A large-load multi-joint column robot

Abstract

The utility model discloses a kind of big load multi-joint stand column robots, it is related to handling robot technical field, including base, the top end of the base is rotatably connected with swivel disc, the top of the swivel disc is equipped with locating seat, locating seat's top plate is rotatably connected with screw rod one between swivel disc, the outer lateral wall of screw rod one is threadedly connected with lifting seat, the top of the lifting seat is provided with screw rod two, the outer lateral wall of screw rod two is threadedly connected with screw rod sliding base, the utility model can mitigate the abnormal movement generated by servo motor one, servo motor two operation in robot base bottom end's shock pad, bearing between base and swivel disc and lubricant outside screw rod one, screw rod two, respectively reduce rotation and screw friction resistance;While joint motor and speed reducer adaptation promote torque, reduce the influence of heavy additional torque to joint, avoid body shaking, material deviation, solve the problem of insufficient stability of prior art.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, and in particular to a high-load multi-joint column robot. Background Technology

[0002] Material handling robots are intelligent devices that integrate mechanical design, automated control, sensor perception, and path planning technologies. They are primarily used to replace manual labor in repetitive and high-intensity tasks such as loading, unloading, handling, and stacking of goods. Based on preset programs or real-time instructions, they can accurately identify the location and status of goods in factory workshops, warehousing and logistics centers, and port terminals, autonomously planning the optimal movement path to safely and efficiently complete material transfers. This not only significantly reduces labor costs and human error but also enables digital and intelligent collaboration in logistics processes by interfacing with warehouse management systems and production execution systems, thereby improving overall operational efficiency and supply chain responsiveness.

[0003] Currently, most material handling robots on the market employ multi-joint mechanisms as their core control structure when performing heavy-load tasks. While multi-joint designs provide robots with a degree of mobility to adapt to material grasping and transfer needs in different scenarios, their control shortcomings are also quite apparent during actual load movement. Because heavy objects exert additional torque on the joint transmission mechanisms, and the coordinated control between multiple joints requires precise matching of speed, angle, and force states, existing technologies struggle to completely eliminate accumulated errors and dynamic disturbances during joint movement, leading to difficulties in ensuring the robot's stability during movement. This lack of stability manifests directly as issues such as robot swaying and material position deviation, not only affecting transfer efficiency but also potentially increasing the risk of damage to fragile materials. Furthermore, it limits the robot's applicability in high-precision operational scenarios, and its overall operational stability urgently needs further improvement. Utility Model Content

[0004] The purpose of this invention is to solve the problems existing in the prior art by proposing a high-load multi-joint column robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a high-load multi-joint column robot, comprising a base, a turntable rotatably connected to the top of the base, a positioning seat mounted on the top of the turntable, a lead screw 1 rotatably connected between the top plate of the positioning seat and the turntable, a lifting seat threadedly connected to the outer side wall of the lead screw 1, a lead screw 2 provided at the top of the lifting seat, a lead screw slide threadedly connected to the outer side wall of the lead screw 2, a joint arm 1 provided at the top of the lead screw slide, a joint arm 2 rotatably connected to one end of the joint arm 1, and a gripper rotatably connected to one end of the joint arm 2.

[0006] Preferably, a servo motor three is installed inside the base, and the output end of the servo motor three passes through the top wall of the base and is fixedly connected to the rotary table.

[0007] Preferably, a servo motor is provided at the top of the positioning seat, and the output end of the servo motor is fixedly connected to the lead screw.

[0008] Preferably, a second servo motor is fixedly connected to the top of the lifting seat, and a gear set is fixedly connected to the output end of the second servo motor. The second servo motor is connected to the second lead screw through the gear set.

[0009] Preferably, the outer wall of the positioning seat is provided with a guide post, which guides and positions the lifting seat during lifting and lowering.

[0010] Preferably, the outer walls of both lead screw one and lead screw two are coated with lubricant, and the bottom end of the base is provided with a shock-absorbing pad.

