Hybrid drive parallel plate mounting robot

Abstract

The application discloses a hybrid driving parallel plate mounting robot, which comprises a base, a mechanical arm and an end effector, the base can realize rotation of the mechanical arm in a horizontal plane, and the end effector is used for adsorbing a plate to be mounted; the mechanical arm comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, a first telescopic executing element, a second telescopic executing element, a third telescopic executing element, a fourth telescopic executing element, a fifth telescopic executing element, a first mechanical arm motor, a second mechanical arm motor and a third mechanical arm motor; the base frame body of the base, the part between two rotation axes of the first arm body and the fifth arm body, the first arm body, the second arm body, the third arm body, the fourth arm body and the fifth arm body jointly form a six-link mechanism. The output torque of the mechanical arm motor is taken as a feedback quantity, the output force of the telescopic executing element is adjusted, the cooperative control of the telescopic executing element and the mechanical arm motor is realized, and the purposes of saving energy consumption and reducing the self weight of the robot are achieved.

Description

Technical Field

[0001] This invention belongs to the field of building installation equipment technology, specifically a hybrid-driven parallel plate installation robot. Background Technology

[0002] Currently, in the construction industry, the installation of outdoor glass curtain walls, indoor glass, and some panel materials mainly relies on manual labor. In confined indoor workspaces, scaffolding and ladders are required, and the handling of panels is entirely manual. For heavy glass and panels, manual installation suffers from drawbacks such as poor positioning accuracy, high labor intensity, and significant safety risks. Utilizing panel installation robots can not only improve the efficiency and accuracy of panel installation but also effectively reduce the labor intensity of workers, greatly protecting their safety.

[0003] With the rapid development of technology, robots are being applied to various industries due to their unique advantages, and domestic and foreign scholars have made certain achievements in the research of building panel installation robots. Invention application No. 202110008880.7 discloses a building panel installation robot, including two robotic arms that can grasp panels individually or together. The robotic arms are arranged in series, resulting in poor load-bearing capacity and an inability to handle heavy panels. The robotic arms are driven by hydraulic cylinders, which prevents precise control of force or position, leading to poor installation accuracy. Furthermore, the long reach of the robotic arms restricts their movement, thus limiting their effectiveness in obstacle-prone working environments. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a hybrid-driven parallel plate installation robot.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] A hybrid-driven parallel sheet metal mounting robot includes a base, a robotic arm, and an end effector. The base enables the robotic arm to rotate in a horizontal plane, and the end effector is used to adsorb the sheet metal to be mounted. The robotic arm comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, a first telescopic actuator, a second telescopic actuator, a third telescopic actuator, a fourth telescopic actuator, a fifth telescopic actuator, a first motor, a second motor, and a third motor.

[0007] The lower end of the first arm is rotatably connected to the upper end of the base frame of the base. The upper end of the first arm is rotatably connected to the lower end of the second arm. The upper end of the second arm is rotatably connected to the upper end of the third arm via the first motor of the robotic arm. The lower end of the third arm is rotatably connected to the upper end of the fourth arm via the second motor of the robotic arm. The lower end of the fourth arm is rotatably connected to the upper end of the fifth arm via the third motor of the robotic arm. The lower end of the fifth arm is rotatably connected to the middle of the lower end of the base frame of the base. The portion of the base frame of the base between the two rotation axes of the first and fifth arms, the first arm, the second arm, the third arm, the fourth arm, and... The fifth arm forms a six-bar linkage mechanism; the cylinder of the first telescopic actuator is hinged to the middle of the base frame of the base, and the output end of the first telescopic actuator is hinged to the middle of the fifth arm; the cylinders of the second and third telescopic actuators are respectively hinged to the lower sides of the first arm, and the output ends of the second and third telescopic actuators are respectively hinged to the lower sides of the second arm; the cylinders of the fourth and fifth telescopic actuators are respectively hinged to the lower sides of the base bracket of the base, and the output ends of the fourth and fifth telescopic actuators are respectively hinged to the upper sides of the first arm.

