission device comprises U-shaped fork two, U-shaped fork three, belt wheel one, belt wheel two, tension wheel, guide wheel, rotary pair seven, rotary pair eight and rotary pair nine; the motor two is fixedly connected to the rotating platform; the connecting rod two is fixedly connected to the output shaft of the motor two, connected to the U-shaped fork two through rotary pair five and fixedly connected to the belt wheel one; the U-shaped fork two is connected to the connecting plate through rotary pair six and connected to the U-shaped fork three through rotary pair seven; the guide wheel is connected to the U-shaped fork two through rotary pair eight; the tension wheel is connected to the U-shaped fork two through rotary pair nine; the belt wheel two is fixedly connected to the U-shaped fork three; the belt wheel one drives the belt wheel two through the guide wheel and the transmission belt; the connecting rod four is connected to the U-shaped fork three through rotary pair ten and connected to the moving platform through rotary pair twelve; the rotary pair five axis, the rotary pair six axis and the output shaft of the motor two are collinear; the rotary pair seven axis is perpendicular to and intersects with the rotary pair six axis; the rotary pair eight axis is perpendicular to the rotary pair six axis; the rotary pair nine is perpendicular to the rotary pair eight axis; the rotary pair nine is perpendicular to the rotary pair six axis; the rotary pair ten axis is perpendicular to and intersects with the rotary pair seven axis and intersects with the rotary pair six axis; the rotary pair ten axis is collinear with the center line of the connecting rod four and perpendicular to the rotary pair twelve axis; the U-shaped fork one, the U-shaped fork three, the connecting rod three, the connecting rod four, the moving platform, rotary pair two, rotary pair three, rotary pair four, rotary pair six, rotary pair seven, rotary pair ten, rotary pair eleven and rotary pair twelve jointly constitute a parallelogram mechanism;

[0008] The end rotating platform is fixedly connected to the output shaft of motor four and connected to the moving platform through rotary pair thirteen; motor five is fixedly connected to the end rotating platform; the end effector is connected to the end rotating platform through rotary pair fourteen and driven by motor five; the rotary pair thirteen axis is perpendicular to the rotary pair twelve axis; the rotary pair fourteen axis is perpendicular to and intersects with the rotary pair thirteen axis.

[0009] The second branch is sequentially connected with the motor two, the connecting rod two, a bevel gear transmission device, and the connecting rod four from the base to the moving platform; the bevel gear transmission device comprises a U-shaped fork four, a gear box, a bevel gear one, a bevel gear two, and a rotating pair fifteen; the gear box is connected with the connecting plate through a rotating pair six and connected with the U-shaped fork four through a rotating pair sixteen; the connecting rod two is connected with the gear box through the rotating pair fifteen and fixedly connected with the bevel gear one; the bevel gear two is connected with the gear box through a rotating pair seventeen, fixedly connected with the U-shaped fork four, and engaged with the bevel gear one; the U-shaped fork four is connected with the connecting rod four through a rotating pair ten; the axis of the rotating pair fifteen is collinear with the center line of the connecting rod two and perpendicular to the axes of the rotating pair sixteen and the rotating pair seventeen; the axes of the rotating pair sixteen and the rotating pair seventeen are collinear and perpendicular to the axis of the rotating pair ten; the axes of the rotating pair ten and the rotating pair fifteen intersect;

[0010] Further, the relative position of the first branch and the second branch is that the first branch is above the second branch, which is replaced by the first branch being below the second branch.

[0011] The technical scheme provided by the application has the beneficial effects that the application provides a five-degree-of-freedom large workspace series-parallel hybrid robot, which is a hybrid structure and can realize three moving and two rotating five-degree-of-freedom movement. The robot has the important advantages of adopting a truss structure and a closed-loop structure, effectively reducing the weight of the mechanical arm, and having higher rigidity; does not contain a moving pair, and has less mechanical movement wear; the main motor is arranged above the base, so that the robot inertia is low and high-speed movement can be realized; compared with a parallel robot, the workspace is large, and is more suitable for large-scale disordered sorting work. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a whole structure schematic diagram of a five-degree-of-freedom large workspace series-parallel hybrid robot of embodiment 1 of the application;

[0013] Figure 2 is a belt transmission device structure schematic diagram in embodiment 1;

[0014] Figure 3 is a bevel gear transmission device structure schematic diagram of a five-degree-of-freedom large workspace series-parallel hybrid robot of embodiment 2 of the application;

[0015] Figure 4 is Figure 3 a bevel gear transmission device internal structure schematic diagram of

[0016] Figure 5 is a whole structure schematic diagram of a five-degree-of-freedom large workspace series-parallel hybrid robot of embodiment 3 of the application.

