A four-degree-of-freedom parallel robot capable of wide-range mobile operation

Abstract

The application belongs to the technical field of parallel robots, and particularly relates to a four-degree-of-freedom parallel robot capable of realizing large-range mobile operation, which comprises an execution platform, an execution end is mounted on the lower surface of the execution platform, parallelogram structures are symmetrically arranged on the left and right sides of the upper surface of the execution platform, the execution platform is connected with a rhombus transmission structure through the parallelogram structures, a floating base is arranged below the rhombus transmission structure, and a plurality of telescopic driving devices are horizontally arranged between the floating bases on the left and right sides, so as to adjust the spacing between the two floating bases according to the road conditions. The floating base is adopted to replace the fixed base, which not only has the motion flexibility of the wheel mechanism to realize large-range movement, but also retains the advantage of strong load capacity of the traditional fixed parallel mechanism, and can adjust the width according to the actual working conditions, thereby having unique adaptability to complex operation space.

Description

Technical Field

[0001] This invention belongs to the field of parallel robot technology, specifically relating to a four-degree-of-freedom parallel robot capable of large-scale mobile operations. Background Technology

[0002] Traditional 3T1R parallel robots are mainly designed for sorting operations within a fixed range. They have inherent limitations in their workspace and cannot adapt to diverse working conditions requiring limited space, material movement and loading, and dynamically adjustable work range. Current conventional solutions for long-distance grasping and transfer operations generally have the problem of large footprint and cannot meet the requirements of high precision and high positioning accuracy.

[0003] Current mainstream composite operation modes all have their own technical shortcomings: While the collaborative operation of mobile robots and robotic arms offers advantages such as high flexibility and strong collaborative capabilities, the robotic arm itself has limited workspace, low overall structural rigidity, and low load-bearing capacity, making it prone to problems such as center of gravity shift and tipping over during operation; the operation mode combining conveyor belts and parallel robots has high sorting efficiency, but the work points are fixed, the work cycle needs strict synchronization, the end effector's load capacity is limited, and the level of flexible operation is low; the forklift handling mode has strong load-bearing capacity and reliable operation, but the operating speed is slow and the environmental adaptability is poor, failing to meet the needs of flexible and efficient operations. Therefore, breaking away from the traditional fixed-station operation mode of parallel robots and achieving their motorized operation has become a pressing technical challenge for the industry.

[0004] Among various mobile drive methods, wheeled drive can adapt to a variety of complex working environments, balancing operational stability and mobility. However, existing wheeled structures have poor compatibility with different work scenarios, weak support rigidity, and problems such as overall center of gravity shift and operational instability. At the same time, existing wheeled mobile platforms have insufficient load-bearing capacity and are unable to cope with complex working conditions. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a four-degree-of-freedom parallel robot capable of performing large-scale mobile operations.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A four-degree-of-freedom parallel robot capable of large-scale mobile operations includes an execution platform, an execution end effector mounted on the lower surface of the execution platform, parallelogram structures symmetrically arranged on the left and right sides of the upper surface of the execution platform, the execution platform being connected to a rhombus transmission structure through the parallelogram structures, and a floating base being provided below the rhombus transmission structure. The floating base includes two symmetrically arranged side plates, which are fixedly connected by end caps at the front and rear ends. Guide grooves are formed on the inner surfaces of the side plates, and guide rails are installed at the bottom of the grooves. A first-stage support platform and a second-stage support platform are arranged between the two side plates. Two-degree-of-freedom moving wheels are installed on the lower surfaces of both the first-stage and second-stage support platforms. Linear modules are arranged on the left and right sides of both the first-stage and second-stage support platforms. Working guide wheels are installed on the sliders of the linear modules and roll along the guide rails. Fixing blocks are arranged on the front and rear sides of the linear modules, respectively fixedly installed on the first-stage and second-stage support platforms. Sliding grooves are formed on the outer sides of the fixing blocks, allowing sliding movement within the grooves. The device has a telescopic latch, a limiting groove is formed on the inner side of the slide groove, a limiting piece is slidably arranged in the limiting groove, the limiting piece is fixedly connected to the telescopic latch, a first spring is also arranged in the limiting groove, the first spring is located between the limiting piece and the inner wall of the limiting groove, the end of the telescopic latch is wedge-shaped and its lower surface is inclined, two limiting slots with the same shape as the working guide wheel are formed at the top of the guide groove, so as to limit the working guide wheel when the floating base switches states, a sliding slot for the telescopic latch to slide up and down is formed on the inner side of the side plate, a fixed latch is fixedly arranged at the upper end of the sliding slot, and a sliding latch is slidably arranged in the sliding slot, the adjacent surfaces of the fixed latch and the sliding latch are flat, and the opposite surfaces of the fixed latch and the sliding latch are wedge-shaped.

