Rotary displacement mechanism

Abstract

The utility model discloses a rotary displacement mechanism. The mechanism comprises a base, a driving unit, a composite motion assembly and a tail end execution unit. Wherein the base is provided with a linear guide rail extending in the first axial direction and a composite guide groove, the composite guide groove is formed by continuously connecting a linear guide section, an arc-shaped transition section and an angle correction section, the linear guide section and the linear guide rail are arranged in parallel, and a 90-degree space included angle is formed between the angle correction section and the linear guide section. Through collaborative design of a composite motion trajectory constraint mechanism and a single driving source, the number of parts needed by a traditional multi-axis mechanism is greatly reduced, the equipment manufacturing cost is remarkably reduced, a complex electrical control system is not needed, and the compactness and economical efficiency of the overall structure are remarkably improved.

Description

Technical Field

[0001] This application belongs to the field of mechanical transmission and automation equipment technology, specifically relating to a composite motion mechanism for workpiece posture adjustment and spatial position transformation on industrial production lines, which is particularly suitable for material handling and tooling positioning scenarios that require simultaneous linear displacement and angular deflection. Background Technology

[0002] In the field of industrial automation, rotary displacement mechanisms, as core components of material handling systems, undertake the critical tasks of workpiece posture adjustment and workstation transfer. Current mainstream solutions generally employ a two-axis linkage robotic arm structure, achieving spatial coordinate transformation through the coordinated movement of a horizontal rotation axis and a vertical lifting axis. This type of mechanism offers advantages in motion trajectory planning, high flexibility, and wide applicability. However, its mechanical structure requires an independently driven dual-axis system, increasing the transmission chain length by approximately 40% and the number of parts by over 200. This significantly increases processing and assembly costs and adds more than 30% to the overall weight of the equipment. Especially when handling metal workpieces weighing over 50kg, to ensure the positioning accuracy of the end effector is controlled within ±0.1mm, a servo motor system with a rated power of 5kW or higher must be used, resulting in the power unit accounting for over 60% of the equipment procurement cost.

[0003] The structural defects in existing technologies stem from the inherent characteristics of multi-axis linkage. Synchronous control of dual-axis systems requires high-precision encoders and dedicated motion control cards, leading to an exponential increase in electrical system complexity. Industry statistics show that 35% of the failure rate of such equipment is due to inter-axis motion mismatch, and each maintenance requires an average downtime of more than 6 hours. More importantly, to compensate for the transmission errors caused by the superposition of multiple axes, lightweight components such as carbon fiber composites must be used, increasing the material cost per unit by approximately 28,000 yuan. Furthermore, the continuous operation of high-power motors results in energy costs accounting for 42% of the equipment's total life-cycle cost. In a 24-hour continuous production scenario, annual electricity consumption can reach 43,000 kWh, which significantly contradicts the current trend of green and low-carbon development in manufacturing.

[0004] To address the aforementioned technical challenges, developing novel rotary displacement mechanisms offers significant economic benefits and engineering value. Utility Model Content

[0005] The purpose of this application is to overcome at least one deficiency in the existing technology and provide a rotary displacement mechanism to solve the problems of high manufacturing cost, high energy consumption, and frequent maintenance caused by the complex structure of existing dual-axis linkage robotic arms. Specifically, this includes: reducing equipment complexity by simplifying the multi-axis drive system, reducing the number of parts and assembly costs; eliminating the need for multi-axis synchronous control to improve system reliability; optimizing the motion conversion structure to reduce reliance on high-power power units, thereby reducing energy consumption and operating costs; and achieving high-precision pose control through an integrated composite motion trajectory constraint mechanism, avoiding positioning deviations caused by accumulated errors in the transmission chain of traditional multi-axis mechanisms. This mechanism is particularly suitable for heavy workpiece reversing and displacement scenarios, ensuring a load capacity of over 50kg while achieving composite motion output of translation and rotation with a single drive source, meeting the needs of industrial production lines for low-cost, high-efficiency, and compact automated equipment.

[0006] To achieve the above objectives, this application discloses a rotary displacement mechanism, which includes a base, a drive unit, a composite motion component, and an end effector.

