Industrial robot drive system

Abstract

The application relates to the technical field of robots, in particular to an industrial robot driving system, which comprises a base, a driving wheel and an eccentric mechanism are installed on the base, when the driving wheel accelerates the base, the eccentric mechanism offsets the gravity center of the driving system to the acceleration direction, when the driving wheel decelerates the base, the eccentric mechanism offsets the gravity center of the driving system to the opposite direction of the acceleration direction. The application enables the industrial robot to bear greater acceleration without rolling over, improves the acceleration peak value of the industrial robot, and thus improves the moving efficiency of the industrial robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an industrial robot drive system. Background Technology

[0002] The drive system of an industrial robot is a device that provides power to the mechanical structure system. Based on the different power sources, drive systems are classified into four types: hydraulic, pneumatic, electric, and mechanical. Electric drive is currently the most widely used drive method. Its advantages include convenient power supply, fast response, large driving force, convenient signal detection, transmission, and processing, and the ability to employ various flexible control methods. The drive motor is generally a stepper motor or a servo motor. Direct drive motors are also used, but they are more expensive and have more complex control. The reducer matched with the motor is generally a harmonic reducer, a cycloidal pinwheel reducer, or a planetary gear reducer.

[0003] Existing industrial robot drive systems have the following problems: When the drive system controls the industrial robot to accelerate or decelerate, the center of gravity of the industrial robot will also change due to the change in acceleration, so the peak acceleration will be limited and the acceleration or deceleration efficiency of the industrial robot needs to be improved; When the industrial robot accelerates along a curved path, the centrifugal force will increase, and the center of gravity of the industrial robot will also change, so the peak acceleration of the curved motion needs to be improved.

[0004] Based on the above situation, there is an urgent need for an industrial robot drive system to improve the acceleration or deceleration efficiency of industrial robots. Summary of the Invention

[0005] The purpose of this invention is to provide an industrial robot drive system that solves the problem of the need to improve the acceleration or deceleration efficiency of industrial robots.

[0006] This invention is achieved through the following technical solution:

[0007] An industrial robot drive system includes a base on which drive wheels and an eccentric mechanism are mounted. When the drive wheels accelerate the base, the eccentric mechanism shifts the center of gravity of the drive system towards the acceleration direction. When the drive wheels decelerate the base, the eccentric mechanism shifts the center of gravity of the drive system towards the opposite direction of acceleration. Specifically, when the base accelerates forward or decelerates backward, the acceleration direction of the base is forward, and the eccentric mechanism causes the center of gravity of the industrial robot to shift forward. When the base decelerates forward or accelerates backward, the acceleration direction of the base is backward, and the eccentric mechanism causes the center of gravity of the industrial robot to shift backward. Through this shift in the center of gravity, the industrial robot can withstand greater acceleration without tipping over, and can accelerate or decelerate to a preset speed more quickly, thereby improving the mobility of the industrial robot.

[0008] Furthermore, this solution does not exclusively limit the specific structure of the eccentric mechanism. One feasible solution is that the eccentric mechanism includes a guide rail mounted on the base and an eccentric block that cooperates with the guide rail. When this solution is adopted, the center of gravity of the drive system is adjusted by moving the position of the eccentric block, which is simple in principle.

[0009] Furthermore, the eccentric mechanism also includes an eccentricity component for adjusting the eccentricity of the eccentric block. When this solution is adopted, the eccentricity of the eccentric block is proportional to the acceleration of the drive system. When the acceleration of the drive system increases, in order to balance the increased net external force, the eccentricity of the eccentric block also increases, which can prevent the industrial robot from tipping over during acceleration.

[0010] Furthermore, to facilitate the control of the eccentricity of the eccentric block, one feasible solution is that the eccentricity component includes an acceleration sensor for feedback control of the eccentric block, and the eccentricity of the eccentric block is adjusted by the measurement value of the acceleration sensor. The principle is simple and easy to implement.

[0011] Furthermore, when the acceleration of the industrial robot is zero, it is necessary to bring the center of gravity of the industrial robot as close as possible to the geometric center. One feasible solution is that the eccentric mechanism also includes a reset structure for resetting the eccentric block. Specifically, when the acceleration sensor measures that the industrial robot is stationary or in uniform motion, the reset structure returns the eccentric block to the geometric center of the base, thereby moving the center of gravity of the industrial robot toward the geometric center.

[0012] Furthermore, to facilitate the curved movement of the industrial robot, one feasible solution is to install a driven wheel and a steering mechanism for adjusting the rotation angle of the driven wheel on the base. When this solution is adopted, the deflection angle of the driven wheel is controlled by the steering mechanism to turn the industrial robot.