[0008] Furthermore, the robot controls the movement of the robotic arm through the coordinated control of the telescopic actuators and the robotic arm motors; during the movement of the robotic arm, the torque of each robotic arm motor is collected in real time, and the error between the actual value and the expected value of the robotic arm motor torque is calculated; based on the motor torque error, the adjustment amount of the output force of each telescopic actuator is calculated using the following formula; each adjustment amount is input into the controller, and by controlling the input voltage of each telescopic actuator, the output force of the telescopic actuator is controlled;

[0009]

[0010]

[0011] In the formula, Δf 11 Δf is the adjustment amount of the output force of the fourth and fifth telescopic actuators. 12 Δf is the adjustment amount of the output force of the second and third telescopic actuators. 21 e is the adjustment amount of the output force of the first telescopic actuator. 13 e 22 and e 23 The torque errors λ of the first motor, third motor, and second motor of the robotic arm, respectively. ij (i = 1, 2, 3; j = 1, 2, 3) are the influence weights, τ 13 τ 22 and τ 23 These are the actual torque values ​​of the first, third, and second motors of the robotic arm, respectively.11 f is the output force of the fourth and fifth telescopic actuators. 12 f is the output force of the second and third telescopic actuators. 21 This is the output force of the first telescopic actuator.

[0012] Furthermore, the end effector includes a suction cup, a suction cup frame, a rotary motor, a swing motor, a swing motor mounting component, an end connector, and a rotary motor mounting component; wherein, one side of the end connector is connected to the output shaft of the first motor of the robotic arm, and the other side is rotatably connected to the upper end of the second arm body; the swing motor is connected to the end connector through the swing motor mounting component, the rotary motor mounting component is connected to the output shaft of the swing motor, the rotary motor is mounted on the rotary motor mounting component, the output shaft of the rotary motor is connected to the suction cup frame, and the suction cup frame is provided with multiple suction cups.

[0013] Furthermore, the base includes a support base, a rotary support platform, a first gear, a base frame, a second gear, and a base motor; the rotary support platform is mounted on the support base, the first gear is fixed on the rotary support platform, and the bottom of the base frame is rotatably connected to the upper end of the rotary support platform; the base motor is mounted on the base frame, the second gear is located on the output shaft of the base motor and meshes with the first gear, and the second gear rotates around the circumference of the first gear.

[0014] Furthermore, the base frame is L-shaped, with upper support ears on both sides of the upper end, lower support ears on both sides of the lower end, and a hanging ear in the middle of the lower end.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] (1) The robotic arm of the present invention adopts a parallel mechanism, with five arm bodies and a base frame forming a six-bar linkage, creating a closed-loop motion. This makes the overall structure of the invention compact, and each link has a certain offsetting effect on the joint clearance, which can reduce the cumulative error effect and improve the accuracy of building material installation. In addition, the parallel robotic arm has a high load-bearing capacity and can handle and install building materials of large weight.

[0017] (2) The robotic arm of this invention adopts a cylinder-motor hybrid drive mode. During the process of grasping the board and moving it to the rough installation position, the cylinder drive is mainly used to achieve a wide range of position adjustments. When the board approaches the installation position, the motor drive is used to precisely control the position of the board. Since the three motors of the robotic arm are located on the third and fourth arms, during the board handling and installation process, the external load is mainly applied to the cylinders, and the motors do not bear the load, but only make minor adjustments to the position of the board. In this way, high-precision position control can be achieved with a smaller power motor, which not only reduces the energy consumption of the robot, but also reduces the weight of the robot.

[0018] (3) During the process of the robot performing the plate installation task, the torque of the robotic arm motor is fed back in real time. The control system adjusts the output force of each telescopic actuator according to the feedback amount, reducing the torque on the motor. This allows the use of a lower power motor to adjust the position of the end effector, thereby saving energy consumption and reducing the robot's weight. Attached Figure Description

[0019] Figure 1 This is an overall structural diagram of the present invention;

[0020] Figure 2 This is a perspective view of the base of the present invention;

[0021] Figure 3 This is a rear view of the base of the present invention;

[0022] Figure 4 This is a structural diagram of the base frame of the present invention;

[0023] Figure 5 This is an assembly diagram of the robotic arm and base of the present invention;

[0024] Figure 6 This is a connection diagram of the various telescopic actuators of the robotic arm of the present invention;

[0025] Figure 7 This is a schematic diagram showing the installation of the second motor and the third motor of the robotic arm according to the present invention;

[0026] Figure 8 This is a perspective view of the end effector of the present invention;

[0027] Figure 9 This is a left view of the end effector of the present invention;

