A multi-degree-of-freedom hybrid manipulator and a method of using the same

Abstract

This invention discloses a multi-degree-of-freedom hybrid manipulator and its usage method, relating to the field of manipulator technology. The manipulator includes a turntable mechanism, with a hybrid arm mechanism positioned above the turntable mechanism and a mechanical gripper mechanism connected below it via a buffer mechanism. The turntable mechanism includes a turntable, with a fixed ring rotatably connected to its outer side. Multiple insertion holes are evenly distributed in a ring along the circumference on the inner side of the fixed ring. A cross-shaped groove is formed inside the turntable, and a trapezoidal block with an upward-sloping bevel is slidably positioned near the end of each groove. Insertion rods extending to the outer surface of the turntable are mounted on the sides of the trapezoidal blocks, and return springs are sleeved on the insertion rods. The manipulator of this invention uses insertion rods inserted into the insertion holes of the fixed ring within the turntable to self-lock the turntable, eliminating the need for the motor drive end to prevent object rotation, reducing the force on the motor drive end, and extending the service life of the rotary motor.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a multi-degree-of-freedom hybrid robotic arm and its usage method. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] However, existing technologies still have some shortcomings: traditional serial manipulators, while having the advantage of a large workspace, suffer from low stiffness due to their cantilever structure, resulting in uneven end-effector load distribution and susceptibility to vibration and mechanical fatigue under heavy loads or high-precision positioning scenarios. Pure parallel manipulators, while possessing high stiffness and fast dynamic response, are limited by their unique configuration and shape, resulting in a relatively small workspace and significantly restricted flexibility and end-effector posture adjustment range. Furthermore, while existing manipulators can rotate tools via motors after tool installation and prevent deflection by self-locking the motor drive when rotation is not required, this can lead to significant forces on the motor drive for heavy tools, potentially causing motor damage over time. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom hybrid robotic arm and its usage method, which solves the problems of poor operational stability and shortened service life caused by high force on the motor output end of existing robotic arms.

[0005] The technical solution of the present invention is as follows:

[0006] The present invention provides a multi-degree-of-freedom hybrid manipulator, including a turntable mechanism, a hybrid arm mechanism disposed above the turntable mechanism, and a mechanical claw mechanism connected below the turntable mechanism through a buffer mechanism.

[0007] Preferably, the turntable mechanism includes a turntable, a fixed ring is rotatably connected to the outer side of the turntable, a plurality of insertion holes are opened on the inner side of the fixed ring, the insertion holes are evenly distributed in a ring along the circumference, a cross groove is opened inside the turntable, four trapezoidal blocks with inclined surfaces are arranged in the cross groove, and a rod extending to the outer surface of the turntable is installed on the side of the trapezoidal block, and a return spring is sleeved on the rod.

[0008] More preferably, an electric push rod is installed at the upper center of the turntable, the telescopic arm of the electric push rod extends into the cross groove and is fitted with a cross plate, and an extrusion block is installed below the cross plate, the extrusion block being in close contact with the inclined surface of the trapezoidal block.

[0009] In this invention, the extension of the electric push rod causes the cross-shaped plate to descend, and the various pressing blocks compress the inclined surfaces of the trapezoidal blocks, causing the trapezoidal blocks to move towards the insertion rod. Each moving trapezoidal block causes the insertion rod to be inserted into the aligned insertion hole. At the same time, the return spring is compressed to lock the fixing ring and the turntable. When the turntable needs to rotate, the electric push rod retracts, causing the cross-shaped plate to rise, releasing the compression on the inclined surfaces of the trapezoidal blocks. Then, the return spring rebounds, causing the trapezoidal blocks to return to their original positions, thereby causing the insertion rod to move out of the inserted insertion hole and rotate the turntable. Afterward, the extension of the electric push rod, through the above operations, re-fixes the fixing ring and the turntable.

[0010] More preferably, the buffer mechanism includes a lower plate connected to a mechanical claw mechanism, and a plurality of evenly distributed telescopic damping rods are installed on the upper side of the lower plate. The upper ends of the telescopic damping rods are connected to a turntable. A plurality of sets of mounting columns are provided between the turntable and the lower plate, and a buffer spring is provided on two mounting columns in each set.

[0011] In this invention, after the object is placed, the turntable mechanism that continues to press down will compress the telescopic damping rod and the buffer spring. The damping force of the telescopic damping rod and the rebound force of the buffer spring are used to buffer the impact and prevent the downward pressure from directly acting on the object and crushing it.

