Crawler-type four-degree-of-freedom parallel robot

Abstract

The application belongs to the technical field of parallel robots, and particularly relates to a crawler-type four-degree-of-freedom parallel robot, which comprises a bottom moving module, driving assemblies symmetrically arranged on the left and right sides of the upper surface of the bottom moving module, parallelogram modules with bias angles connected to the upper parts of the driving assemblies, and a moving platform commonly connected to the lower ends of the two parallelogram modules with bias angles; the bottom moving module comprises a bottom frame and crawler walking assemblies installed on the left and right sides of the bottom frame; the driving assembly comprises a linear module installed on the upper surface of the bottom frame, a first rotating plate and a second rotating plate hingedly connected to the inner and outer sides of the upper surface of the slider in the linear module, and the upper ends of the first rotating plate and the second rotating plate are respectively hingedly connected to the inner and outer sides of the lower surface of a triangular connecting piece. The whole large-range displacement is realized through the bottom moving module, and the small-range adjustment of the moving platform is completed through the cooperative action of the driving assembly and the parallelogram modules with bias angles.

Description

Technical Field

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

[0002] Traditional 3T1R parallel robots typically use a fixed base structure, achieving stable support through a rigid connection between the frame and the ground. However, this fixed method limits the robot's working space to the range of motion of the links and joints, resulting in a limited effective workspace and a fixed coverage area. This makes it difficult to handle multi-station collaborative operations in modern industrial automation and mobile operations in smart agriculture, which generally require long-distance, cross-regional operations. Therefore, there is an urgent need to liberate parallel robots from fixed-position operation modes.

[0003] For mobile operations such as sampling and exploration, and guided seedling production, parallel robots need sufficient spatial coverage and high dynamic response speed of the end effector. Currently available 3T1R parallel robots mostly use multiple rotary joints for motion input, with changes in the position of the end effector platform relying on the rotation of each joint, resulting in a large workspace and low motion accuracy. To further meet the mobility requirements of sampling and exploration, and guided seedling production, a combination structure of wheeled drive and parallel robots has emerged in the market. However, this structure suffers from low overall structural rigidity, insufficient stability during movement, and difficulty in controlling turns. Summary of the Invention

[0004] This invention provides a tracked four-degree-of-freedom parallel robot to address the above-mentioned problems.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A tracked four-degree-of-freedom parallel robot includes a bottom moving module, drive components are symmetrically arranged on the left and right sides of the upper surface of the bottom moving module, a parallelogram module with an offset angle is connected to the upper part of the drive components, and a moving platform is connected to the lower end of the two parallelogram modules with offset angles. The bottom moving module includes a bottom frame and tracked walking components installed on the left and right sides of the bottom frame; The drive assembly includes a linear module mounted on the upper surface of the bottom frame. A first rotating plate and a second rotating plate are respectively hinged to the inner and outer sides of the upper surface of the slider in the linear module. The upper ends of the first rotating plate and the second rotating plate are respectively hinged to the inner and outer sides of the lower edge of the triangular connector. The slider, the first rotating plate, the second rotating plate and the triangular connector form a parallelogram mechanism.

[0006] Furthermore, a drive motor for driving the rotation of the first rotating plate is installed on the slider in the linear module.

[0007] Furthermore, a second drive motor for driving the second rotating plate to rotate is installed on the slider in the linear module. The second drive motor is a redundant design, which is used to help maintain the state of the first and second rotating plates, and to assist the first drive motor in driving under heavy load.

[0008] Furthermore, the parallelogram module with an offset angle includes a first connecting rod and a second connecting rod. The upper end of the first connecting rod is hinged to the upper end of the inner side of the triangular connector. The upper end of the second connecting rod is coaxially hinged to the upper end of the first rotating plate on the triangular connector. The lower end of the first connecting rod is hinged to the upper end of the corner bracket, and the lower end of the second connecting rod is hinged to the lower end of the corner bracket. The first connecting rod, the corner bracket, the second connecting rod, and the triangular connector form a parallelogram mechanism. The inner side of the triangular connector and the hinge side of the corner bracket are both inclined, thus giving the parallelogram mechanism formed by the first connecting rod, the corner bracket, the second connecting rod, and the triangular connector an inherent offset angle. A rotating shaft is fixedly installed on the lower surface of the corner bracket, and the rotating shaft is rotatably connected to the moving platform.

[0009] Furthermore, each of the driving components is provided with at least two triangular connectors, and a first rotating plate, a second rotating plate, a first connecting rod, and a second connecting rod are hinged to each triangular connector. The number of first connecting rods and second connecting rods hinged to each triangular connector is two. The first rotating plate on the same slider is driven by the same first driving motor, and the second rotating plate on the same slider is driven by the same second driving motor.

[0010] Compared with the prior art, the present invention has the following advantages: In this invention, the drive component in the parallel mechanism adopts a structure combining linear drive and rotary drive, realizing three-dimensional translation and one-dimensional rotation of the moving platform. This increases the effective working space and improves the motion accuracy and response efficiency of the moving platform. The mechanical structure is simple and reliable, with low manufacturing cost, convenient assembly and maintenance, and strong dynamic response capability.

