Parallel robot with positive position symbol solution and 1T2R output mode

Abstract

The invention relates to the technical field of parallel machine mechanisms, in particular to a parallel robot with a positive position symbol solution and a 1T2R output mode. Manual assistance is matched with a rolling pasting device with a fixed angle to achieve accurate pasting of the express circulation electronic sheet to the designated position of the surface of a packaging box, the operation efficiency is low, multiple manual participation links exist, and the positioning precision and consistency are difficult to guarantee. In order to solve the problems, the invention provides the parallel robot with a positive position symbol solution and a 1T2R output mode, and through a unique combined topology of a mixed branch chain and a simple branch chain, the motion output mode of'one-movement and two-rotation '(1T2R) of a movable platform is creatively realized. The 1T2R mode perfectly meets the composite motion requirements of carton side face labeling operation on vertical feeding and double-shaft angle adjustment, and the technical bottleneck that a traditional fixed-angle labeling device or a single-mode robot cannot adapt to carton side faces of different inclination angles is fundamentally solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parallel machine mechanisms, in particular to a parallel robot with 1T2R output mode of position symbol forward solution. BACKGROUND

[0002] With the rapid development of e-commerce and logistics industry, the demand for automatic labeling of carton packaging is increasing. In the express flow, the electronic face sheet needs to be accurately pasted on the side surface with different carton sizes and inclination angles. At present, the industry generally uses manual assistance to complete this process with a fixed-angle roll labeling device. However, this traditional solution has obvious limitations: first, the labeling head posture is fixed and cannot adapt to the inclination of the side surface of different carton types. Each time the product type is changed, the machine needs to be stopped for replacement or adjustment of the mechanical clamp, which seriously restricts the flexibility and efficiency of the production line. Second, manual participation is involved in multiple stages, making it difficult to ensure positioning accuracy and consistency, and it is not conducive to achieving full-process automation. Therefore, developing an automatic execution mechanism that can intelligently adjust the end posture, adapt to various spatial angle labeling tasks, and does not need to frequently replace hardware has become a key technical requirement to improve the efficiency of logistics sorting centers.

[0003] Existing automatic solutions mostly use serial robots or special parallel mechanisms with limited degrees of freedom. Although serial robots have a large workspace, they have low end stiffness and are prone to vibration during high-speed pressing, which affects the quality of the paste. Moreover, their system cost and control complexity are high. Traditional three-degree-of-freedom parallel mechanisms are often designed as single motion output modes (such as pure translation or rotation in a specific direction), making it difficult to meet the complex motion requirements of vertical feeding (Z-direction movement) and angle tracking of carton side surface (rotation around X and Y axes) during the labeling process. Although some studies have attempted to achieve mode switching through reconfigurable or redundant driving, they generally have complex mechanisms, strong kinematic model coupling, difficulty in solving forward solutions (often relying on numerical iteration), and the need to change the freedom of rotation pairs, which results in large real-time control calculation and makes it difficult to achieve high-speed and high-precision dynamic trajectory adjustment, limiting their application in fast-paced labeling scenarios. For example, Chinese patent CN110238828A discloses a new type of metamorphic parallel robot. When the three metamorphic mixed-connection branches switch between A, B, and C three different working modes, the metamorphic parallel robot mechanism realizes 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R, and 3R, a total of ten different working modes. The metamorphic parallel robot mechanism of this patent does not have a position symbol forward solution, and each motion output mode requires constant changes in the freedom of rotation pairs.

