A three-branch multi-axis high-speed hybrid robot capable of achieving full rotation of the terminal

Abstract

The present invention provides a three-branch multi-axis high-speed hybrid robot that can realize full-circle rotation of the end portion, belonging to the field of robot technology; it comprises a frame, a moving platform, four drive motors and a first, a second and a third branch connected in parallel between the frame and the moving platform; the first and second branches have exactly the same structure, and the first branch is sequentially connected with a rotating pair 1, a connecting rod 1, and a four-ball joint parallelogram mechanism from the frame to the moving platform; the third branch is sequentially connected with a compound hinge parallelogram mechanism, a rotating pair 7, a connecting rod 10, three-intersecting rotating pairs, a connecting rod 13, a connecting rod 14, and a rotating pair 11 from the frame to the moving platform; compared with the existing technical solutions, the robot of the present invention has many advantages: only three branches and a single platform are required to realize three translations and a full-circle rotation, and the structure is simple; since it does not contain a telescopic sliding pair, the life problem caused by sliding wear is avoided; it does not contain pulleys and gear mechanisms, and maintenance is simple.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a three-branch multi-axis high-speed hybrid robot capable of achieving full rotation of an end portion. Background Art

[0002] Four-degree-of-freedom high-speed hybrid robots, due to their high speed, high precision, excellent dynamic characteristics, and large workspace, are widely used in various fields such as handling, assembly, and sorting. In recent years, this type of mechanism has attracted increasing attention. As industrial manufacturing requirements increase, the requirements for the motion space and movement flexibility of four-degree-of-freedom hybrid robots have become higher.

[0003] Existing four-degree-of-freedom parallel robots capable of full-circle rotation of the end effector are mainly divided into two categories. The first category uses a structure containing linear telescopic cylinders to achieve end-effector rotation. A Chinese patent (CN 114367962 A) proposes a high-speed parallel robot mechanism that can achieve three or four degrees of freedom. This mechanism can realize two motion modes: three spatial translations and three translations and one rotation. It has a compact structure and can achieve full rotation, making it suitable for complex pick-and-place environments. The intermediate shaft uses a linear telescopic cylinder structure. While this improves the accuracy of the intermediate shaft, the telescopic cylinder structure is heavy, the rods have high inertia, severe friction, and high motion noise. This results in low motion accuracy and requires multiple component replacements during the service life, which affects production efficiency and increases subsequent maintenance costs. The second type is a parallel structure using gear transmission and belt transmission. A Chinese patent (CN 110815183 B) proposes a four-degree-of-freedom high-speed parallel robot mechanism with dual drive branches. This mechanism has a secondary drive branch on the main drive branch. The secondary drive branch drives a motion conversion mechanism located on the moving platform, transmitting the rotation of the secondary drive branch to the motion of the end effector, amplifying it and improving the end effector's rotation capability. However, the end effector cannot achieve a full rotation. In addition, the rotation transmission of the secondary drive branch uses rack and pinion transmission, bevel gear transmission, and synchronous belt transmission. The end motion has large inertia, a complex structure, and high manufacturing and subsequent maintenance costs. Summary of the Invention

[0004] In response to the shortcomings of existing solutions, the present invention provides a three-branch multi-axis high-speed hybrid robot that can achieve full-circle rotation of the end. It does not contain a telescopic sliding pair, thus avoiding life problems caused by sliding wear; it does not contain pulleys and gear mechanisms, and is easy to maintain.

[0005] The technical solution of the present invention provides a three-branch multi-axis high-speed hybrid robot that can realize a full rotation of the end, belonging to the field of robotics technology, and includes a frame, a moving platform, four drive motors and a first, second and third branches connected in parallel between the frame and the moving platform.

[0006] The first and second branches have the same structure. The first branch is sequentially connected with a revolving pair 1, a connecting rod 1, and a four-ball joint parallelogram mechanism from the frame to the moving platform; one end of the connecting rod 1 is connected to the frame through the revolving pair 1; the other end of the connecting rod 1 is fixedly connected to the four-ball joint parallelogram mechanism; the moving platform is fixedly connected to the four-ball joint parallelogram mechanism; the axis of the revolving pair 1 is parallel to the plane of the frame; the third branch is sequentially arranged with a compound hinge parallelogram mechanism, a revolving pair 7, a connecting rod 10, a three-intersecting revolving pair, a connecting rod 13, a connecting rod 14, and a revolving pair 11 from the frame to the moving platform; the compound hinge The compound hinge end of the parallelogram mechanism is arranged on the frame; the connecting rod 10 is connected to the output rod of the compound hinge parallelogram mechanism through the rotating pair 7, the connecting rod 10 is connected to the connecting rod 13 through the three-intersecting rotating pairs, the connecting rod 14 is fixedly connected to the connecting rod 13, and the connecting rod 14 is connected to the moving platform through the rotating pair 11 and passes through the lower end of the moving platform; the axis of the rotating pair 11 is perpendicular to the plane of the moving platform; four motors are installed on the frame, motor 1 and motor 2 drive the rotation of the connecting rod 1 and the connecting rod 15 respectively, and motor 3 and motor 4 jointly drive the movement of the compound hinge parallelogram mechanism.