[0007] Furthermore, multiple grooves are evenly provided on the lower surface of the side plate, and V-shaped hooks are hinged in the grooves. A compression spring is provided on one side of the V-shaped hook, and the other end of the compression spring is fixedly connected to the side plate. When the floating base is below, the floating base presses one end of the V-shaped hook, thereby causing the other end of the V-shaped hook to grip the ground, preventing the floating base from sliding horizontally on the ground and improving the stability during operation.

[0008] Furthermore, multiple telescopic drive devices are horizontally arranged between the floating bases on the left and right sides to adjust the distance between the two floating bases according to the road conditions.

[0009] Furthermore, the parallelogram structure includes a first offset triangular block that is horizontally rotatably mounted on the execution platform. A first connecting plate is hinged to the upper part of the first offset triangular block, and a second connecting plate is hinged to the lower part of the first offset triangular block. The other end of the second connecting plate is hinged to the lower part of the second offset triangular block, and the other end of the first connecting plate is hinged to the upper part of the second offset triangular block. The second offset triangular block is fixedly connected to the rhomboid transmission structure.

[0010] Furthermore, the rhomboid transmission structure includes an upper translational platform, which is fixedly connected to the second offset triangular block. An independent connecting plate is hinged to the front side of the upper translational platform, and a third connecting plate is hinged to the middle of the upper translational platform. The lower ends of the independent connecting plate and the third connecting plate are respectively hinged to the front and rear ends of the first bearing platform. The upper translational platform, the independent connecting plate, the third connecting plate, and the first bearing platform form a parallelogram linkage mechanism. A fourth connecting plate is hinged to the middle of the third connecting plate, and the lower end of the fourth connecting plate... The No. 2 bearing platform is hinged to the front end, and the No. 5 connecting plate is hinged to the rear end of the No. 2 bearing platform. The upper end of the No. 5 connecting plate is connected to the lower end of the No. 6 connecting plate. The upper end of the No. 6 connecting plate is hinged to the rear side of the upper translation platform. The lengths of the No. 6 connecting plate, the No. 5 connecting plate, and the No. 4 connecting plate are all the same as the distance between the middle hinge point and the upper hinge point of the No. 3 connecting plate. Furthermore, the line connecting the lower hinge point of the No. 4 connecting plate and the lower hinge point of the No. 5 connecting plate and the line connecting the upper hinge point of the No. 6 connecting plate and the upper hinge point of the No. 3 connecting plate are parallel and equal.

[0011] Compared with the prior art, the present invention has the following advantages: This invention uses a floating base instead of a fixed base, which combines the mobility of a wheeled mechanism to achieve a wide range of movement with the strong load capacity of a traditional fixed parallel mechanism. It can also adjust its width according to actual working conditions, thus having unique adaptability to complex working spaces. It has high mobility, strong load-bearing capacity at the working end, small odd position shape, strong adaptability to the working environment, and large adjustment space. It can be widely used in distillery grain guide tanks, vinegar paste guide tanks, vegetable seedling guides, transportation and disposal of hazardous materials, as well as other occasions that require stable gripping and large load mass in complex working environments. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a schematic diagram of the installation of the rhomboid transmission structure and the floating base of the present invention; Figure 4 This is a schematic diagram of the structure of the floating base of the present invention; Figure 5 This is a schematic diagram showing the connection between the No. 2 bearing platform and the working guide wheel of the present invention; Figure 6 This is a schematic diagram showing the connection between the side plate and the end cap of the present invention; Figure 7 This is a cross-sectional view of the fixing block of the present invention; Figure 8 This is a cross-sectional view of the floating base of the present invention; Figure 9 For the present invention Figure 8 A magnified view of a portion of circle A in the center; Figure 10 This diagram illustrates the state changes of the telescopic bolt, fixed bolt, and sliding bolt during the process of the floating base changing from a falling state to a rising state and then back to a falling state. In the diagram, the components are: 1. Execution platform; 2. Parallelogram structure; 3. Rhomboid transmission structure; 4. Floating base; 5. Execution end; 6. Telescopic drive device; 201. Offset triangle block 1; 202. Connecting plate 1; 203. Connecting plate 2; 204. Offset triangle block 2; 301. Upper translational platform; 302. Independent connecting plate; 303. Connecting plate 3; 304. Connecting plate 5; 305. Connecting plate 6; 306. Side plate 401; End cap 402; Guide groove 4. 03, No. 1 bearing platform 404, No. 2 bearing platform 405, two-degree-of-freedom moving wheel 406, linear module 407, working guide wheel 408, fixed block 409, slide groove 410, telescopic locking tongue 411, limit groove 412, limit piece 413, No. 1 spring 414, limit slot 415, sliding slot 416, fixed locking tongue 417, sliding locking tongue 418, groove 419, V-shaped hook 420, compression spring 421, guide rail 422. Detailed Implementation