[0028] In the diagram, 1. Base; 2. Robotic arm; 3. End effector;

[0029] 101. Support base; 102. Rotary support platform; 103. First gear; 104. Base frame; 105. Second gear; 106. Base motor reducer; 107. Base motor;

[0030] 201. First arm body; 202. Second arm body; 203. Third arm body; 204. First telescopic actuator; 205. Second telescopic actuator; 206. Fourth arm body; 207. Fifth arm body; 208. Third telescopic actuator; 209. Fourth telescopic actuator; 210. Fifth telescopic actuator; 211. First motor of the robotic arm; 212. First motor reducer; 213. Second motor of the robotic arm; 214. Second motor reducer; 215. Third motor of the robotic arm; 216. Third motor reducer;

[0031] 301. Suction cup; 302. Suction cup holder; 303. Rotary motor reducer; 304. Rotary motor; 305. Oscillating motor reducer; 306. Oscillating motor; 307. Oscillating motor mounting component; 308. End connector; 309. Rotary motor mounting component;

[0032] 104-1, upper lug; 104-2, lower lug; 104-3, lifting lug. Detailed Implementation

[0033] Specific embodiments are given below. These specific embodiments are only used to further illustrate the technical solution of the present invention and do not limit the scope of protection of this application.

[0034] This invention provides a hybrid-driven parallel sheet metal installation robot (hereinafter referred to as the robot, see below). Figures 1-9 The system includes a base 1, a robotic arm 2, and an end effector 3.

[0035] The base 1 includes a support base 101, a rotary support platform 102, a first gear 103, a base frame 104, a second gear 105, a base motor reducer 106, and a base motor 107. The lower end of the rotary support platform 102 is fixedly connected to the support base 101. The first gear 103 is mounted on and fixedly connected to the rotary support platform 102. The bottom of the base frame 104 is rotatably connected to the upper end of the rotary support platform 102, and the base frame 104 is located above the first gear 103. The base motor 107 is fixedly mounted on the base frame 104. The output shaft of 107 is fixedly connected to the input end of the base motor reducer 106. The second gear 105 is fixed on the output shaft of the base motor reducer 106 and meshes with the first gear 103. Since the second gear 105 meshes with the first gear 103 and the first gear 103 is fixed to the rotary support platform 102, the base motor 107 drives the second gear 105 to rotate through the base motor reducer 106, so that the second gear 105 rotates around the circumference of the first gear 103, thereby causing the base frame 104 to rotate around the rotary support platform 102, realizing the 360° rotation of the robotic arm 2 in the horizontal plane.

[0036] The base frame 104 is L-shaped, with upper support ears 104-1 on both sides of the upper end, lower support ears 104-2 on both sides of the lower end, and a hanging ear 104-3 in the middle of the lower end.

[0037] The robotic arm 2 includes a first arm body 201, a second arm body 202, a third arm body 203, a first telescopic actuator 204, a second telescopic actuator 205, a fourth arm body 206, a fifth arm body 207, a third telescopic actuator 208, a fourth telescopic actuator 209, a fifth telescopic actuator 210, a first motor 211, a first motor reducer 212, a second motor 213, a second motor reducer 214, a third motor 215, and a third motor reducer 216.

[0038] The lower end of the first arm 201 is rotatably connected to the two upper lugs 104-1 of the base frame 104. The upper end of the first arm 201 is rotatably connected to the lower end of the second arm 202. The first motor 211 of the robotic arm is installed at the lower end of the second arm 202. The output shaft of the first motor 211 is connected to one side of the upper end of the third arm 203 through a first motor reducer 212, thereby enabling rotation between the second arm 202 and the third arm 203. The second motor 213 of the robotic arm is installed at the lower end of the third arm 203. The output shaft of the second motor 213 is connected to the upper end of the fourth arm 206 through a second motor reducer 214, thereby enabling rotation between the third arm 203 and the fourth arm 206. The rotation between the first arm 201 and the fifth arm 207 is achieved through the rotation between the two axes of rotation of the base frame 104 and the first arm 201 and the fifth arm 207. The third arm 215 is installed at the lower end of the fourth arm 206, and the output shaft of the third arm 215 is connected to the upper end of the fifth arm 207 through the third motor reducer 216. The lower end of the fifth arm 207 is rotatably connected to the lug 104-3 at the lower end of the base frame 104. The rotation between the fourth arm 206 and the fifth arm 207 is achieved through the rotation between the first arm 201 and the fifth arm 207. The first arm 201, the second arm 202, the third arm 203, the fourth arm 206 and the fifth arm 207 together form a six-bar linkage mechanism. The movement of the robotic arm 2 is achieved through the movement of the six-bar linkage mechanism, thereby improving the load-bearing capacity of the robotic arm 2.