[0007] The base is provided with a linear guide rail and a composite guide groove extending along the first axis. The composite guide groove is composed of a linear guide section, an arc transition section and an angle correction section connected continuously. The linear guide section is arranged in parallel with the linear guide rail, and the angle correction section forms a 90° spatial angle with the linear guide section.

[0008] The composite motion component includes a motion slider and a linkage adapter. The motion slider is equipped with a guide part that forms a sliding pair with the linear guide rail. The lower part of the linkage adapter is provided with a shaft that is connected to the motion slider through a connecting plate. Correspondingly, the connecting plate is provided with a groove along a second axis that forms a 90° angle with the first axis, and the groove cooperates with the shaft. The upper part of the linkage adapter is fixed with a trajectory following part that slides in cooperation with the composite guide groove.

[0009] Furthermore, the groove walls of the connecting plate are inlaid with a graphite copper layer to improve service life.

[0010] The drive unit adopts a pneumatic telescopic rod, whose cylinder is fixedly connected to the base, and the end of the piston rod is connected to the moving slider through a hinge mechanism to drive the moving slider to perform reciprocating linear motion along the linear guide rail.

[0011] The end effector is fixed to the top of the linkage adapter via a support bracket, and its spatial position is controlled by the composite motion trajectory of the linkage adapter.

[0012] When the pneumatic telescopic rod outputs axial thrust, the linear motion of the moving slider is transmitted to the linkage adapter through the connecting plate. The trajectory follower moves along the path of the composite guide groove, forcing the linkage adapter to generate angular displacement synchronously during the axial displacement process, thereby realizing the composite motion output of the end effector unit in the first axial translation and angular rotation.

[0013] The arc-shaped transition section of the composite guide groove ensures that the angular acceleration of the linkage adapter changes continuously during the motion transition phase. The extension direction of the angle correction section forms a fixed 90° angle with the straight guide section, and its length direction is parallel to the second axis. When the trajectory follower enters this section, the linkage adapter is constrained by the groove wall and undergoes directional deflection, ultimately achieving a 90° preset angle adjustment of the end effector relative to the initial pose.

[0014] During the specific motion process, when the pneumatic telescopic rod pushes the moving slider along the linear guide rail, the trajectory following part of the linkage adapter first translates along the linear guide section of the composite guide groove. At this time, the end effector maintains its initial posture and performs axial displacement. When the trajectory following part enters the arc transition section, the linkage adapter rotates, and the end effector synchronously generates an increasing angular displacement. After the trajectory following part fully enters the angle correction section, the linkage adapter completes a 90° directional rotation and continues to translate along the second axis, ultimately achieving precise spatial pose conversion of the end effector.

[0015] Compared with the prior art, this application has at least one of the following beneficial effects:

[0016] Simplified structure and cost optimization: Through the collaborative design of composite motion trajectory constraint mechanism and single drive source, the number of parts required by traditional multi-axis mechanism is greatly reduced, the equipment manufacturing cost is significantly reduced, and there is no need for complex electrical control system. The overall structure is compact and economical.

[0017] Energy efficiency improvement and operational economy: The use of a single drive source to replace the multi-axis linkage power system effectively reduces the energy consumption of equipment operation. At the same time, the use of mechanical trajectory constraints to replace active control reduces continuous energy consumption, resulting in outstanding energy-saving benefits.

[0018] Enhanced motion accuracy and reliability: Based on the physical constraint mechanism of integrated composite motion trajectory, the positioning accuracy of the end effector is significantly improved, avoiding the problem of multi-stage transmission error accumulation. In addition, the key motion pairs adopt a self-lubricating design, which greatly extends the maintenance cycle and significantly improves the system reliability.

[0019] Load adaptability and scenario scalability: It achieves stable reversing and displacement of heavy workpieces under single drive source conditions. By optimizing the load transmission path and enhancing structural rigidity, it can adapt to greater load requirements, while reducing the risk of multi-axis step loss and expanding the application range of the mechanism in heavy industrial scenarios.

[0020] Space utilization and ease of deployment: The compact overall design significantly reduces the equipment footprint and eliminates the need for complex debugging processes, making it easy to quickly integrate into existing production lines and providing flexibility for production layout optimization.

