Multi-degree-of-freedom translation mechanical arm structure

Abstract

The invention relates to a multi-degree-of-freedom translation mechanical arm structure, and belongs to the technical field of robot equipment. The structure comprises a first rotating mechanism, a second rotating mechanism, a first translation mechanism, a second translation mechanism and an operating mechanism, the first rotating mechanism is connected with a long cantilever, a long telescopic cylinder and a first translation telescopic cylinder through a first mounting plate, and the second rotating mechanism is arranged at the end of the long cantilever; the second rotating mechanism is connected with the upper cantilever and the lower cantilever through a second mounting plate, the second translational telescopic cylinder is connected with the second mounting plate and the upper cantilever, the other ends of the upper cantilever and the lower cantilever are connected with a third mounting plate, and an operating mechanism is arranged on the third mounting plate. According to the structure, movement in the multi-degree-of-freedom direction can be achieved through rotation, it can be guaranteed that the operation mechanism stably moves in the plane, and stable operation of the operation mechanism in the plane is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of robot equipment and relates to a multi-freedom translational mechanical arm structure. Background Art

[0002] With the improvement of mechanization and automation, new requirements are put forward for the flexibility and stability of the robot arm, especially in the construction and manufacturing fields. Especially in operations such as spraying, painting, flattening, welding, blasting, drilling, etc., the equipment needs to be operated stably in one plane.

[0003] In the prior art, in order to achieve the translation of the robot arm, there are still space restrictions and complicated mechanisms, which increase the weight of the overall structure of the robot arm, affect the flexibility of movement, and the deviation of the connecting rod movement makes it impossible to ensure the stability of the mechanical structure in the plane. In order to simplify the manufacturing and installation of the robot arm, stabilize the movement, facilitate precise motion control, facilitate the execution of various target tasks, reduce the movement inertia of the robot arm, and improve the movement flexibility, movement stability and movement accuracy of the robot arm, it is necessary to further improve the existing robot arm structure. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a multi-degree-of-freedom translational robotic arm structure.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-degree-of-freedom translational mechanical arm structure comprises a first rotating mechanism, a second rotating mechanism, a first translational mechanism, a second translational mechanism, and an operating mechanism, wherein the first translational mechanism comprises a long cantilever, a long telescopic cylinder, and a first translational telescopic cylinder, and the second translational telescopic cylinder comprises an upper cantilever, a lower cantilever, and a second translational telescopic cylinder, the first rotating mechanism is respectively connected to the long cantilever, the long telescopic cylinder, and the first translational telescopic cylinder through a first mounting plate, and the end of the long cantilever is provided with a second rotating mechanism; the second rotating mechanism is respectively connected to the upper cantilever and the lower cantilever through a second mounting plate, the second translational telescopic cylinder is connected to the second mounting plate and the upper cantilever, the other ends of the upper cantilever and the lower cantilever are connected to a third mounting plate, and the operating mechanism is provided on the third mounting plate.

[0007] Preferably, the first rotating mechanism is arranged at the end of the first mounting plate, and a plurality of mounting points are arranged on the first mounting plate. The long cantilever, the long telescopic cylinder and the first translational telescopic cylinder are respectively hinged and fixed through the mounting points; the long cantilever and the long telescopic cylinder are respectively hinged and fixed to the mounting plate at the bottom of the second rotating mechanism.

[0008] Preferably, the first translational telescopic cylinder is hinged and fixed to the mounting point on the long cantilever, and the first rotation mechanism drives the first translational mechanism to rotate when the first rotation mechanism rotates, and the first translational telescopic cylinder and the long telescopic cylinder are controlled in linkage.

[0009] Preferably, the upper cantilever and the lower cantilever are of equal length and are arranged in parallel, and both ends of the upper cantilever and the lower cantilever are respectively hingedly mounted on the mounting points of the second mounting plate or the third mounting plate.

[0010] Preferably, when the second rotating mechanism rotates, it drives the second translation mechanism to rotate, and the second translation telescopic cylinder drives the upper cantilever and the lower cantilever to achieve translation.

