A precise positioning mechanism of a five-axis side-hung double-arm double-section manipulator

Abstract

The utility model relates to mechanical hand positioning technical field, concretely to a kind of accurate positioning mechanism of five-axis side hanging double-arm double-section mechanical hand, including longitudinal slide, longitudinal slide outer side is equipped with sliding slot, sliding block is slidably installed in the sliding slot, the one side of sliding block is fixedly installed with L-shaped plate, the L-shaped plate bottom end is fixedly installed with inclined bracing plate, the top of longitudinal slide is respectively equipped with longitudinal slide rail by bolt, the outer side of longitudinal slide rail is slidably installed with first sliding clamp, first inner thread block is fixedly installed between the first sliding clamp, first inner thread block and L-shaped plate top are equipped with horizontal sliding assembly by bolt, the utility model is equipped with L-shaped plate structure with inclined bracing plate by longitudinal slide side, and the rigidity linkage of combination horizontal platform and longitudinal drive component is formed Space triangular support and low gravity center layout, substantially enhance the bending and torsion resistance of mechanism, ensure positioning stability and motion stability under high load.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm positioning technology, specifically a precision positioning mechanism for a five-axis side-mounted double-arm double-section robotic arm. Background Technology

[0002] The precise positioning mechanism of the five-axis side-mounted dual-arm dual-section manipulator refers to the ability of two manipulators with telescopic joints (dual-arm dual-section structure) to perform coordinated movements in five directions simultaneously within a limited space. Its core value lies in the integrated displacement control, which ensures that each manipulator does not interfere with or collide with each other when moving independently, while maintaining the high positioning accuracy of their respective end effectors (such as precision assembly or operation in hazardous environments). This design solves the efficiency loss caused by space contention in multi-arm systems during collaborative operations, as well as the synchronous operation requirements that traditional single-arm positioning cannot meet.

[0003] However, the traditional dual-arm manipulator positioning mechanism adopts a single-axis drive multi-arm synchronous mode, which cannot realize independent lateral displacement control of the two arms in the plane, resulting in insufficient flexibility and limited obstacle avoidance ability when the two arms work together; in addition, the conventional cantilever manipulator support structure lacks the diagonal brace design for lateral rigidity reinforcement, and is prone to deformation under longitudinal movement and load superposition conditions, affecting positioning accuracy and restricting dynamic response performance. Utility Model Content

[0004] The purpose of this invention is to provide a precise positioning mechanism for a five-axis side-mounted double-arm double-section manipulator to solve the problems mentioned in the background art.

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

[0006] A precision positioning mechanism for a five-axis side-mounted dual-arm, dual-section manipulator includes a longitudinal slide table. A sliding groove is formed on one side of the longitudinal slide table, and a sliding block is slidably installed in the sliding groove. An L-shaped plate is fixedly installed on one side of the sliding block, and a diagonal brace is fixedly installed at the bottom end of the L-shaped plate. Longitudinal slide rails are bolted to both sides of the top of the longitudinal slide table. A first sliding clamp is slidably installed on the outside of the longitudinal slide rails, and a first internal threaded block is fixedly installed between the first sliding clamps. A transverse sliding assembly is bolted to the top of the first internal threaded block and the L-shaped plate.

[0007] Preferably, the first internal threaded block is slidably installed inside the longitudinal slide table, and a first threaded rod is threadedly installed in the middle of the first internal threaded block. The first threaded rod is installed at both ends inside the longitudinal slide table through bearings.

[0008] Preferably, one end of the first threaded rod extends to the outside of the longitudinal slide table and is connected to the output end of the drive motor, and the drive motor is mounted on the outside of the longitudinal slide table by bolts.

[0009] Preferably, the horizontal sliding assembly includes a horizontal sliding table, which is simultaneously installed on the top of the first internal threaded block and the L-shaped plate by bolts, and horizontal sliding rails are respectively installed on both sides of the top of the horizontal sliding table by bolts.

[0010] Preferably, a second sliding clamp and a third sliding clamp are slidably installed on the outer side of the horizontal slide rail, the second sliding clamp and the third sliding clamp extend to the same side and are respectively configured as an assembly plate, and a second internal thread block and a third internal thread block are respectively fixedly installed between the second sliding clamp and the third sliding clamp.

[0011] Preferably, a second threaded rod is threadedly installed on the second internal threaded block extending laterally from its center point, and the second threaded rod is installed at both ends of the transverse slide table via bearings.

[0012] Preferably, a third threaded rod is threaded through the second internal threaded block at the point where it extends laterally to the other side from its center point. The third threaded rod is threadedly installed on the third internal threaded block at the point where it extends laterally to the other side from its center point.