[0013] Furthermore, when an industrial robot accelerates along a curved path, the centrifugal force increases, causing a shift in the robot's center of gravity. It is necessary to move the robot's center of gravity in the opposite direction of the centrifugal force. One feasible solution is to mount the guide rail to a base via a pivot. The base is equipped with a deflection structure that works with the steering mechanism to adjust the guide rail's deflection angle. Specifically, for example, when the industrial robot needs to turn left and accelerate, the steering mechanism controls the driven wheel to deflect to the left. At this time, the industrial robot experiences a rightward centrifugal force. The deflection structure causes the guide rail and driven wheel to turn to the left synchronously, shifting the robot's center of gravity to the left and forward. This allows the industrial robot to withstand greater acceleration without tipping over, increasing the peak acceleration of the curved motion and further improving the robot's movement efficiency.

[0014] Furthermore, a support rail for supporting the guide rail is formed on the base. Specifically, when the eccentricity of the eccentric block increases, the bending moment on the rotating bearing will increase. By supporting the guide rail with the support rail, the bending moment on the rotating bearing can be reduced, thereby ensuring the reliability of the rotating shaft.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0016] 1. When the base accelerates forward or decelerates backward, the acceleration direction of the base is forward, causing the center of gravity of the industrial robot to shift forward under the action of the eccentric mechanism; when the base decelerates forward or accelerates backward, the acceleration direction of the base is backward, causing the center of gravity of the industrial robot to shift backward under the action of the eccentric mechanism. After the above-mentioned shift of the center of gravity, the industrial robot can withstand greater acceleration without tipping over, and can accelerate or decelerate to the preset speed more quickly, thereby improving the movement efficiency of the industrial robot.

[0017] Second, since the eccentric mechanism also includes a reset structure for resetting the eccentric block, when the acceleration sensor measures that the industrial robot is stationary or moving at a constant speed, the reset structure returns the eccentric block to the geometric center of the base, thereby moving the center of gravity of the industrial robot toward the geometric center.

[0018] Third, since the guide rail is mounted on the base via a rotating shaft, and the base is equipped with a deflection structure that cooperates with the steering mechanism and is used to adjust the deflection angle of the guide rail, for example, when the industrial robot needs to turn left and accelerate, the steering mechanism controls the driven wheel to deflect to the left. At this time, the industrial robot is subjected to centrifugal force to the right. Through the deflection structure, the guide rail and the driven wheel turn to the left synchronously, so that the center of gravity of the industrial robot moves to the left front. At this time, the industrial robot can withstand greater acceleration without tipping over, which increases the peak acceleration of the curvilinear motion, thereby further improving the movement efficiency of the industrial robot. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the steering mechanism structure of the present invention and a partially enlarged view thereof;

[0022] Figure 3 This is a cross-sectional view and a partially enlarged view of the present invention;

[0023] Figure 4 for Figure 1 Enlarged view of point A in the image.

[0024] The attached diagram shows the markings and corresponding component names:

[0025] 1. Base; 2. Drive wheel; 3. Driven wheel; 4. Eccentric mechanism; 5. Steering mechanism;

[0026] 11. Support rail; 12. Rotating shaft; 13. Limiting hole;

[0027] 21. Drive mechanism;

[0028] 31. Steering motor; 32. Worm gear; 33. Sleeve; 34. Actuating block; 35. Column;

[0029] 41. Guide rail; 42. Eccentric block; 43. Counterweight;

[0030] 411. Spur rack; 412. First indicator flange; 413. Second indicator flange; 414. Bottom groove;

[0031] 51. Swing rod; 52. Movable rod; 521. Limiting groove. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are for illustrative purposes only and are not intended to limit the invention. It should be noted that this invention is already in the actual research and development stage.

[0033] First, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0034] Example 1:

[0035] like Figures 1 to 3As shown, an industrial robot drive system includes a base 1, a drive wheel 2 mounted on the rear of the base 1, and an eccentric mechanism 4 installed inside the base 1. The drive wheel 2 is connected to the drive mechanism 21. When the drive wheel 2 accelerates the base 1, the eccentric mechanism 4 shifts the center of gravity of the drive system in the direction of acceleration. When the drive wheel 2 decelerates the base 1, the eccentric mechanism 4 shifts the center of gravity of the drive system in the opposite direction of acceleration. Specifically, when the base 1 accelerates forward or decelerates backward, the acceleration direction of the base 1 is forward, and the center of gravity of the industrial robot shifts forward under the action of the eccentric mechanism 4; when the base 1 decelerates forward or accelerates backward, the acceleration direction of the base 1 is backward, and the center of gravity of the industrial robot shifts backward under the action of the eccentric mechanism 4. Through the above-mentioned shift of the center of gravity, the industrial robot can withstand greater acceleration without tipping over, and can accelerate or decelerate to a preset speed more quickly, thereby improving the movement efficiency of the industrial robot.

[0036] This solution does not limit the specific structure of the drive mechanism 21. In this embodiment, the drive mechanism 21 is a variable speed motor. In other solutions, the drive mechanism 21 uses a servo motor or a stepper motor as the drive motor, and the drive motor drives the gearbox and the drive wheel 2 in sequence.

