A five-DOF ultra-large workspace hybrid coupling robot

Abstract

This invention provides a five-degree-of-freedom (DOF) ultra-large workspace hybrid coupled robot, belonging to the field of robot technology. It includes a base, a rotating platform, truss support rods, an intermediate mounting plate, a moving platform, connecting flanges, an end effector, five drive motors, and a first branch and a second branch installed between the rotating platform and the moving platform. The first branch is sequentially connected to the moving platform via links one, two, three, and four; the second branch is sequentially connected to the moving platform via links five, six, seven, eight, and nine. This invention uses a hybrid structure to achieve five-degree-of-freedom motion and two concentric links to achieve angular transmission. It features a simple structure, low manufacturing cost, and advantages such as high speed, high rigidity, and ultra-large workspace, showing promising application prospects in sorting and manufacturing fields.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a five-degree-of-freedom ultra-large workspace hybrid coupling robot. Background Technology

[0002] Currently, my country's express delivery industry is in a stage of rapid development. Achieving automation in the sorting process is a common goal of all express delivery companies. The automated equipment used in the sorting field is divided into serial robots and parallel robots. Because the drive motors of serial robots are arranged on various rotating joints and robotic arms far away from the base, the robotic arm structure is complex, heavy, and has high inertia, making it difficult to achieve high-speed sorting. Parallel robots, as multi-branch coupling mechanisms, can achieve high-speed and high-precision movement, but their working space is limited, making it difficult to adapt to the actual operation requirements of logistics sorting lines.

[0003] Patent application number CN215785053U proposes a sorting scheme using parallel robots. Due to the structural limitations of the proposed parallel robots, this scheme suffers from a small workspace, a limited range of sortable items, and poor work efficiency. Patent application number CN216609065U proposes a SCARA robot. This robot uses a serial structure, resulting in low robot rigidity. Furthermore, multiple drive motors are arranged on the robotic arm near the robot's end effector, leading to high robot inertia and insufficient speed. Summary of the Invention

[0004] To address the shortcomings of existing technical solutions, the present invention provides a five-degree-of-freedom ultra-large workspace hybrid coupling robot.

[0005] An embodiment of the present invention provides a five-degree-of-freedom ultra-large workspace hybrid coupled robot, comprising a base, a rotating platform, a truss support rod, an intermediate mounting plate, a moving platform, an end effector, five drive motors, and a first branch and a second branch installed between the rotating platform and the moving platform; the rotating platform is fixedly connected to the output end of motor one, and motor one is fixedly connected to the base; the intermediate mounting plate is fixedly connected to the rotating platform through the truss support rod; the first branch sequentially connects motor two, link one, link two, link three, and link four from the rotating platform to the moving platform; motor two is fixedly connected to the rotating platform; link one is fixedly connected to the output end of motor two and connected to link two through a revolute joint one; Link 2 and link 3 are connected via revolute joint 2; link 3 is connected to the intermediate mounting plate via revolute joint 3 and to link 4 via revolute joint 4; link 4 is connected to the moving platform via revolute joint 5; the axis of revolute joint 1 is parallel to the output shaft of motor 2, the axes of revolute joint 2 and revolute joint 3, and is vertically upward; the axes of revolute joint 3 and revolute joint 4 are perpendicular to and intersect each other; the axis of revolute joint 4 is parallel to the axis of revolute joint 5; link 1, link 2, link 3, rotating platform, truss support rod, intermediate mounting plate, revolute joint 1, revolute joint 2, and revolute joint 3 together constitute a parallelogram mechanism; the second branch extends from the rotating platform... The rotating platform is sequentially connected to motor three, connecting rod five, connecting rod six, connecting rod seven, connecting rod eight, and connecting rod nine. Motor three is fixedly connected to the rotating platform. Connecting rod five is fixedly connected to the output shaft of motor three and connected to the intermediate mounting plate via revolute joint six. Connecting rod six is ​​fixedly connected to connecting rod five and connected to connecting rod seven via revolute joint seven. Connecting rod seven is connected to connecting rod nine via revolute joint ten. Connecting rod eight is connected to the intermediate mounting plate via revolute joint eight and connected to connecting rod nine via revolute joint nine. Connecting rod nine is connected to the rotating platform via revolute joint eleven. The axis of revolute joint six is ​​collinear with the axis of the output shaft of motor three and perpendicular to the axes of revolute joint eight and revolute joint seven. The axis of revolute joint eight... The axis of the rotating joint 9 is perpendicular to and intersects the axis of the rotating joint 10; the axis of the rotating joint 9 is perpendicular to and intersects the axis of the rotating joint 10, and is parallel to the axis of the rotating joint 11; the axis of the rotating joint 10 is collinear with the center line of the connecting rod 9; the axes of the rotating joint 6, the rotating joint 7, the rotating joint 10, the rotating joint 8, and the rotating joint 9 intersect at one point; the connecting rod 4, the connecting rod 8, the connecting rod 9, the moving platform, the rotating joint 4, the rotating joint 5, the rotating joint 9, and the rotating joint 11 together form a parallelogram mechanism; the motor 4 is fixedly connected to the moving platform, the connecting flange is fixedly connected to the output shaft of the motor 4, the motor 5 is fixedly connected to the connecting flange, and the end effector is fixedly connected to the output shaft of the motor 5;The axis of the fourth output shaft of the motor is vertical and perpendicular to the axis of the fifth output shaft of the motor.