[0013] Preferably, the third internal threaded block extends laterally to the other side along its center point and a second threaded rod passes through it. The third threaded rod is mounted on both ends of the transverse slide table by bearings and is adjacent to the second threaded rod.

[0014] Preferably, one end of the second and third threaded rods extends to the outside of the transverse slide table and connects to two sets of rotating motors, which are adjacent to each other and respectively mounted on the outside of the transverse slide table by bolts. Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. The precision positioning mechanism of this five-axis side-mounted dual-arm dual-section manipulator, through the design of independently driven double transverse threaded rods and separate internal threaded blocks, enables the two sets of assembly plates to move synchronously in the transverse direction and to move independently and precisely, which significantly improves the collaborative operation flexibility and independent operation accuracy of the dual-arm manipulator.

[0016] 2. The precision positioning mechanism of this five-axis side-mounted double-arm double-section manipulator uses an L-shaped plate structure with inclined bracing plates set on the side of the longitudinal slide table. Combined with the rigid linkage between the transverse platform and the longitudinal drive components, it forms a spatial triangular support and a low center of gravity layout, which greatly enhances the bending and torsional resistance of the mechanism and ensures positioning stability and smooth movement under high load. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the longitudinal slide table of this utility model;

[0019] Figure 3This is a schematic diagram of the structure of the transverse slide table of this utility model;

[0020] Figure 4 This is a structural schematic diagram of the L-shaped plate of this utility model.

[0021] In the diagram: 101, longitudinal slide table; 102, sliding groove; 103, sliding block; 104, L-shaped plate; 105, diagonal brace plate; 106, longitudinal slide rail; 107, first sliding clamp; 108, first internal threaded block; 109, transverse sliding assembly; 110, first threaded rod; 111, drive motor; 112, transverse slide table; 113, transverse slide rail; 114, second sliding clamp; 115, third sliding clamp; 116, assembly plate; 117, second internal threaded block; 118, third internal threaded block; 119, second threaded rod; 121, third threaded rod; 122, rotary motor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figures 1-4 As shown, this utility model provides a technical solution:

[0024] A precision positioning mechanism for a five-axis side-mounted dual-arm, dual-section manipulator includes a longitudinal slide table 101. A sliding groove 102 is provided on the outer side of the longitudinal slide table 101. A sliding block 103 is slidably installed in the sliding groove 102. An L-shaped plate 104 is fixedly installed on one side of the sliding block 103. A diagonal brace 105 is fixedly installed at the bottom end of the L-shaped plate 104. Longitudinal slide rails 106 are bolted to both sides of the top of the longitudinal slide table 101. A first sliding clamp 107 is slidably installed on the outer side of the longitudinal slide rail 106. A first internal threaded block 108 is fixedly installed between the first sliding clamps 107. A transverse sliding assembly 109 is bolted to the top of the first internal threaded block 108 and the L-shaped plate 104.

[0025] The above scheme utilizes a longitudinal sliding table to provide the main support structure and incorporates sliding grooves, enabling the sliding block to move within a defined path. A cantilever support foundation is formed by fixing the sliding block to an L-shaped plate. An inclined brace plate at the bottom of the L-shaped plate enhances bending stiffness. A longitudinal sliding rail at the top of the longitudinal sliding table provides high-precision linear guidance for the first sliding clamp. A first internal threaded block is fixedly connected to the first sliding clamp, converting threaded transmission into linear motion. Finally, a transverse sliding assembly is installed together with the first internal threaded block and the L-shaped plate, achieving stable load-bearing and synchronous displacement of the transverse motion platform.

[0026] In this embodiment, preferably, the first internal threaded block 108 is slidably installed inside the longitudinal slide table 101, and a first threaded rod 110 is threadedly installed in the middle of the first internal threaded block 108. The first threaded rod 110 is installed at both ends inside the longitudinal slide table 101 through bearings.

[0027] The above scheme ensures coaxiality and low friction of longitudinal movement by sliding the first internal threaded block inside the longitudinal slide table; the rotational motion can be converted into longitudinal linear drive by the threaded engagement of the first threaded rod and the first internal threaded block; and the bearings supporting both ends of the first threaded rod can eliminate transmission runout and extend service life.

[0028] In this embodiment, preferably, one end of the first threaded rod 110 extends to the outside of the longitudinal slide table 101 and is connected to the output end of the drive motor 111, and the drive motor 111 is mounted on the outside of the longitudinal slide table 101 by bolts.