[0012] Preferably, the hybrid boom mechanism includes a base, two PRPAR power chains, one PUU power chain, and one RUPUR power chain;

[0013] More preferably, the base includes two horizontal linear slide rail modules, one vertical linear slide rail module, and a horizontal plate; the two horizontal linear slide rail modules are symmetrically arranged in the same horizontal plane, and the vertical linear slide rail module is perpendicular to the horizontal plane and located at the mid-section of the two horizontal linear slide rail modules; the horizontal plate is located between the two horizontal linear slide rail modules and connects the two horizontal linear slide rail modules; the tops of all three linear slide rail modules are connected to the frame;

[0014] The linear slide rail module includes a portal frame, a guide rail, a first servo motor, a drive hinge support, a drive wheel, and a stabilizing wheel. The guide rail is set inside the portal frame. The second servo motor and the stabilizing wheel are both connected to the drive hinge support. The drive wheel is connected to the output shaft of the second servo motor. The drive wheel and the stabilizing wheel cooperate to make the drive hinge support reciprocate along the direction of the guide rail.

[0015] The two PRPAR power chains are symmetrically arranged in the vertical direction. The PRPAR power chain is connected between the drive hinge support and the fixed ring of the linear slide rail module in the horizontal direction; the PUU power chain is connected between the drive hinge support and the fixed ring of the linear slide rail module in the vertical direction; and the RUPUR chain is connected between the horizontal plate and the fixed ring.

[0016] More preferably, the PRPAR power chain includes a head revolute joint, a T-shaped swing rod, a parallelogram rod system, and an end revolute joint; the head revolute joint includes a pin hole in the drive hinge support, a pin hole at the top of the T-shaped swing rod, and a pin connecting the two; the crossbar at one end of the T-shaped swing rod serves as the power side of the parallelogram rod system, and the other end is connected to the drive hinge support through the head revolute joint; the parallelogram rod system consists of the crossbar of the T-shaped swing rod, two parallel couplings, and a platform side hinge shaft, with the crossbar of the T-shaped swing rod and the parallel couplings, as well as the parallel couplings and the platform side hinge shaft, flexibly connected by pins to form a Pa closed loop; the end revolute joint includes a platform side hinge shaft serving as the revolute joint shaft and a rotary connecting seat serving as the revolute joint bearing, and the rotary connecting seat is connected to the turntable mechanism.

[0017] More preferably, the first end of the PUU power chain is connected to the drive hinge support of the vertical linear slide rail module, and the second end is connected to the turntable mechanism to control the movement of the turntable mechanism along the vertical axis in the plane.

[0018] More preferably, the PUU power chain includes a first rotating joint, a connecting rod, and a second rotating joint; one end of the connecting rod is connected to a first hinge support, and the other end is connected to a second hinge support; the first rotating joint includes a shaft hole for driving the hinge support, a shaft hole for the first hinge support, and a pin connecting the two; the turntable mechanism is connected to an end hinge support via a fixed connecting seat; the second rotating joint includes a shaft hole for the second hinge support, a shaft hole for the end hinge support, and a pin connecting the two; the PUU power chain is used to control the movement of the turntable mechanism in the plane along the vertical axis.

[0019] More preferably, a rotary motor is provided above the horizontal plate, and the output end of the rotary motor is connected to the turntable mechanism through a RUPUR chain, so as to give the turntable mechanism the function of rotating around the vertical axis while the robotic arm moves in space.

[0020] In this invention, the horizontal plate not only serves as a motor support but also as a bearing reference surface. The turntable is internally integrated with a trapezoidal block compression pin locking component. When the motor stops, the pin is wedged into the inner wall of the fixing ring by the pressure of the push rod, which rigidly anchors the rotating body to the platform shell, thus protecting the power transmission shaft from the impact of heavy-load operations.

[0021] More preferably, the RUPUR branch includes a first-end Hooke's joint, a telescopic cylinder, and a last-end Hooke's joint, which are sequentially connected between the rotary motor and the turntable mechanism; the telescopic cylinder includes an outer cylinder sleeve and an inner moving rod, and the rectangular cylinder sleeve and the moving rod form a sliding pair with torque locking characteristics; the cylinder sleeve is connected to the output end of the rotary motor, and the output end of the rotary motor is connected to a rotary hinge support, and the rotary hinge support and the cylinder sleeve form a first-end Hooke's joint through a cross shaft; a support frame is provided above the turntable mechanism, and a rotary hinge support is provided above the support frame, and the moving rod and the rotary hinge support form a last-end Hooke's joint through a cross shaft.

[0022] More preferably, the two rotating connecting seats and one fixed connecting seat are evenly installed on the side of the fixed ring.