[0013] To further illustrate the technical solution of the present invention, the present invention will be further described below through embodiments.

[0014] like Figures 1 to 9 As shown, a four-degree-of-freedom parallel robot capable of large-scale mobile operations includes an execution platform 1. An execution end effector 5 is installed on the lower surface of the execution platform 1. Parallelogram structures 2 are symmetrically arranged on the left and right sides of the upper surface of the execution platform 1. The execution platform 1 is connected to a rhomboid transmission structure 3 through the parallelogram structures 2. A floating base 4 is arranged below the rhomboid transmission structure 3. Multiple telescopic drive devices 6 are horizontally arranged between the floating bases 4 on the left and right sides to adjust the distance between the two floating bases 4 according to the road conditions.

[0015] The parallelogram structure 2 includes a first offset triangular block 201 horizontally rotatably mounted on the execution platform 1. A first connecting plate 202 is hinged to the upper part of the first offset triangular block 201, and a second connecting plate 203 is hinged to the lower part of the first offset triangular block 201. The other end of the second connecting plate 203 is hinged to the lower part of the second offset triangular block 204, and the other end of the first connecting plate 202 is hinged to the upper part of the second offset triangular block 204. The second offset triangular block 204 is fixedly connected to the rhomboid transmission structure 3.

[0016] The rhomboid transmission structure 3 includes an upper translational platform 301, which is fixedly connected to a second offset triangular block 204. An independent connecting plate 302 is hinged to the front side of the upper translational platform 301, and a third connecting plate 303 is hinged to the middle of the upper translational platform 301. The lower ends of the independent connecting plate 302 and the third connecting plate 303 are respectively hinged to the front and rear ends of a first bearing platform 404. The upper translational platform 301, the independent connecting plate 302, the third connecting plate 303, and the first bearing platform 404 form a parallelogram linkage mechanism. A fourth connecting plate 304 is hinged to the middle position of the third connecting plate 303, and the lower end of the fourth connecting plate is connected to... The front end of the second bearing platform 405 is hinged, and the rear end of the second bearing platform 405 is hinged to the fifth connecting plate 305. The upper end of the fifth connecting plate 305 is connected to the lower end of the sixth connecting plate 306. The upper end of the sixth connecting plate 306 is hinged to the rear side of the upper translational platform 301. The lengths of the sixth connecting plate 306, the fifth connecting plate 305, and the fourth connecting plate 304 are all the same as the distance between the middle hinge point and the upper hinge point on the third connecting plate 303. Furthermore, the line connecting the lower hinge point of the fourth connecting plate 304 and the lower hinge point of the fifth connecting plate 305 is parallel and equal to the line connecting the upper hinge point of the sixth connecting plate 306 and the upper hinge point of the third connecting plate 303.

