Swing type translational PPU robot
By employing a parallelogram mechanism consisting of a lower link, an upper link, and a side link in the translational manipulator, combined with the control of a servo motor and limit sensors, the vibration and swaying problems caused by the single-link structure are solved, achieving high-precision material gripping and handling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU ZHUODI BAOYUSHI MASCH CO LTD
- Filing Date
- 2025-08-26
- Publication Date
- 2026-08-04
AI Technical Summary
The single-link structure of existing translational manipulators has a single mechanical support point when subjected to non-axial loads, which makes it easy for additional torque to be generated at the joints. This can lead to vibration and swaying during start-up, stop, or directional movement, affecting the reliability of gripping operations and the service life of mechanical components.
The parallelogram mechanism, consisting of a lower link, an upper link, and a side link, is used to drive the driving wheel and the driven wheel to rotate synchronously via a servo motor. Combined with electronic control of limit plates and limit sensors, it achieves multi-point mechanical support, avoids additional torque at the joints, and ensures motion accuracy and stability.
It effectively disperses non-axial loads, reduces vibration and swaying during start-up, shutdown, and direction changes, extends the service life of mechanical components, improves gripping accuracy and operational efficiency, and reduces maintenance costs.
Smart Images
Figure CN224588093U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, and in particular to a swing-type translational PPU robotic arm. Background Technology
[0002] In the field of industrial automation, translational robots are core equipment for material handling, transportation, and assembly. Their operational accuracy and stability directly affect production efficiency and product quality. As the manufacturing industry moves towards higher precision and greater flexibility, increasingly stringent requirements are being placed on the motion control performance of robots. Currently, most translational robots on the market employ a single-link, single-joint swing structure. This type of structure typically consists of a rigid link and a single drive joint. The rotational motion of the drive joint drives the end effector of the link to achieve the translational trajectory. However, the single-link structure has only one mechanical support point. When subjected to non-axial loads, additional torque is easily generated at the joint, causing vibration and swaying of the robot during start-up, stopping, or directional changes. This instability not only affects the reliability of gripping operations but may also reduce the service life of mechanical components due to continuous vibration, increasing equipment maintenance costs. Therefore, this invention provides a swing-type translational PPU robot. Summary of the Invention
[0003] The purpose of this invention is to solve the problem that the existing single-link structure has only one mechanical support point, and when subjected to non-axial loads, additional torque is easily generated at the joint, causing the robot to vibrate and sway during start-up, stop or change of direction. This invention provides a swing-type translational PPU robot to solve this technical problem.
[0004] To achieve the above objectives, this utility model adopts the following technical solution: a swing-type translational PPU manipulator, comprising: a base and a drive unit mounted on the side of the base; a lower connecting rod and an upper connecting rod, the lower connecting rod and the upper connecting rod being mounted on the drive unit, and a side connecting rod rotatably connected to the end of the lower connecting rod and the upper connecting rod away from the drive unit; a clamping part, the clamping part being slidably mounted on the end of the side connecting rod away from the lower connecting rod and the upper connecting rod by fasteners, for clamping and releasing objects. In a preferred embodiment, the drive unit includes: a servo motor disposed on the side of the base; a drive wheel and a driven wheel rotatably connected to the side of the base away from the servo motor, the drive wheel being fixedly connected to the output end of the servo motor, the end of the lower connecting rod away from the side connecting rod being fixedly mounted on the drive wheel, and the end of the upper connecting rod away from the side connecting rod being fixedly mounted on the driven wheel; the drive wheel and the driven wheel are connected by a transmission belt to achieve synchronous rotation of the drive wheel and the driven wheel. The technical advantages of adopting the above-mentioned further solution are: the drive unit directly drives the active wheel through a servo motor, and drives the driven wheel to rotate synchronously through a transmission belt, ensuring the consistency of movement between the lower and upper connecting rods. The servo motor combined with the synchronous belt transmission enables precise movement of the lower, upper, and side connecting rods, ensuring the accuracy of the clamping unit's motion trajectory. The dual-wheel synchronous drive structure (active wheel and driven wheel) avoids the torque concentration problem of single-joint drive, extending the service life of the drive components. As a preferred embodiment, the clamping unit includes: a mounting plate fixedly installed on the side connecting rod and a finger cylinder mounted on the mounting plate; the output end of the finger cylinder is connected to a gripper, and the opening and closing action of the gripper is achieved through the drive of the finger cylinder. The technical advantages of adopting the above-mentioned further solution are: the combined design of the finger cylinder and the gripper enables rapid grasping and release of items, improving work efficiency; the mounting plate ensures the rigidity of the connection between the clamping unit and the side connecting rod, avoiding positioning deviations caused by loosening of components during clamping. In a preferred embodiment, the number of grippers is two, and the two grippers are symmetrically distributed on both sides of the output end of the finger cylinder. The technical effect of this further solution is that the two symmetrically distributed grippers can simultaneously clamp the item from both sides, ensuring a uniform distribution of clamping force and preventing the item from tilting or falling off during handling. In another preferred embodiment, two symmetrically distributed limiting posts are fixed on the base. The limiting posts are covered with rubber buffer sleeves, and the limiting posts are located on the rotation path of the lower connecting rod, used to limit the maximum rotation angle of the lower and upper connecting rods. The technical effect of this further solution is that the limiting posts on the base can limit the maximum rotation angle of the lower connecting rod, avoiding structural collisions caused by excessive swinging of the connecting rod; the rubber buffer sleeves can absorb the impact force during collisions, reducing mechanical wear and noise.In a preferred embodiment, a limit plate is fixed at the edge of the drive wheel, and a limit sensor is installed on the base corresponding to the rotation trajectory of the limit plate. The limit sensor is electrically connected to the servo motor and is used to send start / stop signals to the servo motor by detecting the position of the limit plate in order to control the rotation angle of the drive wheel.
