Series-parallel manipulator for shaft hole assembly

Abstract

The invention discloses a series-parallel mechanical arm for shaft hole assembly. The series-parallel mechanical arm comprises a static platform, a horizontal movement adjusting device and an inclined movement adjusting device. The horizontal movement adjusting device comprises a plurality of driving parts and a middle platform, the plurality of driving parts are installed on the static platform, the plurality of driving parts are connected to the middle platform in parallel, and the plurality of driving parts respectively drive the middle platform to keep a horizontal state and adjust the direction of the middle platform at the same time; the inclined movement adjusting device is installed on the middle platform, a grabbing clamp is installed at the output end of the inclined movement adjusting device, and the inclined movement adjusting device is used for adjusting the inclined angle of the grabbing clamp; the inclined movement adjusting device comprises a base and a movable platform, the base and the movable platform are oppositely arranged, and a plurality of elastic adjusting parts are connected between the base and the movable platform. The method has the advantages that adjustment error accumulation is reduced, and the adjustment precision is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a hybrid robotic arm for shaft hole assembly. Background Technology

[0002] With the rapid development of automated manufacturing, robotic arms have become widely used in industrial production, covering multiple fields such as assembly, welding, and material handling. Existing robotic arms typically employ a multi-axis serial design, achieving flexible multi-angle adjustments through the combined motion of multiple joint axes. However, during angle adjustment, the motion errors of each axis accumulate progressively, ultimately leading to significantly insufficient positioning accuracy of the end effector. This not only reduces work efficiency but also affects product quality. To address this issue, a hybrid robotic arm for shaft and hole assembly is proposed. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] Therefore, the present invention proposes a hybrid robot for shaft and hole assembly, which has the advantages of reducing the accumulation of adjustment errors and improving the accuracy of adjustment.

[0005] According to an embodiment of the present invention, a hybrid robot for shaft hole assembly includes: a stationary platform, a horizontal movement adjustment device, and a tilt movement adjustment device; the horizontal movement adjustment device includes multiple drive units and an intermediate platform, the multiple drive units are mounted on the stationary platform and connected in parallel to the intermediate platform, the multiple drive units respectively drive the intermediate platform to adjust its direction while maintaining a horizontal state; the tilt movement adjustment device is mounted on the intermediate platform, and a gripper is mounted on the output end of the tilt movement adjustment device, the tilt movement adjustment device is used to adjust the tilt angle of the gripper; the tilt movement adjustment device includes a base and a moving platform, the base and the moving platform are arranged opposite to each other, and multiple elastic adjustment units are connected between the base and the moving platform, the elastic adjustment units are used to adjust the tilt angle of the moving platform; the base is connected to the intermediate platform, and the moving platform is connected to the gripper.

[0006] According to one embodiment of the present invention, the elastic adjustment part includes a spring and a rope. The two ends of the spring are fixedly connected to the base and the moving platform, respectively. One end of the rope passes through the spring and is connected to the moving platform, so as to control the compression degree of the corresponding spring by pulling the rope.

[0007] According to one embodiment of the present invention, the tilting and moving adjustment device further includes: a plurality of L-shaped support links, wherein the plurality of L-shaped support links are arranged in a rotating and interlocking manner, and the two ends of the L-shaped support links are respectively rotatably connected to the base and the moving platform.

[0008] According to one embodiment of the present invention, the tilting movement adjustment device further includes a plurality of rope drive modules, which are mounted on a static platform. The number of rope drive modules is the same as the number of elastic adjustment parts and corresponds one-to-one. Each rope drive module is used to drive its corresponding rope to pull the moving platform.

[0009] According to one embodiment of the present invention, a plurality of driving units are evenly spaced along the circumferential direction of the intermediate platform, and the output end of the driving unit is movably connected to the intermediate platform.

[0010] According to one embodiment of the present invention, the driving unit includes a through-type linear motor and a lead screw. The linear motor is sleeved on the lead screw and is rotatably connected to the stationary platform through a universal joint module. The linear motor is used to drive the lead screw to perform linear reciprocating motion.