[0006] The beneficial effects of the technical solution provided by this invention are as follows: This invention proposes a five-degree-of-freedom ultra-large workspace hybrid coupled robot, which is a hybrid structure capable of achieving three translational and two rotational movements with five degrees of freedom. The key advantages of this robot compared to serial SCARA robots are its truss and closed-loop structure, which effectively reduces the weight of the robotic arm while maintaining higher rigidity; it contains no sliding joints, resulting in less mechanical wear; the multiple main drive motors are arranged above the base, resulting in low robot inertia and enabling high-speed movement; compared to parallel robots, it has a larger workspace, making it more suitable for large-scale unordered sorting operations. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the overall structure of a five-degree-of-freedom ultra-large workspace hybrid coupling robot according to the present invention;

[0008] Figure 2 yes Figure 1 A diagram showing the view from behind;

[0009] Figure 3 This is a structural diagram of the intermediate mounting plate and its connecting components.

[0010] In the diagram: 1-Base, 2-Rotating platform, 3-Truss support rod, 4-Intermediate mounting plate, 5-Moving platform, 6-Connecting flange, 7-End actuator, M1-Motor 1, M2-Motor 2, M3-Motor 3, M4-Motor 4, M5-Motor 5, L1-Link 1, L2-Link 2, L3-Link 3, L4-Link 4, L5-Link 5, L6-Link 6, L7-Link 7, L8-Link 8, L9-Link 9, R1-Revolute joint 1, R2-Revolute joint 2, R3-Revolute joint 3, R4-Revolute joint 4, R5-Revolute joint 5, R6-Revolute joint 6, R7-Revolute joint 7, R8-Revolute joint 8, R9-Revolute joint 9, R10-Revolute joint 10, R11-Revolute joint 11. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0012] Please refer to Figures 1 to 3The present invention provides a five-degree-of-freedom ultra-large workspace hybrid coupled robot, including a base 1, a rotating platform 2, a truss support rod 3, an intermediate mounting plate 4, a moving platform 5, a connecting flange 6, an end effector 7, five drive motors, and a first branch I and a second branch II installed between the rotating platform 2 and the moving platform 5; the motor M1 is fixedly connected to the base 1; the rotating platform 2 is fixedly connected to the output end of the motor M1 and the truss support rod 3, and the intermediate mounting plate 4 is fixedly connected to the truss support rod 3.

[0013] The first branch I, from the rotating platform 2 to the moving platform 5, is sequentially connected to motor 2 M2, connecting rod 1 L1, connecting rod 2 L2, connecting rod 3 L3, and connecting rod 4 L4; motor 2 M2 is fixedly connected to the rotating platform 2; the output end of motor 2 M2 is fixedly connected to connecting rod 1 L1, connecting rod 2 L2 is connected to connecting rod 1 L1 via revolute joint 1 R1; connecting rod 3 L3 is connected to connecting rod 2 L2 via revolute joint 2 R2, connected to the intermediate mounting plate 4 via revolute joint 3 R3, and connected to connecting rod 4 L4 via revolute joint 4 R4; the moving platform 5 is connected to the connecting rod 4 L4 via revolute joint 4 R4. Link 4 L4 is connected by revolute joint 5 R5; the axis of revolute joint 1 R1 is parallel to the output shaft of motor 2 M2, the axis of revolute joint 2 R2 and the axis of revolute joint 3 R3, and the direction is vertically upward; the axis of revolute joint 4 R4 is perpendicular to and intersects the axis of revolute joint 3 R3, and is parallel to the axis of revolute joint 5 R5; the connecting rod 1 L1, connecting rod 2 L2, connecting rod 3 L3, rotating platform 2, truss support rod 3, intermediate mounting plate 4, revolute joint 1 R1, revolute joint 2 R2 and revolute joint 3 R3 together constitute a parallelogram mechanism.