[0021] The beneficial effects listed above are not exhaustive of all advantages. Other potential beneficial effects and detailed technical implementation methods will be further disclosed in the embodiments or other descriptive sections of this application. Attached Figure Description

[0022] A better understanding of various aspects of this disclosure will be achieved by reading the following detailed description in conjunction with the accompanying drawings. The positions, dimensions, and extents of the structures shown in the drawings, etc., do not always represent actual positions, dimensions, and extents. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of one embodiment disclosed in this application.

[0024] Figure 2 This is a schematic diagram of the structure of one embodiment of the present application in another working state. Detailed Implementation

[0025] The present disclosure will now be described with reference to the accompanying drawings, which illustrate several embodiments of the present disclosure. However, it should be understood that the present disclosure can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure more complete and to fully illustrate the scope of protection of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide further additional embodiments.

[0026] It should be understood that the same reference numerals denote the same elements in all the accompanying drawings. For clarity, the dimensions of certain features may be modified in the drawings.

[0027] It should be understood that the terminology used in this specification is for describing specific embodiments only and is not intended to limit this disclosure. All terms used in this specification (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. For the sake of brevity and / or clarity, techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of this specification.

[0028] Unless otherwise specified, the singular forms “a,” “the,” and “the” used in this specification include the plural forms. The terms “comprising,” “including,” and “containing” used in this specification indicate the presence of the claimed feature but do not exclude the presence of one or more other features. The term “and / or” used in this specification includes any and all combinations of one or more of the relevant listed items. Example

[0029] See attached document Figure 1 and 2 This embodiment provides a specific implementation of a rotary displacement mechanism, the core of which is to achieve composite motion output under a single drive source through mechanical trajectory constraints.

[0030] In this embodiment, the first axial direction is the X-axis direction, and the second axial direction is the Y-axis direction.

[0031] The overall structure of the rotary displacement mechanism consists of four parts: base 1, pneumatic drive module 2, motion conversion component 3, and end effector module 4.

[0032] The base 1 is made of HT250 cast iron. The upper surface is precision milled to form a first linear guide rail 101 and a composite guide groove 102 that are parallel to each other. The first linear guide rail 101 extends along the X-axis and is plated with hard chrome to enhance wear resistance. The composite guide groove 102 is continuously connected by a straight section along the X-axis, a 1 / 4 circular arc transition section with a radius of 80mm, and a correction section along the Y-axis. The groove width is 15±0.01mm, and the inner wall of the groove is nitrided to form a 0.2mm hardened layer.

[0033] The motion conversion component 3 consists of a sliding module 301 forged from aluminum alloy, a linkage adapter 302 formed from ductile iron, and a steel connecting plate 303. The bottom of the sliding module 301 is provided with a T-shaped slider 304 that matches the first linear guide rail 101. This T-shaped slider serves as a guide.

[0034] The slider module 301 is fixedly connected to the connecting plate 303. The connecting plate 303 has a groove, and the inner wall of the groove is embedded with a graphite copper layer.

[0035] The linkage adapter 302 extends into a cylindrical shaft 304 with a diameter of 14mm to mate with the groove. In addition, the linkage adapter 302 is provided with a track pin 305 for the track following part. The track pin forms a clearance fit with the composite guide groove 102, and the fit tolerance is controlled at the H7 / g6 level.

[0036] The drive module 2 uses an SC-63×200 double-acting cylinder. The cylinder body is fixed to the end of the base 1 by a flange. The piston rod end is connected to the sliding module 301 by a fisheye connector. When the working pressure is set to 0.6MPa, it can output 1200N thrust.

[0037] The end effector module 4 includes a welded 304 stainless steel support bracket as a working arm, which is fixed to the linkage adapter 302 by four sets of M12 high-strength bolts.

[0038] During the motion transition, when the cylinder pushes the sliding module 301 to move along the X-axis, the trajectory pin 305 is constrained by the composite guide groove 102 and generates a forced displacement, which forces the linkage adapter 302 to rotate, ultimately realizing the composite motion of the end effector module 4 in X-axis displacement and 90° rotation.