[0005] The technical advantage of adopting the above-mentioned further solution is that the cooperation between the limit plate and the limit sensor enables precise electronic control of the rotation angle of the drive wheel. Real-time feedback via electrical signals controls the start and stop of the servo motor, making it more sensitive and accurate than simple mechanical limiters. As a preferred embodiment, the base has a mounting groove, inside which a groove plate is slidably mounted via fasteners. A pressure wheel is rotatably connected to the groove plate, and the pressure wheel abuts against the outer wall of the transmission belt. The tension of the transmission belt by the pressure wheel can be adjusted by adjusting the position of the groove plate within the mounting groove.
[0006] The technical advantages of the above-mentioned further solution are: the combined structure of the mounting groove, groove plate, and pressure wheel allows for flexible adjustment of the transmission belt tension. By changing the pressure of the pressure wheel on the transmission belt through the sliding groove plate, the transmission belt maintains reliable synchronous transmission performance even after long-term use. Compared with existing technologies, the advantages and positive effects of this utility model are that, by employing a parallelogram mechanism composed of a lower connecting rod, an upper connecting rod, and a side connecting rod, compared to the traditional single-link, single-joint structure, multi-point mechanical support is achieved through synchronous drive of double connecting rods. This effectively disperses non-axial loads, reduces additional torque at joints, reduces vibration and swaying during start-up, stopping, and direction changes, extends the service life of mechanical components, and reduces maintenance costs. The driving wheel and driven wheel achieve precise synchronous rotation through the transmission belt, and the electronic limit control using limit plates and limit sensors ensures precise and controllable movement angles of the connecting rod assembly. Furthermore, the parallelogram structure ensures that the side connecting rod always translates, preventing rotational offset of the clamping part and meeting the requirements for high-precision gripping and handling. Attached Figure Description
[0007] Figure 1 A schematic diagram of the structure of a swing-type translational PPU manipulator provided by this utility model; Figure 2 A schematic diagram of the internal three-dimensional structure of a swing-type translational PPU manipulator provided by this utility model; Figure 3 A schematic diagram of the internal structure of a swing-type translational PPU manipulator provided by this utility model; Figure 4 This invention provides a schematic diagram of the finger cylinder and gripper structure of a swing-type translational PPU robotic arm.