[0017] The floating base 4 includes two symmetrically arranged side plates 401, which are fixedly connected by end caps 402 at the front and rear ends. Guide grooves 403 are formed on the inner surfaces of the side plates 401, and guide rails 422 are provided at the bottom of the guide grooves 403. A first bearing platform 404 and a second bearing platform 405 are arranged between the two side plates 401. Two-degree-of-freedom moving wheels 406 are installed on the lower surfaces of both the first and second bearing platforms 404 and 405. There are also two-way free-moving wheels 406 on the left and right sides of the first and second bearing platforms 404 and 405. A linear module 407 is provided, and a working guide wheel 408 is mounted on the slider of the linear module 407. The working guide wheel 408 is rotatably mounted on the guide rail 422. Fixing blocks 409 are provided on both the front and rear sides of the linear module 407. The fixing blocks 409 are respectively fixedly mounted on the first support platform 404 and the second support platform 405. A sliding groove 410 is provided on the outer side of the fixing block 409, and a telescopic locking tongue 411 is slidably disposed within the sliding groove 410. A limit groove 412 is provided on the inner side of the sliding groove 410, and a limit lock tongue 411 is slidably disposed within the limit groove 412. The limiting plate 413 is fixedly connected to the telescopic latch 411. A first spring 414 is also provided in the limiting groove 412, located between the limiting plate 413 and the inner wall of the limiting groove 412. The end of the telescopic latch 411 is wedge-shaped, and its lower surface is inclined. Two limiting slots 415 with the same shape as the working guide wheel 408 are opened at the top of the guide groove 403 to limit the working guide wheel 408 when the floating base 4 switches states. A sliding groove for the telescopic latch 411 to slide up and down is provided on the inner side of the side plate 401. A movable slot 416 is provided, with a fixed locking tongue 417 fixedly provided at the upper end of the sliding slot 416, and a sliding locking tongue 418 slidably provided in the sliding slot 416. The adjacent surfaces of the fixed locking tongue 417 and the sliding locking tongue 418 are planes, and the opposite surfaces of the fixed locking tongue 417 and the sliding locking tongue 418 are wedge surfaces. A plurality of grooves 419 are evenly provided on the lower surface of the side plate 401, and a V-shaped hook 420 is hinged in the groove 419. A compression spring 421 is provided on one side of the V-shaped hook 420, and the other end of the compression spring 421 is fixedly connected to the side plate 401.

[0018] In the above embodiment, the working guide wheel 408 is an electric wheel with a hub motor, the two-degree-of-freedom moving wheel 406 is a high-speed steering wheel, the sliding slot 416 and the sliding locking tongue 418 are both T-shaped, and the included angle between the two ends of the V-shaped hook is 160°.

[0019] Lifting / lowering process: such as Figure 10As shown, when the floating base 4 is in the falling state, the movement of the working guide wheel 408 drives the parallelogram structure 2 and the rhomboid transmission structure 3 to move, thereby achieving load-bearing operation. When the robot needs to be moved, the working guide wheel 408 is moved to below the corresponding limit slot 415, and the linear module 407 drives the working guide wheel 408 to rise. When the working guide wheel 408 contacts the limit slot 415, it simultaneously drives the side plate 401 to rise. During the rise of the side plate 401, the two-degree-of-freedom moving wheel 406 contacts the ground. When the telescopic locking tongue 411 is below the fixed locking tongue 417, the linear module 407 stops working, and the telescopic locking tongue 411 forms a support for the fixed locking tongue 417 and the side plate 401. With the floating base 4 raised, the robot can then be moved by the two-degree-of-freedom moving wheels 406. Once it reaches the designated position, the side plate 401 is raised by the linear module 407, so that the telescopic latch 411 is below the sliding latch 418. Then, the side plate 401 is lowered by the linear module 407. During the descent, the telescopic latch 411 moves the sliding latch 418 to fit against the fixed latch 417, thus allowing the telescopic latch 411 to smoothly transition to the area below the fixed latch 417, completing the descent of the floating base 4. During the descent of the side plate 401, the two-degree-of-freedom moving wheels 406 are lifted, and the entire robot is supported by the side plate 401 and the end cap 402.

