Industrial robot arm body

Abstract

The application belongs to the technical field of industrial robots, and particularly relates to an industrial robot large arm body, which comprises a base, a rotating platform, three groups of driving motors, a first arm rod, a second arm rod and a linkage transmission mechanism; the rotating platform is rotationally matched with the base, a first driving motor is fixedly arranged on the rotating platform and used for driving the rotating platform to rotate relative to the base; the three groups of driving motors are integrated on the rotating platform and a supporting piece region, there is no external motor at a joint, cables can be centrally stored and arranged, cable breakage caused by bending of the joint is avoided, wiring quantity and signal interference are reduced, a third driving motor output shaft is rotationally matched with the first arm rod, double-motor transmission interference is insulated, a crank connecting rod and the linkage transmission mechanism are matched, multi-joint independent and cooperative operation is realized, and arm body positioning precision is ensured; motor weight at the joint is removed, arm body stress structure is optimized, arm body self weight is reduced under the premise of ensuring structural strength, and robot load capacity and motion stability are improved.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to an industrial robot boom. Background Technology

[0002] The arm of an industrial robot is the core execution component of an automated production line. Existing multi-joint industrial robot arms generally adopt a joint direct-drive layout, that is, a drive motor is installed at each rotating joint, and the arm is directly driven to deflect through the motor.

[0003] This traditional structure has obvious drawbacks: First, the dispersed arrangement of motors at each joint leads to messy wiring on the arm, with a large number of cables repeatedly bending along the joints, making them prone to fatigue damage, signal interference, and other problems, thus reducing the service life of the equipment. Second, the external motors at the joints increase the local volume and weight of the arm, affecting the arm's movement accuracy and load capacity. Third, the dispersed motor layout makes later maintenance difficult, with complicated wiring and maintenance procedures, increasing operation and maintenance costs.

[0004] To address the aforementioned drawbacks, this invention, through a structural design that centrally arranges motors and uses a linkage transmission system, solves the technical problems of complex wiring, excessive joint load, and easy transmission interference in traditional arm systems while ensuring multi-degree-of-freedom operation of the arm, thus filling a gap in existing technology. Summary of the Invention

[0005] The purpose of this invention is to provide an industrial robot arm body, which aims to provide an industrial robot arm mechanism that solves the technical problems of traditional robot arm body joint motors being scattered, having a large amount of wiring, being prone to cable damage, having easy interference in joint transmission, and having a large arm body weight. It achieves centralized motor arrangement, neat cable storage, and multi-joint collaborative interference-free operation.

[0006] Technical solution

[0007] To achieve the above objectives, the present invention adopts the following technical solution: an industrial robot arm mechanism, comprising a base, a rotary platform, three sets of drive motors, a first arm, a second arm, and a linkage transmission mechanism;

[0008] The rotary platform is rotatably coupled with the base, and the first drive motor is fixed to the rotary platform to drive the rotary platform to rotate relative to the base.

[0009] The rotary platform is equipped with symmetrical support components. The first arm is rotatably connected to the support components, and the second arm is rotatably engaged with the first arm through a hinge shaft. The second drive motor and the third drive motor are both installed at the support components. The second drive motor is used to drive the first arm to swing, and the third drive motor passes through the first arm and drives the second arm to deflect through a transmission component. The two drive motors operate without interference.

[0010] The linkage transmission mechanism is located inside the first and second arms, and the end is connected to the execution terminal. The three sets of drive motors are centrally arranged and work together to drive the arm body to rotate.

[0011] As a further optimization, the output shaft of the first drive motor passes through the rotary platform and is fixedly connected to the base. The motor body moves with the rotary platform to achieve relative rotation. The support member consists of two sets of support plates symmetrically fixed to the rotary platform. The two sets of support plates are arranged in parallel and spaced apart to form the clamping and assembly space of the first arm.

[0012] As a further optimization, the transmission assembly is a crank-connecting rod mechanism, including a rotary table and a connecting rod; the output shaft of the third drive motor is coaxially fixed to the rotary table, the rotary table is hinged to the bottom end of the connecting rod, and the top end of the connecting rod is hinged to the end of the second arm, thereby realizing deflection drive.

[0013] As a further optimization, the output shaft of the third drive motor and the first arm are rotated together by bearings, which completely isolates the transmission interference between the second and third drive motors and ensures that the two motors operate independently.

