Series-parallel robot inclined support mechanism
By designing an inclined hybrid robot bracket, the problems of limited stroke and large bracket weight in the prior art are solved, deeper processing depth and easy-to-move transfer effects are achieved, and weight reduction and stability are enhanced through structural optimization. .
Patent Information
- Application Number
- CN202420872345.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-25
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-04-25
AI Technical Summary
The bracket cross beams of existing hybrid robots are arranged in a horizontal direction, resulting in limited stroke distance of the tool swing head in the vertical direction, and the bracket is relatively large, making it inconvenient to move.
A hybrid robot inclined bracket mechanism is designed, including a vertical bracket and a cross beam frame. The cross beam frame is fixedly connected between two vertical brackets. The vertical bracket includes an integrated vertical block and an inclined block, an inclined block and a side end of the cross beam frame. Fixed connection, forming an angle of 30°-60°, and the bracket is set inclined to facilitate the large stroke of the tool swing head in the vertical direction, and the bracket body is lighter and easy to move.
It achieves a deeper processing depth and easy-to-move transfer effect. At the same time, it reduces weight through hollow beam frames and through grooves, avoids interference from through holes, and enhances structural stability.
Smart Images
Figure CN222244792U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of hybrid robots, in particular to a hybrid robot tilting bracket mechanism. Background Art
[0002] The hybrid robot combines the characteristics of serial robots and parallel robots. It has the advantages of high precision, large working space, strong load-bearing capacity, and fast response speed. It provides an effective solution for the high-precision processing and manufacturing of large and complex structural parts. It has been successfully applied in the fields of high-precision drilling and milling processing, space thick plate friction stir welding and high-precision assembly in aerospace and rail transportation. Some existing hybrid robots include a bracket, several telescopic arms and a tool swing head. The processing position of the tool swing head is controlled by controlling the telescopic length of each telescopic arm. However, some existing hybrid robots have a bracket including a crossbeam frame for installing the telescopic arm. The crossbeam frame is arranged in a horizontal direction. The travel distance that the tool swing head can reach in the vertical direction is limited, resulting in limited processing depth. In addition, some existing hybrid robot brackets are heavy and inconvenient to move. Utility Model Content
[0003] To solve at least one aspect of the above problems, the utility model provides a hybrid robot tilting support mechanism, comprising a support body for installing a telescopic arm assembly of the hybrid robot, the support body comprising a vertical support and a cross beam frame, the vertical supports are relatively arranged with two, the cross beam frame is fixedly connected between the two vertical supports, the telescopic arm assembly is installed on the cross beam frame, the vertical support comprises an integrally formed vertical block and a tilting block, the side end of the cross beam frame is fixedly connected to the tilting block, the lower end of the tilting block is integrally connected to the upper end of the vertical block, the extension direction of the vertical block is perpendicular to the horizontal plane, the extension direction of the tilting block forms an angle with the horizontal plane, and the angle is 30°-60°; in the hybrid robot tilting support mechanism of the utility model, the support is tilted, which facilitates a larger stroke of the tool swing head in the vertical direction to achieve a deeper processing depth; the support body is light in weight and easy to move.
[0004] Optionally, the angle is 45°.
[0005] Optionally, a plurality of grooves are formed on a side of the vertical support away from the crossbeam support.
[0006] Optionally, a plurality of reinforcing ribs are provided on a side of the vertical support close to the crossbeam frame.
[0007] Optionally, the crossbeam frame is hollow and is provided with a plurality of through slots.
[0008] Optionally, the telescopic arm assembly includes a tool swing head, three electrically driven telescopic arms and an articulated frame for hingedly connecting the electrically driven telescopic arms, one end of the three electrically driven telescopic arms are respectively hinged to the tool swing head, the tool swing head is used to install a processing tool, and a plurality of articulated ears for hingedly connecting the articulated frame are fixedly arranged on the crossbeam frame.
[0009] Optionally, the articulated frame is provided with an articulated plate for articulating the electrically driven telescopic arm.
[0010] Optionally, the crossbeam frame is provided with an avoidance through hole corresponding to the electric drive telescopic arm.
[0011] Optionally, a base is provided below the vertical support, and a connecting frame is connected between the vertical support and the base.
[0012] Optionally, a support frame is connected between the lower end of the beam frame and the base.