[0007] Furthermore, the end of the connecting rod fourteen of the third branch is fixedly connected to the end effector.

[0008] Furthermore, a horizontally arranged fifth motion shaft is installed at the end of the connecting rod fourteen of the third branch.

[0009] Furthermore, the four-ball joint parallelogram mechanism is replaced by a four-universal joint parallelogram mechanism.

[0010] The technical solution of the present invention has the following beneficial effects: three translations and a full-circle rotation motion are realized by using only three branches and a single platform, and the structure is simple and compact; since it does not contain a telescopic sliding pair, the life problem caused by sliding wear is avoided; it does not contain pulleys and gear mechanisms, does not require tensioning and lubrication, and is simple to maintain, and can be widely used in food sorting, industrial assembly and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the overall structure of a three-branch multi-axis high-speed hybrid robot capable of achieving a full rotation of the terminal end;

[0012] Figure 2 This is a schematic diagram of the overall structure of a three-branch multi-axis high-speed hybrid robot that can achieve a full rotation of the end, with a fifth motion axis installed at the end.

[0013] In the figure: 1-frame, 2-moving platform, 3-end effector, a-motor 1, b-motor 2, c-motor 3, d-motor 4, e-fifth motion axis, Ⅰ-first branch, Ⅱ-second branch, Ⅲ-third branch, L1-connecting rod 1, L2-connecting rod 2, L3-connecting rod 3, L4-connecting rod 4, L5-connecting rod 5, L6-connecting rod 6, L7-connecting rod 7, L8-connecting rod 8, L9-connecting rod 9, L10-connecting rod 10, L11-connecting rod 11, L12-connecting rod twelve, L13-connecting rod thirteen, L14-connecting rod fourteen, L15-connecting rod fifteen, R1-rotational pair one, R2-rotational pair two, R3-rotational pair three, R4-rotational pair four, R5-rotational pair five, R6-rotational pair six, R7-rotational pair seven, R8-rotational pair eight, R9-rotational pair nine, R10-rotational pair ten, R11-rotational pair eleven, S1-ball pair one, S2-ball pair two, S3-ball pair three, S4-ball pair four. DETAILED DESCRIPTION

[0014] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0015] Please refer to Figure 1 and Figure 2 An embodiment of the present invention provides a three-branch multi-axis high-speed hybrid robot that can realize a full rotation of the end, which includes a frame 1, a moving platform 2, four drive motors, and a first branch I, a second branch II, and a third branch III connected in parallel between the frame 1 and the moving platform 2.