[0023] Preferably, the mechanical gripper mechanism includes a servo motor protective sleeve, a second servo motor, a mounting plate, a pair of symmetrically arranged drive gear connecting rods, a driven connecting rod, a retaining rod, and a gripping finger plate. The second servo motor is mounted on the bottom of the buffer mechanism, the servo motor protective sleeve is disposed on the outside of the second servo motor, and the mounting plate is fixedly connected to the outside of the servo motor protective sleeve. Two meshing drive gear connecting rods are rotatably mounted on the mounting plate. The output shaft of the second servo motor is fixedly connected to one drive gear connecting rod. The upper end of the drive gear connecting rod is a circular arc gear. The two gears form a synchronous reverse rotation constraint through circumferential meshing, ensuring that the gripper always maintains central symmetry during the opening and closing process.

[0024] More preferably, each of the driving gear connecting rods is arranged parallel to the retaining rod, the lower end of each driving gear connecting rod is connected to a driven connecting rod by a mounting bolt, one end of each retaining rod is rotatably connected to the mounting plate, and the other end is connected to a driven connecting rod by a mounting bolt, and the lower end of each driven connecting rod is fixedly connected to two clamping finger plates by mounting bolts. The synchronous centering opening and closing of the clamping finger plates at the left and right ends of the mechanical claw mechanism is achieved by the circumferential meshing constraint of the two driving gear connecting rods.

[0025] In this invention, the mechanical gripper mechanism works in conjunction with the upper arm mechanism and buffer mechanism to release excess downward pressure using a buffer spring when gripping heavy objects or performing precision handling tasks.

[0026] The present invention also provides a method for using the above-mentioned multi-degree-of-freedom hybrid manipulator.

[0027] A method for using a multi-degree-of-freedom hybrid robotic arm includes the following steps:

[0028] When the mechanical gripper grasps an object, the second servo motor starts, driving the two active gear linkages to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates to clamp the object.

[0029] After the mechanical gripper mechanism grasps an object, the two horizontally moving drive hinge supports pull the turntable mechanism through the T-shaped swing rod, coupling rod, and platform side hinge shaft. The vertically moving drive hinge supports push or pull the turntable mechanism through the connecting rod. The turntable mechanism is connected to the two T-shaped swing rods, coupling rod, connecting rod, cylinder liner, and moving rod, allowing the turntable mechanism to move with multiple degrees of freedom, while simultaneously moving the grasped object.

[0030] When an object needs to be rotated, the electric push rod retracts, causing the cross plate to rise and releasing the pressure on the inclined surface of the trapezoidal block. Then, the return spring rebounds, causing the trapezoidal block to return to its original position, thereby moving the insertion rod out of the inserted hole and releasing the fixation between the fixing ring and the turntable. The running rotary motor drives the turntable to rotate through the telescopic cylinder and support frame, thereby causing the grasped object to rotate.

[0031] After rotation, the electric push rod extends and drives the ten-shaped plate to descend. Through the various pressing blocks, the inclined surfaces of each trapezoidal block are pressed, causing the trapezoidal blocks to move towards the insertion rod. Each moving trapezoidal block drives the insertion rod to insert into the aligned insertion hole, while compressing the return spring to lock the fixed ring and the turntable.

[0032] When the mechanical gripper places an object, the second servo motor starts, driving the two active gear linkages to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates to release the object.

[0033] After the object is placed, the turntable mechanism that continues to press down will compress the telescopic damping rod and the buffer spring. The damping force of the telescopic damping rod and the rebound force of the buffer spring will play a buffering role, preventing the downward pressure from acting directly on the object and crushing it.

[0034] Technical features and beneficial effects of the present invention:

[0035] 1. The multi-degree-of-freedom hybrid robot of the present invention, by setting a turntable mechanism, when it is necessary to rotate the object being grasped, only the turntable in the turntable mechanism needs to be driven to rotate by a rotary motor. When not rotating, the plug rod inside the turntable is inserted into the plug hole of the fixed ring to lock the turntable. It is not necessary to use the motor drive end to stop the object from rotating, which reduces the force on the motor drive end and extends the service life of the rotary motor.

[0036] 2. The multi-degree-of-freedom hybrid manipulator of the present invention is also equipped with a buffer mechanism. After the object is placed, when the turntable mechanism continues to descend, it will compress the telescopic damping rod and the buffer spring. The damping force of the telescopic damping rod and the rebound force of the buffer spring are used to buffer the object and prevent the downward pressure from directly acting on the object and crushing it.

[0037] 3. The multi-degree-of-freedom hybrid manipulator of the present invention adopts a hybrid connection of 2-PRPaR-PUU parallel module and RUPUR series module. By utilizing the strong geometric constraint characteristics of the parallelogram mechanism in the PRPAR branch, parasitic tilt is effectively eliminated, the motion space of the turntable is increased, the inverse kinematics algorithm is simplified, and the repeatability of the manipulator is significantly improved.