[0008] Explanation of reference numerals in the attached figures: 1. Base; 2. Drive wheel; 3. Driven wheel; 4. Drive belt; 5. Lower connecting rod; 6. Upper connecting rod; 7. Side connecting rod; 8. Mounting plate; 9. Finger cylinder; 10. Gripper; 11. Limiting post; 12. Mounting groove; 13. Groove plate; 14. Pressure wheel; 15. Limiting piece; 16. Limiting sensor. Detailed Implementation
[0009] 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. Figures 1-4 As shown, this utility model provides a technical solution: a swing-type translational PPU manipulator, including a base 1, which is integrally formed from high-strength aluminum alloy and has an overall convex structure. A drive unit, including a servo motor, is fixed to the side of the base 1 by bolts. Figure 3 As shown, the base 1, on the side away from the drive unit, is rotatably connected to the driving wheel 2 and the driven wheel 3 via a bearing housing. The rotation axes of the driving wheel 2 and the driven wheel 3 are parallel and the distance between them is fixed. The output shaft of the servo motor passes through the base 1 and is fixedly connected to the center hole of the driving wheel 2, realizing direct power transmission. Both the driving wheel 2 and the driven wheel 3 are synchronous belt pulleys, as shown in the figure. Figure 2 and Figure 3 As shown, the driving wheel 2 and the driven wheel 3 are connected by a transmission belt 4, ensuring no relative slippage during transmission and achieving precise synchronous rotation. A lower connecting rod 5 is bolted to the driving wheel 2, and an upper connecting rod 6 is bolted to the driven wheel 3. The ends of the lower connecting rod 5 and the upper connecting rod 6 furthest from the driving wheel 2 and driven wheel 3, respectively, are hinged to side connecting rods 7 via bearings, forming a relatively rotatable connection structure. The length of the side connecting rod 7 is equal to the distance between the centers of the driving wheel 2 and driven wheel 3, thus forming a parallelogram mechanism with the lower connecting rod 5 and the upper connecting rod 6, ensuring that the side connecting rod 7 remains in a translational state during movement. Figures 1-3 As shown, the lower connecting rod 5, upper connecting rod 6, and side connecting rod 7 are all constructed from steel plates with lightweight slots, reducing overall weight while maintaining structural rigidity. A clamping part is installed at the end of the side connecting rod 7 away from the lower connecting rod 5 and upper connecting rod 6. The clamping part includes a mounting plate 8 that is slidably mounted on the side connecting rod 7 via bolts. By loosening the bolts, the position can be adjusted by sliding along the slots in the mounting plate 8, thereby adjusting the vertical position of the clamping part. This allows the clamping part to adapt to worktable surfaces of different heights, such as… Figure 3 and Figure 4As shown, a finger cylinder 9 (model MHZ2) is mounted on the mounting plate 8 via a cylinder bracket. The two output ends of the finger cylinder 9 are each connected to a gripper 10 via screws. The two grippers 10 are symmetrically distributed. The gripping surfaces of the grippers 10 are machined with serrated anti-slip textures and are covered with wear-resistant rubber material, which enhances gripping friction and prevents damage to the surface of the gripped item. Figures 1-3 As shown, two symmetrically distributed limiting posts 11 are welded onto the base 1. The limiting posts 11 are located on the rotation path of the lower connecting rod 5. The limiting posts 11 are made of 45# steel, and a 5mm thick rubber buffer sleeve is fitted around the outer periphery of the limiting posts 11. When the lower connecting rod 5 rotates to its limit position, the lower connecting rod 5 contacts the limiting posts 11, limiting excessive movement of the lower connecting rod 5, and absorbing impact energy through the elastic deformation of the rubber sleeve to protect the lower connecting rod 5 from wear and damage. Figure 3 As shown, a limit plate 15 is fixed at the edge of the drive wheel 2. A limit sensor 16 is installed on the base 1 corresponding to the rotation trajectory of the limit plate 15. The limit sensor 16 is electrically connected to the servo motor. The limit sensor 16 is a photoelectric sensor. When the limit plate 15 rotates with the drive wheel 2 to the detection area of the limit sensor 16, the limit sensor 16 sends an electrical signal to the servo motor controller, controlling the servo motor to stop rotating, thus achieving precise angle control. Figure 2 As shown, a mounting groove 12 is provided on the base 1. A groove plate 13 is slidably installed inside the mounting groove 12 by fasteners. The groove plate 13 is installed in the mounting groove 12 by bolts. The position can be adjusted by sliding along the groove opening in the groove plate 13 after loosening the bolts. The end of the groove plate 13 is rotatably connected to the pressure wheel 14 by a pin. The wheel surface of the pressure wheel 14 is in close contact with the outer wall of the transmission belt 4. By adjusting the position of the groove plate 13, the pressure of the pressure wheel 14 on the transmission belt 4 can be changed, thereby adjusting the tension of the transmission belt and ensuring reliable transmission even after long-term use.
[0010] The entire equipment is powered by an external 220V-380V industrial power supply. The power is supplied to each electrical component after passing through circuit breakers, contactors, and other protective devices within the control cabinet. Limit sensors 16 are powered by a 24V DC power supply, converted from industrial power by a switching power supply within the control cabinet. Limit sensors 16 are connected to the servo motor controller via signal lines, transmitting their detection signals to the controller for motor start / stop control. Finger cylinders 9 use compressed air from the factory workshop as their air source, with the air pressure set at 0.4-0.6MPa. The compressed air is connected to finger cylinders 9 via branch pipes, which are connected to finger cylinders 9 via quick-connect couplings. When air is supplied, the compressed air pushes the piston of finger cylinder 9, causing the gripper 10 to close. When air is exhausted, the piston returns to its original position, and the gripper 10 opens.