[0011] Preferably, the third mounting plate is also provided with mounting points for the operating mechanism and the control cylinder, and the control cylinder is provided with two ends hingedly fixed to the operating mechanism and the third mounting plate respectively.

[0012] Preferably, the operating mechanism comprises a shotcrete machine, a roller machine, a welder, a blower, a drill or a water jet machine.

[0013] Preferably, the multi-degree-of-freedom translational robotic arm structure is installed on an operating trolley, and the long telescopic cylinder, the first translational telescopic cylinder, the second translational telescopic cylinder and the control oil cylinder are controlled in linkage through a hydraulic control system on the trolley.

[0014] Preferably, the rotation of the first rotating mechanism drives the multi-degree-of-freedom translational robotic arm structure as a whole to rotate along the axis of the first mounting plate, and the first telescopic cylinder drives the long cantilever to swing along the intersection axis of the long cantilever and the first mounting plate, and the long telescopic cylinder is telescoped and adjusted accordingly during the swinging process and limits the position of the long cantilever; the rotation of the second rotating mechanism drives the second translational mechanism to rotate as a whole, and the second translational telescopic cylinder drives the upper cantilever and the lower cantilever to move in linkage and perform translation; the oil cylinder is controlled to telescope and adjust the angle and position of the operating mechanism.

[0015] The beneficial effects of the present invention are as follows: the structure simplifies the components of the robot arm, the structures of the first translation mechanism and the second translation mechanism are simplified, and the stability of planar motion can be ensured; the structure can ensure the flexible movement of the robot arm within a certain operating space through two rotation mechanisms, especially the second translation mechanism ensures the translation of the operating mechanism in the structure, and the mechanism also has the advantages of stable motion, easy to carry out precise motion control, convenient to execute a variety of target tasks, and wide range of applications.

[0016] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 It is a schematic diagram of the structure of a multi-degree-of-freedom translational robotic arm;

[0019] Figure 2 This is the structural diagram of the second translation mechanism.

[0020] Figure 3 It is a structural schematic diagram of a multi-degree-of-freedom translational robot arm shotcrete operating mechanism;

[0021] Figure 4 It is a schematic diagram of the installation structure of the shotcrete operating mechanism;

[0022] Figure 5 It is a structural schematic diagram of the shotcrete operating mechanism;

[0023] Figure 6 It is a schematic diagram of the structure and action of the multi-degree-of-freedom translational robot arm shotcrete operating mechanism;

[0024] In the figure: 1-first rotating mechanism, 2-second rotating mechanism, 3-first translation mechanism, 4-second translation mechanism, 5-operating mechanism, 6-control cylinder, 31-long cantilever, 32-long telescopic cylinder, 33-first translation telescopic cylinder, 34-first mounting plate, 41-upper cantilever, 42-lower cantilever, 43-second translation telescopic cylinder, 44-second mounting plate, 45-third mounting plate, 51-spraying operating mechanism. DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0027] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0028] Combination Figures 1 to 6 As shown, a specific implementation of a multi-degree-of-freedom translational robotic arm structure provided by the present invention is described.

[0029] A multi-degree-of-freedom translational mechanical arm structure, which simplifies the structure of the mechanical arm, thereby ensuring the stability of operation and avoiding deviation problems; the structure uses a second rotation structure to achieve translation, and the overall movement of the structure is more flexible. The structure specifically includes a first rotation mechanism 1, a second rotation mechanism 2, a first translation mechanism 3, a second translation mechanism 4 and an operating mechanism 5. The first translation mechanism 3 includes a long cantilever 31, a long telescopic cylinder 32 and a first translation telescopic cylinder 33. The length of the long cantilever of the mechanical arm is larger than that of the upper cantilever, which can ensure the stability of the structure and realize a large range of movement of the mechanical arm. The second translation mechanism 4 includes an upper cantilever 41, a lower cantilever 42 and a second translation telescopic cylinder 43. The second translation mechanism 4 can realize the translation of the mechanical arm within a small range. The first rotation mechanism 1 is respectively connected to the long cantilever 31, the long telescopic cylinder 32 and the first translation telescopic cylinder 33 through a first mounting plate 34, and the action of the first rotation mechanism is realized through the linkage of the two telescopic cylinders. The end of the long cantilever 31 is provided with a second rotating mechanism 2, which realizes 180-degree rotation to control the robot arm to realize refined motion operation. The second rotating mechanism 2 is respectively connected to the upper cantilever 41 and the lower cantilever 42 through the second mounting plate 44, and the two cantilevers are connected to form a parallelogram structure. The second translation telescopic cylinder 43 connects the second mounting plate 44 and the upper cantilever, and the translation movement of the second translation mechanism is realized through the second translation telescopic cylinder 43. The other ends of the upper cantilever 41 and the lower cantilever 42 are connected to the third mounting plate 45, and the third mounting plate 45 is provided with an operating mechanism, and the robot arm realizes basic operation by using the operating mechanism.