[0011] Compared with the prior art, the advantages and positive effects of this utility model are as follows: 1. In this utility model, the shock-absorbing pad at the bottom of the robot base can mitigate the abnormal movement generated by the operation of servo motor one and servo motor two. The bearings between the base and the turntable and the lubricant on the outside of lead screw one and lead screw two reduce the rotation and frictional resistance of the lead screws respectively. At the same time, the motor and reducer between the joints are matched to lift the torque, reducing the influence of the extra torque of the heavy object on the joint, avoiding the shaking of the machine body and the displacement of materials, thus solving the problem of insufficient stability in the prior art.

[0012] 2. In this utility model, by using a servo motor to control the rotary table for precise steering, a servo motor to drive the lead screw and lifting seat for precise lifting, and a servo motor to drive the lead screw and sliding seat for precise translation via a gear set, multiple components work together to eliminate joint cumulative errors and dynamic disturbances, thus solving the problem of limited applicability of existing technologies in high-precision scenarios and ensuring transfer efficiency and material safety. Attached Figure Description

[0013] Figure 1 A three-dimensional structural diagram of a high-load multi-joint column robot is provided for this utility model; Figure 2 A schematic diagram of the bottom structure of a high-load multi-joint column robot is provided for this utility model. Figure 3 This utility model presents a three-dimensional structural diagram of the lifting seat in a high-load multi-joint column robot; Figure 4 This utility model presents a structural diagram of joint arm one, joint arm two, and gripper in a high-load multi-joint column robot.

[0014] Legend: 1. Positioning seat; 2. Base; 3. Servo motor one; 4. Lead screw one; 5. Lifting seat; 6. Servo motor two; 7. Rotary table; 8. Lead screw two; 9. Articulated arm one; 10. Articulated arm two; 11. Servo motor three; 12. Gear set; 13. Lead screw slide; 14. Gripper. Detailed Implementation

[0015] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0016] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0017] Example 1: As Figures 1-4 As shown, this utility model provides a high-load multi-joint column robot, including a base 2, a turntable 7 rotatably connected to the top of the base 2, a positioning seat 1 installed at the top of the turntable 7, a lead screw 4 rotatably connected between the top plate of the positioning seat 1 and the turntable 7, a lifting seat 5 threadedly connected to the outer wall of the lead screw 4, a second lead screw 8 provided at the top of the lifting seat 5, a lead screw slide 13 threadedly connected to the outer wall of the second lead screw 8, a joint arm 9 provided at the top of the lead screw slide 13, a second joint arm 10 rotatably connected to one end of the first joint arm 9, and a gripper 14 rotatably connected to one end of the second joint arm 10.

[0018] The specific settings and functions of this embodiment are described below. The robot adopts a column-type design and is guided by lead screw 4 and the outer column, allowing the lifting seat 5 to be adjusted in height. The rotary table 7 at the bottom of the positioning seat 1 rotates within a 360-degree range above the base 2, which can control the orientation of the lifting seat 5. The position of the lead screw slide 13 is controlled by adjusting lead screw 8, thereby horizontally moving the position of joint arm 9. Joint arm 9, joint arm 10, and lead screw slide 13 can all be flipped up and down. Therefore, the control of a multi-joint handling robot is realized. Furthermore, the application of motors and reducers between the joints greatly improves the torque for controlling joint movement, enabling the robot to perform high-load functions.

[0019] Example 2: Figure 1 and Figure 2As shown, a servo motor 311 is installed inside the base 2. The output end of the servo motor 311 passes through the top wall of the base 2 and is fixedly connected to the rotary table 7. A servo motor 13 is installed at the top of the positioning seat 1. The output end of the servo motor 13 is fixedly connected to the lead screw 4. A servo motor 26 is fixedly connected to the top of the lifting seat 5. A gear set 12 is fixedly connected to the output end of the servo motor 26. The servo motor 26 is connected to the lead screw 28 through the gear set 12. A guide post is provided on the outer wall of the positioning seat 1 to guide and position the lifting seat 5. Lubricant is applied to the outer walls of both the lead screw 14 and the lead screw 28. A shock-absorbing pad is provided at the bottom of the base 2.

