A posture-decoupled multi-axis high-speed hybrid robot without telescopic rods

Abstract

The present invention provides a posture-decoupled multi-axis high-speed hybrid robot without telescopic rods, which belongs to the technical field of robots; the robot comprises a frame, a moving platform, five motors, an end turntable, an end actuator, and a first, second, third, and fourth branches connected in parallel between the frame and the moving platform; the first branch is connected to a flange shaft, a short connecting rod 1, a long connecting rod 1, a long connecting rod 2, a short connecting rod 2, a U-shaped fork, a large pulley, and a small pulley in sequence from the frame to the moving platform; the second, third, and fourth branches have exactly the same structure, and are all connected to an active arm and a four-ball joint parallelogram mechanism in sequence from the frame to the moving platform; the robot of the present invention does not have a complex transmission structure, and through a special branch arrangement, interference of rods is effectively avoided; since it does not contain a telescopic cylinder, sliding wear is avoided, and high-speed handling and assembly are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod. Background Art

[0002] A five-degree-of-freedom hybrid robot, constructed from a four-degree-of-freedom parallel mechanism and a single-degree-of-freedom serial rotor, is a new type of five-axis linkage robot. Due to its high speed, high precision, excellent dynamic characteristics, and large workspace, it is widely used in various fields such as handling, assembly, and sorting. In recent years, this mechanism has gained increasing attention. With the increasing requirements of industrial manufacturing, the motion space and flexibility of five-axis hybrid robots have become more demanding.

[0003] The existing four-branch parallel robots with three shifts and one rotation are mainly divided into two categories. The first category uses branches containing linear telescopic cylinder structures or parallelogram connecting rod transmission structures to realize the rotation of the end. A Chinese patent (CN207598696U) proposes an intermediate shaft of a four-axis parallel robot. The intermediate shaft adopts a linear telescopic cylinder structure, which can improve the accuracy of the intermediate shaft. However, the telescopic cylinder structure is heavy, the rod inertia is large, the rod friction is serious, and the movement noise is large, resulting in low movement accuracy and the need to replace parts many times during the service life cycle, affecting production efficiency. In addition, a Chinese patent (CN103909517A) proposes a fourth-axis transmission mechanism of a Delta robot in the form of a parallel connecting rod. The fourth axis adopts a parallelogram connecting rod transmission mechanism. Although it avoids the wear problem of the rods, the intermediate branch rods of this structure are prone to interference and the working space is small.

[0004] The second type is a parallel structure with four branches. Unlike the first type of mechanism, this type of structure does not have a separate branch to drive the end rotation. The Chinese patent (CN102922513A) proposes a four-degree-of-freedom single-motion platform that can realize SCARA movement. The first, second, third, and fourth branch chain structures connecting the moving platform and the fixed platform are the same. Although it reduces the interference of the rods and increases the position workspace, its position and posture are coupled, the control mathematical model is complex, and the posture workspace is limited. Summary of the Invention

[0005] In view of the deficiencies of the existing technical solutions, the technical solution of the present invention provides a posture-decoupled high-speed hybrid robot without a telescopic rod.

[0006] The technical solution of the present invention provides a posture-decoupled high-speed hybrid robot without a telescopic rod, which includes a frame, a moving platform, five motors, an end turntable, an end effector, and first, second, third, and fourth branches connected in parallel between the frame and the moving platform;