[0039] The first telescopic actuator 204 is obliquely inserted into the base frame 104, and its cylinder is hinged to the middle of the base frame 104. The output end of the first telescopic actuator 204 is hinged to the middle of the fifth arm 207, thereby realizing the rotation between the fifth arm 207 and the base frame 104. The second telescopic actuator 205 and the third telescopic actuator 208 are symmetrically arranged, and their cylinders are respectively hinged to the two sides of the lower part of the first arm 201. The output ends of the second telescopic actuator 205 and the third telescopic actuator 208 are respectively hinged to the two sides of the lower part of the second arm 202. Next, the rotation between the first arm 201 and the second arm 202 is achieved through the second telescopic actuator 205 and the third telescopic actuator 208; the fourth telescopic actuator 209 and the fifth telescopic actuator 210 are symmetrically arranged, and the cylinders of the two actuators are respectively hinged to the two lower lugs 104-2 of the base bracket 104. The output ends of the fourth telescopic actuator 209 and the fifth telescopic actuator 210 are respectively hinged to the two sides of the upper part of the first arm 201, and the rotation between the first arm 201 and the base bracket 104 is achieved through the fourth telescopic actuator 209 and the fifth telescopic actuator 210.

[0040] The rotation between the arm body and the base frame 104 in the above-mentioned robotic arm 2 and between the two arm bodies is achieved by means of slewing bearings, shaft connections, hinges, etc.; all telescopic actuators are pneumatic cylinders, hydraulic cylinders or electric cylinders, with pneumatic cylinders being preferred, as pneumatic cylinders can achieve rapid movement.

[0041] The end effector 3 includes a suction cup 301, a suction cup frame 302, a rotary motor reducer 303, a rotary motor 304, a swing motor reducer 305, a swing motor 306, a swing motor mounting component 307, an end connector 308, and a rotary motor mounting component 309.

[0042] One side of the end connector 308 is fixedly connected to the output shaft of the first motor reducer 212, and the other side is rotatably connected to the other side of the upper end of the second arm 202; the swing motor mounting part 307 is fixedly connected to the end connector 308, the swing motor reducer 305 is fixed on the swing motor mounting part 307, the output shaft of the swing motor 306 is connected to the input end of the swing motor reducer 305, the rotary motor mounting part 309 is fixedly connected to the output shaft of the swing motor reducer 305, the rotary motor reducer 303 is fixed on the rotary motor mounting part 309, the output shaft of the rotary motor 304 is connected to the input end of the rotary motor reducer 303, the output shaft of the rotary motor reducer 303 is fixedly connected to the suction cup frame 302, and multiple suction cups are distributed on the suction cup frame 302. The suction cup 301; the first motor 211 of the robotic arm realizes the relative rotation of the second arm 202 and the third arm 203, and simultaneously realizes the pitch movement of the end connector 308, thereby realizing the pitch movement of the suction cup frame 302 within a 30° range, that is, the rotational movement around the Y-axis; the swing motor 306 realizes the left and right swing of the suction cup frame 302 within a 60° range, that is, the rotational movement around the Z-axis; the rotary motor 304 realizes the rotational movement of the suction cup frame 302 within a 90° range on the vertical plane, that is, the rotational movement around the X-axis; the first motor 211, the swing motor 306 and the rotary motor 304 of the robotic arm jointly adjust the position of the suction cup frame 302, compensate for the non-parallelism between the suction cup direction and the mounting surface, and make minor adjustments to the position when the plate is installed and positioned.

[0043] Preferably, the suction cup frame 302 is I-shaped, which has high structural strength, good stability, and uniform load-bearing capacity; the suction cups 301 are evenly distributed on the suction cup frame 302.