[0014] The second branch II, from the rotating platform 2 to the moving platform 5, is sequentially connected to motor 3M3, connecting rod 5L5, connecting rod 6L6, connecting rod 7L7, connecting rod 8L8, and connecting rod 9L9. Motor 3M3 is fixedly connected to the rotating platform 2. Connecting rod 5L5 is fixedly connected to the output shaft of motor 3M3, and connected to the intermediate mounting plate 4 via revolute joint 6R6, and fixedly connected to connecting rod 6L6. Connecting rod 6L6 is connected to connecting rod 7L7 via revolute joint 7R7. Connecting rod 7L7 is connected to connecting rod 9L9 via revolute joint 10R10. Connecting rod 9L9 is connected to connecting rod 8L8 via revolute joint 9R9, and connected to the moving platform 5 via revolute joint 11R11. Connecting rod 8L8 is connected to the intermediate mounting plate 4 via revolute joint 8R8. The axis of the output shaft of motor 3M3... The axis of the rotating joint 6 R6 is collinear with the axis of the rotating joint 8 R8 and the axis of the rotating joint 7 R7; the axis of the rotating joint 8 R8 is perpendicular to and intersects the axis of the rotating joint 9 R9; the axis of the rotating joint 9 R9 is parallel to the axis of the rotating joint 11 R11 and perpendicular to the axis of the rotating joint 10 R10; the axis of the rotating joint 10 R10 is collinear with the center line of the connecting rod 9 L9; the axes of the rotating joint 6 R6, the rotating joint 7 R7, the rotating joint 10 R10, the rotating joint 8 R8 and the rotating joint 9 R9 intersect at one point; the connecting rod 4 L4, the connecting rod 9 L9, the moving platform 5, the rotating joint 4 R4, the connecting rod 8 L8, the rotating joint 5 R5, the rotating joint 9 R9 and the rotating joint 11 R11 together constitute a parallelogram mechanism.

[0015] The motor M4 is fixedly connected to the moving platform 5, and the motor M5 is fixedly connected to the output shaft of the motor M4 through the connecting flange 6. The end effector 7 is fixedly connected to the output shaft of the motor M5. The axis of the output shaft of the motor M4 is in the vertical direction and is perpendicular to the axis of the output shaft of the motor M5.

[0016] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing 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.

[0017] Where there is no conflict, the embodiments and features described above can be combined with each other. The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A five-degree-of-freedom ultra-large workspace hybrid coupling robot, characterized in that: It includes a base, a rotating platform, truss support rods, an intermediate mounting plate, a moving platform, an end effector, five drive motors, and a first branch and a second branch installed between the rotating platform and the moving platform; The rotating platform is fixedly connected to the output end of motor one, which is fixedly connected to the base. The intermediate mounting plate is fixedly connected to the rotating platform via a truss support rod. The first branch, from the rotating platform to the moving platform, sequentially connects motor two, connecting rod one, connecting rod two, connecting rod three, and connecting rod four. Motor two is fixedly connected to the rotating platform. Connecting rod one is fixedly connected to the output end of motor two and connected to connecting rod two via revolute joint one. Connecting rod two is connected to connecting rod three via revolute joint two. Connecting rod three is connected to the intermediate mounting plate via revolute joint three and to connecting rod four via revolute joint four. Connecting rod four is connected to the moving platform via revolute joint five. The axis of link 1 is parallel to the output shaft of motor 2, the axes of revolute joint 2 and revolute joint 3, and is vertically upward; the axis of revolute joint 3 is perpendicular to and intersects the axis of revolute joint 4; the axis of revolute joint 4 is parallel to the axis of revolute joint 5; link 1, link 2, link 3, rotating platform, truss support rod, intermediate mounting plate, revolute joint 1, revolute joint 2, and revolute joint 3 together form a parallelogram mechanism; the second branch connects motor 3, link 5, link 6, link 7, link 8, and link 9 sequentially from the rotating platform to the moving platform; motor 3 is fixed to the rotating platform; link 5 is connected to the output shaft of motor 3... The output shaft is fixedly connected to the intermediate mounting plate via revolute joint six; connecting rod six is ​​fixedly connected to connecting rod five and connected to connecting rod seven via revolute joint seven; connecting rod seven and connecting rod nine are connected via revolute joint ten; connecting rod eight is connected to the intermediate mounting plate via revolute joint eight and connected to connecting rod nine via revolute joint nine; connecting rod nine is connected to the moving platform via revolute joint eleven; the axis of revolute joint six is ​​collinear with the axis of the motor's third output shaft and perpendicular to the axes of revolute joint eight and revolute joint seven; the axis of revolute joint eight is perpendicular to and intersects the axis of revolute joint nine; the axis of revolute joint nine is perpendicular to and intersects the axis of revolute joint ten and is perpendicular to the axis of revolute joint ten. The axis of joint eleven is parallel; the axis of joint ten is collinear with the center line of link nine; the axes of joints six, seven, ten, eight, and nine intersect at one point; link four, link eight, link nine, moving platform, joint four, joint five, joint nine, and joint eleven together form a parallelogram mechanism; motor four is fixedly connected to the moving platform, the connecting flange is fixedly connected to the output shaft of motor four, motor five is fixedly connected to the connecting flange, and the end effector is fixedly connected to the output shaft of motor five; the axis of the output shaft of motor four is in the vertical direction and is perpendicular to the axis of the output shaft of motor five.

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