[0007] The first branch is connected with a flange shaft, a short link 1, a long link 1, a long link 2, a short link 2, a U-shaped fork, a large pulley, and a small pulley in sequence from the frame to the moving platform, the flange shaft of the first branch is connected to the frame through a rotating pair 1, the short link 1 is connected to the flange shaft through a rotating pair 2, the short link 1 is connected to the long link 1 through a rotating pair 3, the long link 1 is connected to the long link 2 through a rotating pair 4, the long link 2 is connected to the short link 2 through a rotating pair 5, the short link 2 is connected to the U-shaped fork through a rotating pair 6, the U-shaped fork is connected to the moving platform through a rotating pair 7, the U-shaped fork is fixedly connected to the large pulley, the small pulley is connected to the large pulley through a synchronous belt, the small pulley is fixedly connected to the end turntable, and the end The turntable is connected to the moving platform through a rotating pair eight; the end actuator is connected to the end turntable through a rotating pair nine; the axis of the rotating pair one connecting the flange shaft and the frame is perpendicular to the frame plane and intersects perpendicularly with the axis of the rotating pair two, the axis of the rotating pair seven connecting the U-shaped fork and the moving platform is perpendicular to the moving platform plane and intersects perpendicularly with the axis of the rotating pair six, the axis of the rotating pair three intersects perpendicularly with the axis of the rotating pair two, the axes of the rotating pair three, the rotating pair four, and the rotating pair five are parallel to each other, the axis of the rotating pair eight connecting the end turntable and the moving platform is perpendicular to the moving platform plane, the central axes of the large pulley and the small pulley are both perpendicular to the moving platform plane, and the moving platform plane is parallel to the frame plane;

[0008] The second, third and fourth branches each include: an active arm, a four-ball joint parallelogram mechanism and a revolute pair; the revolute pair connects the frame and the active arm; the four-ball joint parallelogram mechanism is a closed-loop mechanism consisting of an active arm, a moving platform, a left connecting rod and a right connecting rod connected end to end via ball joints; four motors are mounted on the frame, motor one drives the flange shaft in the first branch, motor two, motor three and motor four drive active arm one, active arm two and active arm three respectively; motor five is mounted on the end turntable for driving the end effector; the second branch and the third branch are symmetrically arranged relative to the fourth branch, and the first branch is arranged opposite to the fourth branch;

[0009] The four-ball joint parallelogram mechanism is replaced by a four-universal joint parallelogram mechanism;

[0010] The first branch of the posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod is characterized by being replaced as follows: the frame is sequentially connected to the moving platform with the flange shaft, the short link 1, the long link 1, the long link 2, the short link 2, and the U-shaped fork; the flange shaft of the first branch is connected to the frame through a rotating pair 1, the short link 1 is connected to the flange shaft through a rotating pair 2, the short link 1 is connected to the long link 1 through a rotating pair 3, the long link 1 is connected to the long link 2 through a rotating pair 4, the long link 2 is connected to the short link 2 through a rotating pair 5, and the short link 2 is connected to the The U-shaped fork is connected, the U-shaped fork is fixedly connected to the end turntable, and the end turntable is connected to the moving platform through the rotating pair eight; the end actuator is connected to the end turntable through the rotating pair nine; the axis of the rotating pair one connecting the flange shaft and the frame is perpendicular to the frame plane and intersects perpendicularly with the axis of the rotating pair two, the axis of the rotating pair eight connecting the end turntable and the moving platform is perpendicular to the moving platform plane and intersects perpendicularly with the axis of the rotating pair six, the axis of the rotating pair three intersects perpendicularly with the axis of the rotating pair two, and the axes of the rotating pair three, rotating pair four, and rotating pair five are parallel to each other; the plane of the moving platform is parallel to the plane of the frame.

[0011] The technical solution provided by the present invention offers the following beneficial effects: Compared with existing technologies, the robot of the present invention does not contain a telescopic cylinder, facilitating high-speed handling and assembly, and providing a large workspace. It lacks a complex transmission structure, and its unique branching arrangement effectively avoids interference between rods. The robot boasts a compact structure, minimal interference between rods, low manufacturing costs, and low operating noise. Furthermore, the robot offers advantages such as high precision, high speed, a large workspace, decoupling of position and posture, a simple mathematical model, excellent dynamic characteristics, and ease of control, making it widely applicable in fields such as food sorting and industrial assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of a posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod according to Example 1 of the present invention;

[0013] Figure 2 This is a schematic diagram of the overall structure of a posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod in Example 2 of the present invention.

