A telescopic arm structure of a hybrid robot

Abstract

The utility model discloses a telescopic arm structure of hybrid robot, including the arm support, the installation side of arm support is equipped with the fixed base one end close to the rotation center of arm support, the installation side other end of arm support is equipped with the installation board that can move along the length direction of arm support, be equipped with the drive motor on the installation board, the screw rod that is along the moving direction of installation board is arranged in the fixed base, the screw rod end and the output shaft coaxial connection of drive motor, the interval is formed between the fixed base and drive motor, the first protective cover and second protective cover for the cage cover interval are covered respectively and are covered on the fixed base and drive motor, when the installation board moves, the second protective cover and first protective cover always cover and set up in the interval periphery side. The utility model has the characteristics that can cover the telescopic arm structure, avoid telescopic arm inside to enter the dust and lead to the jam and the operation not smooth, and can adapt telescopic arm's telescopic action etc.

Description

Technical Field

[0001] This utility model relates to a telescopic arm structure, specifically a telescopic arm structure for a hybrid robot. Background Technology

[0002] Hybrid robots combine the features of serial and parallel robots, offering advantages such as high precision, large workspace, strong load-bearing capacity, and fast response speed. They provide an effective solution for the high-precision machining and manufacturing of large and complex structural components and have been successfully applied in fields such as high-precision drilling and milling in aerospace and rail transportation, friction stir welding of thick plates in space, and high-precision assembly. Some existing hybrid robots include several telescopic arms with a screw-slider structure inside to achieve the telescopic function. The telescopic arm includes a fixed part and a movable part that extends relative to the fixed part. A gap exists between the fixed and movable parts, allowing external dust and other impurities to easily enter the telescopic arm's interior. This can cause the internal screw-slider structure to jam or experience irregular operation, affecting the smoothness and precision of the machining process. Utility Model Content

[0003] The purpose of this invention is to provide a telescopic arm structure for a hybrid robot, which solves the problems of dust easily entering the internal structure of the telescopic arm, causing jamming and uneven operation in the existing technology.

[0004] The above-mentioned technical objective of this utility model is mainly achieved through the following technical solution: a telescopic arm structure for a hybrid robot, including an arm frame, a fixed seat is provided at one end of the mounting side of the arm frame near the rotation center of the arm frame, and a mounting plate that can move along the length direction of the arm frame is provided at the other end of the mounting side of the arm frame, a drive motor is provided on the mounting plate, a screw rod arranged along the moving direction of the mounting plate is inserted in the fixed seat, the end of the screw rod is coaxially connected to the output shaft of the drive motor, a gap is formed between the fixed seat and the drive motor, and a first protective cover and a second protective cover for covering the gap are respectively provided on the fixed seat and the drive motor, and when the mounting plate moves, the second protective cover and the first protective cover are always provided around the gap.

[0005] As a further preferred technical solution of this utility model; the fixed seat and the screw are threaded together, the end of the screw is coaxially connected to the drive motor through a coupling, the mounting side plane of the boom is provided with a guide rail arranged along the moving direction of the mounting plate, and the guide rail is provided with a slider connected to the bottom of the mounting plate.

[0006] As a further preferred technical solution of this utility model, a third protective cover is provided between the first protective cover and the second protective cover. The third protective cover is disposed around the periphery of the first protective cover, and the second protective cover is disposed around the periphery of the third protective cover. The inner wall and outer wall of the third protective cover abut against the outer wall of the first protective cover and the inner wall of the second protective cover, respectively.

[0007] As a further preferred technical solution of this utility model, the end of the first protective cover is provided with a first connecting part that is bolted to the outer wall of the peripheral side of the fixed seat, and the end of the second protective cover is provided with a second connecting part that is bolted to the end face of the end cover of the drive motor.

