A three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide

Abstract

The present invention relates to a three-branch four-degree-of-freedom high-speed parallel robot containing a linkage slide connecting rod, which belongs to the field of robot technology; it comprises a frame, a moving platform, an end effector, four driving motors and a first, a second and a third branch connected in parallel between the frame and the moving platform; the first branch is sequentially connected with a slide 1, a screw 1, a slider 1, a bearing seat 1 and a four-universal joint parallelogram mechanism from the frame to the moving platform; the second branch is completely identical to the first branch in structure and is symmetrically arranged; the third branch is sequentially connected with a linkage slide connecting rod mechanism, a bearing seat 2, a long swing rod, three intersecting rotating pairs, a U-shaped fork, a connecting shaft and a bearing seat 3 from the frame to the moving platform; compared with the existing technical solutions, the robot of the present invention has an analytical positive solution, contains branches driven by linkage slide connecting rod coupling, and only three branches realize three shifts and one rotation, and has the advantages of large working space, few singular points and high speed, and can be widely used in sorting, assembly and other fields.

Description

Technical Field

[0001] The invention relates to a three-branch four-freedom high-speed parallel robot containing a linkage slide connecting rod, belonging to the technical field of robots. Technical Background

[0002] The degrees of freedom of a four-degree-of-freedom parallel robot include: three-dimensional movement plus one-dimensional rotation, two-dimensional movement plus two-dimensional rotation, one-dimensional movement plus three-dimensional rotation, etc. Among them, three-dimensional movement plus one-dimensional rotation includes: three-dimensional movement plus rotation and three-dimensional movement plus pitch rotation. Four-degree-of-freedom parallel robots with three-dimensional movement plus pitch rotation are rare. They can be widely used in sorting, assembly and other fields to meet the needs of industrial production.

[0003] A Chinese patent (CN 108274457 B) proposes a four-degree-of-freedom robot manipulator. The planar motion component of the mechanism realizes the up-down and forward-backward motion of the end effector of the manipulator, and the spiral motion component realizes the left-right translation and flipping motion of the end effector of the manipulator. The entire manipulator is a hybrid structure, which can stack workpieces neatly and effectively. However, it has a complex structure, a large floor space, poor flexibility, and high requirements for assembly and daily maintenance. A Chinese patent (CN 105234922 A) proposes a three-translation and one-rotation parallel robot device, which provides two operating stations for users to choose from. It has the advantages of control decoupling and simple motion analysis, and also has a kinematic analytical solution. However, due to the four-branch structure of the mechanism, the rods are prone to interference and the working space is small. A Chinese patent (CN 112743519 A) A four-DOF parallel mechanism with three spatial motions (pitch, roll, and rotation) and one rotation is proposed. The mechanism includes four drive branches supported at four different positions on a frame assembly. The sliders of the four drive branches are configured to move along parallel straight lines. The four drive branches of the mechanism are independently driven, and have the advantages of high rigidity, compact structure, and easy assembly. However, the mechanism has a four-branch structure, a small workspace, many singular points, and complex analytical solutions.

[0004] The existing different types of four-degree-of-freedom parallel robots have the following problems: (1) Most four-degree-of-freedom parallel robots are three-dimensional movement plus one-dimensional rotation, and there are few robot configurations that can achieve three-dimensional movement plus pitch rotation; (2) The existing parallel robots with three-dimensional movement plus pitch rotation do not have kinematic analytical solutions or the analytical solutions are complex to solve, making them difficult to combine with machine vision technology; (3) The existing parallel robots with three-dimensional movement plus pitch rotation have at least four branches and a small workspace, and there is a lack of three-branch solutions; (4) They cannot simultaneously have the advantages of simple and compact structure, few motion branches, large workspace, simple analytical solutions, and few singular points, and cannot meet the needs of industrial engineering applications; (5) There is a lack of solutions with a single branch containing two drive slides fixed to the frame.