[0011] According to one embodiment of the present invention, the base is provided with a plurality of pulleys, the number of pulleys being the same as the number of ropes, and the plurality of pulleys corresponding one-to-one with the plurality of ropes, one end of the rope passing around the pulley and then through its corresponding spring.

[0012] According to one embodiment of the present invention, one end of the L-shaped support link is connected to a first movable block and a second movable block. The first movable block is fixed on the base. The second movable block and the first movable block are connected by a first pin. The central axis direction of the first pin intersects with and is perpendicular to the central axis direction of the base. The second movable block and the L-shaped support link are connected by a second pin. The central axis direction of the second pin is perpendicular to the central axis direction of the first pin.

[0013] According to one embodiment of the present invention, the other end of the L-shaped support link is connected to the moving platform by a ball joint.

[0014] According to one embodiment of the present invention, the number of driving units is at least three.

[0015] The beneficial effect of the present invention is that by connecting multiple driving parts to the intermediate platform respectively, the driving parts can directly contact the intermediate platform, avoiding the accumulation of error values ​​and making the displacement of the intermediate platform more accurate.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. Attached Figure Description

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0021] Figure 3 This is a top view of the overall structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the tilting and moving adjustment device of the present invention;

[0023] Figure 5 This is a schematic diagram of the universal joint module structure of the present invention;

[0024] Figure 6 This is a schematic diagram showing the disassembled universal joint module and linear motor of the present invention;

[0025] Figure label:

[0026] 1. Static platform; 2. Rope drive module; 301. Lead screw; 302. Linear motor; 4. Universal joint module; 5. Rope; 6. Intermediate platform; 801. Base; 802. Pulley; 803. Spring; 804. L-shaped support link; 805. Moving platform; 9. Grip; 10. Universal joint assembly. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] The hybrid robot for shaft and hole assembly according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0031] like Figure 1-6 As shown, a hybrid robot for shaft hole assembly according to an embodiment of the present invention includes: a static platform 1, a horizontal movement adjustment device, and a tilt movement adjustment device; the horizontal movement adjustment device includes multiple drive units and an intermediate platform 6, the multiple drive units are mounted on the static platform 1 and connected in parallel to the intermediate platform 6, the multiple drive units respectively drive the intermediate platform 6 to adjust its direction while maintaining a horizontal state; the tilt movement adjustment device is mounted on the intermediate platform 6, and a gripper 9 is mounted on the output end of the tilt movement adjustment device, the tilt movement adjustment device is used to adjust the tilt angle of the gripper 9; the tilt movement adjustment device includes a base 801 and a moving platform 805, the base 801 and the moving platform 805 are arranged opposite to each other, and multiple elastic adjustment units are connected between the base 801 and the moving platform 805, the elastic adjustment units are used to adjust the tilt angle of the moving platform 805; the base 801 is fixedly connected to the intermediate platform 6, and the moving platform 805 is connected to the gripper 9.

[0032] In this embodiment, the gripper 9 includes, but is not limited to, gripping components such as a three-jaw cylinder. Multiple drive units can each drive the intermediate platform 6 to move in one direction, or the movement direction of the intermediate platform 6 can be adjusted by multiple combinations. By connecting multiple drive units to the intermediate platform 6 respectively, the drive units are in direct contact with the intermediate platform 6, avoiding the accumulation of error values ​​and making the displacement of the intermediate platform 6 more accurate. In addition, a tilting movement adjustment device is used to tilt the gripper 9 to adjust the angle of the gripper 9, realizing multi-directional adjustment of the gripper 9 and calibrating the position of the gripper 9.

[0033] The elastic adjustment part includes a spring 803 and a rope 5. The two ends of the spring 803 are fixedly connected to the base 801 and the moving platform 805, respectively. One end of the rope 5 passes through the spring 803 and is connected to the moving platform 805, so as to control the compression degree of the corresponding spring 803 by pulling the rope 5.

[0034] The tilting adjustment device also includes multiple rope drive modules 2, which are fixedly installed on the static platform 1. The number of rope drive modules 2 is the same as the number of elastic adjustment parts, and they correspond one-to-one. The rope drive module 2 is used to drive its corresponding rope 5 to pull the moving platform 805.