[0030] The first rotating mechanism 3 is arranged at the end of the first mounting plate, and a plurality of mounting points are arranged on the first mounting plate 34. The long cantilever 31, the long telescopic cylinder 32 and the first translation telescopic cylinder 33 are respectively hinged and fixed through the mounting points, and their sizes are also matched according to the size of the long cantilever. The size of the long cantilever can be adjusted arbitrarily according to the application environment, but the size of the long cantilever should be larger than the size of the upper cantilever. The long cantilever 31 and the long telescopic cylinder 32 are respectively hinged and fixed to the mounting plate at the bottom of the second rotating mechanism 2, and after forming a parallelogram structure, translation can be realized and the operation stability can also be ensured.

[0031] The first translation telescopic cylinder 33 is hinged and fixed to the mounting point on the long cantilever 31. When the first rotating mechanism rotates, it drives the first translation mechanism to rotate. The first translation telescopic cylinder 33 and the long telescopic cylinder 32 are controlled in linkage, thereby stably controlling the first rotating mechanism. The upper cantilever and the lower cantilever are equal in length and arranged in parallel. The ends of the upper cantilever 41 and the lower cantilever 42 are respectively hinged and mounted on the mounting points of the second mounting plate 44 or the third mounting plate 45. The quadrilateral structure formed by the upper cantilever and the lower cantilever and the second mounting plate 44 and the third mounting plate 45 can ensure the smooth operation of the robot arm operating mechanism.

[0032] When the second rotating mechanism 2 rotates, it drives the second translation mechanism 4 to rotate, and the second translation telescopic cylinder 43 drives the upper cantilever 31 and the lower cantilever 32 to achieve translation. The third mounting plate 45 is also provided with mounting points of the operating mechanism and the control cylinder, and the two ends of the control cylinder are respectively hinged to fix the operating mechanism 5 and the third mounting plate 45.

[0033] The operating mechanism 5 includes a shotcrete machine, a roller machine, a welder, a blower, a drill or a water jet machine. The operating mechanism can be used to realize operations such as shotcrete spraying, spraying, flattening, welding, blasting, drilling, uniform water spraying, etc. in a plane to ensure the stability of the operation and construction.

[0034] The multi-degree-of-freedom translational robotic arm structure is installed on the operating trolley. The long telescopic cylinder 32, the first translational telescopic cylinder 33, the second translational telescopic cylinder 43 and the control oil cylinder 6 are controlled in linkage through the hydraulic control system on the trolley, and the entire robotic arm is operated in coordination to achieve automated operation.

[0035] The rotation of the first rotating mechanism 3 drives the multi-degree-of-freedom translational robotic arm structure as a whole to rotate along the axis of the first mounting plate 34, and the first telescopic cylinder 32 drives the long cantilever 31 to swing along the intersection axis of the long cantilever and the first mounting plate 34. During the swinging process, the long telescopic cylinder is telescoped and adjusted accordingly and the position of the long cantilever is fixed; the rotation of the second rotating mechanism 2 drives the second translational mechanism 4 to rotate as a whole, and the second translational telescopic cylinder 43 drives the upper cantilever 41 and the lower cantilever 42 to move in translation; the control cylinder 6 is telescoped to control and adjust the angle and position of the operating mechanism.