[0039] In terms of timing, initially, the end effector module 4 is at the starting position on the X-axis and its posture is parallel to the X-axis. When the cylinder extends, the sliding module 301 drives the trajectory pin 305 to move 40mm along the straight section of the composite guide groove 102. At this time, the end effector module 4 maintains its original posture and translates. When the trajectory pin 305 enters the arc transition section, the linkage adapter 302 begins to rotate around the central axis of the arc transition section, generating angular displacement. During this stage, the sliding module continues to move 20mm, and the end effector module 4 completes a 45° deflection. After the trajectory pin 302 enters the Y-axis correction section, the remaining 40mm of travel of the sliding module 301 drives the end effector module 4 to complete the subsequent 45° rotation and translate 30mm along the Y-axis, ultimately achieving a composite action of a total displacement of 90mm and a rotation of 90°.

[0040] It is important to note that key kinematic parameters were optimized through Adams software simulation to ensure that the maximum angular acceleration does not exceed 15 rad / s², thus avoiding inertial shock.

[0041] When implemented in an automotive engine block production line, this embodiment uses end effector module 4 to transfer a 65kg cylinder block from the horizontal conveyor line to the vertical inspection station. Compared to the original dual-axis robotic arm, this mechanism eliminates the rotary servo motor and its matching reducer, significantly reducing the number of parts and equipment procurement costs. Due to the use of purely mechanical trajectory constraints, real-time closed-loop control is unnecessary, reducing debugging time from 6 hours to 45 minutes. After 20,000 continuous tests, the positioning repeatability error remained within ±0.06mm, and the air consumption per cycle was only 0.8L (standard operating conditions), resulting in an 82% reduction in energy costs compared to electric systems. The compact structure reduces the equipment's footprint to 0.8m², facilitating deployment in confined spaces and making it particularly suitable for automation retrofitting existing production lines.

[0042] It should be understood that the parameters, data, and materials mentioned above are all options for one embodiment.

[0043] This implementation combines spatial trajectory constraints with single-degree-of-freedom drive, demonstrating significant advantages in fields such as automobile manufacturing and parts assembly. For example, in a gearbox housing processing line, this mechanism achieves the handling function of a traditional three-axis Cartesian coordinate robot with a single cylinder drive. Its mechanical limiting characteristics completely avoid the risk of multi-axis step loss, and it can maintain stable output even under conditions of voltage fluctuations or air source pressure changes of ±10%, significantly improving the robustness of the production system.

[0044] While exemplary embodiments of this disclosure have been described, those skilled in the art will understand that various changes and modifications can be made to the exemplary embodiments of this disclosure without departing from the spirit and scope thereof. Therefore, all changes and modifications are included within the scope of protection of this disclosure as defined by the claims. This disclosure is defined by the appended claims, and equivalents of those claims are also included.

Claims

1. A rotary displacement mechanism, characterized in that, The mechanism includes a base, a drive unit, a composite motion assembly, and an end effector. The base is provided with a linear guide rail and a composite guide groove extending along the first axis. The composite guide groove is composed of a linear guide section, an arc transition section and an angle correction section connected continuously. The linear guide section is arranged in parallel with the linear guide rail, and the angle correction section forms a 90° spatial angle with the linear guide section. The composite motion component includes a motion slider and a linkage adapter. The motion slider is equipped with a guide part that forms a sliding pair with the linear guide rail. The lower part of the linkage adapter is provided with a shaft that is connected to the motion slider through a connecting plate. Correspondingly, the connecting plate is provided with a groove along a second axis that forms a 90° angle with the first axis, and the groove cooperates with the shaft. The upper part of the linkage adapter is fixed with a trajectory following part that slides in cooperation with the composite guide groove. The drive unit adopts a pneumatic telescopic rod, whose cylinder body is fixedly connected to the base, and the piston rod end is connected to the moving slider through a hinge mechanism to drive the moving slider to perform reciprocating linear motion along the linear guide rail. The end effector is fixed to the top of the linkage adapter via a support bracket, and its spatial position is controlled by the composite motion trajectory of the linkage adapter.

2. The rotary displacement mechanism as described in claim 1, characterized in that, The groove wall of the connecting plate is inlaid with a graphite copper layer.

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