[0020] The foregoing has shown and described the main features and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0021] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-degree-of-freedom parallel robot capable of large-scale mobile operations, characterized in that: The system includes an execution platform (1), an execution end (5) is installed on the lower surface of the execution platform (1), and parallelogram structures (2) are symmetrically arranged on the left and right sides of the upper surface of the execution platform (1). The execution platform (1) is connected to the rhombus transmission structure (3) through the parallelogram structure (2). A floating base (4) is provided below the rhombus transmission structure (3). The floating base (4) includes two side plates (401) arranged symmetrically on the left and right sides. The two side plates (401) are fixedly connected by end caps (402) at the front and rear ends. A guide groove (403) is provided on the inner side of the side plate (401), and a guide rail (422) is provided at the bottom of the guide groove (403). A first bearing platform (404) and a second bearing platform (405) are arranged between the two side plates (401). Two-degree-of-freedom moving wheels (406) are installed on the lower surface of the first bearing platform (404) and the second bearing platform (405). Two-degree-of-freedom moving wheels (406) are provided on the left and right sides of the first bearing platform (404) and the second bearing platform (405). A linear module (407) has a working guide wheel (408) mounted on its slider. The working guide wheel (408) is rotatably mounted on a guide rail (422). Fixing blocks (409) are provided on both the front and rear sides of the linear module (407). The fixing blocks (409) are respectively fixedly mounted on a first bearing platform (404) and a second bearing platform (405). A sliding groove (410) is provided on the outer side of the fixing block (409). A telescopic locking tongue (411) is slidably mounted in the sliding groove (410). A limiting groove (412) is provided on the inner side of the sliding groove (410). A limiting piece (41) is slidably mounted in the limiting groove (412). 3) The limiting plate (413) is fixedly connected to the telescopic lock tongue (411). A first spring (414) is also provided in the limiting groove (412). The first spring (414) is located between the inner wall of the limiting plate (413) and the limiting groove (412). The end of the telescopic lock tongue (411) near the fixed lock tongue (417) is wedge-shaped and its lower surface is inclined. Two limiting slots (415) with the same shape as the working guide wheel (408) are opened at the top of the guide groove (403) to limit the working guide wheel (408) when the floating base (4) switches states. A sliding groove for the telescopic lock tongue (411) is opened on the inner side of the side plate (401). A movable sliding groove (416) is provided with a fixed locking tongue (417) fixedly installed at the upper end of the sliding groove (416), and a sliding locking tongue (418) is slidably installed in the sliding groove (416). The adjacent surfaces of the fixed locking tongue (417) and the sliding locking tongue (418) are planes, and the opposite surfaces of the fixed locking tongue (417) and the sliding locking tongue (418) are wedge surfaces. The wedge surfaces of the fixed locking tongue (417) and the corresponding sliding locking tongue (418) are symmetrically arranged, and after the fixed locking tongue (417) and the sliding locking tongue (418) come into contact, their ends are aligned. The wedge surface at the end of the telescopic locking tongue (411) is opposite to the wedge surface on the corresponding fixed locking tongue (417).

2. The four-degree-of-freedom parallel robot capable of large-area mobile operation according to claim 1, characterized in that: Multiple grooves (419) are evenly provided on the lower surface of the side plate (401). A V-shaped hook (420) is hinged in the groove (419). A compression spring (421) is provided on one side of the V-shaped hook (420). The other end of the compression spring (421) is fixedly connected to the side plate (401).

3. A four-degree-of-freedom parallel robot capable of large-area mobile operation according to claim 1, characterized in that: Multiple telescopic drive devices (6) are horizontally arranged between the floating bases (4) on the left and right sides to adjust the distance between the two floating bases (4) according to the road conditions.

4. A four-degree-of-freedom parallel robot capable of large-area mobile operation according to claim 1, characterized in that: The parallelogram structure (2) includes a first offset triangular block (201) that is horizontally rotatably mounted on the execution platform (1). A first connecting plate (202) is hinged to the upper part of the first offset triangular block (201). A second connecting plate (203) is hinged to the lower part of the first offset triangular block (201). The other end of the second connecting plate (203) is hinged to the lower part of the second offset triangular block (204). The other end of the first connecting plate (202) is hinged to the upper part of the second offset triangular block (204). The second offset triangular block (204) is fixedly connected to the rhomboid transmission structure (3).

5. A four-degree-of-freedom parallel robot capable of large-area mobile operation according to claim 4, characterized in that: The rhomboid transmission structure (3) includes an upper translational platform (301), which is fixedly connected to the second offset triangular block (204). An independent connecting plate (302) is hinged to the front side of the upper translational platform (301), and a third connecting plate (303) is hinged to the middle of the upper translational platform (301). The lower ends of the independent connecting plate (302) and the third connecting plate (303) are respectively hinged to the front and rear ends of the first bearing platform (404). The upper translational platform (301), the independent connecting plate (302), the third connecting plate (303), and the first bearing platform (404) form a parallelogram linkage mechanism. A fourth connecting plate (304) is hinged to the middle position of the third connecting plate (303). The lower part of the fourth connecting plate... The end is hinged to the front end of the second bearing platform (405), and the rear end of the second bearing platform (405) is hinged to the fifth connecting plate (305). The upper end of the fifth connecting plate (305) is connected to the lower end of the sixth connecting plate (306). The upper end of the sixth connecting plate (306) is hinged to the rear side of the upper translation platform (301). The lengths of the sixth connecting plate (306), the fifth connecting plate (305), and the fourth connecting plate (304) are all the same as the distance between the middle hinge point and the upper hinge point on the third connecting plate (303). The line connecting the lower hinge point of the fourth connecting plate (304) and the lower hinge point of the fifth connecting plate (305) and the line connecting the upper hinge point of the sixth connecting plate (306) and the upper hinge point of the third connecting plate (303) are parallel and equal.

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