[0011] This invention employs a tracked bottom moving module combined with a parallel robot, adaptable to complex working conditions such as muddy terrain and gaps between ridges during sampling exploration and seedling transfer, balancing operational stability with high end-effector load-bearing capacity. Furthermore, the bottom moving module of this invention combines a bottom frame and tracked walking components, enabling it to meet the requirements of differential turning on the tracks.

[0012] This invention employs a tracked bottom moving module, freeing the device from a fixed working position and enabling smooth movement in complex road conditions. This enhances environmental adaptability and operational flexibility, significantly expanding the application scenarios of the invention. Simultaneously, the bottom moving module exhibits uniform force distribution, excellent load-bearing performance, and stronger overall load-bearing capacity, making it suitable for medium- and high-load operations. The large support span of the bottom moving module provides excellent anti-overturning and anti-eccentric load performance, effectively mitigating sudden force changes under unusual configurations, suppressing machine vibration and swaying, and improving end-effector stability and positioning accuracy.

[0013] This invention achieves large-scale overall displacement through a bottom moving module, and utilizes the collaborative action of a drive component and a parallelogram module with an offset angle to complete small-scale precision adjustments of the moving platform, thereby realizing an organic combination of macroscopic and microscopic motion. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an isometric view of the present invention; Figure 3 This is a schematic diagram of the motion of the moving platform along the X-axis in this invention; Figure 4 This is a schematic diagram of the motion of the moving platform along the Z-axis in this invention; Figure 5 This is a schematic diagram of the motion of the moving platform rotating around the Z-axis in this invention; Figure 6 This is a schematic diagram of the overall motion of the present invention; In the figure, the components are: bottom moving module 1, drive component 2, parallelogram module 3 with offset angle, moving platform 4, bottom frame 101, track walking component 102, linear module 201, first rotating plate 202, second rotating plate 203, triangular connector 204, first drive motor 205, second drive motor 206, first connecting rod 301, second connecting rod 302, angle bracket 303, and rotating shaft 304. Detailed Implementation

[0015] To further illustrate the technical solution of the present invention, the present invention will be further described below through embodiments.

[0016] like Figure 1 and Figure 2 As shown, a tracked four-degree-of-freedom parallel robot includes a bottom moving module 1. Drive components 2 are symmetrically arranged on the left and right sides of the upper surface of the bottom moving module 1. A parallelogram module 3 with an offset angle is connected to the upper part of the drive components 2. A moving platform 4 is connected to the lower ends of the two parallelogram modules 3 with offset angles. The bottom moving module 1 includes a bottom frame 101 and tracked walking components 102 installed on the left and right sides of the bottom frame 101. The drive assembly 2 includes a linear module 201 mounted on the upper surface of the bottom frame 101. A first rotating plate 202 and a second rotating plate 203 are hinged to the inner and outer sides of the upper surface of the slider in the linear module 201, respectively. The upper ends of the first rotating plate 202 and the second rotating plate 203 are respectively hinged to the inner and outer sides of the lower edge of the triangular connector 204. The slider, the first rotating plate 202, the second rotating plate 203, and the triangular connector 204 form a parallelogram mechanism. A first drive motor 205 for driving the first rotating plate 202 to rotate is mounted on the slider in the linear module 201. A second drive motor 206 for driving the second rotating plate 203 to rotate is mounted on the slider in the linear module 201. The second drive motor 206 is a redundant design, which serves to help maintain the state of the first rotating plate 202 and the second rotating plate 203, and to assist the first drive motor 205 in driving under heavy load.

[0017] The parallelogram module 3 with offset angle includes a first connecting rod 301 and a second connecting rod 302. The upper end of the first connecting rod 301 is hinged to the upper end of the inner side of the triangular connector 204. The upper end of the second connecting rod 302 is coaxially hinged to the upper end of the first rotating plate 202 on the triangular connector 204. The lower end of the first connecting rod 301 is hinged to the upper end of the corner bracket 303, and the lower end of the second connecting rod 302 is hinged to the lower end of the corner bracket 303. The connecting rod 301, the corner bracket 303, the second connecting rod 302, and the triangular connector 204 form a parallelogram mechanism. The inner side of the triangular connector 204 and the hinge side of the corner bracket 303 are both inclined, which makes the parallelogram mechanism formed by the first connecting rod 301, the corner bracket 303, the second connecting rod 302, and the triangular connector 204 have an inherent bias angle. The lower surface of the corner bracket 303 is fixedly provided with a rotating shaft 304, which is rotatably connected to the moving platform 4.

[0018] Each drive assembly 2 is provided with at least two triangular connectors 204. A first rotating plate 202, a second rotating plate 203, a first connecting rod 301, and a second connecting rod 302 are hinged to each triangular connector 204. The number of first connecting rods 301 and second connecting rods 302 hinged to each triangular connector 204 is two. The first rotating plate 202 on the same slider is driven by the same first drive motor 205, and the second rotating plate 203 on the same slider is driven by the same second drive motor 206.