[0004] To address the shortcomings of existing technologies in terms of flexibility, precision, and real-time control, this invention provides a parallel robot with a 1T2R output mode and forward kinematics. The core advantage of this solution lies in its novel hybrid branch topology configuration, which allows the moving platform to achieve a "one-movement-two-rotation" (1T2R) motion mode simply by selecting different combinations of drive pairs on the static platform. The specific geometric constraints designed for the axes of motion pairs in the branches enable the forward kinematics of the mechanism to be directly expressed in analytical notation, greatly simplifying the control algorithm and laying a solid foundation for high-speed online real-time trajectory planning. When applied to electronic label pasting scenarios on cardboard boxes, the robot's moving platform can be equipped with an "adjustable angle labeling head." Utilizing its 1T2R mode, it first drives vertical lifting to approach the cardboard box, and then, through fine-tuning of two sliding pairs, drives the moving platform to rotate around two horizontal axes, allowing the labeling plate to instantly and accurately align with any tilted side of the cardboard box, completing the rolling and pasting action in one operation. The entire process requires no replacement of any mechanical parts and can quickly adapt to cartons of different sizes, achieving highly efficient, flexible, and precise fully automated labeling operations. This effectively solves the core pain points of traditional solutions, such as poor flexibility and cumbersome adjustments. Summary of the Invention

[0005] The existing technology has the following problems: the efficiency of accurately affixing electronic waybills to designated positions on packaging boxes using manual assistance and fixed-angle rolling devices is low; there are many manual intervention steps, making it difficult to guarantee positioning accuracy and consistency. To address these problems, this invention provides a parallel robot with a 1T2R output mode and correct position symbol decoding. It includes a static platform and a moving platform, as well as a parallel structure for connecting and controlling the static and moving platforms. The parallel structure consists of a hybrid branch I and a simple branch II. The hybrid branch I consists of branch chain I and branch chain II. Branch chain I includes a spatial sub-parallel mechanism formed by four revolute joints connected in series. Two adjacent revolute joints in the spatial sub-parallel mechanism are located on a stationary platform, and a transition revolute joint is connected in series between the other two revolute joints in the spatial sub-parallel mechanism that are far from the stationary platform. Branch chain II includes a second prismatic joint and two revolute joints connected in series, with the second prismatic joint located on the stationary platform; The end revolute joints of branch chain I and branch chain II, which are furthest from the static platform, are connected by an output rod. A bridging revolute joint connected to one end of the moving platform is also connected in series on the output rod. Simple branch II includes a first prismatic joint and four revolute joints connected in series. The first prismatic joint is located on the stationary platform, and the revolute joint at the end of simple branch II away from the stationary platform is connected to the other end of the moving platform. When the two prismatic joints and two revolute joints on the stationary platform are driving joints, the moving platform can achieve a 1T2R output motion mode.

[0006] Preferably, the axes of any rotating joints on branch chain I are parallel to each other, and the axes of the transition rotating joint and the bridge rotating joint are perpendicular to each other.

[0007] Preferably, branch chain I is formed by sequentially connecting the seventh, eighth, ninth and tenth rotary joints to form a spatial sub-parallel mechanism. The seventh and tenth rotary joints in the spatial sub-parallel mechanism are both located on the stationary platform, and the eighth and ninth rotary joints, which are far from the stationary platform, are connected in series with a transition rotary joint.

[0008] Preferably, the axes of the second prismatic joint on branch chain II and any revolute joint are perpendicular to each other, and the axes of the end revolute joint on branch chain II away from the stationary platform are perpendicular to each other.

[0009] Preferably, the second prismatic joint, the fifth rotary joint, and the sixth rotary joint on branch chain II are connected in series, and the axes of the sixth rotary joint and the bridging rotary joint are perpendicular to each other.

[0010] Preferably, the two adjacent revolute joints on the simple branch II near the stationary platform constitute the first group of revolute joints, and the other two revolute joints constitute the second group of revolute joints. The axes of the revolute joints in the first group are parallel to each other, the axes of the revolute joints in the second group are parallel to each other, the axes of any revolute joint in the first group are perpendicular to any revolute joint in the second group, and the axes of the first prismatic joint are parallel to any revolute joint in the first group.

[0011] Preferably, the simple branch II is formed by connecting the first prismatic joint and the first rotary joint, the second rotary joint, the third rotary joint and the fourth rotary joint in series. The fourth rotary joint is connected to the end of the moving platform, and the axes of the fourth rotary joint and the bridge rotary joint are parallel to each other.