[0029] The above solution provides a precise and controllable longitudinal power source by connecting the drive motor to the first threaded rod; and by fixing the drive motor with bolts, the stability of power transmission and vibration isolation can be ensured.

[0030] In this embodiment, preferably, the horizontal sliding assembly 109 includes a horizontal sliding table 112, which is simultaneously installed on the top of the first internal thread block 108 and the L-shaped plate 104 by bolts, and horizontal sliding rails 113 are respectively installed on both sides of the top of the horizontal sliding table 112 by bolts.

[0031] The above scheme achieves synchronous transmission of longitudinal motion to the transverse platform by rigidly connecting the first internal thread block and the L-shaped plate through the transverse slide table; by installing a transverse slide rail at the top of the transverse slide table, a bidirectional guiding reference can be provided for the transverse sliding components.

[0032] In this embodiment, preferably, a second sliding clamp 114 and a third sliding clamp 115 are slidably installed on the outer side of the horizontal slide rail 113. The second sliding clamp 114 and the third sliding clamp 115 extend to the same side and are respectively set as an assembly plate 116. A second internal thread block 117 and a third internal thread block 118 are respectively fixedly installed between the second sliding clamp 114 and the third sliding clamp 115.

[0033] The above scheme ensures the flatness of the lateral movement by sliding the second / third sliding clamp along the horizontal slide rail; the assembly plate formed by the extension of the sliding clamp allows for direct installation of the robotic arm; and the two sets of lateral movement units can be independently controlled by fixing the second / third internal threaded blocks between the sliding clamps respectively.

[0034] In this embodiment, preferably, a second threaded rod 119 is threadedly installed on the second internal threaded block 117 extending laterally from its center point, and the second threaded rod 119 is installed at both ends of the transverse slide table 112 via bearings.

[0035] With the above scheme, the second sliding clamp can be driven to move laterally by the threaded engagement of the second threaded rod and the second internal threaded block; the transmission rigidity can be maintained and radial runout can be reduced by supporting the two ends of the second threaded rod with bearings.

[0036] In this embodiment, preferably, a third threaded rod 121 is passed through the second internal threaded block 117 extending laterally from its center point to the other side. The third threaded rod 121 is threadedly installed on the third internal threaded block 118 extending laterally from its center point to the other side.

[0037] By using the above scheme, the third threaded rod passes through the second internal threaded block and is threadedly connected to the third internal threaded block, which enables the third sliding clamp to drive laterally independently of the second sliding clamp; at the same time, it maintains the relative position constraint of the two sliding clamps.

[0038] In this embodiment, preferably, the third internal threaded block 118 extends laterally to the other side along its center point and a second threaded rod 119 passes through it. The third threaded rod 121 is mounted on both ends of the transverse slide table 112 by bearings and is adjacent to the second threaded rod 119.

[0039] The above scheme avoids interference between the two threaded rods by having the second threaded rod pass through the third internal threaded block; by installing the third threaded rod and the second threaded rod adjacent to each other, the spatial layout can be optimized and synchronous / asynchronous control of the two arms can be achieved.

[0040] In this embodiment, preferably, one end of the second threaded rod 119 and the third threaded rod 121 extends to the outside of the horizontal slide table 112 and is connected to two sets of rotating motors 122. The rotating motors 122 are adjacent to each other and are respectively installed on the outside of the horizontal slide table 112 by bolts.

[0041] The above scheme enables the dual-arm robotic arm to perform coordinated or independent operations in the lateral direction by independently driving the second and third threaded rods with two sets of rotating motors; by installing the motors adjacent to each other, wiring can be centralized and maintenance convenience can be improved.