[0014] As a further optimization, the linkage transmission mechanism includes a fixed support rod, a push-pull connecting rod, a triangular swing block, a linkage support rod, and a terminal turntable; the bottom end of the fixed support rod is fixedly mounted on the rotary platform, and the top end is hinged to the push-pull connecting rod, the other end of the push-pull connecting rod is hinged to the triangular swing block; the triangular swing block is located inside the second arm, one corner of which is sleeved outside the hinge shaft and arranged coaxially with the hinge shaft, and the remaining two corners are respectively hinged to the push-pull connecting rod and the linkage support rod; the end of the linkage support rod is hinged to the terminal turntable, the terminal turntable is rotatably assembled to the end of the second arm, and the execution terminal is fixedly installed at the front end of the terminal turntable.

[0015] As a further optimization, all three sets of drive motors are centrally located in the slewing platform and support area, with no external drive motors at the boom hinge joints, significantly reducing the number of wiring cables on the boom.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] With all three drive motors integrated into the rotary platform and support area, there are no external motors at the joints. Cables can be centrally stored and arranged, avoiding cable damage due to bending at the joints and reducing wiring and signal interference. The output shaft of the third drive motor rotates in conjunction with the first arm, isolating the transmission interference between the two motors. Together with the crank connecting rod and linkage transmission mechanism, it enables independent and coordinated operation of multiple joints, ensuring the positioning accuracy of the arm. By removing the motor load at the joints and optimizing the force-bearing structure of the arm, the arm's self-weight is reduced while ensuring structural strength, thereby improving the robot's load capacity and motion stability. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the linkage transmission mechanism of the present invention;

[0021] Figure 3 This is a schematic diagram of the crank-connecting rod mechanism of the present invention.

[0022] In the diagram: 1. Base; 2. Rotary platform; 3. First drive motor; 4. Second drive motor; 5. Third drive motor; 6. First boom; 7. Second boom; 8. Linkage transmission mechanism; 81. Fixed support rod; 82. Push-pull connecting rod; 83. Triangular swing block; 84. Linkage support rod; 85. Terminal turntable; 9. Support plate; 10. Hinge shaft; 11. Crank-connecting rod mechanism; 111. Rotary turntable; 112. Connecting rod; 12. Execution terminal. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1

[0025] In this embodiment, the industrial robot arm mechanism includes a base 1, a rotary platform 2, a first drive motor 3, a second drive motor 4, a third drive motor 5, a first arm 6, a second arm 7, a linkage transmission mechanism 8, and an execution terminal 12.

[0026] The base 1 is a cast iron fixed base, which is anchored to the workshop base surface by expansion bolts to serve as a rigid support for the whole machine; the bottom of the rotary platform 2 is rotated with the top of the base 1 through a rotary bearing to achieve circumferential rotation adjustment.

[0027] Two sets of support plates 9 are symmetrically fixed to the upper surface of the rotary platform 2. The two plates are arranged in parallel and spaced apart to form a clamping space, which constitutes the assembly support of the first arm 6. The bottom end of the first arm 6 is hinged between the two sets of support plates 9 through a transverse pin, which can realize pitch swing. The top end of the first arm 6 is hinged to the second arm 7 through a hinge shaft 10, which realizes the deflection degree of freedom of the second arm 7.

[0028] All three drive motors are centrally located in the area of ​​the rotary platform 2 and the support plate 9. There are no external motors at the boom hinge joints, which greatly reduces the amount of wiring: The first drive motor 3 is fixed to the rotary platform 2 and drives the rotary platform to rotate; the second drive motor 4 is fixed to the outer wall of one side of the support plate 9, and its output end passes through the plate and is fixed to the first boom 6, directly driving the boom to swing; the third drive motor 5 is fixed to the outer wall of the other side of the support plate 9, and its output end passes laterally through the first boom 6. A deep groove ball bearing is installed in the through hole to achieve rotational engagement between the output shaft and the first boom 6, completely isolating the transmission interference between the second and third drive motors and ensuring independent operation of the two motors.

[0029] The linkage transmission mechanism 8 is built into the inner cavity of the first arm 6 and the second arm 7, and is connected to the execution terminal 12 at the end. The three sets of drive motors work together to realize the arm rotation, swing, deflection and end posture control.