[0012] Preferably, the first sliding joint and the second sliding joint are located on two linear guides with mutually perpendicular axes.

[0013] Beneficial effects: (1) This invention creatively realizes the motion mode of the moving platform in "one move, two rotates" (1T2R) by combining a unique hybrid branch and a simple branch topology. By simply selecting different combinations of drive pairs on the static platform, the motion output characteristics of the end effector can be changed, enabling a single robot to adapt to a wider range of task requirements. In particular, its 1T2R mode perfectly matches the compound motion requirements of vertical feed (Z-axis movement) and dual-axis angle adjustment (rotation around the X and Y axes) for carton side labeling operations, fundamentally solving the technical bottleneck that traditional fixed-angle labeling devices or single-mode robots cannot adapt to different tilt angles of carton sides; (2) The most prominent technical advantage of this invention lies in its analytically expressible forward kinematics. By carefully designing the geometric constraints of parallel or perpendicular axes between the revolute and prismatic joints in each branch, the kinematic model of the entire mechanism is highly decoupled and simplified. This allows the position and orientation of the moving platform to be calculated quickly and accurately directly through the symbolic expression of the drive joint input, avoiding the tedious numerical iterative solution process usually required by traditional complex parallel mechanisms. This feature greatly reduces the computational load of real-time trajectory planning, laying a solid foundation for achieving millisecond-level dynamic pose adjustment and high-precision closed-loop control in scenarios with tight timeframes such as high-speed labeling, while also helping to reduce the hardware cost of the control system.

[0014] (3) The parallel configuration of the present invention inherits the inherent advantages of high rigidity and high load-bearing capacity of parallel mechanisms. Its moving platform is supported by multiple branches, resulting in small end deformation and good stability when the surface being pressed is small. This effectively overcomes the vibration problem that is easily generated in the high-speed pressing action of serial robots, ensuring that the pasting is flat and firm. At the same time, the topology is compact, and the drive pairs (prismatic pairs and revolute pairs) are mainly arranged on the static platform, which effectively reduces the inertia of the moving parts and is conducive to improving the dynamic performance and movement speed of the mechanism.

[0015] (4) When applied to electronic waybill pasting on cartons, the adjustable-angle labeling head mounted on the robot platform designed in this invention can quickly complete the continuous action of "descent-dual-axis rotation alignment-roll pasting" using the 1T2R mode based on the tilt information of the carton side fed back by the vision system. The whole process is automated, without manual intervention or replacement of mechanical fixtures. This not only completely eliminates the downtime caused by production changeover and realizes true flexible production, but also ensures the consistency of the pasting position and posture of each waybill through the high repeatability positioning accuracy of the robot, greatly improving work efficiency and product quality, and providing an efficient and reliable hardware solution for the intelligent upgrade of logistics sorting centers; (5) The parallel robot obtained by the present invention has the positive position solution, and its positive position solution can be directly obtained by symbolic operation, avoiding the complex numerical calculation process. The realization of the motion output mode does not require changing the degree of freedom of the rotation joint, reducing the additional variables and constraints introduced by changing the degree of freedom, further simplifying the kinematic model, and making the analysis and understanding of the robot's motion law more intuitive and easier. Attached Figure Description

[0016] Figure 1 The present invention describes the topology of a parallel robot with a 1T2R motion output mode having a positive position sign solution.

[0017] Figure 2 This is an application scenario diagram of the parallel robot of this invention used in the electronic waybill pasting machine for cardboard boxes.

[0018] In the diagram: 0. Static platform, 1. Moving platform, 3. Motor, 4. Cardboard box, 5. Electronic label pasting machine, 6. Conveyor belt, 7. Discharge conveyor belt, R0. Bridge-connected rotating pair, R 11 The seventh revolute joint, R 12 The eighth revolute joint, R 21 The tenth revolute joint, R 22 The ninth revolute joint, R 32 The fifth revolute joint, R 33 The sixth revolute joint, R 42 First revolute joint, R 43 The second revolute joint, R 44 The third revolute joint, R 45 Fourth revolute joint, R5. Transition revolute joint, P 31 Second moving pair, P 41 First moving pair. Detailed Implementation

[0019] The present invention will be described in detail below with reference to embodiments. However, it should be understood that the following embodiments are merely illustrative examples of implementation of the present invention and are not intended to limit the scope of the present invention.