[0014] In the figure: 1-frame, 2-moving platform, 3-large pulley, 4-small pulley, 5-end turntable, 6-end effector, a-motor 1, b-motor 2, c-motor 3, d-motor 4, e-motor 5, I-first branch, II-second branch, III-third branch, IV-fourth branch, U1-flange shaft, U2-U-shaped fork, L1-short connecting rod 1, L2-long connecting rod 1, L3-long connecting rod 2, L4-short connecting rod 2, L5-active arm, L6-left connecting rod, L7-right connecting rod, L8-active arm 2, L9-active arm 3, R1-rotational pair 1, R2 rotational pair 2, R3-rotational pair 3, R4-rotational pair 4, R5-rotational pair 5, R6-rotational pair, R7-rotational pair, R8-rotational pair 8, R9-rotational pair 9, R10-rotational pair 10, S1-ball pair 1, S2-ball pair 2, S3-ball pair 3, S4-ball pair 4. DETAILED DESCRIPTION

[0015] The pivot axis described in the following embodiments refers to the centerline about which the pivoting pair rotates. The "up," "down," "left," and "right" orientations mentioned are based on the directions in the accompanying drawings and are provided for the convenience of describing the present invention and to simplify the description. They do not indicate or imply that the components referred to must have a specific orientation.

[0016] The present invention is a posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod. The robot is described in detail with reference to the accompanying drawings and examples as follows:

[0017] Example 1

[0018] The present invention provides a posture decoupling multi-axis high-speed hybrid robot without a telescopic rod, the structure of which is as follows: Figure 1 As shown, it includes a moving platform 2 and a frame 1 equipped with an end turntable 5 and an end actuator 6, and a first branch I, a second branch II, a third branch III, and a fourth branch IV between the moving platform 2 and the frame 1 are connected in parallel.

[0019] The first branch I is connected to the flange shaft U1, the short link L1, the long link L2, the long link L3, the short link L4, the U-shaped fork U2, the large pulley 3, and the small pulley 4 in sequence from the frame 1 to the moving platform 2. The flange shaft U1 is connected to the frame 1 through the rotating pair R1, the short link L1 is connected to the flange shaft U1 through the rotating pair R2, the long link L2 is connected to the short link L1 through the rotating pair R3, and the long link L3 is connected to the short link L1 through the rotating pair R3. The fourth pair R4 is connected to the long link L2, the short link L4 is connected to the long link L3 through the fifth pair R5, the U-shaped fork U2 is connected to the short link L4 through the sixth pair R6, the moving platform 2 is connected to the U-shaped fork U2 through the seventh pair R7, the U-shaped fork U2 is fixedly connected to the large pulley 3, the small pulley 4 is connected to the large pulley 3 through the synchronous belt, the end turntable 5 is fixedly connected to the small pulley 4, the end turntable 5 is connected to the moving platform 2 through the eighth pair R8, and the end actuator 6 is connected to the end turntable 5 through the rotating pair 9 R9; the axis of the rotating pair 1 R1 connected to the flange shaft U1 is perpendicular to the plane of the frame 1, the axis of the rotating pair 2 R2 connected to the short connecting rod L1 and the flange shaft U1 is perpendicular to and intersects with the axis of the rotating pair 1 R1, the axis of the rotating pair 3 R3 is perpendicular to and intersects with the axis of the rotating pair 2 R2, the axes of the rotating pair 3 R3, the rotating pair 4 R4, and the rotating pair 5 R5 are parallel to each other, the axis of the rotating pair 6 R6 is perpendicular to and intersects with the axis of the rotating pair 5 R5, the axis of the rotating pair 7 R7 connected to the U-shaped fork U2 and the moving platform 2 is perpendicular to the plane of the moving platform 2, and is perpendicular to and intersects with the axis of the rotating pair 6 R6, the axis of the rotating pair 8 R8 connected to the end turntable 5 and the moving platform 2 is parallel to the axis of the rotating pair R7, the axis of the rotating pair 9 R9 is perpendicular to the axis of the rotating pair 8 R8, the central axes of the large pulley 3 and the small pulley 4 are both perpendicular to the plane of the moving platform 2, and the plane of the moving platform 2 is parallel to the plane of the frame 1.