[0005] In order to overcome the shortcomings of the above-mentioned scheme, the present invention proposes a three-branch four-degree-of-freedom high-speed parallel robot containing a linkage slide link. Different from each branch being driven independently, the robot contains a linkage slide link to couple and drive one branch, so that the three branches can achieve three movements and one pitch, four-degree-of-freedom movement. The technical solution of the present invention has the following advantages: it has a kinematic analytical solution and the solution is simple, and it is easy to combine with machine vision technology; it contains branches coupled and driven by a linkage slide link, so that only three branches can achieve three-dimensional movement plus pitch rotation, with a simple and compact structure, low manufacturing cost, and convenient assembly and daily maintenance; all driving components are arranged on the frame, the branches and the end are light in mass, the mechanism has low inertia, and the motion performance is excellent; at the same time, the robot has fewer moving components, and has the advantages of a large workspace, few singular points, high precision, and fast speed. The dynamic platform can be installed with a variety of end effectors, which can meet the needs of food sorting, industrial assembly and other scenarios. Summary of the Invention

[0006] In view of the above problems, the technical solution adopted to achieve the purpose of the present invention is: a three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link, belonging to the field of robotics; comprising a frame, a moving platform, an end effector, four drive motors and a first, second and third branches connected in parallel between the frame and the moving platform, characterized in that: the above-mentioned first branch is sequentially connected with a slide 1, a screw 1, a slider 1, a bearing seat 1, a rotating pair 2, a four-universal joint parallelogram mechanism, and a rotating pair 5 from the frame to the moving platform; the above-mentioned slide 1 is fixedly connected to the frame, the screw 1 is meshed with the slider 1, and the slider 1 is fixedly connected to the bearing seat 1; the above-mentioned bearing seat 1 is connected to the moving platform through the rotating The moving pair 2 is connected to the four-cardan joint parallelogram mechanism; the above-mentioned moving platform is connected to the four-cardan joint parallelogram mechanism through the rotating pair 5; the above-mentioned second branch structure is exactly the same as the first branch structure; the rotating pair 5 of the above-mentioned first branch is parallel to the plane of the moving platform, the rotating pair 17 of the second branch is parallel to the plane of the moving platform, the axis of the rotating pair 16 of the second branch is parallel to the axis of the rotating pair 2 of the first branch, and the axis of the rotating pair 17 of the second branch is parallel to the axis of the rotating pair 5 of the first branch; the above-mentioned four-cardan joint parallelogram mechanism is replaced by a four-ball joint parallelogram mechanism; the above-mentioned third branch is sequentially connected with a linkage slide connecting rod from the frame to the moving platform Mechanism, bearing seat 2, rotating pair 12, long swing rod, three intersecting rotating pairs, U-shaped fork, connecting shaft, bearing seat 3; the linkage slide connecting rod mechanism is composed of slide 3, screw 3, linear slide rail, screw 4, slider 3, slider 4, slider 5, rotating pair 7, active rod 1 of linkage slide connecting rod mechanism, rotating pair 8, passive rod of linkage slide connecting rod mechanism, rotating pair 9, rotating pair 10, rotating pair 11, active rod 2 of linkage slide connecting rod mechanism; the linkage slide connecting rod mechanism is fixedly connected to the frame; the output end of the linkage slide connecting rod mechanism is fixedly connected to bearing seat 2; the bearing seat 2 is connected to the long swing rod through rotating pair 12; the three intersecting rotating pairs It consists of a rotating pair thirteen, a rotating pair fourteen, and a rotating pair fifteen; the above-mentioned bearing seat three is connected to the long swing rod one through three intersecting rotating pairs; the axis of the above-mentioned rotating pair fifteen is parallel to the plane of the moving platform, the axis of the rotating pair fifteen is parallel to the axis of the rotating pair five, and the axes of the rotating pair thirteen, the rotating pair fourteen, and the rotating pair fifteen intersect; the above-mentioned end effector is fixedly connected to the moving platform; the above-mentioned slide one is equipped with a motor one, which drives the rotation of the screw one, and then drives the movement of the slider one; the above-mentioned slide two is equipped with a motor two, which drives the rotation of the screw two, and then drives the movement of the slider two; the above-mentioned slide three is equipped with motors three and four, which jointly drive the movement of the linkage slide connecting rod mechanism.