[0020] As per the instruction manual Figure 1 (P in the picture) As shown in the figure (referring to equivalent movement), this invention provides a parallel robot with a 1T2R output mode and a position sign positive solution. Its structure includes a static platform 0 and a moving platform 1, as well as a parallel structure for connecting and controlling the static platform 0 and the moving platform 1. The parallel structure consists of a hybrid branch I and a simple branch II. The hybrid branch I consists of branch chain I and branch chain II. Branch chain I is formed by the seventh revolute joint R 11 Eighth rotating joint R 12 Ninth rotating joint R 22 and the tenth rotating joint R 21 A spatial sub-parallel mechanism is formed by sequentially connecting multiple parts, and the seventh revolute joint R in the spatial sub-parallel mechanism is... 11 and the tenth rotating joint R 21 All are located on the static platform 0, and the eighth rotary joint R in the spatial sub-parallel mechanism is farthest from the static platform 0. 12 With the ninth revolute joint R 22 The rotating joints R5 are connected in series. The axes of any rotating joints on the branch chain I are parallel to each other, and the axes of the rotating joints R5 and the bridge rotating joints R0 are perpendicular to each other.

[0021] Branch chain II is formed by the second moving joint P 31 With the fifth revolute joint R 32 The sixth revolute joint R33 The sixth revolute joint R is connected in series. 33 The axes of the revolute joint R0 and the bridge are perpendicular to each other, and the second prismatic joint P... 31 Located on static platform 0; second moving joint P on branch chain II 31 The sixth revolute joint R is perpendicular to the axis of any revolute joint. 33 The axis of the bridge-connecting revolute joint R0 is perpendicular to each other.

[0022] The end revolutes of branch chain I and branch chain II, which are furthest from the static platform 0, are connected by an output rod. A bridge revolute R0 connected to one end of the moving platform 1 is also connected in series on the output rod. Simple branch II consists of the first moving sub-particle P 41 With the first revolute joint R 42 Second revolute joint R 43 Third revolute joint R 44 Fourth revolute joint R 45 The fourth revolute joint R is formed by connecting them in series. 45 Connected to the other end of the moving platform 1, the fourth rotating joint R 45 The axes of the revolute joint R0 connected to the bridge are parallel to each other. The first prismatic joint P... 41 Located on the stationary platform 0. First revolute joint R 42 Second revolute joint R 43 The first set of revolute joints, the third revolute joint R 44 Fourth revolute joint R 45 This is the second set of revolute joints. The axes of the revolute joints in the first set are parallel to each other, and the axes of the revolute joints in the second set are parallel to each other. The axes of any revolute joint in the first set are perpendicular to the axes of any revolute joint in the second set. The first prismatic joint P... 41 It is parallel to the axis of any revolute joint in the first group.

[0023] The first moving joint P in Simple Branch II 41 With the second moving pair P in the hybrid branch I 31 They are located on two linear guides with mutually perpendicular axes.

[0024] When the first moving sub-p on the static platform 0 is P 41 Second moving sub-P 31 7th rotating joint R 11 and the tenth rotating joint R 21 When the driving pair is used, the moving platform 1 can achieve a 1T2R output motion mode. 1T2R refers to translation along the z-axis and circumferential rotation around the axes of the bridge-connecting revolute joint R0 (y-axis) and the transition revolute joint R5 (x-axis).

