A multi-joint adaptive parallel robot arm structure

Abstract

The utility model discloses a kind of multi-joint adaptive parallel robot arm structures, including hydraulic cylinder body, first end cover, second end cover, piston rod, piston, first connecting seat, second connecting seat and joint connecting piece, pressure cavity is equipped in hydraulic cylinder body, piston is slidably embedded in pressure cavity, the lower end of piston rod is fixedly connected with piston, the front end wall of first end cover is equipped with first through-hole, piston rod is slidably arranged in first through-hole, the upper end wall of first end cover and second end cover is recessed with the connecting port being communicated with pressure cavity, first connecting seat and second connecting seat are respectively detachably arranged on the front end of piston rod and the rear end wall of second end cover, joint connecting piece is respectively connected with first connecting seat and second connecting seat and can rotate left and right and up and down.The technical scheme of the utility model has the advantages of strong bearing capacity, stable action, impact resistance, vibration resistance, good explosion-proof, easy maintenance and the like, and can adapt to various complex environments.

Description

Technical Field

[0001] This utility model relates to the field of parallel robot arm technology, and in particular to a multi-joint adaptive parallel robot arm structure. Background Technology

[0002] Parallel robots, or Parallel Mechanisms (PMs), can be defined as closed-loop mechanisms in which a moving platform and a fixed platform are connected by at least two independent kinematic chains, possessing two or more degrees of freedom and driven in parallel. Parallel robots are characterized by zero cumulative error and high precision; the drive unit can be placed on or near the fixed platform, resulting in lightweight moving parts, high speed, and good dynamic response.

[0003] Currently, most existing parallel robotic arms on the market are parallel mechanisms with three branches, each equipped with a drive motor. The movement of the platform can be achieved by controlling the orderly forward and reverse rotation of the three motors. However, due to the limited driving force of the motors, this mechanism is not suitable for heavy loads or withstanding large impacts. Utility Model Content

[0004] The main objective of this invention is to propose a multi-joint adaptive parallel robot arm structure, which aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention proposes a multi-joint adaptive parallel robot arm structure, comprising a hydraulic cylinder, a first end cap, a second end cap, a piston rod, a piston, a first connecting seat, a second connecting seat, and joint connectors. The first and second end caps are respectively installed on the two ends of the hydraulic cylinder. The hydraulic cylinder has a pressure chamber, and the piston is slidably embedded in the pressure chamber. A first sealing ring is fitted on the outer peripheral wall of the piston, and the first sealing ring slidably abuts against the inner peripheral wall of the pressure chamber. The lower end of the piston rod is fixedly connected to the piston. The front end wall of the first end cap has a first through hole, and the piston rod is slidably inserted through the first through hole. The upper end walls of the first and second end caps are recessed with a connection port communicating with the pressure chamber. The connection port is connected to a hydraulic pump through an oil pipe. The first and second connecting seats are detachably installed on the front end of the piston rod and the rear end wall of the second end cap, respectively. The joint connectors are rotatably connected to the first and second connecting seats, respectively, in both left-right and up-down directions.

[0006] Optionally, a second sealing ring is embedded in the inner peripheral wall of the first through hole, and the second sealing ring slides against the piston rod.

[0007] Optionally, the rear end of the first connecting seat is recessed with a insertion hole, and the front end of the piston rod is provided with a insertion part, which is detachably embedded in the insertion hole.

[0008] Optionally, it also includes a fastening bolt, wherein the outer wall of the insertion hole is provided with a plurality of opening slots extending along the length direction, and threaded holes and bolt holes are provided on opposite sides of the opening slots, and the fastening bolt passes through the bolt hole and is screwed into the threaded hole.

[0009] Optionally, it also includes a connecting block, which is rotatably connected to the first connecting seat and the second connecting seat in the vertical direction, and is rotatably connected to the joint connector in the horizontal direction.

[0010] Optionally, it also includes a rotating shaft. The upper and lower ends of the front end walls of the first connecting seat and the second connecting seat are respectively provided with first connecting plates. The left and right ends of the rear end wall of the joint connector are respectively provided with second connecting plates. The side walls of the front ends of the first connecting plate and the second connecting plate are each provided with a second through hole. The left, right and upper and lower side walls of the connecting block are respectively provided with third through holes. The rotating shaft is fixedly connected to the second through holes. The rotating shaft is rotatably embedded in the third through holes.

[0011] Optionally, it also includes a self-lubricating copper sleeve, which is respectively embedded in the third through hole, and the inner peripheral wall of the self-lubricating copper sleeve is embedded with a plurality of columnar graphite solid lubricants. The rotating shaft is rotatably embedded in the self-lubricating copper sleeve, and the rotating shaft slides against the columnar graphite solid lubricants.