[0020] The second branch II, the third branch III, and the fourth branch IV have exactly the same branch structures. The second branch II is sequentially connected with the active arm L5 and the four-ball joint parallelogram mechanism from the frame 1 to the moving platform 2, wherein the active arm L5 is connected to the frame 1 through the rotating joint R10, and the active arm L5 is respectively connected to the left connecting rod L6 and the right connecting rod L7 through the ball joint S1, the ball joint S2, and the moving platform 2 is respectively connected to the left connecting rod L6 and the right connecting rod L7 through the ball joint S3, the ball joint S4.

[0021] Four motors are installed on the frame 1. Motor 1 a drives the flange shaft U1 in the first branch, motor 2 b, motor 3 c, and motor 4 d drive active arm 1 L5, active arm 2 L8, and active arm 3 L9 respectively; motor 5 e is installed on the end turntable 5 to drive the end effector 6; the second branch II and the third branch III are arranged symmetrically relative to the first branch I, and the first branch I and the fourth branch IV are arranged opposite to each other; the above-mentioned four-ball joint parallelogram mechanism is replaced by a four-universal joint parallelogram mechanism.

[0022] The three-dimensional movement and two-dimensional rotation of the mechanism are achieved through active drive.

[0023] Example 2

[0024] The present invention provides a posture decoupling multi-axis high-speed hybrid robot without a telescopic rod, the structure of which is as follows: Figure 2 As shown, it includes a moving platform 2 and a frame 1 equipped with an end turntable 5 and an end actuator 6, and a first branch I, a second branch II, a third branch III, and a fourth branch IV between the moving platform 2 and the frame 1 are connected in parallel.

[0025] The first branch I is sequentially connected with a flange shaft U1, a short link L1, a long link L2, a long link L3, a short link L4, and a U-shaped fork U2 from the frame 1 to the moving platform 2. The flange shaft U1 is connected to the frame 1 through a rotating pair R1, the short link L1 is connected to the flange shaft U1 through a rotating pair R2, the long link L2 is connected to the short link L1 through a rotating pair R3, the long link L3 is connected to the long link L2 through a rotating pair R4, the short link L4 is connected to the long link L3 through a rotating pair R5, the U-shaped fork U2 is connected to the short link L4 through a rotating pair R6, the U-shaped fork U2 is fixedly connected to the end turntable 5, the end turntable 5 is connected to the moving platform 2 through a rotating pair R8, and the end actuator 6 It is connected to the end turntable 5 through the rotating pair nine R9; the axis of the rotating pair one R1 connected to the frame 1 is perpendicular to the plane of the frame 1, the axis of the rotating pair two R2 connected to the short connecting rod one L1 and the flange shaft U1 is perpendicular to and intersects with the axis of the rotating pair one R1, the axis of the rotating pair three R3 is perpendicular to and intersects with the axis of the rotating pair two R2, the axes of the rotating pair three R3, the rotating pair four R4, and the rotating pair five R5 are parallel to each other, the axis of the rotating pair six R6 is perpendicular to and intersects with the axis of the rotating pair five R5, the axis of the rotating pair eight R8 connected to the end turntable 5 and the moving platform 2 is perpendicular to the plane of the moving platform 2, and intersects perpendicularly with the axis of the rotating pair six R6, the axis of the rotating pair nine R9 is perpendicular to the axis of the rotating pair eight R8, and the plane of the moving platform 2 is parallel to the plane of the frame 1.