[0030] Example 2

[0031] This embodiment refines the drive motor transmission structure based on embodiment 1.

[0032] The first drive motor 3 is a servo drive motor. The motor body is fastened to the upper surface of the rotary platform 2 by a flange. The output shaft runs vertically downward through the rotary platform 2 and is fixedly connected to the top of the base 1 by a flat key. When working, the motor output shaft remains stationary, and the motor body moves synchronously with the rotary platform 2, thereby driving the rotary platform to rotate circumferentially relative to the base, so as to achieve precise adjustment of the arm's orientation.

[0033] The output end of the third drive motor 5 is equipped with a crank-connecting rod mechanism 11 as a transmission component, specifically including a rotary table 111 and a connecting rod 112. After the output shaft passes through the support plate 9 and the first arm 6, it is coaxially and securely connected to the rotary table 111. The rotary table 111 is eccentrically mounted on the side away from the motor and is hinged to the bottom end of the connecting rod 112. The top end of the connecting rod 112 is hinged to the side wall of the second arm 7 through a pin. The operation of the third drive motor drives the rotary table to rotate, and through the push-pull transmission of the connecting rod, it drives the second arm to deflect around the hinge shaft 10, thereby achieving precise control of the posture of the second arm.

[0034] Example 3

[0035] Based on Examples 1 and 2, this embodiment fully discloses the assembly relationship and working principle of the linkage transmission mechanism 8, realizing complete support for the linkage function of the arm body.

[0036] The linkage transmission mechanism 8 includes a fixed support rod 81, a push-pull connecting rod 82, a triangular swing block 83, a linkage support rod 84, and a terminal turntable 85; the bottom end of the fixed support rod 81 is welded and fixed to the upper surface of the rotary platform 2, and the top end is hinged to one end of the push-pull connecting rod 82, and the other end of the push-pull connecting rod 82 is hinged to the triangular swing block 83.

[0037] The triangular swing block 83 is located in the inner cavity of the second arm 7. One corner of the block is sleeved on the outside of the hinge shaft 10 and rotates coaxially with the hinge shaft. The remaining two corners are respectively hinged to the push-pull connecting rod 82 and the linkage support rod 84. The end of the linkage support rod 84 away from the triangular swing block is hinged to the terminal turntable 85. The terminal turntable 85 is rotatably assembled to the end of the second arm 7 through bearings. The execution terminal 12 is fixedly installed to the front end of the terminal turntable by bolts.

[0038] During operation, when the second drive motor 4 drives the first arm 6 to pitch and swing, the fixed support rod 81 remains relatively fixed with the rotating platform. Then, through the push-pull linkage 82, the triangular swing block 83 swings around the hinge axis. The triangular swing block is then driven by the linkage support rod 84 to drive the terminal turntable and the execution terminal to make attitude linkage fine adjustments, so as to achieve coordinated adaptation between the arm swing and the end effector.

[0039] When using:

[0040] The first drive motor 3 is fixed to the rotary platform 2 and its output shaft is fixed to the base 1. The motor body moves with the rotary platform 2 to drive the whole machine to achieve circumferential rotation and orientation adjustment. The second drive motor 4 directly drives the first arm 6 to pitch and swing around the support plate 9. The third drive motor 5 passes through the first arm 6 and drives the second arm 7 to deflect around the hinge shaft 10 through the crank-connecting rod mechanism 11. The output shaft of the third drive motor 5 and the first arm 6 are connected by bearing rotation to isolate the transmission interference of the two motors and ensure independent control of the first arm 6 and the second arm 7. At the same time, the built-in linkage transmission mechanism 8 moves synchronously with the swing of the first arm 6. The fixed support rod 81 drives the triangular swing block 83 to move in linkage through the push-pull connecting rod 82. Then, the linkage support rod 84 controls the attitude of the terminal turntable 85 and the execution terminal 12. The three sets of motors are concentrated in the area of ​​the rotary platform 2, which reduces the load on the arm joints and the number of wiring, and realizes the coordinated linkage of arm swing, deflection and end effector to complete the precise attitude control of various industrial operations.