[0012] Optionally, it also includes fastening screws, and a disc protrudes from the rear end of the rotating shaft. The fastening screws pass through the disc and are screwed onto the first connecting plate and the second connecting plate.

[0013] The technical solution of this utility model has the following beneficial effects: The parallel robot arm of this utility model uses the pressure of hydraulic oil to push the piston rod to extend or retract, thereby realizing linear motion, so that the arm can perform extension, lifting and lowering movements, and has good stability and high rigidity. This parallel robot arm has the advantages of strong load-bearing capacity, smooth movement, impact resistance, vibration resistance, good explosion-proof performance, and convenient maintenance, and can adapt to a variety of complex environments. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of a multi-joint adaptive parallel robot arm according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall structure of a multi-joint adaptive parallel robot arm according to an embodiment of the present invention, from another perspective.

[0017] Figure 3 This is an exploded structural diagram of a multi-joint adaptive parallel robot arm structure according to an embodiment of the present invention;

[0018] Figure 4 This is a partially exploded structural diagram of a multi-joint adaptive parallel robot arm structure according to an embodiment of the present invention.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] 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.

[0021] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0022] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] This invention proposes a multi-joint adaptive parallel robot arm structure.

[0024] like Figures 1 to 4 As shown, in one embodiment of this utility model, the multi-joint adaptive parallel robot arm structure includes a hydraulic cylinder 101, a first end cap 102, a second end cap 103, a piston rod 104, a piston 105, a first connecting seat 106, a second connecting seat 107, and a joint connector 108. The first end cap 102 and the second end cap 103 are respectively installed on the two ends of the hydraulic cylinder 101. A pressure chamber is provided inside the hydraulic cylinder 101. The piston 105 is slidably embedded in the pressure chamber. A first sealing ring 1051 is provided on the outer peripheral wall of the piston 105. The first sealing ring 1051 slidably abuts against the inner peripheral wall of the pressure chamber. The lower end of the piston rod 104 is fixedly connected to the piston 105. The front end wall of the first end cap 102 is provided with a first through hole 1021. The piston rod 104 is slidably inserted through the first through hole 1021. The upper end walls of the first end cap 102 and the second end cap 103 are recessed with a connection port 109 that communicates with the pressure chamber. The connection port 109 is connected to the hydraulic pump through an oil pipe. The first connecting seat 106 and the second connecting seat 107 are respectively detachably disposed on the front end of the piston rod 104 and the rear end wall of the second end cap 103. The joint connector 108 is rotatably connected to the first connecting seat 106 and the second connecting seat 107 in the left and right and up and down directions, respectively.

[0025] Specifically, a second sealing ring (not shown) is embedded in the inner peripheral wall of the first through hole 1021. The second sealing ring slides against the piston rod 104 to achieve a good sealing effect.

[0026] Specifically, the rear end of the first connecting seat 106 is recessed with a insertion hole 1061, and the front end of the piston rod 104 is provided with an insertion part 1041. The insertion part 1041 is detachably embedded in the insertion hole 1061, making the assembly and disassembly between the piston rod and the first connecting seat more convenient and quick.

[0027] Specifically, it also includes a fastening bolt 110. The outer wall of the insertion hole 1061 is provided with a plurality of opening slots 1062 extending along the length direction. The two sides of the opening slot 1062 are provided with threaded holes (not shown) and bolt holes (not shown). The fastening bolt 110 passes through the bolt hole and is screwed into the threaded hole, making the assembly and disassembly between the piston rod and the first connecting seat more convenient and quick.

[0028] Specifically, it also includes a connecting block 111, which can be rotatably connected to the first connecting seat 106 and the second connecting seat 107 in the upper and lower positions respectively, and the connecting block 111 is rotatably connected to the joint connector 108 in the left and right positions respectively.

[0029] Specifically, it also includes a rotating shaft 112, and the upper and lower ends of the front end walls of the first connecting seat 106 and the second connecting seat 107 are respectively provided with first connecting plates 113. The left and right ends of the rear end wall of the joint connector 108 are respectively provided with second connecting plates 114. The side walls of the front ends of the first connecting plate 113 and the second connecting plate 114 are each provided with a second through hole 115. The left, right and upper and lower side walls of the connecting block 111 are respectively provided with third through holes (not shown). The rotating shaft 112 is fixedly connected to the second through hole 115 respectively, and the rotating shaft 112 is rotatably embedded in the third through hole respectively.