[0007] The technical solution of the present invention provides the following beneficial effects: the robot has a kinematic analytical solution and the solution is simple, and it is easy to combine with machine vision technology; it contains branches driven by a linkage slide link coupling, so that only three branches can achieve three-dimensional movement plus pitch rotation, with a simple and compact structure, low manufacturing cost, and convenient assembly and daily maintenance; all drive components are arranged on the frame, the branches and the end are light in mass, the mechanism has low inertia, and the motion performance is excellent; at the same time, the robot has few moving components, and has the advantages of a large working space, few singular points, high precision, and fast speed. The moving platform can be installed with a variety of end effectors, which can meet the needs of scenarios such as food sorting and industrial assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a schematic diagram of the overall structure of a three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link according to the present invention;

[0009] Figure 2 This is a schematic diagram of the first branch structure of a three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link according to the present invention;

[0010] Figure 3 This is a schematic diagram of the third branch structure of a three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link according to the present invention;

[0011] Figure 4 This is a structural schematic diagram of a linkage slide link mechanism of the third branch of a three-branch four-degree-of-freedom high-speed parallel robot containing a linkage slide link according to the present invention;

[0012] Among them, 1-frame, 2-moving platform, 3-end effector, a-motor 1, b-motor 2, c-motor 3, d-motor 4, Ⅰ-first branch, Ⅱ-second branch, Ⅲ-third branch, L1-bearing seat 1, L2-parallelogram short rod 1, L3-parallelogram long rod 1, L4-parallelogram long rod 2, L5-parallelogram short rod 2, L6-linkage slide linkage mechanism active rod 1, L7-linkage slide linkage mechanism passive rod, L8-linkage slide linkage mechanism active rod 2, L9-bearing seat 2, L10-long swing rod, L11-U-shaped fork, L12-connecting shaft, L13-bearing seat 3, R1-rotation pair 1, R2-rotation pair 2, R3-rotation pair Dynamic pair three, R4-rotation pair four, R5-rotation pair five, R6-rotation pair six, R7-rotation pair seven, R8-rotation pair eight, R9-rotation pair nine, R10-rotation pair ten, R11-rotation pair eleven, R12-rotation pair twelve, R13-rotation pair thirteen, R14-rotation pair fourteen, R15-rotation pair fifteen, R16-rotation pair sixteen, R17-rotation pair seventeen, H1-slide one, H2-slide two, H3-slide three, D1-screw one, D2-screw two, D3-screw three, D4-screw four, Z-linear slide, P1-slider one, P2-slider two, P3-slider three, P4-slider four, P5-slider five, W-linkage slide connecting rod mechanism. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0014] 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.

[0015] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connected," "fixedly connected," and the like should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0016] The present invention provides a three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link, the structure of which is as follows: Figure 1 As shown, it includes a frame 1, a moving platform 2, an end effector 3, four drive motors a, b, c, d, and first I, second II, and third III branches connected in parallel between the frame 1 and the moving platform 2.