[0042] In this embodiment, a precision positioning mechanism for a five-axis side-mounted double-arm double-section manipulator is first started by a longitudinal drive motor 111, which drives the first threaded rod 110 to rotate inside the longitudinal slide table 101. The first internal threaded block 108, which is threadedly engaged with the first threaded rod 110, then generates a longitudinal linear displacement along the constraint path inside the longitudinal slide table 101. The first internal threaded block 108 is rigidly connected to the transverse slide table 112 and the first sliding clamp 107, while the first sliding clamp 107 is slidably engaged with the longitudinal slide table 101 via the longitudinal slide rail 106. This ensures that the entire transverse slide table 112 assembly and other structures mounted on it maintain stable, non-deviation linear motion during movement, achieving a high-precision and sufficiently rigid longitudinal positioning effect. The sliding block 103 on the side of the longitudinal slide table 101 moves synchronously through the sliding groove 102. The L-shaped plate 104 connected to it and the bottom inclined support plate 105 form a stable triangular support structure, significantly enhancing the system's bending and torsional resistance under load and ensuring the overall structure is stable and reliable during longitudinal movement. After longitudinal positioning is completed, lateral movement is executed by two independent drive units. The two sets of rotating motors 122 respectively drive the second threaded rod 119 and the third threaded rod 121 to rotate within the transverse slide table 112. The second threaded rod 119 drives the second internal threaded block 117, which is threadedly engaged with it. This internal threaded block is rigidly connected to the second sliding clamp 114. The assembly plate 116 formed by the extension of the third threaded rod 121 (for mounting the robotic arm) is also connected to the third internal threaded block 118, which in turn is rigidly connected to the third sliding clamp 115 and the assembly plate 116 formed by its extension. The second and third sliding clamps 115 slide independently along the horizontal slide rails 113 on both sides of the horizontal slide table 112, so that the two assembly plates 116 can simultaneously and independently perform linear displacement in the lateral direction. Since the two internal threaded blocks and the corresponding threaded rods form separate transmission chains, and their respective sliding clamps are constrained and guided by the horizontal slide rails 113, the two assembly plates 116 can achieve both linkage motion and precise relative positioning, which is crucial for the collaborative or independent operation of the dual-arm robotic arm. This gives the five-axis side-mounted dual-arm robotic arm the precise collaborative control capability of three independent moving axes in the longitudinal and lateral planes, effectively expanding the workspace coverage and improving the positioning flexibility. The overall structure is compact, rigid, and has high space utilization.

[0043] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A precision positioning mechanism for a five-axis side-mounted dual-arm, dual-section manipulator, comprising a longitudinal slide (101), characterized in that: A sliding groove (102) is provided on one side of the longitudinal slide table (101). A sliding block (103) is slidably installed in the sliding groove (102). An L-shaped plate (104) is fixedly installed on one side of the sliding block (103). A diagonal brace (105) is fixedly installed at the bottom end of the L-shaped plate (104). A longitudinal slide rail (106) is installed on both sides of the top of the longitudinal slide table (101) by bolts. A first sliding clamp (107) is slidably installed on the outside of the longitudinal slide rail (106). A first internal thread block (108) is fixedly installed between the first sliding clamps (107). A transverse sliding assembly (109) is installed on the top of the first internal thread block (108) and the L-shaped plate (104) by bolts.

2. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 1, characterized in that: The first internal threaded block (108) is slidably installed inside the longitudinal slide table (101). The first internal threaded block (108) is threadedly installed with a first threaded rod (110) in the middle. The first threaded rod (110) is installed at both ends inside the longitudinal slide table (101) through bearings.

3. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 2, characterized in that: One end of the first threaded rod (110) extends to the outside of the longitudinal slide (101) and is connected to the output end of the drive motor (111), which is mounted on the outside of the longitudinal slide (101) by bolts.

4. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 3, characterized in that: The horizontal sliding assembly (109) includes a horizontal slide table (112), which is simultaneously installed on the top of the first internal thread block (108) and the L-shaped plate (104) by bolts. Horizontal slide rails (113) are respectively installed on both sides of the top of the horizontal slide table (112) by bolts.

5. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 4, characterized in that: A second sliding clamp (114) and a third sliding clamp (115) are slidably installed on the outer side of the horizontal slide rail (113). The second sliding clamp (114) and the third sliding clamp (115) extend to the same side and are configured as an assembly plate (116). A second internal thread block (117) and a third internal thread block (118) are fixedly installed between the second sliding clamp (114) and the third sliding clamp (115).

6. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 5, characterized in that: The second internal threaded block (117) is threaded with a second threaded rod (119) extending laterally from its center point. The second threaded rod (119) is mounted on both ends of the transverse slide (112) via bearings.

7. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 6, characterized in that: The second internal threaded block (117) has a third threaded rod (121) extending laterally from its center point to the other side. The third threaded rod (121) is threadedly installed on the third internal threaded block (118) extending laterally from its center point to the other side.

8. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 7, characterized in that: The third internal threaded block (118) extends laterally to the other side along its center point and is penetrated by the second threaded rod (119). The third threaded rod (121) is mounted on both ends of the transverse slide (112) by bearings and is adjacent to the second threaded rod (119).

9. The precision positioning mechanism for a five-axis side-mounted dual-arm dual-section manipulator according to claim 8, characterized in that: One end of the second threaded rod (119) and the third threaded rod (121) extends to the outside of the horizontal slide (112) and is connected to two sets of rotating motors (122). The rotating motors (122) are adjacent to each other and are respectively installed on the outside of the horizontal slide (112) by bolts.

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