[0035] In this embodiment, the other end of the rope 5 is connected to the output shaft of the rope drive module 2. The rope drive module 2 is used to control the output length of the rope 5, so as to control the extension or compression of its corresponding spring 803 through the rope 5, so that the shapes of multiple springs 803 form a length difference, thereby driving the connected moving platform 805 to tilt as a whole. By replacing part of the rigid structure with the rope 5, the weight of the overall structure is reduced and the response speed is improved.

[0036] Furthermore, the number of elastic adjustment parts is no less than three. During operation, the spring 803 is at least in a semi-compressed state. By setting multiple elastic adjustment parts, if one spring 803 is slightly damaged, the remaining elastic adjustment parts can be combined and adjusted to the required angle to continue operation, reducing downtime. For example, if a strongly compressed spring 803 is slightly damaged, the angle can be restored by appropriately releasing the remaining springs 803.

[0037] Furthermore, during component assembly, the spring 803 provides a degree of flexibility, facilitating self-alignment of the shaft and hole, reducing jamming caused by slight angular deviations, and enabling adaptive compensation for deviations or interference between component gaps. This reduces additional stress in the contact area, thus alleviating jamming. When jamming occurs, the length of the rope 5 is adjusted synchronously to reduce its tension, thereby decreasing the compression of the spring 803 and resulting in a low-stiffness state. This increases the mechanism's compliance, allowing for angle adjustment through adaptive deformation. The component can then be removed and reassembled, improving assembly adaptability and reducing downtime.

[0038] The base 801 is provided with multiple pulleys 802. The number of pulleys 802 is the same as the number of ropes 5, and the multiple pulleys 802 correspond one-to-one with the multiple ropes 5. One end of the rope 5 passes around the pulley 802 and then passes through its corresponding spring 803.

[0039] In this embodiment, by setting a pulley 802, frictional contact between the rope 5 and the base 801 is avoided, so that the rope 5 rolls and connects with the pulley 802 when moving, improving the smoothness of the rope 5, avoiding jamming when adjusting the angle, and reducing wear on the rope 5.

[0040] The tilting and adjusting device also includes: multiple L-shaped support rods 804, which are arranged in a rotating and interlocking manner, and the two ends of the L-shaped support rods 804 are respectively rotatably connected to the base 801 and the moving platform 805.

[0041] One end of the L-shaped support link 804 is connected to a first movable block and a second movable block. The first movable block is fixed on the base 801. The second movable block and the first movable block are connected by a first pin. The central axis of the first pin intersects with and is perpendicular to the central axis of the base 801. The second movable block and the L-shaped support link 804 are connected by a second pin. The central axis of the second pin is perpendicular to the central axis of the first pin.

[0042] The other end of the L-shaped support link 804 is connected to the moving platform 805 by a ball joint.

[0043] In this embodiment, there are at least three L-shaped support links 804. These multiple L-shaped support links 804 are evenly spaced along the circumference of the intermediate platform 6, and the connection points between the same L-shaped support link 804 and the base 801 and the moving platform 805 are not relative to each other; that is, the L-shaped support links 804 are inclined, not vertical. The base 801 and the moving platform 805 are supported by these multiple L-shaped support links 804.

[0044] Multiple drive units are evenly spaced along the circumference of the intermediate platform 6, and the output end of the drive units is movably connected to the intermediate platform 6.

[0045] The drive unit includes a through-type linear motor 302 and a lead screw 301. A bolt is installed inside the through-type linear motor 302. The linear motor 302 is sleeved on the lead screw 301. The linear motor 302 is rotatably connected to the stationary platform 1 through the universal joint module 4. The linear motor 302 is used to drive the bolt to rotate, so that the bolt drives the lead screw 301 to perform linear reciprocating motion.

[0046] In this embodiment, in the initial state, when the multiple lead screws 301 are at the same height, the axis of the universal joint module 4 forms a 40° angle with the horizontal plane. The diameter of the circle formed by the multiple linear motors 302 is larger than the diameter of the intermediate platform 6. One end of the lead screw 301 is rotatably connected to the circumferential surface of the intermediate platform 6. Here, a universal joint assembly 10 is used to achieve the rotatable connection. In the initial state, the axes of the universal joint assembly 10 and the universal joint module 4 are parallel, and the lead screws 301 are inclined. By adjusting the different heights of the multiple lead screws, the intermediate platform 6 can be moved horizontally; by adjusting the synchronous and same-direction movement of the lead screws, the intermediate platform 6 can be moved vertically.