[0008] As a further preferred technical solution of this utility model; the bottom edges of both sides of the first protective cover are provided with positioning seats protruding outwards, the bottom edges of both sides of the third protective cover are provided with first limiting parts located on top of the positioning seats and slidingly engaged with the positioning seats, and the bottom edges of both sides of the second protective cover are provided with second limiting parts that slidely engage with the top of the first limiting parts.

[0009] As a further preferred technical solution of this utility model; the top surface of the positioning seat is provided with a first limiting groove arranged along the moving direction of the second protective cover, the bottom of the first limiting part is provided with a first limiting slider that cooperates with the first limiting groove, the inner side of the second limiting part is provided with a second limiting groove corresponding to the top of the first limiting part, and the top of the first limiting part is provided with a second limiting slider that cooperates with the second limiting groove.

[0010] Therefore, this utility model has the characteristics of being able to cover the telescopic arm structure to prevent dust from entering the telescopic arm and causing jamming and uneven operation, and being adaptable to the telescopic arm's telescopic movements. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 yes Figure 1 Internal structure diagram of the telescopic arm; Figure 3 yes Figure 1 A schematic diagram of the structure of the first, second, and third protective shields in the diagram; Figure 4 yes Figure 3 A structural sectional view. Detailed Implementation

[0012] The technical solution of this utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0013] like Figure 1-2As shown, a telescopic arm structure for a hybrid robot includes an arm 1, which is a component of the telescopic arm of the hybrid robot. A fixed seat 11 is provided at one end of the mounting side of the arm 1 near its rotation center. One end of the arm 1 is the rotation center, allowing the telescopic arm to rotate. The fixed seat 11 is located on the mounting side of the arm 1. A mounting plate 12, movable along the length of the arm 1, is provided at the other end of the mounting side of the arm 1. The mounting plate 12 can slide relative to the fixed seat 11 along the length of the arm 1. A drive motor 2 is mounted on the mounting plate 12. The drive motor 2 is fixed to the top of the mounting plate 12. The drive motor 2 moves synchronously with the mounting plate 12. A screw 111 is inserted into the fixing base 11 along the moving direction of the mounting plate 12. The axis of the screw 111 is aligned with the moving direction of the mounting plate 12. The screw 111 passes through the middle of the fixing base 11 and is threadedly connected to the fixing base 11. The end of the screw 111 is coaxially connected to the output shaft of the drive motor 2. A gap 10 is formed between the fixing base 11 and the drive motor 2. One end of the screw 111 is coaxially connected to the output shaft of the drive motor 2. The other end of the screw 111 passes through the middle of the fixed base 11. The connection between the end of the screw 111 and the output shaft of the drive motor 2 is located within the gap 10. When the drive motor 2 starts, it can drive the screw 111 to rotate synchronously. When the screw 111 rotates, it moves axially relative to the fixed base 11 through the threaded engagement with the fixed base 11. This causes the slidable mounting plate 12 to react and drive the motor 2 to slide synchronously with the mounting plate 12, thereby realizing the telescopic arm's telescopic movement. The fixed base 11 and the drive motor 2 are respectively covered with covers for covering the gap 10. The first protective cover 13 and the second protective cover 21 are provided. The second protective cover 21 can move synchronously with the drive motor 2 and the mounting plate 12. When the mounting plate 12 moves, the second protective cover 21 and the first protective cover 13 are always placed around the gap 10, forming a closed effect on the gap 10. The first protective cover 13 and the second protective cover 21 cooperate with each other to form a dustproof structure for the gap 10, so that when the telescopic arm is telescopically extended or retracted, dust can be prevented from entering the telescopic arm, which would cause jamming and uneven operation, and it can adapt to the telescopic arm's telescopical movement.