[0041] When a single compression is completed, the meshing pressure is released, and the reverse force disappears, the lubricating oil in the oil delivery layer 63 pushes the rubber valve 73 upward under the action of oil pressure. The rubber valve 73 slides upward along the positioning rod 71 to the limit position. The stop plate 72 abuts against the bottom of the rubber valve 73, restricting its further upward movement and ensuring that the top surface of the rubber valve 73 is always flush with the end face of the drain layer 61, without interfering with the meshing of the moving and stationary discs. At this time, an annular oil supply gap is formed between the outer peripheral wall of the rubber valve 73 and the inner wall of the drain layer 61. The lubricating oil in the oil delivery layer 63 flows out smoothly through this gap and is evenly distributed to the mating meshing surface of the volute tooth 2 and the stationary volute disc, forming a continuous and stable lubricating oil film. This isolates the metal tooth surface from direct contact, significantly reducing the friction coefficient and wear rate, while also playing a role in cooling and noise reduction, and improving the service life of the volute tooth 2 and the disc base 1.

[0042] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An industrial robot boom, characterized in that, It includes a base (1), a rotating platform (2), three sets of drive motors, a first boom (6), a second boom (7), and a linkage transmission mechanism (8); The rotary platform (2) is rotatably coupled with the base (1), and the first drive motor (3) is fixed on the rotary platform (2) to drive the rotary platform (2) to rotate relative to the base (1); The rotary platform (2) is provided with symmetrical support members. The first arm (6) is rotatably connected to the support members, and the second arm (7) is rotatably engaged with the first arm (6) through the hinge shaft (10). The second drive motor (4) and the third drive motor (5) are both installed at the support members. The second drive motor (4) is used to drive the first arm (6) to swing. The third drive motor (5) passes through the first arm (6) and drives the second arm (7) to deflect through the transmission assembly. The two drive motors operate without interference. The linkage transmission mechanism (8) is located inside the first arm (6) and the second arm (7), and the end is connected to the execution terminal (12). The three sets of drive motors are centrally arranged and work together to drive the arm body to operate.

2. The industrial robot arm according to claim 1, characterized in that: The output shaft of the first drive motor (3) passes through the rotary platform (2) and is fixedly connected to the base (1). The motor body moves with the rotary platform (2) to achieve relative rotation.

3. The industrial robot arm according to claim 1, characterized in that: The support components are two sets of support plates (9) symmetrically fixed to the rotary platform (2). The two sets of support plates (9) are arranged in parallel and spaced apart to form the clamping and assembly space of the first arm (6).

4. The industrial robot arm according to claim 1, characterized in that: The transmission assembly is a crank-connecting rod mechanism (11), including a rotary table (111) and a connecting rod (112); the output shaft of the third drive motor (5) is coaxially fixed to the rotary table (111), the rotary table (111) is hinged to the bottom end of the connecting rod (112), and the top end of the connecting rod (112) is hinged to the end of the second arm (7) to realize deflection drive.

5. The industrial robot arm according to claim 1, characterized in that: The output shaft of the third drive motor (5) and the first arm (6) rotate through the bearing, completely isolating the transmission interference between the second drive motor (4) and the third drive motor (5), ensuring that the two motors operate independently.

6. The industrial robot arm according to claim 1, characterized in that: The linkage transmission mechanism (8) includes a fixed support rod (81), a push-pull connecting rod (82), a triangular swing block (83), a linkage support rod (84), and a terminal turntable (85); the bottom end of the fixed support rod (81) is fixed to the rotary platform (2), and the top end is hinged to the push-pull connecting rod (82), and the other end of the push-pull connecting rod (82) is hinged to the triangular swing block (83).

7. The industrial robot arm according to claim 6, characterized in that: The triangular pendulum block (83) is located inside the second arm (7), with one corner sleeved outside the hinge shaft (10) and arranged coaxially with the hinge shaft (10), and the remaining two corners are respectively hinged to the push-pull connecting rod (82) and the linkage support rod (84).

8. The industrial robot arm according to claim 7, characterized in that: The end of the linkage support rod (84) is hinged to the terminal turntable (85), the terminal turntable (85) is rotatably mounted on the end of the second arm (7), and the execution terminal (12) is fixedly installed on the front end of the terminal turntable (85).

9. The industrial robot arm according to claim 1, characterized in that: All three sets of drive motors are centrally located in the slewing platform (2) and support area. There are no external drive motors at the boom hinge joints, which greatly reduces the number of wiring in the boom body.

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