[0013] Compared with the prior art, the utility model discloses a hybrid robot with an inclined bracket mechanism, in which the bracket is arranged inclined, so that the tool swing head has a larger stroke in the vertical direction to achieve a deeper processing depth; the bracket body is light in weight and is convenient for moving; a plurality of grooves are provided on the side of the vertical bracket away from the crossbeam frame, which can reduce weight, facilitate moving and save materials at the same time; an avoidance through hole corresponding to the electric drive telescopic arm is provided on the crossbeam frame, so as to avoid interference between the crossbeam frame and the electric drive telescopic arm, and can reduce the weight of the crossbeam frame, so as to facilitate moving; the crossbeam frame is hollow, and a plurality of through grooves are provided on the crossbeam frame, so as to reduce weight and facilitate moving and transportation; a base is provided under the vertical bracket, and a connecting frame is connected between the vertical bracket and the base, which serves to increase the height; a supporting frame is connected between the lower end of the crossbeam frame and the base, so as to enhance the stability of the crossbeam frame. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a three-dimensional diagram of the tilt bracket mechanism of the hybrid robot of the utility model;
[0015] Figure 2 This is a schematic diagram of the structure of the support frame of the tilt support mechanism of the hybrid robot of the utility model;
[0016] Figure 3 This is a schematic diagram of the structure of the tilt bracket mechanism of the hybrid robot of the utility model when viewed from the side;
[0017] The corresponding component names of the various figure marks in the figure are: 1 is a vertical bracket, 11 is a vertical block, 12 is an inclined block, 2 is a crossbeam frame, 201 is a through groove, 202 is an avoidance through hole, 30 is a tool swing head, 31 is an electric drive telescopic arm, 32 is an articulated frame, 321 is an articulated plate, 33 is an articulated ear, 4 is a groove, 40 is a base, 5 is a connecting frame, 6 is a supporting frame, and A is an angle. DETAILED DESCRIPTION
[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
[0019] In the description of the present invention, it should be understood that the terms "upper" and "lower" and the like indicate positions or location relationships that are based on the positions or location relationships when the product is in normal use.
[0020] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.
[0021] See also Figure 1-Figure 3 The embodiment of the utility model provides a hybrid robot tilting support mechanism, including a support body for installing a telescopic arm assembly of the hybrid robot, the support body including a vertical support 1 and a crossbeam frame 2, two vertical supports 1 are relatively arranged, the crossbeam frame 2 is fixedly connected between the two vertical supports 1, and the telescopic arm assembly is installed on the crossbeam frame 2, the vertical support 1 includes an integrally formed vertical block 11 and an inclined block 12, the side end of the crossbeam frame 2 is fixedly connected to the inclined block 12, the lower end of the inclined block 12 is integrally connected to the upper end of the vertical block 11, the extension direction of the vertical block 11 is perpendicular to the horizontal plane, the extension direction of the inclined block 12 forms an angle A with the horizontal plane, the angle A is 30°-60°, the inclination angle of the crossbeam frame 2 is consistent with the inclination angle of the inclined block 12, that is, the above-mentioned angle A is also formed between the crossbeam frame 2 and the horizontal plane; the utility model hybrid robot tilting support mechanism, the support is tilted, which is convenient for the tool swing head to have a larger stroke in the vertical direction to achieve a deeper processing depth; the support body is light in weight and easy to move.
[0022] See also Figure 1 and Figure 3, the angle A is 45°, and the angle size is reasonable to avoid too large or too small tilting angle; if the angle A is too small (the crossbeam frame tends to be horizontal), the vertical stroke of the tool swing head of the telescopic arm assembly will be short, and the processing will be limited; when the angle is too large (the crossbeam frame tends to be vertical), the horizontal displacement stroke will be small; a plurality of grooves 4 are provided on the side of the vertical bracket 1 away from the crossbeam frame 2, which can reduce weight, facilitate movement, and save materials; a plurality of reinforcing ribs 5 are provided on the side of the vertical bracket 1 close to the crossbeam frame 2 to increase the structural strength; the crossbeam frame 2 is hollow, and a plurality of through grooves 201 are provided on the crossbeam frame 2 to reduce weight The telescopic arm assembly includes a tool swing head 30, three electrically-driven telescopic arms 31 and an articulated frame 32 for articulating the electrically-driven telescopic arms 31. The electrically-driven telescopic arms 31 are of prior art, and are internally provided with motors, screws and other structures to achieve a telescopic function, which will not be described in detail herein. The position of the tool swing head 30 is controlled by controlling the telescopic lengths of the three electrically-driven telescopic arms 31. One ends of the three electrically-driven telescopic arms 31 are respectively articulated with the tool swing heads 30, and the tool swing heads 30 are used to install processing tools. A plurality of articulated ears 33 for articulating the articulated frames 32 are fixedly provided on the crossbeam frame 2 for flexible rotation.