[0030] Specifically, it also includes self-lubricating copper sleeves 116, which are respectively embedded in the third through hole. Multiple columnar graphite solid lubricants 1161 are embedded in the inner circumferential wall of the self-lubricating copper sleeves 116. A rotating shaft 112 is rotatably embedded in the self-lubricating copper sleeves 116, and the shaft 112 slides against the columnar graphite solid lubricants 1161. When the shaft rotates, the columnar graphite solid lubricants on the surface of the self-lubricating copper sleeves form a thin lubricating film on the contact surface. This film can continuously reduce the coefficient of friction and effectively slow down direct contact between metals, thereby reducing wear and increasing service life. It requires no external lubrication device or frequent maintenance, can maintain lubrication for a long time, effectively improves load-bearing capacity, reduces impact and vibration from mechanical contact, and effectively reduces equipment operating noise. Even in situations where traditional lubricating oils cannot form a stable oil film due to reciprocating, oscillating, or frequent start-stop operations, stable operation can still be guaranteed.

[0031] Specifically, it also includes fastening screws 117. A disc 1121 protrudes from the rear end of the rotating shaft 112. The fastening screws 117 pass through the disc 1121 and are screwed onto the first connecting plate 113 and the second connecting plate 114, which facilitates the installation and fixing of the rotating shaft.

[0032] Specifically, the working principle and process of this utility model are as follows:

[0033] Parallel robotic arms are hydraulically driven, using pressurized hydraulic fluid as the power transmission medium. An electric motor drives an oil pump to output pressurized oil, converting the mechanical energy supplied by the motor into the pressure energy of the hydraulic fluid. The pressurized oil then passes through pipes and control devices into the hydraulic cylinder, pushing the piston rod to move, thus enabling the arm to extend, retract, and lift. This process converts the pressure energy of the hydraulic fluid back into mechanical energy. The system offers good stability, high rigidity, strong load-bearing capacity, and excellent flexibility, allowing it to adapt to various complex environments.

[0034] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A multi-joint adaptive parallel robot arm structure, characterized in that, The system includes a hydraulic cylinder body, a first end cap, a second end cap, a piston rod, a piston, a first connecting seat, a second connecting seat, and a joint connector. The first and second end caps are respectively installed on both ends of the hydraulic cylinder body. The hydraulic cylinder body has a pressure chamber. The piston is slidably embedded in the pressure chamber. A first sealing ring is provided on the outer peripheral wall of the piston. The first sealing ring slidably abuts against the inner peripheral wall of the pressure chamber. The lower end of the piston rod is fixedly connected to the piston. The front end wall of the first end cap has a first through hole. The piston rod is slidably inserted through the first through hole. The upper end walls of the first and second end caps have recessed connection ports communicating with the pressure chamber. The connection ports are connected to a hydraulic pump through an oil pipe. The first and second connecting seats are detachably installed on the front end of the piston rod and the rear end wall of the second end cap, respectively. The joint connector is rotatably connected to the first and second connecting seats, respectively, in both left-right and up-down directions.

2. The multi-joint adaptive parallel robot arm structure according to claim 1, characterized in that, A second sealing ring is embedded in the inner peripheral wall of the first through hole, and the second sealing ring slides against the piston rod.

3. The multi-joint adaptive parallel robot arm structure according to claim 1, characterized in that, The rear end of the first connecting seat is recessed with a insertion hole, and the front end of the piston rod is provided with an insertion part, which is detachably embedded in the insertion hole.

4. The multi-joint adaptive parallel robot arm structure according to claim 3, characterized in that, It also includes fastening bolts. The outer wall of the insertion hole is provided with a plurality of opening slots extending along the length direction. Threaded holes and bolt holes are provided on opposite sides of the opening slots. The fastening bolt passes through the bolt hole and is screwed into the threaded hole.

5. The multi-joint adaptive parallel robot arm structure according to claim 1, characterized in that, It also includes connecting blocks, which are rotatably connected to the first connecting seat and the second connecting seat in the vertical direction, and rotatably connected to the joint connector in the horizontal direction.

6. The multi-joint adaptive parallel robot arm structure according to claim 5, characterized in that, It also includes a rotating shaft. The upper and lower ends of the front wall of the first connecting seat and the second connecting seat are respectively provided with a first connecting plate. The left and right ends of the rear end wall of the joint connector are respectively provided with a second connecting plate. The side wall of the front end of the first connecting plate and the second connecting plate are each provided with a second through hole. The left, right and upper and lower side walls of the connecting block are respectively provided with a third through hole. The rotating shaft is fixedly connected to the second through hole and is rotatably embedded in the third through hole.

7. The multi-joint adaptive parallel robot arm structure according to claim 6, characterized in that, It also includes self-lubricating copper sleeves, which are respectively embedded in the third through hole, and the inner peripheral wall of the self-lubricating copper sleeves is embedded with a plurality of columnar graphite solid lubricants. The rotating shaft is rotatably embedded in the self-lubricating copper sleeves, and the rotating shaft slides against the columnar graphite solid lubricants.

8. The multi-joint adaptive parallel robot arm structure according to claim 6, characterized in that, It also includes fastening screws, and a disc protrudes from the rear end of the rotating shaft. The fastening screws pass through the disc and are screwed onto the first connecting plate and the second connecting plate.

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