Precise hybrid manipulator

Abstract

The utility model relates to the technical field of series-parallel mechanical arms, in particular to a precise series-parallel mechanical arm which comprises a fixing base, stand columns and a movable platform, the stand columns are fixedly installed at the lower end of the fixing base, a plurality of supporting rods are fixedly connected to the upper portion of the fixing base, a driving motor output limiting structure is arranged on the upper portion of the fixing base, and the movable platform is arranged on the lower portion of the fixing base. A suction cup clamping facilitating structure is arranged on the inner side of the fixing base, and a series-parallel mechanical arm auxiliary displacement structure is arranged at the top end of the supporting rod. According to the precise series-parallel mechanical arm, the top end face of a fixing seat formed in a circular sliding groove, the circle center position of the circular sliding groove and the position where a driving motor drives a driving rod to rotate are the same, and therefore when the driving rod swings, a supporting frame connected with a lower vertical beam and a pulley can roll in the circular sliding groove; the pulley can play a role in limiting the movement track of the driving rod to move under the limitation of the circular sliding groove, so that the driven rod on the other side is driven to swing more stably, shaking and deviation are reduced, and the use precision of the precise hybrid manipulator is improved.

Description

Technical Field

[0001] This utility model relates to the field of hybrid robotic arm technology, specifically a precision hybrid robotic arm. 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. The robotic arm was the earliest industrial robot and the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy sectors.

[0003] For example, the authorization announcement number "CN211517487U" is titled "A High-Speed ​​Serial-Parallel Hybrid Robotic Arm." This arm, through a central slide and auxiliary support components, confines the moving platform and central slide within a two-dimensional plane, allowing it to move continuously within that plane. This avoids unnecessary pose changes in the moving platform when the suction cup grasps parts or during movement. Existing high-speed serial-parallel hybrid robotic arms rely on two drive rods of different lengths driven by two motors on either side for movement control in the two-dimensional plane. Since the drive motors rotate immediately upon power-up, the trajectory of the drive rods lacks additional constraints and positioning structures. During normal operation, it cannot be guaranteed that the drive rods will rotate in a circle along the set path. Even slight vibrations or deviations can affect the position of the driven rod on the other side and the moving platform, reducing the driving precision performance of the high-speed serial-parallel hybrid robotic arm. Utility Model Content

[0004] The purpose of this invention is to solve the problem of poor driving precision in existing high-speed serial-parallel hybrid manipulators, and to propose a precision hybrid manipulator.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] Design a precision hybrid robotic arm, including a fixed base, columns, and a moving platform. Multiple columns are fixedly installed at the lower end of the fixed base. Multiple support rods are fixedly connected to the upper part of the fixed base. A drive motor output limiting structure is provided above the fixed base. A suction cup for clamping is provided on the inner side of the fixed base. An auxiliary displacement structure for the hybrid robotic arm is provided at the top of the support rods.

[0007] Preferably, the drive motor output limiting structure includes a drive motor and a circular slide groove. Two drive motors are fixedly connected to the lower ends of the fixed base on both sides. Drive rods are fixedly connected to the top ends of the output shafts of the two drive motors. Drive rods are rotatably connected to the other ends of the two drive rods via pins. Two circular slide grooves are fixedly opened at the top of the fixed base. Vertical beams are fixedly connected to the lower ends of the outer walls of the two drive rods. Support frames are fixedly connected to the lower ends of the two vertical beams. Pulleys are rotatably connected to the inner sides of the two support frames.

[0008] Preferably, the other ends of the two driven rods are rotatably connected to the moving platform via pins, and the two pulleys are rotatably arranged inside the circular groove.

[0009] Preferably, the suction cup clamping structure includes a pre-drilled hole and a central connecting rod. The pre-drilled hole is fixedly opened on the inner side of the fixed base. The central connecting rod is movably installed on the top of the moving platform. A lifting cylinder is fixedly installed above the moving platform. The lower ends of the two lifting cylinders are fixedly connected to suction cups.

[0010] Preferably, the hybrid robotic arm auxiliary displacement structure includes an upper top block and side sliding rods. Multiple side sliding rods are fixedly connected to the inner wall of the top end of the support rod. The outer sides of two side sliding rods are slidably connected to a first guide post via a slider. The outer sides of the other two side sliding rods are slidably connected to a second guide post via a slider. The outer side of the first guide post is slidably connected to an upper top block. The outer side of the second guide post is slidably connected to a lower support block. A connecting bearing is fixedly connected between the upper top block and the lower support block.

[0011] Preferably, the lower end of the lower support block is fixedly connected to the top end of the central connecting rod, and the first guide post and the second guide post are slidably and perpendicularly arranged relative to each other.