[0047] The number of drive units is at least three.

[0048] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0049] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hybrid robotic arm for shaft-hole assembly, characterized in that, include: Static platform (1); A horizontal movement adjustment device, comprising multiple drive units and an intermediate platform (6), wherein the multiple drive units are mounted on a stationary platform (1) and are connected in parallel to the intermediate platform (6), and the multiple drive units drive the intermediate platform (6) to adjust its direction while maintaining a horizontal state. A tilting adjustment device is installed on the intermediate platform (6). A gripper (9) is installed on the output end of the tilting adjustment device. The tilting adjustment device is used to adjust the tilt angle of the gripper (9). The tilting and moving adjustment device includes a base (801) and a moving platform (805). The base (801) and the moving platform (805) are arranged opposite to each other, and a plurality of elastic adjustment parts are connected between the base (801) and the moving platform (805). The elastic adjustment parts are used to adjust the tilt angle of the moving platform (805). The base (801) is connected to the intermediate platform (6), and the moving platform (805) is connected to the gripper (9).

2. The hybrid robot for shaft hole assembly according to claim 1, characterized in that, The elastic adjustment part includes a spring (803) and a rope (5). The two ends of the spring (803) are fixedly connected to the base (801) and the moving platform (805) respectively. One end of the rope (5) passes through the spring (803) and connects to the moving platform (805) so as to control the compression degree of the corresponding spring (803) by pulling the rope (5).

3. The hybrid robot for shaft hole assembly according to claim 2, characterized in that, The tilting and moving adjustment device further includes: multiple L-shaped support rods (804), which are arranged in a rotating and interlocking manner, and the two ends of the L-shaped support rods (804) are respectively rotatably connected to the base (801) and the moving platform (805).

4. The hybrid robot for shaft hole assembly according to claim 3, characterized in that, The tilting movement adjustment device also includes multiple rope drive modules (2). The rope drive modules (2) are installed on the static platform (1). The number of rope drive modules (2) is the same as the number of elastic adjustment parts and they correspond one-to-one. The rope drive module (2) is used to drive its corresponding rope (5) to pull the moving platform (805).

5. The hybrid robot for shaft hole assembly according to claim 1, characterized in that, The plurality of drive units are evenly spaced along the circumferential direction of the intermediate platform (6), and the output end of the drive unit is movably connected to the intermediate platform (6).

6. The hybrid robot for shaft hole assembly according to claim 5, characterized in that, The drive unit includes a through-type linear motor (302) and a lead screw (301). The linear motor (302) is sleeved on the lead screw (301). The linear motor (302) is rotatably connected to the stationary platform (1) through a universal joint module (4). The linear motor (302) is used to drive the lead screw (301) to perform linear reciprocating motion.

7. The hybrid robot for shaft hole assembly according to claim 2, characterized in that, The base (801) is provided with a plurality of pulleys (802), the number of pulleys (802) is the same as the number of ropes (5), and the plurality of pulleys (802) correspond one-to-one with the plurality of ropes (5). One end of the rope (5) passes around the pulley (802) and then passes through its corresponding spring (803).

8. The hybrid robot for shaft hole assembly according to claim 3, characterized in that, One end of the L-shaped support link (804) is connected to a first movable block and a second movable block. The first movable block is fixed on the base (801). The second movable block and the first movable block are connected by a first pin. The central axis of the first pin intersects with and is perpendicular to the central axis of the base (801). The second movable block and the L-shaped support link (804) are connected by a second pin. The central axis of the second pin is perpendicular to the central axis of the first pin.

9. The hybrid robot for shaft hole assembly according to claim 8, characterized in that, The other end of the L-shaped support link (804) is connected to the moving platform (805) by a ball joint.

10. The hybrid robot for shaft hole assembly according to claim 5, characterized in that, The number of drive units is at least three.

Images