[0038] 4. The multi-degree-of-freedom hybrid manipulator of this invention features high rigidity support and flexible transmission working together to make the three drive chains spatially triangularly distributed. With the auxiliary support of the RUPUR chain, a stable quasi-truss structure is formed, which greatly enhances the rigidity of the mechanism to withstand vertical heavy loads and lateral torques. It not only realizes a wide range of spatial follow-up expansion and contraction, but also ensures constant transmission of rotational torque in any position, avoiding transmission jamming and vibration. Attached Figure Description

[0039] Figure 1 is a schematic diagram of the structure of the multi-degree-of-freedom hybrid manipulator of the present invention.

[0040] Figure 2 is a schematic diagram of the turntable mechanism of the multi-degree-of-freedom hybrid robot of the present invention.

[0041] Figure 3 is a schematic diagram of the internal structure of the turntable mechanism of the multi-degree-of-freedom hybrid robot of the present invention.

[0042] Figure 4 is a schematic diagram of the fixed ring structure of the multi-degree-of-freedom hybrid manipulator of the present invention.

[0043] Figure 5 is a schematic diagram of the hybrid arm mechanism of the multi-degree-of-freedom hybrid manipulator of the present invention.

[0044] Figure 6 is a schematic diagram of the buffer mechanism structure of the multi-degree-of-freedom hybrid manipulator of the present invention.

[0045] In the diagram: 1. Turntable mechanism; 101. Fixed ring; 102. Turntable; 103. Cross groove; 104. Trapezoidal block; 105. Insert rod; 106. Return spring; 107. Cross plate; 108. Pressing block; 109. Electric push rod; 110. Insertion hole;

[0046] 2. Hybrid boom mechanism; 201. Portal frame; 202. Guide rail; 203. First servo motor; 204. Drive hinge support; 205. T-shaped swing arm; 206. Pin; 207. Coupling; 208. Platform side hinge shaft; 209. Rotary connecting seat; 210. Fixed connecting seat; 211. End hinge support; 212. Second hinge support; 213. Connecting rod; 214. First hinge support; 215. Drive wheel; 216. Stabilizing wheel; 217. Cylinder liner; 218. Rotary hinge support; 219. Cross shaft; 220. Moving rod;

[0047] 3. Buffer mechanism; 301. Telescopic damping rod; 302. Lower plate; 303. Mounting column; 304. Buffer spring;

[0048] 4. Mechanical gripper mechanism; 401. Servo motor protective sleeve; 402. Second servo motor; 403. Mounting plate; 404. Drive gear connecting rod; 405. Mounting bolt; 406. Driven connecting rod; 407. Holding rod; 408. Clamping finger plate;

[0049] 5. Horizontal plate; 6. Rotary motor; 7. Support frame. Detailed Implementation

[0050] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] Example 1

[0053] like Figures 1-6 As shown, a multi-degree-of-freedom hybrid robotic arm includes a turntable mechanism 1, a hybrid robotic arm mechanism 2 is arranged above the turntable mechanism 1, and a robotic claw mechanism 4 is connected to the turntable mechanism 1 below through a buffer mechanism 3.

[0054] The turntable mechanism 1 includes a turntable 102. A fixed ring 101 is rotatably connected to the outer side of the turntable 102. Multiple insertion holes 110 are opened on the inner side of the fixed ring 101. The insertion holes 110 are evenly distributed in a ring along the circumference. A cross groove 103 is opened inside the turntable 102. Four trapezoidal blocks 104 with inclined surfaces are arranged in the groove of the cross groove 103. Insert rods 105 extending to the outer surface of the turntable 102 are installed on the side of the trapezoidal blocks 104. A return spring 106 is sleeved on the insert rod 105.

[0055] An electric push rod 109 is installed at the upper center of the turntable 102. The telescopic arm of the electric push rod 109 extends into the cross groove 103 and is fitted with a cross plate 107. An extrusion block 108 is installed below the cross plate 107 and is in close contact with the inclined surface of the trapezoidal block 104.

[0056] In this embodiment, the extension of the electric push rod 109 causes the cross-shaped plate 107 to descend. The pressing blocks 108 press the inclined surfaces of the trapezoidal blocks 104, causing the trapezoidal blocks 104 to move towards the insertion rod 105. Each moving trapezoidal block 104 causes the insertion rod 105 to be inserted into the aligned insertion hole 110. At the same time, the return spring 106 is compressed to lock the fixing ring 101 and the turntable 102. When the turntable 102 needs to rotate, the electric push rod 109 retracts, causing the cross-shaped plate 107 to rise, releasing the pressure on the inclined surfaces of the trapezoidal blocks 104. Then, the return spring 106 rebounds, causing the trapezoidal blocks 104 to return to their original position, thereby causing the insertion rod 105 to move out of the inserted insertion hole 110 and rotate the turntable 102. After that, the extension of the electric push rod 109 re-fixes the fixing ring 101 and the turntable 102 through the above operations.