[0014] like Figure 2As shown, the fixed base 11 and the screw 111 are threaded together. The end of the screw 111 is coaxially connected to the drive motor 2 via a coupling 112. One end of the screw 111 is coaxially connected to the output shaft of the drive motor 2 via the coupling 112. The other end of the screw 111 passes through the middle of the fixed base 11 and is threadedly connected to the fixed base 11. The mounting side plane of the boom 1 is provided with a guide rail 14 arranged along the moving direction of the mounting plate 12. The guide rail 14 is provided with a slider 141 connected to the bottom of the mounting plate 12. The guide rail 14 is fixed to the boom 1. Located on the mounting side and below the mounting plate 12, the slider 141 is slidably mounted on the guide rail 14 and fixedly connected to the bottom of the mounting plate 12. When the drive motor 2 starts, the drive motor 2 and the mounting plate 12 slide. The mounting plate 12 supports the drive motor 2 and slides along the guide rail 14 through the slider 141, improving the smoothness of sliding between the drive motor 2 and the mounting plate 12, and limiting and guiding the movement of the drive motor 2 and the mounting plate 12, ensuring the accuracy and stability of the movement direction of the drive motor 2 and the mounting plate 12.

[0015] like Figure 3-4 As shown, a third protective cover 22 is provided between the first protective cover 13 and the second protective cover 21. The third protective cover 22 covers the periphery of the first protective cover 13, and the second protective cover 21 covers the periphery of the third protective cover 22. The first protective cover 13, the third protective cover 22, and the second protective cover 21 are stacked sequentially. The inner and outer walls of the third protective cover 22 abut against the outer wall of the first protective cover 13 and the inner wall of the second protective cover 21, respectively. The first protective cover 13, the third protective cover 22, and the second protective cover 21 cooperate with each other to cover and seal the gap 10, preventing external dust, debris, and other impurities. Inside the telescopic arm, the third protective cover 22 increases the protective length and range of the minimum length of the spacing 10. This ensures that when the telescopic arm is extended to its maximum length, the first protective cover 13, the third protective cover 22, and the second protective cover 21 remain closed to the spacing 10, increasing the dustproof range and improving the protective effect. At the same time, when the second protective cover 21 moves, the third protective cover 22, located between the first protective cover 13 and the second protective cover 21, maintains its connection with the first protective cover 13 and the second protective cover 21, thus always maintaining its dustproof function.

[0016] like Figure 3-4As shown, the first protective cover 13 has a first connecting part 131 at its end that is bolted to the outer peripheral wall of the fixed base 11. The first protective cover 13 is fixedly connected to the fixed base 11 through the first connecting part 131. The second protective cover 21 has a second connecting part 211 at its end that is bolted to the end face of the end cover of the drive motor 2. The second protective cover 21 is fixedly connected to the end cover of the drive motor 2 through the second connecting part 211, so that the second protective cover 21 can move synchronously with the movement of the drive motor 2 and the mounting plate 12. The third protective cover 22 is always located between the first protective cover 13 and the second protective cover 21 as the second protective cover 21 moves and remains in contact with the first protective cover 13. The first protective cover 13 and the second protective cover 21 contact each other, thereby maintaining the sealing effect on the gap 10. Positioning seats 132 protruding outwards are provided on both bottom edges of the first protective cover 13. First limiting portions 221 located on top of and slidingly engaged with the positioning seats 132 are provided on both bottom edges of the third protective cover 22. Second limiting portions 212 slidingly engaged with the top of the first limiting portions 221 are provided on both bottom edges of the second protective cover 21. The positioning seats 132, the first limiting portions 221, and the second limiting portions 212 are located on the outer bottom edges of the first protective cover 13, the third protective cover 22, and the second protective cover 21, respectively, to prevent contact with the outer bottom edges of the first protective cover 13, the third protective cover 22, and the second protective cover 21. The movement of the drive motor 2 and the mounting plate 12 causes interference. The first limiting part 221 is located on the top of the positioning seat 132, and the second limiting part 212 is located on the top of the first limiting part 221. The top surface of the positioning seat 132 is provided with a first limiting groove 133 arranged along the moving direction of the second protective cover 21. The bottom of the first limiting part 221 is provided with a first limiting slider 222 that cooperates with the first limiting groove 133. The inner side of the second limiting part 212 is provided with a second limiting groove 213 corresponding to the top of the first limiting part 221. The top of the first limiting part 221 is provided with a second limiting slider 223 that cooperates with the second limiting groove 213. The bottom of the first limiting part 221... One end of the first limiting slider 222 is provided with a first limiting slide groove 133, and the other end of the top of the first limiting part 221 is provided with a second limiting slider 223 with a second limiting slide groove 213. The first limiting slider 222 and the second limiting slider 223 cooperate with each other to limit the movable range of the third protective cover 22, ensuring that the third protective cover 22 maintains the connection with the first protective cover 13 and the second protective cover 21 when the second protective cover 21 moves. The third protective cover 22 can adaptively move with the second protective cover 21 under the limiting guidance of the first limiting slide groove 133 and the second limiting slide groove 213 to adapt to the telescopic arm's telescopic movement.