[0016] The first branch I and the second branch II have exactly the same structure. The first branch I is sequentially connected with a connecting rod L1 and a four-ball joint parallelogram mechanism from the frame 1 to the moving platform 2. One end of the connecting rod L1 is connected to the frame 1 through a rotating pair R1. The four-ball joint parallelogram mechanism is composed of a connecting rod L2, a connecting rod L3, a connecting rod L4, a connecting rod L5, a ball pair S1, a ball pair S2, a ball pair S3, and a ball pair S4. The connecting rod L1 is fixedly connected to the connecting rod L2 at the other end. The connecting rod L3 and the connecting rod L4 are respectively connected to the connecting rod L2 through the ball pair S1 and the ball pair S2. The connecting rod L3 and the connecting rod L4 are respectively connected to the connecting rod L5 through the ball pair S3 and the ball pair S4. The connecting rod L5 is connected to the connecting rod L2. The moving platform 2 is fixedly connected; the axis of the rotating pair R1 is parallel to the plane of the frame 1; at the same time, it should be noted that, in actual working conditions, the four-ball joint parallelogram mechanism can be replaced by a four-universal joint parallelogram mechanism; the third branch III is sequentially connected from the frame 1 to the moving platform 2 with a compound hinge parallelogram mechanism, a rotating pair R7, a connecting rod L10, three intersection rotating pairs, a connecting rod L13, a connecting rod L14, and a rotating pair R11. The compound hinge parallelogram mechanism consists of a connecting rod L6, a connecting rod L7, a connecting rod L8, a connecting rod L9, a rotating pair R2, a rotating pair R3, a rotating pair R4, a rotating pair R5, and a rotating pair R6. The connecting rod L6 is connected to the frame 1 through the rotating pair R2, and the connecting rod L7 is connected to the frame 1 through the rotating pair R2. L7 is connected to the frame 1 through the rotating pair 3 R3, the connecting rod L6 is connected to the connecting rod L8 through the rotating pair 4 R4, and the connecting rod L9 is connected to the connecting rod L8 and the connecting rod L7 through the rotating pair 5 R5 and the rotating pair 6 R6 respectively; the said multi-hinged parallelogram mechanism is connected to the connecting rod L10 through the rotating pair 7 R7, and the connecting rod L10 is connected to the connecting rod L13 through three intersecting rotating pairs, and the said three intersecting rotating pairs are composed of the rotating pair 8 R8, the rotating pair 9 R9, and the rotating pair 10 R10, the connecting rod L10 is connected to the connecting rod L11 through the rotating pair 9 R8, the connecting rod L11 is connected to the connecting rod L12 through the rotating pair 10 R9, and the connecting rod L13 is connected to the connecting rod L12 through the rotating pair 10 R10; the The connecting rod L14 is fixedly connected to the connecting rod L13, and the connecting rod L14 is connected to the movable platform 2 through the rotating pair R11, and passes through the lower end of the movable platform 2; the axes of the rotating pair R2 and the rotating pair R3 coincide and are both parallel to the plane of the frame 1, the axes of the rotating pair R3, the rotating pair R4, the rotating pair R5, and the rotating pair R6 are parallel to each other, the axis of the rotating pair R7 is not in the same plane as the axis of the rotating pair R6, the axis of the rotating pair R8 is perpendicular to the axis of the rotating pair R7, the axes of the rotating pair R8, the rotating pair R9, and the rotating pair R10 intersect, the axis of the rotating pair R11 is parallel to the axis of the rotating pair R10 and are both perpendicular to the plane of the movable platform 2, and the plane of the movable platform 2 is parallel to the plane of the frame 1;The end of the connecting rod 12 L12 is fixedly connected to the end effector 3 or mounted with the horizontally arranged fifth motion axis e.

[0017] Four motors are arranged on the frame 1, motor 1a and motor 2b respectively drive the rotation of connecting rod 1 L1 and connecting rod 15 L15, and motor 3c and motor 4d respectively drive the rotation of connecting rod 6 L6 and connecting rod 7 L7.

[0018] 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.

[0019] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0020] 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 three-arm, multi-axis, high-speed hybrid robot capable of achieving a full rotation of the terminal end, comprising a frame, a moving platform, four drive motors, and first, second, and third arms connected in parallel between the frame and the moving platform, characterized in that: The first and second branches have the same structure. The first branch is sequentially connected with a revolving pair 1, a connecting rod 1, and a four-ball joint parallelogram mechanism from the frame to the moving platform; one end of the connecting rod 1 is connected to the frame through the revolving pair 1; the other end of the connecting rod 1 is fixedly connected to the four-ball joint parallelogram mechanism; the moving platform is fixedly connected to the four-ball joint parallelogram mechanism; the axis of the revolving pair 1 is parallel to the plane of the frame; the third branch is sequentially arranged with a compound hinge parallelogram mechanism, a revolving pair 7, a connecting rod 10, a three-intersecting revolving pair, a connecting rod 13, a connecting rod 14, and a revolving pair 11 from the frame to the moving platform; the compound hinge parallelogram mechanism The compound hinge end of the mechanism is arranged on the frame; the connecting rod 10 is connected to the output rod of the compound hinge parallelogram mechanism through the rotating pair 7, the connecting rod 10 is connected to the connecting rod 13 through the three-intersection rotating pair, the connecting rod 14 is fixedly connected to the connecting rod 13, and the connecting rod 14 is connected to the moving platform through the rotating pair 11 and passes through the lower end of the moving platform; the axis of the rotating pair 11 is perpendicular to the plane of the moving platform; four motors are installed on the frame, motor 1 and motor 2 respectively drive the connecting rod 1 on the first branch structure and the second branch structure to rotate, and motor 3 and motor 4 jointly drive the movement of the compound hinge parallelogram mechanism.

2. A three-branch multi-axis high-speed hybrid robot capable of achieving full-circle rotation of the terminal end according to claim 1, characterized in that: The end of the connecting rod fourteen of the third branch is fixedly connected to the end effector.

3. The three-branch multi-axis high-speed hybrid robot capable of achieving full-circle rotation of the terminal end according to claim 1, characterized in that: A horizontally arranged fifth motion shaft is installed at the end of the connecting rod fourteen of the third branch.

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