[0036] This structure simplifies the components of the robotic arm, simplifies the structures of the first translation mechanism and the second translation mechanism, and can ensure the stability of planar motion; this structure can ensure the flexible movement of the robotic arm within a certain operating space through two rotation mechanisms, especially the second translation mechanism ensures the translation of the operating mechanism in this structure. In addition, this mechanism also has the advantages of stable motion, easy to carry out precise motion control, convenient to execute various target tasks, and wide range of applications.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A multi-degree-of-freedom translational robotic arm structure, characterized in that: It includes a first rotating mechanism, a second rotating mechanism, a first translation mechanism, a second translation mechanism, and an operating mechanism. The first translation mechanism includes a long cantilever, a long telescopic cylinder and a first translation telescopic cylinder. The second translation mechanism includes an upper cantilever, a lower cantilever and a second translation telescopic cylinder. The first rotating mechanism is respectively connected to the long cantilever, the long telescopic cylinder and the first translation telescopic cylinder through a first mounting plate, and the end of the long cantilever is provided with a second rotating mechanism; the second rotating mechanism is respectively connected to the upper cantilever and the lower cantilever through a second mounting plate, the second translation telescopic cylinder is connected to the second mounting plate and the upper cantilever, the other ends of the upper cantilever and the lower cantilever are connected to a third mounting plate, and the operating mechanism is provided on the third mounting plate.

2. A multi-degree-of-freedom translational robotic arm structure according to claim 1, characterized in that: The first rotating mechanism is arranged at the end of the first mounting plate, and a plurality of mounting points are arranged on the first mounting plate. The long cantilever, the long telescopic cylinder and the first translational telescopic cylinder are respectively hinged and fixed through the mounting points; the long cantilever and the long telescopic cylinder are respectively hinged and fixed to the mounting plate at the bottom of the second rotating mechanism.

3. The multi-degree-of-freedom translational robotic arm structure according to claim 1, characterized in that: The first translation telescopic cylinder is hinged and fixed to the installation point on the long cantilever. When the first rotating mechanism rotates, it drives the first translation mechanism to rotate. The first translation telescopic cylinder and the long telescopic cylinder are controlled in linkage.

4. The multi-degree-of-freedom translational robotic arm structure according to claim 1, characterized in that: The upper cantilever and the lower cantilever are of equal length and are arranged in parallel. Both ends of the upper cantilever and the lower cantilever are respectively hingedly mounted on the mounting points of the second mounting plate or the third mounting plate.

5. The multi-degree-of-freedom translational robotic arm structure according to claim 1, characterized in that: When the second rotating mechanism rotates, it drives the second translation mechanism to rotate, and the second translation telescopic cylinder drives the upper cantilever and the lower cantilever to achieve translation.

6. The multi-degree-of-freedom translational robotic arm structure according to claim 5, characterized in that: The third mounting plate is also provided with mounting points of the operating mechanism and the control oil cylinder, and the control oil cylinder is provided with two ends hingedly fixed to the operating mechanism and the third mounting plate respectively.

7. A multi-degree-of-freedom translational robotic arm structure according to any one of claims 1 to 6, characterized in that: The operating mechanism includes a shotcrete machine, a roller press, a welder, a blower, a drill or a water jet machine.

8. The multi-degree-of-freedom translational robotic arm structure according to claim 7, characterized in that: The multi-degree-of-freedom translational mechanical arm structure is installed on an operating trolley, and the long telescopic cylinder, the first translational telescopic cylinder, the second translational telescopic cylinder and the control oil cylinder are controlled in linkage through a hydraulic control system on the trolley.

9. The multi-degree-of-freedom translational robotic arm structure according to claim 7, characterized in that: The rotation of the first rotating mechanism drives the multi-degree-of-freedom translational robotic arm structure as a whole to rotate along the axis of the first mounting plate, and the first telescopic cylinder drives the long cantilever to swing along the intersection axis of the long cantilever and the first mounting plate. During the swinging process, the long telescopic cylinder is telescoped and adjusted accordingly and limits the position of the long cantilever; the rotation of the second rotating mechanism drives the second translational mechanism as a whole to rotate, and the second translational telescopic cylinder drives the upper cantilever and the lower cantilever to move in linkage and perform translation; the oil cylinder is controlled to telescope and adjust the angle and position of the operating mechanism.

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