[0019] Define a three-dimensional coordinate system. The direction of the moving platform 4 along the axis of the linear module 201 is the Y-axis; the direction of the moving platform 4 perpendicular to the linear module 201 and parallel to the ground is the X-axis; and the direction of the moving platform 4 perpendicular to the ground is the Z-axis.

[0020] The moving platform 4, under the combined action of the parallelogram module 3 with offset angle and the drive component 2, has three translational degrees of freedom along the X, Y, and Z axes; through the relative movement of the two drive components 2 in the Y-axis direction, the moving platform achieves one rotational degree of freedom around the Z-axis. Specifically, when the two drive components 2 move synchronously along the linear module 201, such as moving synchronously back and forth in the Y-axis direction via the drive of the linear module 201, the moving platform 4 moves correspondingly back and forth in the Y-axis direction. When the two drive components 2 move asynchronously in the Y-axis direction, depending on the direction of movement of the two drive components 2, a clockwise or counterclockwise rotation around the Z-axis will occur. Figure 5 As shown. When the two drive components 2 rotate outward or inward simultaneously, the moving platform 4 moves vertically up and down in the Z-axis direction, as shown. Figure 4 As shown. When the two drive components 2 rotate clockwise or counterclockwise simultaneously, the moving platform 4 moves along the X-axis, as shown. Figure 3 As shown. When the machine is moving and turning, it can turn by relying on the speed difference between the two tracked walking components 102. Specifically, when the speed of the left tracked walking component 102 is less than the speed of the right tracked walking component 102, a left turn can be achieved, such as... Figure 6 As shown.

[0021] 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.

[0022] 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 tracked four-degree-of-freedom parallel robot, characterized in that: It includes a bottom moving module (1), and driving components (2) are symmetrically arranged on the left and right sides of the upper surface of the bottom moving module (1). A parallelogram module (3) with an offset angle is connected to the upper part of the driving component (2), and a moving platform (4) is connected to the lower end of the two parallelogram modules (3) with offset angle. The bottom moving module (1) includes a bottom frame (101) and tracked walking components (102) installed on the left and right sides of the bottom frame (101). The drive assembly (2) includes a linear module (201) mounted on the upper surface of the bottom frame (101). A first rotating plate (202) and a second rotating plate (203) are respectively hinged to the inner and outer sides of the upper surface of the slider in the linear module (201). The upper ends of the first rotating plate (202) and the second rotating plate (203) are respectively hinged to the inner and outer sides of the lower edge of the triangular connector (204). The slider, the first rotating plate (202), the second rotating plate (203) and the triangular connector (204) form a parallelogram mechanism.

2. The tracked four-degree-of-freedom parallel robot according to claim 1, characterized in that: A drive motor (205) for driving the rotation of the first rotating plate (202) is installed on the slider in the linear module (201).

3. A tracked four-degree-of-freedom parallel robot according to claim 2, characterized in that: A second drive motor (206) for driving the second rotating plate (203) to rotate is installed on the slider in the linear module (201). The second drive motor (206) is a redundant design. On the one hand, it is used to help maintain the state of the first rotating plate (202) and the second rotating plate (203). On the other hand, under heavy load, it is used to assist the first drive motor (205) in driving.

4. A tracked four-degree-of-freedom parallel robot according to claim 3, characterized in that: The parallelogram module (3) with offset angle includes a first connecting rod (301) and a second connecting rod (302). The upper end of the first connecting rod (301) is hinged to the upper end of the inner side of the triangular connector (204). The upper end of the second connecting rod (302) is coaxially hinged to the upper end of the first rotating plate (202) on the triangular connector (204). The lower end of the first connecting rod (301) is hinged to the upper end of the corner bracket (303). The lower end of the second connecting rod (302) is hinged to the lower end of the corner bracket (303). The rod (301), the corner bracket (303), the second connecting rod (302), and the triangular connector (204) form a parallelogram mechanism. The inner side of the triangular connector (204) and the hinge side of the corner bracket (303) are both inclined, so that the parallelogram mechanism formed by the first connecting rod (301), the corner bracket (303), the second connecting rod (302), and the triangular connector (204) has an inherent bias angle. The lower surface of the corner bracket (303) is fixedly provided with a rotating shaft (304), and the rotating shaft (304) is rotatably connected to the moving platform (4).

5. A tracked four-degree-of-freedom parallel robot according to claim 4, characterized in that: Each of the drive components (2) is provided with at least two triangular connectors (204). A first rotating plate (202), a second rotating plate (203), a first connecting rod (301), and a second connecting rod (302) are hinged to each triangular connector (204). The number of first connecting rods (301) and second connecting rods (302) hinged to each of the triangular connectors (204) is two. The first rotating plate (202) on the same slider is driven by the same first drive motor (205), and the second rotating plate (203) on the same slider is driven by the same second drive motor (206).

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