[0017] The first I branch is sequentially connected with a slide H1, a lead screw D1, a slider P1, a bearing seat L1, a revolving pair R2, a four-joint parallelogram mechanism, and a revolving pair R5 from the frame 1 to the moving platform 2. The slide H1 is fixedly connected to the frame 1, the lead screw D1 is engaged with the slider P1, the slider P1 is fixedly connected to the bearing seat L1, the bearing seat L1 is connected to the four-joint parallelogram mechanism through the revolving pair R2, and the four-joint parallelogram mechanism consists of a short parallelogram. Rod 1 L2, parallelogram long rod 1 L3, parallelogram long rod 2 L4, parallelogram short rod 2 L5, revolute pair 1 R1, revolute pair 2 R2, revolute pair 3 R3, revolute pair 4 R4, revolute pair 5 R5, revolute pair 6 R6, the parallelogram short rod 1 L2 is connected to the bearing seat 1 L1 through the revolute pair 2 R2, the parallelogram long rod 1 L3 is connected to the parallelogram short rod 1 L2 through the revolute pair 1 R1, the parallelogram long rod 2 L4 is connected to the parallelogram through the revolute pair 3 R3 The parallelogram short rod L2 is connected, the parallelogram short rod L5 is connected to the parallelogram long rod L3 through the revolving pair R4, the parallelogram short rod L5 is connected to the parallelogram long rod L4 through the revolving pair R6, and the parallelogram short rod L5 is connected to the moving platform 2 through the revolving pair R5; the axis of the revolving pair R2 is parallel to the plane of the frame 1, the axis of the revolving pair R5 is parallel to the plane of the moving platform 2, the axes of the revolving pair R1 and the revolving pair R3 are parallel to the axis of the revolving pair R2 The lines are perpendicular and intersecting, the axes of the rotational pair R4 and R6 are perpendicular and intersecting with the axis of the rotational pair R5, and the axes of the rotational pair R1, R3, R4, and R6 are parallel to each other; the first I and second II branch structures are completely identical and symmetrically arranged, the axis of the second II branch rotational pair R16 is parallel to the axis of the first I branch rotational pair R2, and the axis of the second II branch rotational pair R17 is parallel to the axis of the first I branch rotational pair R5;The third branch III is connected in sequence from the frame 1 to the moving platform 2 with a linkage slide linkage mechanism W, a bearing seat 2 L9, a rotation pair 12 R12, a long swing rod L10, three intersection rotation pairs, a U-shaped fork L11, a connecting shaft L12, and a bearing seat 3 L13. The linkage slide linkage mechanism W is composed of a slide 3 H3, a screw 3 D3, a linear guide rail Z, a screw 4 D4, a slider 3 P3, a slider 4 P4, a slider 5 P5, a rotation pair 7 R7, an active rod 1 L6 of the linkage slide linkage mechanism, a rotation pair 8 R8, a passive rod L7 of the linkage slide linkage mechanism, a rotation pair 9 R9, a rotation pair 10 R10, a rotation pair 11 R11, a linkage slide linkage mechanism, and a rotation pair 12. The movable slide linkage mechanism is composed of an active rod 2 L8, the slide 3 H3 is fixedly connected to the frame 1, the screw 3 D3 is engaged with the slider 3 P3, the slider 3 P3 is connected to the active rod 1 L6 of the linkage slide linkage mechanism through the rotation pair R7, the screw 4 D4 is engaged with the slider 5 P5, the slider 3 P3 is connected to the active rod 1 L6 of the linkage slide linkage mechanism through the rotation pair R7, the slider 4 P4 is engaged with the linear slide Z, the slider 4 P4 is connected to the passive rod L7 of the linkage slide linkage mechanism through the rotation pair 10 R10, the active rod 1 L6 of the linkage slide linkage mechanism is connected to the linkage slide linkage mechanism through the rotation pair 9 R9 The passive rod L7 of the linkage slide linkage mechanism is connected, the passive rod L7 of the linkage slide linkage mechanism is connected to the active rod L2 L8 of the linkage slide linkage mechanism through the rotating pair eleven R11, the bearing seat two L9 is fixedly connected to the passive rod L7 of the linkage slide linkage mechanism, the bearing seat two L9 is connected to the long swing rod L10 through the rotating pair twelve R12, the three-intersection rotating pair is composed of the rotating pair thirteen R13, the rotating pair fourteen R14, and the rotating pair fifteen R15, the long swing rod L10 is connected to the U-shaped fork L11 through the rotating pair thirteen R13, the U-shaped fork L11 is connected to the connecting shaft L12 through the rotating pair fourteen R14, the connecting Shaft L12 is connected to bearing seat 3 L13 via revolving joint R15. Bearing seat 3 L13 is fixedly connected to movable platform 2. The axes of revolving joints R7, R8, R9, R10, and R11 are parallel and perpendicular to plane H3 of slide table 3. The axis of revolving joint R10 and the axis of revolving joint R12 are perpendicular to each other. The axis of revolving joint R15 is parallel to the plane of movable platform 2. The axis of revolving joint R15 and the axis of revolving joint R5 are parallel to each other. The axes of revolving joints R13, R14, and R15 intersect.