[0044] After receiving the sheet metal installation command, the robot first controls the movement of robotic arm 2 via its three telescopic actuators and three motors, enabling the end effector 3 to grasp and transport the sheet metal. Once the sheet metal is close to the installation position, the robot's first motor 211 and the swing motor 306 and rotary motor 304 of the end effector 3 finely adjust the sheet metal's position near the installation location to ensure it is parallel to the installation position, improving installation accuracy. A six-dimensional force sensor can also be installed on robotic arm 2 to monitor the load on each arm in real time, enhancing installation safety. During robot operation, the torque of robotic arm's first motor 211, second motor 213, and third motor 215 is acquired in real time. This torque is used as feedback, and the control system adjusts the output force of each telescopic actuator based on the feedback, achieving coordinated control between the telescopic actuators and the robotic arm motors to reduce the torque on the motors.

[0045] First, calculate the error between the actual and expected values ​​of the robotic arm motor torque. Then, based on the motor torque error, calculate the adjustment amount of the output force of the three telescopic actuators using the following formula. Finally, input the three adjustment amounts into the controller. The controller controls the input voltage of the electro-proportional valves of each telescopic actuator using the proportional-integral control method, thereby controlling the input pressure of the telescopic actuators and achieving the purpose of controlling the magnitude of the output force of the telescopic actuators.

[0046]

[0047] In the formula, Δf 11 Δf is the adjustment amount of the output force of the fourth and fifth telescopic actuators. 12 Δf is the adjustment amount of the output force of the second and third telescopic actuators. 21 e is the adjustment amount of the output force of the first telescopic actuator. 13 e 22 and e 23 The torque errors λ of the first motor, third motor, and second motor of the robotic arm, respectively. ij (i = 1, 2, 3; j = 1, 2, 3) represent the influence weights, and k is the adjustment ratio of the robotic arm motor torque to the output force of the telescopic actuator, specifically expressed as:

[0048]

[0049] In the formula, τ 13 τ 22 and τ 23 These are the actual torque values ​​of the first, third, and second motors of the robotic arm, respectively. 11 f is the output force of the fourth and fifth telescopic actuators. 12 f is the output force of the second and third telescopic actuators. 21 This is the output force of the first telescopic actuator.

[0050] The working principle and workflow of this invention are as follows:

[0051] Figure 1 This is the robot's initial state before the plate is installed. At this time, all telescopic actuators are at their original length, and the suction cup holder 302 of the end effector 3 is in a vertical state.

[0052] (1) Sheet material gripping: When the robot receives the sheet material installation instruction, the output ends of the first telescopic actuator 204, the second telescopic actuator 205, and the third telescopic actuator 208 extend, while the output ends of the fourth telescopic actuator 209 and the fifth telescopic actuator 210 retract. The three motors of the robotic arm 2 move in tandem, causing the robotic arm 2 to extend. The end effector 3 descends to the sheet material stacking position. Then, the output ends of the second telescopic actuator 205 and the third telescopic actuator 208 continue to extend, and the first motor 211 of the robotic arm drives the end connector 308 to rotate, causing the suction cup holder 30 to... 2. Move to a horizontal position. Use a structured light scanner mounted on the end effector 3 to detect whether the suction cup frame 302 is parallel to the board surface. Adjust the position of the suction cup frame 302 with the first motor 211 and the swing motor 306 of the robotic arm to make the suction cup frame 302 parallel to the board surface. After the suction cup frame 302 is parallel to the board surface, adjust the suction cup frame 302 with the center of the suction cup frame 302 to coincide with the center of the board. Then, the output ends of the second telescopic actuator 205 and the third telescopic actuator 208 are extended to make the suction cup 301 pick up the board, completing the board gripping work.

[0053] (2) Plate installation operation: After the plate is gripped, the output ends of the second telescopic actuator 205 and the third telescopic actuator 208 retract, and the output ends of the fourth telescopic actuator 209 and the fifth telescopic actuator 210 extend. The robotic arm 2 lifts the plate to the installation position. Then, the position of the suction cup frame 302 is finely adjusted by the first motor 211, the swing motor 306 and the rotary motor 304 of the robotic arm to adapt the plate to the installation plane at different angles. After the plate is placed in the appropriate position, the suction cup 301 is released, and the installation operation is completed.