[0020] The overall effect of this embodiment is as follows: When adjusting the robot's orientation, servo motor 311 at the bottom of base 2 is activated. Servo motor 311 controls the swing position of rotary table 7, thereby adjusting the orientation angle of lifting seat 5, so that the robot's operable range is within 360 degrees. Servo motor 13 is set at the top of positioning seat 1. Servo motor 13 controls lead screw 4 to rotate, thereby driving lifting seat 5 to move up and down. In order to adjust the position of articulated arm 9, servo motor 26 is activated to drive gear set 12 to rotate. Gear set 12 drives lead screw 28 to rotate. Lead screw 28 drives lead screw slide 13 to move parallel, thereby adjusting the position of lead screw slide 13 and achieving robot positioning. Shock-absorbing pads are set at the bottom of base 2 to mitigate the abnormal movements caused by servo motor 13 and servo motor 26 during operation, improving the stability of robot operation. Bearings are set at the rotational connection between base 2 and rotary table 7 to reduce the frictional resistance of relative rotation between base 2 and rotary table 7.

[0021] The device's operation and working principle are as follows: During operation, the servo motor 11 inside the base 2 drives the rotary table 7 to rotate 360 ​​degrees above the base 2, thus controlling the orientation of the positioning seat 1 and subsequent components. After the servo motor 3 at the top of the positioning seat 1 starts, its output drives the lead screw 4 to rotate. Under the guidance and positioning action of the guide post on the outer wall of the positioning seat 1, the lifting seat 5, threadedly connected to the lead screw 4, achieves lifting adjustment. The servo motor 6 at the top of the lifting seat 5 operates, driving the lead screw 8 to rotate via the gear set 12. This causes the lead screw slide 13, which is threadedly connected to the lead screw 8, to move parallel to adjust the position of the articulated arm 9. At the same time, the articulated arms 9 and 10 can be flipped up and down and rotated, ultimately cooperating with the gripper 14 to complete the handling operation. The shock-absorbing pad at the bottom of the base 2 can mitigate the abnormal movement caused by the operation of the servo motors 3 and 6. The lubricant on the outer wall of the lead screw 4 and 8 and the bearing at the rotating connection between the base 2 and the turntable 7 reduce the friction of the lead screw and the frictional resistance of their relative rotation, ensuring the stable operation of the robot and enabling it to perform high-load functions.

[0022] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content 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 the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A high-load multi-joint column robot, comprising a base (2), characterized in that: The top of the base (2) is rotatably connected to a turntable (7), and a positioning seat (1) is installed on the top of the turntable (7). A lead screw (4) is rotatably connected between the top plate of the positioning seat (1) and the turntable (7). A lifting seat (5) is threadedly connected to the outer wall of the lead screw (4). A lead screw (8) is provided at the top of the lifting seat (5). A lead screw slide (13) is threadedly connected to the outer wall of the lead screw (8). A joint arm (9) is provided at the top of the lead screw slide (13). A joint arm (10) is rotatably connected to one end of the joint arm (9). A gripper (14) is rotatably connected to one end of the joint arm (10).

2. The high-load multi-joint column robot according to claim 1, characterized in that: The base (2) is equipped with a servo motor three (11), the output end of which passes through the top wall of the base (2) and is fixedly connected to the rotary table (7).

3. The high-load multi-joint column robot according to claim 1, characterized in that: The top of the positioning seat (1) is provided with a servo motor (3), and the output end of the servo motor (3) is fixedly connected to the lead screw (4).

4. The high-load multi-joint column robot according to claim 1, characterized in that: The top of the lifting seat (5) is fixedly connected to a servo motor (6), and the output end of the servo motor (6) is fixedly connected to a gear set (12). The servo motor (6) is connected to the lead screw (8) through the gear set (12).

5. A high-load, multi-joint column robot according to claim 1, characterized in that: The outer wall of the positioning seat (1) is provided with a guide post, which guides and positions the lifting seat (5) as it moves up and down.

6. A high-load multi-joint column robot according to claim 1, characterized in that: The outer walls of both lead screw 1 (4) and lead screw 2 (8) are coated with lubricant, and the bottom of the base (2) is provided with a shock-absorbing pad.

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