[0017] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A telescopic arm structure for a hybrid robot, comprising an arm (1), characterized in that: A fixed seat (11) is provided at one end of the mounting side of the boom (1) near the rotation center of the boom (1). A mounting plate (12) that can move along the length direction of the boom (1) is provided at the other end of the mounting side of the boom (1). A drive motor (2) is provided on the mounting plate (12). A screw (111) is provided inside the fixed seat (11) along the moving direction of the mounting plate (12). The end of the screw (111) is coaxially connected to the output shaft of the drive motor (2). A gap (10) is formed between the fixed seat (11) and the drive motor (2). A first protective cover (13) and a second protective cover (21) for covering the gap (10) are respectively provided on the fixed seat (11) and the drive motor (2). When the mounting plate (12) moves, the second protective cover (21) and the first protective cover (13) are always covered around the gap (10).

2. The telescopic arm structure of a hybrid robot according to claim 1, characterized in that: The fixed seat (11) is threadedly engaged with the screw (111). The end of the screw (111) is coaxially connected to the drive motor (2) through a coupling (112). The mounting side plane of the boom (1) is provided with a guide rail (14) arranged along the moving direction of the mounting plate (12). The guide rail (14) is provided with a slider (141) connected to the bottom of the mounting plate (12).

3. The telescopic arm structure of a hybrid robot according to claim 1, characterized in that: A third protective cover (22) is provided between the first protective cover (13) and the second protective cover (21). The third protective cover (22) is provided around the first protective cover (13), and the second protective cover (21) is provided around the third protective cover (22). The inner wall and outer wall of the third protective cover (22) abut against the outer wall of the first protective cover (13) and the inner wall of the second protective cover (21), respectively.

4. The telescopic arm structure of a hybrid robot according to claim 1 or 3, characterized in that: The first protective cover (13) has a first connecting part (131) at its end that is bolted to the outer wall of the peripheral side of the fixed seat (11), and the second protective cover (21) has a second connecting part (211) at its end that is bolted to the end cover face of the drive motor (2).

5. The telescopic arm structure of a hybrid robot according to claim 3, characterized in that: The first protective cover (13) has a positioning seat (132) protruding outward at the bottom edge on both sides. The third protective cover (22) has a first limiting part (221) located on the top of the positioning seat (132) and slidingly engaged with the positioning seat (132) at the bottom edge on both sides. The second protective cover (21) has a second limiting part (212) slidingly engaged with the top of the first limiting part (221) at the bottom edge on both sides.

6. The telescopic arm structure of a hybrid robot according to claim 5, characterized in that: The top surface of the positioning seat (132) is provided with a first limiting groove (133) arranged along the moving direction of the second protective cover (21). The bottom of the first limiting part (221) is provided with a first limiting slider (222) that cooperates with the first limiting groove (133). The inner side of the second limiting part (212) is provided with a second limiting groove (213) corresponding to the top of the first limiting part (221). The top of the first limiting part (221) is provided with a second limiting slider (223) that cooperates with the second limiting groove (213).

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