[0057] The buffer mechanism 3 includes a lower plate 302 connected to the mechanical claw mechanism 4. Several evenly distributed telescopic damping rods 301 are installed on the upper side of the lower plate 302. The upper end of the telescopic damping rods 301 is connected to the turntable 102. Several sets of mounting posts 303 are arranged between the turntable 102 and the lower plate 302. A buffer spring 304 is provided on two mounting posts 303 in each set.

[0058] In this embodiment, after the object is placed, the turntable mechanism 1, which continues to press down, will compress the telescopic damping rod 301 and the buffer spring 304. The damping force of the telescopic damping rod 301 and the rebound force of the buffer spring 304 play a buffering role, preventing the downward pressure from acting directly on the object and crushing it.

[0059] The hybrid boom mechanism 2 includes a base, two PRPAR power chains, one PUU power chain, and one RUPUR power chain. One end of each of the PRPAR power chain, PUU power chain, and RUPUR power chain is connected to the base, and the other end is connected to the fixing ring 101.

[0060] The base includes two horizontal linear slide rail modules, one vertical linear slide rail module, and a horizontal plate 5. The two horizontal linear slide rail modules are symmetrically arranged in the same horizontal plane, and the vertical linear slide rail module is perpendicular to the horizontal plane and located in the mid-section of the two horizontal linear slide rail modules. The horizontal plate 5 is located between the two horizontal linear slide rail modules and connects the two horizontal linear slide rail modules. The top of each of the three linear slide rail modules is connected to the frame (omitted in the figure).

[0061] The linear guide module includes a portal frame 201, a guide rail 202, a first servo motor 203, a drive hinge support 204, a drive wheel 215, and a stabilizing wheel 216. The guide rail 202 is disposed inside the portal frame 201. The first servo motor 203 and the stabilizing wheel 216 are both connected to the drive hinge support 204. The drive wheel 215 is connected to the output shaft of the first servo motor 203. The drive wheel 215 and the stabilizing wheel 216 cooperate to make the drive hinge support 204 reciprocate along the direction of the guide rail 202.

[0062] Two PRPAR power chains are symmetrically arranged in the vertical direction. The front end of the PRPAR power chain is connected to the drive hinge support 204 of the linear slide rail module in the horizontal direction, and the rear end is connected to the turntable mechanism 1. The displacement of the drive hinge support 204 is converted into the position and posture control of the turntable 102 through the PRPAR power chain.

[0063] The PRPAR power chain includes a head revolute joint, a T-shaped swing rod 205, a parallelogram rod system, and an end revolute joint. The head revolute joint includes a pin hole in the drive hinge support 204, a pin hole at the top of the T-shaped swing rod 205, and a pin 206 connecting the two. The crossbar at one end of the T-shaped swing rod 205 serves as the power side of the parallelogram rod system, and the other end is connected to the drive hinge support 204 through the head revolute joint. The parallelogram rod system consists of the crossbar of the T-shaped swing rod 205, two parallel couplings 207, and a platform side hinge 208. The crossbar of the T-shaped swing rod 205 and the parallel couplings 207, as well as the parallel couplings 207 and the platform side hinge 208, are flexibly connected by pins 206 to form a Pa closed loop. The end revolute joint includes the platform side hinge 208 as the revolute joint shaft and a rotary connecting seat 209 as the revolute joint bearing. The rotary connecting seat 209 is connected to the turntable mechanism 1.

[0064] The first end of the PUU power chain is connected to the drive hinge support 204 of the vertical linear slide rail module, and the second end is connected to the turntable mechanism 1, which is used to control the movement of the turntable mechanism 1 along the vertical axis in the plane.

[0065] The PUU power chain includes a first rotating joint, a connecting rod 213, and a second rotating joint. One end of the connecting rod 213 is connected to a first hinge support 214, and the other end is connected to a second hinge support 212. The first rotating joint includes a shaft hole of a drive hinge support 204, a shaft hole of the first hinge support 214, and a pin 206 connecting the two. The turntable mechanism 1 is connected to an end hinge support 211 via a fixed connecting seat 210. The second rotating joint includes a shaft hole of the second hinge support 212, a shaft hole of the end hinge support 211, and a pin 206 connecting the two.