[0012] The present invention proposes a precision hybrid robotic arm, the advantages of which are as follows: the top surface of the fixed base with the circular groove is located at the same position as the drive motor driving the drive rod to rotate. Therefore, when the drive rod swings, the support frame connected to the lower vertical beam and the pulley will roll inside the circular groove. Thus, the pulley can limit the movement trajectory of the drive rod under the restriction of the circular groove, thereby driving the driven rod on the other side to swing more stably, reducing shaking and deviation, and improving the precision of the precision hybrid robotic arm. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 for Figure 1 A frontal sectional view;

[0015] Figure 3 for Figure 1 A schematic diagram of the top sectional view;

[0016] Figure 4 for Figure 3 Enlarged sectional view of section A in the middle;

[0017] Figure 5 for Figure 2 Enlarged sectional view of section B in the middle;

[0018] Figure 6 for Figure 2 Enlarged sectional view of section C.

[0019] In the diagram: 1. Fixed base, 2. Column, 3. Moving platform, 4. Support rod, 5. Drive motor output limit structure, 51. Drive motor, 52. Drive rod, 53. Driven rod, 54. Circular slide, 55. Support frame, 56. Pulley, 57. Vertical beam, 6. Suction cup for easy clamping structure, 61. Reserved hole, 62. Suction cup, 63. Lifting cylinder, 64. Central connecting rod, 7. Hybrid robot auxiliary displacement structure, 71. Upper block, 72. Connecting bearing, 73. Lower support block, 74. Second guide post, 75. First guide post, 76. Side slide rod. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Please see Figure 1-6 In this embodiment, a precision hybrid robotic arm includes a fixed base 1, columns 2, and a moving platform 3. Multiple columns 2 are fixedly installed at the lower end of the fixed base 1, supporting the fixed base 1 on the ground. Multiple support rods 4 are fixedly connected to the upper part of the fixed base 1. Four support rods 4 are provided at the top. Multiple side sliding rods 76 are fixed to the inner wall of the four support rods 4. A drive motor output limiting structure 5 is provided above the fixed base 1. A suction cup clamping structure 6 is provided on the inner side of the fixed base 1. A hybrid robotic arm auxiliary displacement structure 7 is provided at the top of the support rods 4.

[0022] The drive motor output limiting structure 5 includes a drive motor 51 and a circular slide 54. The two drive motors 51 are fixedly connected to the lower end of the fixed base 1 on both sides. The drive motors 51 are selected as servo motors. When selecting servo motors, the motor model that meets the usage requirements can be selected according to the needs. The top ends of the output shafts of the two drive motors 51 are fixedly connected to drive rods 52. The shorter ends of the two drive rods 52 can be driven by the drive motors 51 to rotate. The other ends of the two drive rods 52 are rotatably connected to driven rods 53 through pins.

[0023] When the two drive rods 52 rotate, they will drive the driven rods 53 to move relative to each other. This structure is the same as the one disclosed in the prior art document authorized by the prior art document "CN211517487U" entitled "A High-Speed ​​Series-Parallel Hybrid Mechanical Hand". The distance between the two drive motors 51 is less than the sum of the total lengths of the two sets of driven rods 53 and drive rods 52. In use, the two drive motors 51 rotate in coordination with each other, driving the drive rods 52 to rotate. During the rotation, the two driven rods 53 are controlled to swing, thereby controlling the direction of movement of the moving platform 3 between the two driven rods. Two circular grooves 54 are fixedly opened on the top of the fixed seat 1. The circular grooves 54 are carved on the top surface of the fixed seat 1, and the center of the circular grooves 54 is the same as the position where the drive motors 51 drive the drive rods 52 to rotate.

[0024] Therefore, when the drive rod 52 swings, the support frame 55 connected to the lower vertical beam 57 and the pulley 56 will roll inside the circular groove 54. Thus, the pulley 56 can limit the movement of the drive rod 52 under the restriction of the circular groove 54, thereby driving the driven rod 53 on the other side to swing more stably and reduce shaking and deviation. The lower ends of the outer walls of the two drive rods 52 are fixedly connected to the vertical beam 57, the lower ends of the two vertical beams 57 are fixedly connected to the support frame 55, the inner sides of the two support frames 55 are rotatably connected to the pulley 56, the other ends of the two driven rods 53 are rotatably connected to the moving platform 3 through the pin, and the two pulleys 56 are rotatably set inside the circular groove 54.

[0025] The shorter ends of the two drive rods 52 can be driven by the drive motor 51 to rotate. The other ends of the two drive rods 52 are rotatably connected to the driven rods 53 via pins. When the two drive rods 52 rotate, they will drive the driven rods 53 to move relative to each other. This structure is the same as the content disclosed in the prior art document authorized by the prior art publication number "CN211517487U" entitled "A High-Speed ​​Series-Parallel Hybrid Mechanical Hand". The distance between the two drive motors 51 is less than the sum of the total lengths of the two sets of driven rods 53 and drive rods 52. In use, the two drive motors 51 rotate in coordination with each other, driving the drive rods 52 to rotate.