[0018] The end effector 3 is fixedly connected to the moving platform 2. Slide 1 H1 is equipped with a motor. Motor 1a drives the rotation of lead screw 1 D1, which in turn drives the movement of slider 1 P1. Slide 2 H2 is equipped with a motor. Motor 2b drives the rotation of lead screw 2 D2, which in turn drives the movement of slider 2 P2. Slide 3 H3 is equipped with two motors. Motor 3c drives the rotation of lead screw 3 D3, which in turn drives the movement of slider 3 P3, and motor 4d drives the rotation of lead screw 4 D4, which in turn drives the movement of slider 4 P4. The four-joint parallelogram mechanism with the first and second branches is replaced with a four-ball joint parallelogram mechanism.

Claims

1. A three-branch, four-degree-of-freedom high-speed parallel robot with a linkage slide, comprising a frame, a moving platform, an end effector, four drive motors, and first, second, and third branches connected in parallel between the frame and the moving platform, characterized in that: The first branch is connected with slide 1, screw 1, slider 1, bearing seat 1, rotating pair 2, four-cardan joint parallelogram mechanism, rotating pair 5 in sequence from the frame to the moving platform; the slide 1 is fixedly connected to the frame, the screw 1 is engaged with slider 1, and slider 1 is fixedly connected to the bearing seat 1; the bearing seat 1 is connected to the four-cardan joint parallelogram mechanism through rotating pair 2; the moving platform is connected to the four-cardan joint parallelogram mechanism through rotating pair 5; the structure of the second branch is exactly the same as that of the first branch; the rotating pair 5 of the first branch is connected to the moving platform The plane is parallel, the rotating pair 17 of the second branch is parallel to the plane of the moving platform, the axis of the rotating pair 16 of the second branch is parallel to the axis of the rotating pair 2 of the first branch, and the axis of the rotating pair 17 of the second branch is parallel to the axis of the rotating pair 5 of the first branch; the above-mentioned third branch is sequentially connected from the frame to the moving platform with a linkage slide connecting rod mechanism, bearing seat 2, rotating pair 12, long swing rod, three-intersection rotating pair, U-shaped fork, connecting shaft, bearing seat 3; the linkage slide connecting rod mechanism consists of slide 3, screw 3, linear slide rail, screw 4, slider 3 , slider four, slider five, rotating pair seven, active rod one of the linkage slide linkage mechanism, rotating pair eight, passive rod of the linkage slide linkage mechanism, rotating pair nine, rotating pair ten, rotating pair eleven, active rod two of the linkage slide linkage mechanism; the linkage slide linkage mechanism is fixedly connected to the frame; the output end of the linkage slide linkage mechanism is fixedly connected to the bearing seat two; the bearing seat two is connected to the long swing rod through the rotating pair twelve; the three intersection rotating pairs are composed of the rotating pair thirteen, the rotating pair fourteen, and the rotating pair fifteen; the bearing seat three is connected through the three intersection rotating pairs It is connected to the long swing rod one; the axis of the above-mentioned rotating pair fifteen is parallel to the plane of the moving platform, the axis of the rotating pair fifteen is parallel to the axis of the rotating pair five, and the axes of the rotating pair thirteen, rotating pair fourteen, and rotating pair fifteen intersect; the above-mentioned end effector is fixedly connected to the moving platform; the above-mentioned slide one is equipped with a motor one, which drives the rotation of the screw one, and then drives the movement of the slider one; the above-mentioned slide two is equipped with a motor two, which drives the rotation of the screw two, and then drives the movement of the slider two; the above-mentioned slide three is equipped with motors three and four, which jointly drive the movement of the linkage slide connecting rod mechanism.

2. A three-branch four-degree-of-freedom high-speed parallel robot with a linkage slide link according to claim 1, characterized in that The four-universal-joint parallelogram mechanisms of the first and second branches of the robot are replaced with four-spherical-joint parallelogram mechanisms.

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