[0066] A rotary motor 6 is installed above the horizontal plate 5. The output end of the rotary motor 6 is connected to the turntable mechanism 1 through a RUPUR chain, so that the turntable mechanism 1 can rotate around the vertical axis while the robotic arm moves in space.

[0067] In this embodiment, the horizontal plate 5 not only serves as a motor support but also as a bearing reference surface. The turntable 102 has a trapezoidal block 104 that acts as a compression pin locking component. When the motor stops, the pin is wedged into the inner wall of the fixing ring 101 by the pressure of the push rod, which rigidly anchors the rotating body to the platform shell, thus protecting the power transmission shaft from the impact of heavy-load operations.

[0068] The RUPUR chain includes a first-end Hooke's joint, a telescopic cylinder, and a last-end Hooke's joint, which are sequentially connected between the rotary motor 6 and the turntable mechanism 1. The telescopic cylinder includes an outer cylinder liner 217 and an inner moving rod 220. The rectangular cylinder liner 217 and the moving rod 220 form a moving pair with torque locking characteristics. The cylinder liner 217 is connected to the output end of the rotary motor 6. The output end of the rotary motor 6 is connected to a rotary hinge support 218. The rotary hinge support 218 and the cylinder liner 217 form the first-end Hooke's joint through a cross shaft 219. A support frame 7 is provided above the turntable mechanism 1. The rotary hinge support 218 is provided above the support frame 7. The moving rod 220 and the rotary hinge support 218 form the last-end Hooke's joint through a cross shaft 219.

[0069] Two rotating connecting seats 209 and one fixed connecting seat 210 are evenly installed on the side of the fixed ring 101.

[0070] The mechanical gripper mechanism 4 includes a servo motor protective sleeve 401, a second servo motor 402, a mounting plate 403, a pair of symmetrically arranged drive gear connecting rods 404, a driven connecting rod 406, a retaining rod 407, and a gripping finger plate 408. The second servo motor 402 is mounted on the bottom of the lower plate 302, and the servo motor protective sleeve 401 is located on the outside of the second servo motor 402. The mounting plate 403 is fixedly connected to the outside of the servo motor protective sleeve 401. Two meshing drive gear connecting rods 404 are rotatably mounted on the mounting plate 403. The output shaft of the second servo motor 402 is fixedly connected to one drive gear connecting rod 404. The upper end of the drive gear connecting rod 404 is a circular arc gear. The two gears form a synchronous reverse rotation constraint through circumferential meshing, ensuring that the gripper always maintains central symmetry during the opening and closing process.

[0071] Each driving gear connecting rod 404 is arranged parallel to the retaining rod 407. The lower end of each driving gear connecting rod 404 is connected to a driven connecting rod 406 by a mounting bolt 405. One end of each retaining rod 407 is rotatably connected to the mounting plate 403, and the other end is connected to a driven connecting rod 406 by a mounting bolt 405. The lower end of each driven connecting rod 406 is fixedly connected to two clamping finger plates 408 by a mounting bolt 405. The synchronous centering opening and closing of the clamping finger plates 408 at the left and right ends of the mechanical claw mechanism 4 is achieved by the circumferential meshing constraint of the two driving gear connecting rods 404.

[0072] In this embodiment, the mechanical gripper mechanism 4 works in conjunction with the upper arm mechanism and the buffer mechanism 3 to release excess downward pressure using the buffer spring 304 when gripping heavy objects or performing precision handling tasks.

[0073] Example 2

[0074] A method for using a multi-degree-of-freedom hybrid robotic arm includes the following steps:

[0075] When the mechanical claw mechanism 4 grasps an object, the second servo motor 402 starts, driving the two active gear connecting rods 404 to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates 408 to clamp the object.

[0076] After the mechanical claw mechanism 4 grasps the object, the two horizontally moving drive hinge supports 204 pull the turntable mechanism 1 to move through the T-shaped swing rod 205, the coupling rod 207 and the platform side hinge shaft 208. The vertically moving drive hinge supports 204 push or pull the turntable mechanism 1 to move through the connecting rod 213. The turntable mechanism 1 is mixed with the two T-shaped swing rods 205, the coupling rod 207, the connecting rod 213, the cylinder liner 217, and the moving rod 220, allowing the turntable mechanism 1 to move with multiple degrees of freedom, while simultaneously moving the grasped object.

[0077] When it is necessary to rotate the object, the electric push rod 109 retracts and drives the cross plate 107 to rise, releasing the pressure on the inclined surface of the trapezoidal block 104. Then, the return spring 106 rebounds and drives the trapezoidal block 104 to return to its original position, thereby driving the insertion rod 105 to move out of the inserted hole 110, releasing the fixation between the fixing ring 101 and the turntable 102. The rotating motor 6 drives the turntable 102 to rotate through the telescopic cylinder and the support frame 7, thereby driving the grasped object to rotate.