[0025] As per the instruction manual Figure 2The diagram shows an application scenario of an electronic label pasting machine for cardboard boxes using the aforementioned parallel robot topology. The working principle is as follows: (1) Motor 3 drives conveyor belt 6 to transport carton 4 to the work area; (2) R21 rotates around the x-axis, P31 moves along the guide rail, driving the electronic label pasting machine 5, which is fixedly installed on the moving platform 1, to descend along the z-direction for positioning; (3) R21 rotates around the x-axis and P41 moves along the guide rail. By adjusting the angles around the x and y axes, the electronic label is made parallel to the surface of the carton, thus completing the expected pasting process of the carton 5. (4) After processing, the carton 4 is transported to the discharge conveyor belt 7 for the next stage of processing, and the moving platform 1 returns to standby. (5) As above, the conveyor belt 6 continues to transport the carton to the work area and repeat the next round of work.

[0026] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A parallel robot with a 1T2R output mode and positive sign position resolution, characterized in that, It includes a static platform and a moving platform, as well as a parallel structure for connecting and controlling the static and moving platforms. The parallel structure consists of a hybrid branch I and a simple branch II. The hybrid branch I consists of branch chain I and branch chain II. Branch chain I includes a spatial sub-parallel mechanism formed by four revolute joints connected in series. Two adjacent revolute joints in the spatial sub-parallel mechanism are located on a stationary platform, and a transition revolute joint is connected in series between the other two revolute joints in the spatial sub-parallel mechanism that are far from the stationary platform. Branch chain II includes a second prismatic joint and two revolute joints connected in series, with the second prismatic joint located on the stationary platform; The end revolute joints of branch chain I and branch chain II, which are furthest from the static platform, are connected by an output rod. A bridging revolute joint connected to one end of the moving platform is also connected in series on the output rod. Simple branch II includes a first prismatic joint and four revolute joints connected in series. The first prismatic joint is located on the stationary platform, and the revolute joint at the end of simple branch II away from the stationary platform is connected to the other end of the moving platform. When the two prismatic joints and two revolute joints on the stationary platform are driving joints, the moving platform can achieve a 1T2R output motion mode.

2. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 1, characterized in that, The axes of any rotating joints on branch chain I are parallel to each other, and the axes of the transition rotating joints and the bridge rotating joints are perpendicular to each other.

3. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 2, characterized in that, Branch chain I is formed by sequentially connecting the seventh, eighth, ninth and tenth rotary joints to form a spatial sub-parallel mechanism. The seventh and tenth rotary joints in the spatial sub-parallel mechanism are both located on the stationary platform. The eighth and ninth rotary joints, which are far from the stationary platform, are connected in series with a transition rotary joint.

4. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 1, characterized in that, The axes of the second prismatic joint on branch chain II and any revolute joint are perpendicular to each other, and the axes of the end revolute joint on branch chain II away from the stationary platform are perpendicular to each other.

5. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 4, characterized in that, On branch chain II, the second prismatic joint is connected in series with the fifth and sixth revolute joints, and the axes of the sixth revolute joint and the bridge revolute joint are perpendicular to each other.

6. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 1, characterized in that, On simple branch II, the two adjacent revolute joints near the stationary platform are the first group of revolute joints, and the other two revolute joints are the second group of revolute joints. The axes of the revolute joints in the first group are parallel to each other, the axes of the revolute joints in the second group are parallel to each other, the axes of any revolute joint in the first group are perpendicular to any revolute joint in the second group, and the axes of the first prismatic joint are parallel to any revolute joint in the first group.

7. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 6, characterized in that, Simple branch II is formed by connecting the first prismatic joint, the first revolute joint, the second revolute joint, the third revolute joint, and the fourth revolute joint in series. The fourth revolute joint is connected to the end of the moving platform, and the axes of the fourth revolute joint and the bridge revolute joint are parallel to each other.

8. A parallel robot with a 1T2R output mode and positive sign position solution according to claim 1, characterized in that, The first and second sliding joints are located on two linear guides with mutually perpendicular axes.

9. An electronic label pasting machine for cardboard boxes, characterized in that, A topology of a parallel robot with a 1T2R output mode that employs the position symbol positive solution as described in any one of claims 1-8.

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