[0017] In the figure: 1 - base, 2 - rotating platform, 3 - truss, 4 - connecting plate, 5 - belt wheel transmission device, 6 - moving platform, 7 - end turret, 8 - end effector, M1 - motor one, M2 - motor two, M3 - motor three, M4 - motor four, M5 - motor five, L1 - connecting rod one, L2 - connecting rod two, L3 - connecting rod three, L4 - connecting rod four, R1 - rotating pair one, R2 - rotating pair two, R3 - rotating pair three, R4 - rotating pair four, R5 - rotating pair five, R6 - rotating pair six, R7 - rotating pair seven, R8 - rotating pair eight, R9 - rotating pair nine, R10 - rotating pair ten, R11 - rotating pair eleven, R12 - rotating pair twelve, R13 - rotating pair thirteen, R14 - rotating pair fourteen, R15 - rotating pair fifteen, R16 - rotating pair sixteen, R17 - rotating pair seventeen, U1 - U-shaped fork one, U2 - U-shaped fork two, U3 - U-shaped fork three, U4 - U-shaped fork four, W1 - belt wheel one, W2 - belt wheel two, W3 - tension wheel, W4 - guide wheel, H1 - gear box. DETAILED DESCRIPTION

[0018] To make the object, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described below with reference to the drawings.

[0019] Example 1

[0020] Reference Figure 1 and Figure 2 A five-degree-of-freedom large workspace serial-parallel hybrid robot, comprising a base (1), a rotating platform (2), a truss (3), a connecting plate (4), a belt wheel transmission device (5), a moving platform (6), an end turret (7), an end effector (8), five motors and a first branch (I) and a second branch (II) installed in parallel between the rotating platform (2) and the moving platform (6); the motor one (M1) is fixedly connected to the base (1); the rotating platform (2) is connected to the base (1) through the rotating pair one (R1) and is driven by the motor one (M1); the truss (3) has two ends fixedly connected to the rotating platform (2) and the connecting plate (4) respectively; the rotating pair one (R1) is a driving pair; the axis of the rotating pair one (R1) is collinear with the output shaft of the motor one (M1) and the direction is vertical.

[0021] The first branch (I) is sequentially connected with motor three (M3), connecting rod one (L1), U-shaped fork one (U1) and connecting rod three (L3) from the base (1) to the moving platform (6); the above-mentioned motor three (M3) is fixedly connected on the rotating platform (2); the connecting rod one (L1) is fixedly connected with the output shaft of the motor three (M3); the connecting plate (4) is connected with the connecting rod one (L1) through the rotary pair two (R2); the U-shaped fork one (U1) is connected with the connecting rod one (L1) through the rotary pair three (R3); the connecting rod three (L3) is connected with the U-shaped fork one (U1) through the rotary pair four (R4); the moving platform (6) is connected with the connecting rod three (L3) through the rotary pair eleven (R11); the rotary pair two (R2) axis is collinear with the output shaft of the motor three (M3) and is perpendicular to the axis of the rotary pair one (R1); the rotary pair three (R3) and the rotary pair two (R2) axis are perpendicular to each other and intersect; the rotary pair four (R4) is collinear with the center line of the connecting rod three (L3); the rotary pair four (R4) and the rotary pair three (R3) axis are perpendicular and intersect; the rotary pair four (R4) intersects with the rotary pair two (R2) axis; the rotary pair eleven (R11) and the rotary pair four (R4) axis are perpendicular.

[0022] The second branch (II) is sequentially connected with motor two (M2), connecting rod two (L2), belt wheel transmission device (5), connecting rod four (L4) from base (1) to moving platform (6); The belt wheel transmission device (5) includes U-shaped fork two (U2), U-shaped fork three (U3), belt wheel one (W1), belt wheel two (W2), tension pulley (W3), guide wheel (W4), rotary pair seven (R7), rotary pair eight (R8), rotary pair nine (R9); The above-mentioned motor two (M2) is fixedly connected on rotating platform (2); Connecting rod two (L2) is fixedly connected with motor two (M2) output shaft; U-shaped fork two (U2) is connected with connecting rod two (L2) through rotary pair five (R5); Connecting rod two (L2) is fixedly connected with belt wheel one (W1); The belt wheel one (W1) is driven by motor two (M2); U-shaped fork two (U2) is connected with connecting plate (4) through rotary pair six (R6); U-shaped fork two (U2) is connected with U-shaped fork three (U3) through rotary pair seven (R7); The guide wheel (W4) is connected with the U-shaped fork two (U2) through the rotary pair eight (R8); The tension pulley (W3) is connected with the U-shaped fork two (U2) through the rotary pair nine (R9); Belt wheel two (W2) is fixedly connected with U-shaped fork three (U3); The belt wheel one (W1) drives the belt wheel two (W2) through the guide wheel (W4) and the conveyor belt; Connecting rod four (L4) is connected with U-shaped fork three (U3) through rotary pair ten (R10); The moving platform (6) is connected with the connecting rod four (L4) through the rotary pair twelve (R12); The rotary pair five (R5) axis and the rotary pair one (R1) are perpendicular and intersect; The rotary pair five (R5) axis, the rotary pair six (R6) axis, the motor two (M2) output shaft are collinear; The rotary pair seven (R7) axis and the rotary pair six (R6) axis are perpendicular and intersect; The rotary pair eight (R8) axis and the rotary pair six (R6) axis are perpendicular; The rotary pair nine (R9) and the rotary pair eight (R8) axis are perpendicular; The rotary pair nine (R9) and the rotary pair six (R6) axis are perpendicular; The rotary pair ten (R10) axis and the rotary pair seven (R7) axis are perpendicular and intersect; The rotary pair ten (R10) axis and the rotary pair six (R6) axis intersect; The rotary pair ten (R10) axis and the center line of the connecting rod four (L4) are collinear; The rotary pair twelve (R12) axis and the rotary pair ten (R10) axis are perpendicular; The U-shaped fork one (U1), the U-shaped fork three (U3), the connecting rod three (L3), the connecting rod four (L4), the moving platform (6), the rotary pair two (R2), the rotary pair three (R3), the rotary pair four (R4), the rotary pair six (R6), the rotary pair seven (R7), the rotary pair ten (R10), the rotary pair eleven (R11), the rotary pair twelve (R12) constitute a parallelogram mechanism.