[0078] After rotation, the electric push rod 109 extends and drives the cross plate 107 to descend. The pressing blocks 108 press the inclined surfaces of the trapezoidal blocks 104, causing the trapezoidal blocks 104 to move towards the insertion rod 105. Each moving trapezoidal block 104 drives the insertion rod 105 to be inserted into the aligned insertion hole 110. At the same time, the return spring 106 is compressed to lock the fixing ring 101 and the turntable 102.

[0079] When the mechanical claw mechanism 4 places an object, the second servo motor 402 starts, driving the two active gear connecting rods 404 to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates 408 to release the object.

[0080] After the object is placed, the turntable mechanism 1, which continues to press down, will compress the telescopic damping rod 301 and the buffer spring 304. The damping force of the telescopic damping rod 301 and the rebound force of the buffer spring 304 will play a buffering role, preventing the downward pressure from acting directly on the object and crushing it.

[0081] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A multi-degree-of-freedom hybrid robot characterized by comprising: The system includes a turntable mechanism, a hybrid arm mechanism is provided above the turntable mechanism, and a mechanical claw mechanism is connected to the bottom of the turntable mechanism through a buffer mechanism. The turntable mechanism includes a turntable, a fixed ring rotatably connected to the outer side of the turntable, a plurality of insertion holes opened on the inner side of the fixed ring, the insertion holes being evenly distributed in a ring along the circumference, a cross groove opened inside the turntable, four trapezoidal blocks with inclined surfaces facing upwards being arranged in the cross groove, and insertion rods extending to the outer surface of the turntable being installed on the sides of the trapezoidal blocks, with a return spring sleeved on the insertion rods; An electric push rod is installed at the upper center of the turntable. The telescopic arm of the electric push rod extends into the ten-shaped groove and is fitted with a ten-shaped plate. An extrusion block is installed below the ten-shaped plate and is in close contact with the inclined surface of the trapezoidal block. The hybrid boom mechanism includes a base, two PRPAR power chains, one PUU power chain, and one RUPUR power chain. The base includes two horizontal linear slide rail modules, one vertical linear slide rail module, and a horizontal plate. The two horizontal linear slide rail modules are symmetrically arranged in the same horizontal plane, and the vertical linear slide rail module is perpendicular to the horizontal plane and located at the mid-section of the two horizontal linear slide rail modules. The horizontal plate is located between the two horizontal linear slide rail modules and connects them. The tops of all three linear slide rail modules are connected to the frame. The linear slide rail module includes a portal frame, a guide rail, a first servo motor, a drive hinge support, a drive wheel, and a stabilizing wheel. The guide rail is set inside the portal frame. The first servo motor and the stabilizing wheel are both connected to the drive hinge support. The drive wheel is connected to the output shaft of the first servo motor. The drive wheel and the stabilizing wheel cooperate to make the drive hinge support reciprocate along the direction of the guide rail. The PRPAR power chain connects the drive hinge support and the fixed ring of the horizontal linear slide rail module; the PUU power chain connects the drive hinge support and the fixed ring of the vertical linear slide rail module; and the RUPUR power chain connects the horizontal plate and the turntable. A rotary motor is installed above the horizontal plate, and the output end of the rotary motor is connected to the turntable via a RUPUR chain.

2. The multi-degree-of-freedom hybrid manipulator according to claim 1, characterized by The buffer mechanism includes a lower plate connected to a mechanical claw mechanism. Several evenly distributed telescopic damping rods are installed on the upper side of the lower plate. The upper ends of the telescopic damping rods are connected to a turntable. Several sets of mounting columns are arranged between the turntable and the lower plate. A buffer spring is installed on two mounting columns in each set.

3. The multi-degree-of-freedom hybrid manipulator according to claim 2, characterized by Two PRPAR power chains are symmetrically arranged in the vertical direction. Each PRPAR power chain includes a head revolute joint, a T-shaped swing rod, a parallelogram rod system, and an end revolute joint. The head revolute joint includes a pin hole in the drive hinge support, a pin hole at the top of the T-shaped swing rod, and a pin connecting the two. The crossbar at one end of the T-shaped swing rod serves as the power side of the parallelogram rod system, and the other end is connected to the drive hinge support via the head revolute joint. The parallelogram rod system consists of the crossbar of the T-shaped swing rod, two parallel couplings, and a platform side hinge. The crossbar of the T-shaped swing rod and the parallel couplings, as well as the parallel couplings and the platform side hinge, are flexibly connected via pins to form a Pa closed loop. The end revolute joint includes a platform side hinge as the revolute joint shaft and a rotary connecting seat as the revolute joint bearing. The rotary connecting seat is connected to the turntable mechanism.