[0026] During rotation, the two driven rods 53 are controlled to swing, thereby controlling the direction of movement of the moving platform 3 between the two driven rods. The top surface of the fixed seat 1 is carved into the circular groove 54. The center of the circular groove 54 is the same as the position where the drive motor 51 drives the drive rod 52 to rotate. Therefore, when the drive rod 52 swings, the support frame 55 connected to the lower vertical beam 57 and the pulley 56 will roll inside the circular groove 54. Thus, the pulley 56 can limit the movement trajectory of the drive rod 52 under the restriction of the circular groove 54, thereby driving the driven rod 53 on the other side to swing more stably, reducing shaking and deviation, and improving the precision of the precision hybrid robot.

[0027] The suction cup clamping structure 6 includes a pre-drilled hole 61 and a central connecting rod 64. The pre-drilled hole 61 is fixedly opened on the inner side of the fixed base 1 and is drilled in the middle of the fixed base 1. This way, the suction cup 62 will have a certain distance and height from the top surface of the fixed base 1, which facilitates the clamping of more material processing parts. The central connecting rod 64 is movably installed on the top of the moving platform 3. The top of the moving platform 3 can be positioned and moved in conjunction with the hybrid robot arm auxiliary displacement structure 7 above using the central connecting rod 64.

[0028] The moving platform 3 can move laterally under the drive of the driven rod 63. When the lifting cylinder 63 is powered on, the lifting cylinder 63 can drive the suction cup 62 below to rise or fall. The suction cup 62 uses air pressure suction to clamp the workpiece. The lifting cylinder 63 is fixedly installed on the top of the moving platform 3, and the suction cup 62 is fixedly connected to the lower end of the two lifting cylinders 63.

[0029] The hybrid robotic arm auxiliary displacement structure 7 includes an upper top block 71 and side sliding rods 76. Multiple side sliding rods 76 are fixedly connected to the inner wall of the top of the support rod 4. Four side sliding rods 76 can be welded inside the support rod 4, forming a rectangular frame structure. The outer sides of two side sliding rods 76 are slidably connected to a first guide post 75 via a slider. The two ends of the first guide post 75 can slide laterally along the side sliding rod 76. The second guide post 74 can slide along the front and back direction of the side sliding rod 76. The outer sides of the two side sliding rods 76 in the other direction are slidably connected to a second guide post 74 via a slider.

[0030] An upper top block 71 is slidably connected to the outer side of the first guide post 75. The upper top block 71 can be translated in multiple directions through the first guide post 75 and the side slide rod 76. Similarly, the lower support block 73 can also be translated in multiple directions through the second guide post 74 and the other two side slide rods 76. Because the upper top block 71 and the lower support block 73 are rotatably connected by the connecting bearing 72, the upper top block 71 and the lower support block 73 can move together in the same direction under the influence of the central connecting rod 64 and the lower moving platform 3.

[0031] The connecting bearing 72 makes the movement between the upper top block 71 and the lower support block 73 smoother and prevents the movement direction from getting stuck. The lower support block 73 is slidably connected to the outer side of the second guide post 74. The connecting bearing 72 is rotatably connected between the upper top block 71 and the lower support block 73. The lower end of the lower support block 73 is fixedly connected to the top end of the central connecting rod 64. The first guide post 75 and the second guide post 74 are slidably and perpendicularly arranged to each other.

[0032] Working principle:

[0033] Precision hybrid robotic arms are used for automated industrial production, enabling the rapid movement of workpieces or other items required for industrial production in a two-dimensional plane.

[0034] Precision drive transmission structure of precision hybrid robotic arm:

[0035] The shorter ends of the two drive rods 52 can be driven by the drive motor 51 to rotate. The other ends of the two drive rods 52 are rotatably connected to the driven rods 53 through pins. When the two drive rods 52 rotate, they will drive the driven rods 53 to move relative to each other. This structure is the same as the content disclosed in the prior art document authorized by the prior art document "CN211517487U" entitled "A High-Speed ​​Series-Parallel Hybrid Mechanical Hand". The distance between the two drive motors 51 is less than the sum of the total lengths of the two sets of driven rods 53 and drive rods 52.

[0036] In use, the two drive motors 51 rotate in coordination, driving the drive rod 52 to rotate. During the rotation, the two driven rods 53 are controlled to swing, thereby controlling the direction of movement of the moving platform 3 between the two driven rods. The top surface of the fixed seat 1 is carved into the circular groove 54. The center of the circular groove 54 is the same as the position where the drive motor 51 drives the drive rod 52 to rotate. Therefore, when the drive rod 52 swings, the support frame 55 connected to the lower vertical beam 57 and the pulley 56 will roll inside the circular groove 54. Thus, the pulley 56 can limit the movement trajectory of the drive rod 52 under the restriction of the circular groove 54, thereby driving the driven rod 53 on the other side to swing more stably and reducing shaking and deviation.