[0026] The second branch II, the third branch III, and the fourth branch IV have exactly the same branch structures. The second branch II is sequentially connected to the active arm L5 and the four-ball joint parallelogram mechanism from the frame 1 to the moving platform 2, wherein the active arm L5 is connected to the frame 1 through the rotating pair R10, and the left connecting rod L6 and the right connecting rod L7 are respectively connected to the active arm L5 through the ball pair S1 and the ball pair S2, and the moving platform 2 is respectively connected to the left connecting rod L6 and the right connecting rod L7 through the ball pair S3 and the ball pair S4.

[0027] Four motors are installed on the frame 1. Motor 1 a drives the flange shaft U1 in the first branch I, and motor 2 b, motor 3 c, and motor 4 d drive active arm 1 L5, active arm 2 L8, and active arm 3 L9 respectively; motor 5 e is installed on the end turntable 5 to drive the end actuator 6; the second branch II and the third branch III are arranged symmetrically relative to the first branch I, and the first branch I and the fourth branch IV are arranged opposite to each other; the above-mentioned four-ball joint parallelogram mechanism is replaced by a four-universal joint parallelogram mechanism.

[0028] The three-dimensional movement and two-dimensional rotation of the mechanism are achieved through active drive.

[0029] In this document, directional terms such as front, back, top, and bottom are defined based on the positions of components in the accompanying drawings and relative to each other, and are intended only for clarity and convenience in describing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0030] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A posture-decoupled multi-axis high-speed hybrid robot without a telescopic rod, comprising a frame, a moving platform, five motors, an end turntable, an end effector, and first, second, third, and fourth branches connected in parallel between the frame and the moving platform, characterized in that: The first branch is connected with a flange shaft, a short link 1, a long link 1, a long link 2, a short link 2, a U-shaped fork, a large pulley, and a small pulley in sequence from the frame to the moving platform, the flange shaft of the first branch is connected to the frame through a rotating pair 1, the short link 1 is connected to the flange shaft through a rotating pair 2, the short link 1 is connected to the long link 1 through a rotating pair 3, the long link 1 is connected to the long link 2 through a rotating pair 4, the long link 2 is connected to the short link 2 through a rotating pair 5, the short link 2 is connected to the U-shaped fork through a rotating pair 6, the U-shaped fork is connected to the moving platform through a rotating pair 7, the U-shaped fork is fixedly connected to the large pulley, the small pulley is connected to the large pulley through a synchronous belt, the small pulley is fixedly connected to the end turntable, and the end The turntable is connected to the moving platform through a rotating pair eight; the end actuator is connected to the end turntable through a rotating pair nine; the axis of the rotating pair one connecting the flange shaft and the frame is perpendicular to the frame plane and intersects perpendicularly with the axis of the rotating pair two, the axis of the rotating pair seven connecting the U-shaped fork and the moving platform is perpendicular to the moving platform plane and intersects perpendicularly with the axis of the rotating pair six, the axis of the rotating pair three intersects perpendicularly with the axis of the rotating pair two, the axes of the rotating pair three, the rotating pair four, and the rotating pair five are parallel to each other, the axis of the rotating pair eight connecting the end turntable and the moving platform is perpendicular to the moving platform plane, the center axes of the large pulley and the small pulley are both perpendicular to the moving platform plane, and the moving platform plane is parallel to the frame plane; The second, third and fourth branches all include: an active arm, a four-ball joint parallelogram mechanism and a revolute pair; The rotating pair connects the frame and the active arm; the four-ball joint parallelogram mechanism is a closed-loop mechanism composed of the active arm, the moving platform, the left connecting rod and the right connecting rod connected in sequence end to end through ball joints; four motors are installed on the frame, motor one drives the flange shaft in the first branch, motor two, motor three, and motor four drive active arm one, active arm two, and active arm three respectively; motor five is installed on the end turntable for driving the end actuator; the second branch and the third branch are symmetrically arranged relative to the fourth branch, and the first branch is arranged opposite to the fourth branch.

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