[0023] The end rotating platform (7) is connected with the moving platform (6) through rotating pair thirteen (R13), the motor four (M4) is fixedly connected on the moving platform (6) to drive the end rotating platform (7) to rotate; the motor five (M5) is fixedly connected with the end rotating platform (7); the end effector (8) is connected with the end rotating platform (7) through rotating pair fourteen (R14) and is driven through the motor five (M5); the rotating pair thirteen (R13) axis is perpendicular to the rotating pair twelve (R12) axis; the rotating pair fourteen (R14) axis is perpendicular to the rotating pair thirteen (R13) axis and intersects.

[0024] Embodiment 2:

[0025] The difference between embodiment 2 and embodiment 1 is that:

[0026] Referring to Figure 3 and Figure 4 , the pulley transmission device (5) of the second branch (II) is replaced by a bevel gear transmission device; the bevel gear transmission device comprises a U-shaped fork four (U4), a gear box (H1), a bevel gear one (C1), a bevel gear two (C2), a rotating pair fifteen (R15); the above-mentioned gear box (H1) is connected with the connecting plate (4) through rotating pair six (R6) and is connected with the U-shaped fork four (U4) through rotating pair sixteen (R16); the connecting rod two (L2) is connected with the gear box (H1) through the rotating pair fifteen (R15) and is fixedly connected with the bevel gear one (C1); the bevel gear two (C2) is connected with the gear box (H1) through the rotating pair seventeen (R17) and is fixedly connected with the U-shaped fork four (U4) and is engaged with the bevel gear one (C1); the U-shaped fork four (U4) is connected with the connecting rod four (L4) through the rotating pair ten (R10); the axis of the rotating pair fifteen (R15) is collinear with the center line of the connecting rod two (L2) and is perpendicular to the axes of the rotating pair sixteen (R16) and the rotating pair seventeen (R17); the axes of the rotating pair sixteen (R16) and the rotating pair seventeen (R17) are collinear and are perpendicular to the axis of the rotating pair ten (R10); the axes of the rotating pair ten (R10) and the rotating pair fifteen (R15) intersect.

[0027] Embodiment 3:

[0028] Referring to Figure 5 , the position arrangement of the first branch (I) and the second branch (II) of the five-degree-of-freedom large workspace series-parallel hybrid robot in embodiment 1 and embodiment 2 is replaced by that the first branch (I) is below and the second branch (II) is above.

[0029] In this article, the orientation words such as front, back, up and down are defined according to the positions of the parts in the drawing and the positions of the parts relative to each other in the drawing, only for the purpose of expressing the technical scheme clearly and conveniently. It should be understood that the use of the orientation words should not limit the scope of the application claimed.

[0030] In the case of no conflict, the above-mentioned embodiments and features of the embodiments can be combined with each other.