[0054] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A hybrid-driven parallel sheet metal installation robot, comprising a base, a robotic arm, and an end effector, wherein the base enables the robotic arm to rotate in a horizontal plane, and the end effector is used for adsorbing the sheet metal to be installed; characterized in that, The robotic arm includes a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, a first telescopic actuator, a second telescopic actuator, a third telescopic actuator, a fourth telescopic actuator, a fifth telescopic actuator, a first motor, a second motor, and a third motor. The lower end of the first arm is rotatably connected to the upper end of the base frame of the base. The upper end of the first arm is rotatably connected to the lower end of the second arm. The upper end of the second arm is rotatably connected to the upper end of the third arm via the first motor of the robotic arm. The lower end of the third arm is rotatably connected to the upper end of the fourth arm via the second motor of the robotic arm. The lower end of the fourth arm is rotatably connected to the upper end of the fifth arm via the third motor of the robotic arm. The lower end of the fifth arm is rotatably connected to the middle of the lower end of the base frame of the base. The portion of the base frame of the base between the two rotation axes of the first and fifth arms, the first arm, the second arm, the third arm, the fourth arm, and... The fifth arm forms a six-bar linkage mechanism; the cylinder of the first telescopic actuator is hinged to the middle of the base frame of the base, and the output end of the first telescopic actuator is hinged to the middle of the fifth arm; the cylinders of the second and third telescopic actuators are respectively hinged to the lower sides of the first arm, and the output ends of the second and third telescopic actuators are respectively hinged to the lower sides of the second arm; the cylinders of the fourth and fifth telescopic actuators are respectively hinged to the lower sides of the base bracket of the base, and the output ends of the fourth and fifth telescopic actuators are respectively hinged to the upper sides of the first arm.

2. The hybrid-driven parallel plate assembly robot according to claim 1, characterized in that, The robot controls the movement of the robotic arm through the coordinated control of the telescopic actuator and the robotic arm motor; during the movement of the robotic arm, the torque of each robotic arm motor is collected in real time, and the error between the actual value and the expected value of the robotic arm motor torque is calculated; Based on the motor torque error, the adjustment amount of the output force of each telescopic actuator is calculated using the following formula; each adjustment amount is input into the controller, and by controlling the input voltage of each telescopic actuator, the output force of the telescopic actuator is controlled. In the formula, Δf 11 Δf is the adjustment amount of the output force of the fourth and fifth telescopic actuators. 12 Δf is the adjustment amount of the output force of the second and third telescopic actuators. 21 e is the adjustment amount of the output force of the first telescopic actuator. 13 e 22 and e 23 The torque errors λ of the first motor, third motor, and second motor of the robotic arm, respectively. ij (i = 1, 2, 3; j = 1, 2, 3) are the influence weights, τ 13 τ 22 and τ 23 These are the actual torque values ​​of the first, third, and second motors of the robotic arm, respectively. 11 f is the output force of the fourth and fifth telescopic actuators. 12 f is the output force of the second and third telescopic actuators. 21 This is the output force of the first telescopic actuator.

3. The hybrid-driven parallel sheet metal installation robot according to claim 1 or 2, characterized in that, The end effector includes a suction cup, a suction cup frame, a rotary motor, a swing motor, a swing motor mounting component, an end connector, and a rotary motor mounting component. One side of the end connector is connected to the output shaft of the first motor of the robotic arm, and the other side is rotatably connected to the upper end of the second arm. The swing motor is connected to the end connector via the swing motor mounting component, and the rotary motor mounting component is connected to the output shaft of the swing motor. The rotary motor is mounted on the rotary motor mounting component, and its output shaft is connected to the suction cup frame. The suction cup frame is equipped with multiple suction cups.

4. The hybrid-driven parallel plate assembly robot according to claim 1, characterized in that, The base includes a support base, a rotary support platform, a first gear, a base frame, a second gear, and a base motor; the rotary support platform is mounted on the support base, the first gear is fixed on the rotary support platform, and the bottom of the base frame is rotatably connected to the upper end of the rotary support platform; the base motor is mounted on the base frame, the second gear is located on the output shaft of the base motor and meshes with the first gear, and the second gear rotates around the circumference of the first gear.

5. The hybrid-driven parallel plate assembly robot according to claim 4, characterized in that, The base frame is L-shaped, with upper support ears on both sides of the upper end, lower support ears on both sides of the lower end, and a hanging ear in the middle of the lower end.

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