[0037] Precision hybrid robotic gripper gripping structure:

[0038] The pre-drilled hole 61 is drilled in the middle of the fixed base 1, so that the suction cup 62 is a certain distance from the top surface of the fixed base 1, which facilitates the clamping of more material processing parts. The central connecting rod 64 is movably installed on the top of the moving platform 3. The top of the moving platform 3 can be positioned and moved by the hybrid robot auxiliary displacement structure 7 above using the central connecting rod 64. The moving platform 3 can be moved laterally by the driven rod 63. When the lifting cylinder 63 is powered on and started, the lifting cylinder 63 can drive the suction cup 62 below to rise or fall. The suction cup 62 uses air pressure suction to clamp the processing parts.

[0039] Precision hybrid mechanical manual platform translation structure:

[0040] Four side sliding rods 76 are welded inside the support rod 4, forming a rectangular frame structure. The two ends of the first guide post 75 can slide laterally along the side sliding rods 76, and the second guide post 74 can slide in the front-back direction along the side sliding rods 76. The upper top block 71 can achieve multi-directional translation through the first guide post 75 and the side sliding rods 76. Similarly, the lower support block 73 can also achieve multi-directional translation through the second guide post 74 and the other two side sliding rods 76. Because the upper top block 71 and the lower support block 73 are rotatably connected by the connecting bearing 72, the upper top block 71 and the lower support block 73 can move together in the same direction under the influence of the central connecting rod 64 and the lower moving platform 3. The connecting bearing 72 makes the movement between the upper top block 71 and the lower support block 73 smoother and prevents the movement direction from getting stuck.

[0041] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art should understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A precision hybrid manipulator, comprising a fixed base (1), a column (2) and a moving platform (3), a plurality of said columns (2) are fixedly installed at the lower end of the fixed base (1), characterized in that: The upper side of the fixing base (1) is fixedly connected with a plurality of supporting rods (4), the upper side of the fixing base (1) is provided with a driving motor output limiting structure (5), the inner side of the fixing base (1) is provided with a suction disc convenient clamping structure (6), and the top end of the supporting rod (4) is provided with a hybrid mechanical hand auxiliary displacement structure (7).

2. The precision hybrid manipulator of claim 1, wherein: The driving motor output limiting structure (5) comprises driving motors (51) and circular sliding grooves (54), two driving motors (51) are fixedly connected on the lower ends of the fixing base (1), the output shafts of the two driving motors (51) are fixedly connected with driving rods (52), the other ends of the two driving rods (52) are rotatably connected with driven rods (53) through pin shafts, two circular sliding grooves (54) are fixedly arranged on the top end of the fixing base (1), the outer walls of the two driving rods (52) are fixedly connected with vertical beams (57) at the lower ends, the lower ends of the two vertical beams (57) are fixedly connected with supporting frames (55), and the inner sides of the two supporting frames (55) are rotatably connected with pulleys (56).

3. The precision hybrid manipulator of claim 2, wherein: The other ends of the two driven rods (53) are rotatably connected with the movable platform (3), and the two pulleys (56) are rotatably arranged in the circular sliding grooves (54).

4. The precision hybrid manipulator of claim 1, wherein: The suction disc convenient clamping structure (6) comprises a reserved hole (61) and a center connecting rod (64), the reserved hole (61) is fixedly arranged in the inner side of the fixing base (1), the center connecting rod (64) is movably arranged on the top end of the movable platform (3), the upper side of the movable platform (3) is fixedly connected with lifting cylinders (63), and the lower ends of the two lifting cylinders (63) are fixedly connected with suction discs (62).

5. The precision hybrid manipulator of claim 1, wherein: The hybrid mechanical hand auxiliary displacement structure (7) comprises an upper top block (71) and a side sliding rod (76), a plurality of side sliding rods (76) are fixedly connected to the inner wall of the top end of the supporting rod (4), the outer sides of the two side sliding rods (76) are slidably connected with first guide columns (75), the other directions of the outer sides of the two side sliding rods (76) are slidably connected with second guide columns (74), the outer side of the first guide column (75) is slidably connected with the upper top block (71), the outer side of the second guide column (74) is slidably connected with a lower supporting block (73), and the upper top block (71) and the lower supporting block (73) are rotatably connected with a connecting bearing (72).

6. The precision hybrid manipulator of claim 5, wherein: The lower end of the lower supporting block (73) is fixedly connected with the top end of the center connecting rod (64), and the first guide column (75) and the second guide column (74) are vertically arranged and slidably connected with each other.

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