4. The multi-degree-of-freedom hybrid manipulator according to claim 3, characterized in that, The PUU power chain includes a first rotating joint, a connecting rod, and a second rotating joint; one end of the connecting rod is connected to a first hinge support, and the other end is connected to a second hinge support. The first rotating joint includes a shaft hole for driving the hinge support, a shaft hole for the first hinge support, and a pin connecting the two. The turntable mechanism is connected to an end hinge support via a fixed connecting seat. The second rotating joint includes a shaft hole for the second hinge support, a shaft hole for the end hinge support, and a pin connecting the two.

5. The multi-degree-of-freedom hybrid robotic arm according to claim 4, characterized in that, The RUPUR chain includes a first-end Hooke's hinge, a telescopic cylinder, and a last-end Hooke's hinge, which are sequentially connected between the rotary motor and the turntable. The telescopic cylinder includes an outer cylinder liner and an inner moving rod. The cylinder liner is connected to the output end of the rotary motor, and the output end of the rotary motor is connected to a rotary hinge support. The rotary hinge support and the cylinder liner form the first-end Hooke's hinge through a cross shaft. A support frame is provided above the turntable, and a rotary hinge support is provided above the support frame. The moving rod and the rotary hinge support form the last-end Hooke's hinge through a cross shaft.

6. The multi-degree-of-freedom hybrid manipulator according to claim 5, characterized in that, The mechanical gripper mechanism includes a servo motor protective sleeve, a second servo motor, a mounting plate, a pair of symmetrically arranged drive gear connecting rods, a driven connecting rod, a retaining rod, and a gripping finger plate. The second servo motor is mounted on the bottom of the buffer mechanism. The servo motor protective sleeve is located on the outside of the second servo motor. The mounting plate is fixedly connected to the outside of the servo motor protective sleeve. Two meshing drive gear connecting rods are rotatably mounted on the mounting plate. The output shaft of the second servo motor is fixedly connected to one of the drive gear connecting rods.

7. The multi-degree-of-freedom hybrid manipulator according to claim 6, characterized in that, Each of the driving gear connecting rods is arranged parallel to the retaining rod. The lower end of each driving gear connecting rod is connected to a driven connecting rod by a mounting bolt. One end of each retaining rod is rotatably connected to the mounting plate, and the other end is connected to a driven connecting rod by a mounting bolt. The lower end of each driven connecting rod is fixedly connected to two clamping finger plates by mounting bolts.

8. A method of using a multi-degree-of-freedom hybrid manipulator, used in the multi-degree-of-freedom hybrid manipulator of claim 7, characterized in that, Including the following steps: When the mechanical gripper grasps an object, the second servo motor starts, driving the two active gear linkages to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates to clamp the object. After the mechanical gripper mechanism grasps an object, the two horizontally moving drive hinge supports pull the turntable mechanism through the T-shaped swing rod, coupling rod, and platform side hinge shaft. The vertically moving drive hinge supports push or pull the turntable mechanism through the connecting rod. The turntable mechanism is connected to the two T-shaped swing rods, coupling rod, connecting rod, cylinder liner, and moving rod, allowing the turntable mechanism to move with multiple degrees of freedom, while simultaneously moving the grasped object. When an object needs to be rotated, the electric push rod retracts, causing the cross plate to rise and releasing the pressure on the inclined surface of the trapezoidal block. Then, the return spring rebounds, causing the trapezoidal block to return to its original position, thereby moving the insertion rod out of the inserted hole and releasing the fixation between the fixing ring and the turntable. The running rotary motor drives the turntable to rotate through the telescopic cylinder and support frame, thereby causing the grasped object to rotate. After rotation, the electric push rod extends and drives the ten-shaped plate to descend. Through the various pressing blocks, the inclined surfaces of each trapezoidal block are pressed, causing the trapezoidal blocks to move towards the insertion rod. Each moving trapezoidal block drives the insertion rod to insert into the aligned insertion hole, while compressing the return spring to lock the fixed ring and the turntable. When the mechanical gripper places an object, the second servo motor starts, driving the two active gear linkages to rotate synchronously in opposite directions, which in turn drives the left and right clamping finger plates to release the object. After the object is placed, the turntable mechanism that continues to press down will compress the telescopic damping rod and the buffer spring. The damping force of the telescopic damping rod and the rebound force of the buffer spring will play a buffering role, preventing the downward pressure from acting directly on the object and crushing it.

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