[0023] See also Figure 1 and Figure 2 The articulated frame 32 is provided with an articulated disk 321 for articulating the electric telescopic arm 31. When the three electric telescopic arms 31 are controlled to extend and retract, the articulated frame 32 rotates accordingly relative to the crossbeam frame 2, and the electric telescopic arm 31 rotates accordingly relative to the articulated disk 321. The position of the tool swing head 30 is controlled by the coordination of the extension and retraction and rotation movements of the three electric telescopic arms 31; the crossbeam frame 2 is provided with an avoidance through hole 202 corresponding to the electric telescopic arm 31 to avoid interference between the crossbeam frame 2 and the electric telescopic arm 31, and to reduce the weight of the crossbeam frame 2 for easy movement; there are three avoidance through holes 202, and the ends of the three electric telescopic arms 31 away from the tool swing head 30 are respectively placed in the three avoidance through holes 202 for movement.
[0024] See also Figure 1 and Figure 2 A base 40 is arranged below the vertical bracket 1, and a connecting frame 5 is connected between the vertical bracket 1 and the base 40, and the connecting frame 5 plays a role of increasing the height; a supporting frame 6 is connected between the lower end of the cross beam frame 2 and the base 40 to enhance the stability of the cross beam frame 2; the cross beam frame 2 and the vertical bracket 1 are fixed by bolts, the cross beam frame 2 and the supporting frame 6 are fixed by bolts, the connecting frame 5 and the base 40 are fixed by bolts, and the connecting frame 5 and the vertical bracket 1 are fixed by bolts, which is convenient for assembly.
[0025] The utility model discloses a tilting bracket mechanism for a hybrid robot, in which the bracket is tilted, so that the tool swing head has a larger stroke in the vertical direction to achieve a deeper processing depth; the bracket body is light in weight and is convenient for moving; a plurality of grooves are provided on the side of the vertical bracket away from the cross beam frame, which can reduce the weight, facilitate moving and save materials at the same time; an avoidance through hole corresponding to the electric drive telescopic arm is provided on the cross beam frame, so as to avoid interference between the cross beam frame and the electric drive telescopic arm, and reduce the weight of the cross beam frame, so as to facilitate moving; the cross beam frame is hollow, and a plurality of through grooves are provided on the cross beam frame, so as to reduce the weight and facilitate moving and transportation; a base is provided under the vertical bracket, and a connecting frame is connected between the vertical bracket and the base, so as to increase the height; a supporting frame is connected between the lower end of the cross beam frame and the base, so as to enhance the stability of the cross beam frame.
[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A hybrid robot tilt support mechanism, comprising a support body for mounting a telescopic arm assembly of the hybrid robot, characterized in that: The support body comprises a vertical support (1) and a cross beam frame (2), wherein two vertical supports (1) are arranged opposite to each other, the cross beam frame (2) is fixedly connected between the two vertical supports (1), the telescopic arm assembly is installed on the cross beam frame (2), the vertical support (1) comprises an integrally formed vertical block (11) and an inclined block (12), the side end of the cross beam frame (2) is fixedly connected to the inclined block (12), the lower end of the inclined block (12) is integrally connected to the upper end of the vertical block (11), the extension direction of the vertical block (11) is perpendicular to the horizontal plane, the extension direction of the inclined block (12) forms an angle (A) with the horizontal plane, and the angle (A) is 30°-60°.
2. The hybrid robot tilt support mechanism according to claim 1, characterized in that: The angle (A) is 45°.
3. The hybrid robot tilt support mechanism according to claim 1, characterized in that: A plurality of grooves (4) are provided on a side of the vertical support (1) away from the crossbeam frame (2).
4. The hybrid robot tilt support mechanism according to claim 1, characterized in that: A plurality of reinforcing ribs (5) are provided on one side of the vertical support (1) close to the crossbeam frame (2).
5. The hybrid robot tilt support mechanism according to claim 1, characterized in that: The cross beam frame (2) is hollow, and a plurality of through slots (201) are provided on the cross beam frame (2).
6. The hybrid robot tilt support mechanism according to claim 1, characterized in that: The telescopic arm assembly comprises a tool swing head (30), three electrically driven telescopic arms (31) and an articulated frame (32) for articulating the electrically driven telescopic arms (31), one end of each of the three electrically driven telescopic arms (31) is articulated to the tool swing head (30), the tool swing head (30) is used to install a processing tool, and a plurality of articulated ears (33) for articulating the articulated frame (32) are fixedly arranged on the crossbeam frame (2).
7. The hybrid robot tilt support mechanism according to claim 6, characterized in that: The articulated frame (32) is provided with an articulated plate (321) for articulating the electrically driven telescopic arm (31).
8. The hybrid robot tilt support mechanism according to claim 6, characterized in that: The crossbeam frame (2) is provided with an avoidance through hole (202) corresponding to the electric drive telescopic arm (31).
9. The hybrid robot tilt support mechanism according to any one of claims 1 to 8, characterized in that: A base (40) is provided below the vertical support (1), and a connecting frame (5) is connected between the vertical support (1) and the base (40).
10. The hybrid robot tilt support mechanism according to claim 9, characterized in that: A support frame (6) is connected between the lower end of the crossbeam frame (2) and the base (40).