[0031] The above descriptions are only the preferred embodiments of the present application, not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1.A five-degree-of-freedom large workspace serial-parallel hybrid robot, characterized in that: comprising a base, a rotating platform, a truss, a connecting plate, a belt drive transmission, a moving platform, a terminal turret, a terminal actuator, five motors and a first branch and a second branch installed in parallel between the rotating platform and the moving platform; the rotating platform is connected with the base through a rotating pair one and is driven by a motor one; the motor one is fixed on the base; one end of the truss is fixed with the rotating platform, and the other end of the truss is fixed with the connecting plate; the axis of the rotating pair one is collinear with the output shaft of the motor one, and the direction is vertical; the first branch is above the second branch; the first branch is sequentially connected with a motor three, a connecting rod one, a U-shaped fork one and a connecting rod three from the base to the moving platform; the motor three is fixed on the rotating platform; the connecting rod one is fixed with the output shaft of the motor three, connected with the connecting plate through a rotating pair two and connected with the U-shaped fork one through a rotating pair three; the connecting rod three is connected with the U-shaped fork one through a rotating pair four and connected with the moving platform through a rotating pair eleven; the axis of the rotating pair two is collinear with the output shaft of the motor three, and the axis of the rotating pair three is perpendicular to and intersects with the axis of the rotating pair two; the rotating pair four is collinear with the center line of the connecting rod three, the axis of the rotating pair four is perpendicular to and intersects with the axis of the rotating pair three, the axis of the rotating pair four intersects with the axis of the rotating pair two, and the axes of the rotating pair eleven and the rotating pair four are perpendicular; the second branch is sequentially connected with a motor two, a connecting rod two, a belt drive transmission, a connecting rod four from the base to the moving platform; the belt drive transmission comprises a U-shaped fork two, a U-shaped fork three, a belt pulley one, a belt pulley two, a tension pulley, a guide pulley, a rotating pair seven, a rotating pair eight and a rotating pair nine; the motor two is fixed on the rotating platform; the connecting rod two is fixed with the output shaft of the motor two, connected with the U-shaped fork two through a rotating pair five and fixed with the belt pulley one; the U-shaped fork two is connected with the connecting plate through a rotating pair six and connected with the U-shaped fork three through a rotating pair seven; the guide pulley is connected with the U-shaped fork two through a rotating pair eight; the tension pulley is connected with the U-shaped fork two through a rotating pair nine; the belt pulley two is fixed with the U-shaped fork three; the belt pulley one drives the belt pulley two through the guide pulley and a transmission belt; the connecting rod four is connected with the U-shaped fork three through a rotating pair ten and connected with the moving platform through a rotating pair twelve; the axes of the rotating pair five, the rotating pair six and the output shaft of the motor two are collinear; the axis of the rotating pair seven is perpendicular to and intersects with the axis of the rotating pair six; the axis of the rotating pair eight is perpendicular to the axis of the rotating pair six; the axis of the rotating pair nine is perpendicular to the axis of the rotating pair eight; the axis of the rotating pair nine is perpendicular to the axis of the rotating pair six; the axis of the rotating pair ten is perpendicular to and intersects with the axis of the rotating pair seven and intersects with the axis of the rotating pair six; the axis of the rotating pair ten is collinear with the center line of the connecting rod four and perpendicular to the axis of the rotating pair twelve; the U-shaped fork one, the U-shaped fork three, the connecting rod three, the connecting rod four, the moving platform, the rotating pair two, the rotating pair three, the rotating pair four, the rotating pair six, the rotating pair seven, the rotating pair ten, the rotating pair eleven and the rotating pair twelve jointly constitute a parallelogram mechanism. ​ The terminal turntable is fixedly connected with the motor four output shafts, and is connected with the moving platform through rotating pair thirteen; the motor five is fixedly connected with the terminal turntable; the terminal executor is connected with the terminal turntable through rotating pair fourteen and is driven by the motor five; the rotating pair thirteen axis is perpendicular to the rotating pair twelve axis; the rotating pair fourteen axis is perpendicular to the rotating pair thirteen axis and intersects. 2.The five-DOF large workspace serial-parallel hybrid robot of claim 1, wherein: The second branch is sequentially connected with the motor two, the connecting rod two, the bevel gear transmission device, the connecting rod four from the base to the moving platform; the bevel gear transmission device comprises a U-shaped fork four, a gear box, a bevel gear one, a bevel gear two and a rotating pair fifteen; the gear box is connected with the connecting plate through rotating pair six and is connected with the U-shaped fork four through rotating pair sixteen; the connecting rod two is connected with the gear box through rotating pair fifteen and is fixedly connected with the bevel gear one; the bevel gear two is connected with the gear box through rotating pair seventeen, is fixedly connected with the U-shaped fork four and is in mesh with the bevel gear one; the U-shaped fork four is connected with the connecting rod four through rotating pair ten; the rotating pair fifteen axis is collinear with the connecting rod two center line and is perpendicular to the rotating pair sixteen and rotating pair seventeen axes; the rotating pair sixteen and rotating pair seventeen axes are collinear and are perpendicular to the rotating pair ten axis; the rotating pair ten and rotating pair fifteen axes intersect. 3.The five-DOF large workspace serial-parallel hybrid robot of claim 1, wherein: The first branch and the second branch position arrangement is replaced by the first branch below and the second branch above.

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