[0011] The working process of this embodiment is as follows: During material handling, the servo motor receives a control signal and rotates forward, driving the driven wheel 3 to rotate synchronously via the drive wheel 2 and transmission belt 4. The lower connecting rod 5 and upper connecting rod 6 swing accordingly, driving the side connecting rod 7 to translate to the material handling position. The finger cylinder 9 is vented, and the two grippers 10 close synchronously, completing the material clamping. During transfer, the servo motor continues to rotate, driving the clamping part to translate to the material release position via the lower connecting rod 5, upper connecting rod 6, and side connecting rod 7. During this process, the parallelogram-shaped lower connecting rod 5, upper connecting rod 6, and side connecting rod 7 ensure the material remains horizontal, preventing it from tilting and falling. During release, the finger cylinder 9 exhausts air, the grippers 10 open to release the material, the servo motor reverses, driving the lower connecting rod 5, upper connecting rod 6, and side connecting rod 7 back to their initial positions, awaiting the next work cycle. When the lower connecting rod 5 moves to its limit position, the limit plate 15 triggers the limit sensor 16, and the servo motor immediately stops rotating. If the limit sensor 16 fails to limit the movement, the lower connecting rod 5 will contact the limit post 11, thus preventing overload damage to the mechanism through double protection. The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may use the above-disclosed technical content to make changes or modifications to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the scope of the utility model's technical solution, shall still fall within the protection scope of this utility model's technical solution.
Claims
1. A swing- out translational PPU robot, characterized in that, include: The base (1) and the drive unit installed on the side of the base (1); The lower link (5) and the upper link (6) are mounted on the drive unit, and the lower link (5) and the upper link (6) are rotatably connected to the side link (7) at the end away from the drive unit. The clamping part is slidably mounted on the end of the side link (7) away from the lower link (5) and the upper link (6) by fasteners, and is used to clamp and release the item.
2. A swing and translate PPU robot manipulator according to claim 1, characterized in that: The drive unit includes: Servo motors are mounted on the side of the base (1); The active wheel (2) and the driven wheel (3) are rotatably connected to the base (1) on the side away from the servo motor. The active wheel (2) is fixedly connected to the output end of the servo motor. The lower connecting rod (5) is fixedly installed on the active wheel (2) at the end away from the side connecting rod (7). The upper connecting rod (6) is fixedly installed on the driven wheel (3) at the end away from the side connecting rod (7). The driving wheel (2) and the driven wheel (3) are connected by a transmission belt (4) to achieve synchronous rotation of the driving wheel (2) and the driven wheel (3).
3. A swing and translate PPU robot manipulator according to claim 1, wherein: The clamping part includes: Mounting plate (8) fixedly mounted on side link (7) and finger cylinder (9) mounted on mounting plate (8); The output end of the finger cylinder (9) is connected to a gripper (10), and the opening and closing action of the gripper (10) is realized by driving the finger cylinder (9).
4. A swing and translate PPU robot manipulator according to claim 3, wherein: The number of grippers (10) is two, and the two grippers (10) are symmetrically distributed on both sides of the output end of the finger cylinder (9).
5. A swing and translate PPU robot manipulator according to claim 1, wherein: Two symmetrically distributed limiting posts (11) are fixed on the base (1). The limiting posts (11) are covered with rubber buffer sleeves, and the limiting posts (11) are located on the rotation path of the lower connecting rod (5) to limit the maximum rotation angle of the lower connecting rod (5) and the upper connecting rod (6).
6. A swing and translate PPU robot manipulator according to claim 2, wherein: A limit plate (15) is fixed at the edge of the drive wheel (2). A limit sensor (16) is installed on the base (1) corresponding to the rotation trajectory of the limit plate (15). The limit sensor (16) is electrically connected to the servo motor and is used to send a start / stop signal to the servo motor by detecting the position of the limit plate (15) in order to control the rotation angle of the drive wheel (2).
7. A swing and translate PPU robot manipulator according to claim 1, wherein: The base (1) is provided with an installation groove (12). A groove plate (13) is slidably installed inside the installation groove (12) by fasteners. A pressure wheel (14) is rotatably connected to the groove plate (13). The pressure wheel (14) abuts against the outer wall of the transmission belt (4). The tension of the pressure wheel (14) on the transmission belt (4) can be adjusted by adjusting the position of the groove plate (13) in the installation groove (12).