[0037] This solution does not limit the specific structure of the eccentric mechanism 4. One feasible solution is that the eccentric mechanism 4 includes a guide rail 41 mounted on the base 1 and an eccentric block 42 that cooperates with the guide rail 41. Specifically, in this embodiment, the guide rail 41 is arranged along the front and rear direction of the base 1. When this solution is adopted, the center of gravity of the drive system is shifted forward or backward by moving the position of the eccentric block 42. The principle is simple.

[0038] The eccentric mechanism 4 also includes an eccentricity component for adjusting the eccentricity of the eccentric block 42. When this scheme is adopted, the eccentricity of the eccentric block 42 is proportional to the acceleration of the drive system. When the acceleration of the drive system increases, in order to balance the increased net external force, the eccentricity of the eccentric block 42 also increases, which can prevent the industrial robot from tipping over during acceleration.

[0039] Preferably, a number of counterweights 43 are installed on the eccentric block 42. By adjusting the number of counterweights 43, the center of gravity of the industrial robot can be controlled more conveniently. When the eccentricity reaches the preset extreme value, if the center of gravity offset is still less than the preset value, the number of counterweights 43 needs to be increased to increase the center of gravity offset.

[0040] This solution does not exclusively limit the specific structure of the eccentricity component. One feasible solution is as follows: the eccentricity component includes a rack 411 formed on the guide rail 41, and the eccentric block 42 includes a gear that meshes with the rack 411. By rotating the gear, the eccentric block 42 is moved back and forth along the guide rail 41. Specifically, when the eccentric block 42 moves forward, the center of gravity of the industrial robot moves forward, and when the eccentric block 42 moves backward, the center of gravity of the industrial robot moves backward.

[0041] To facilitate the control of the eccentricity of the eccentric block 42, one feasible solution is to include an accelerometer for feedback control of the eccentric block 42, and adjust the eccentricity of the eccentric block 42 by measuring the value of the accelerometer. The principle is simple and easy to implement.

[0042] When the acceleration of the industrial robot is zero, it is necessary to make the center of gravity of the industrial robot as close as possible to the geometric center. One feasible solution is that the eccentric mechanism 4 also includes a reset structure for resetting the eccentric block 42. Specifically, when the acceleration sensor measures that the industrial robot is stationary or moving at a constant speed, the reset structure makes the eccentric block 42 return to the geometric center of the base 1, thereby moving the center of gravity of the industrial robot toward the geometric center.

[0043] This solution does not exclusively limit the specific structure of the reset structure. One feasible solution is as follows: The reset structure includes a first indicator flange 412 and a second indicator flange 413 spaced apart along the axis of the guide rail 41. The first indicator flange 412 extends from the middle of the guide rail 41 toward the driven wheel 3, and the second indicator flange 413 extends from the middle of the guide rail 41 toward the drive wheel 2. The eccentric block 42 includes two spring pieces for detecting the first indicator flange 412 and the second indicator flange 413, respectively. When the eccentric block 42 is located at the geometric center of the guide rail 41, both spring pieces conduct the detection circuit, indicating that the eccentric block 42 has been reset. When the eccentric block 42 is close to the driven wheel 3, the first indicator flange 412 blocks the spring piece; when the eccentric block 42 is close to the drive wheel 2, the second indicator flange 413 blocks the other spring piece. The position of the eccentric block 42 can be conveniently and quickly reflected by the on / off state of the detection circuit.

[0044] To facilitate the curved movement of industrial robots, one feasible solution is as follows: a driven wheel 3 is installed at the front of the base 1, and the drive wheel 2 cooperates with the driven wheel 3 to move the base 1. A steering mechanism 5 for adjusting the rotation angle of the driven wheel 3 is also installed on the base 1. When this solution is adopted, the deflection angle of the driven wheel 3 is controlled by the steering mechanism 5 to make the industrial robot turn.

[0045] When an industrial robot accelerates along a curved path, the centrifugal force increases, causing a shift in the robot's center of gravity. To address this, the robot's center of gravity needs to be moved in the opposite direction of the centrifugal force. One feasible solution is to mount the guide rail 41 onto the base 1 via a rotating shaft 12. The base 1 is equipped with a deflection structure that works in conjunction with the steering mechanism 5 to adjust the deflection angle of the guide rail 41. Specifically, for example, when the industrial robot needs to turn left and accelerate, the steering mechanism 5 controls the driven wheel 3 to deflect to the left. At this point, the industrial robot experiences a rightward centrifugal force. The deflection structure causes the guide rail 41 and the driven wheel 3 to turn to the left synchronously, shifting the robot's center of gravity to the left front. This allows the robot to withstand greater acceleration without tipping over, increasing the peak acceleration of the curved motion and further improving the robot's movement efficiency.

[0046] A support rail 11 for supporting the guide rail 41 is formed on the base 1. Specifically, when the eccentricity of the eccentric block 42 increases, the bending moment borne by the rotating shaft 12 will increase. By supporting the guide rail with the support rail 11, the bending moment borne by the rotating shaft 12 can be reduced, thereby ensuring the reliability of the rotating shaft 12.

[0047] Example 2:

[0048] like Figure 1 As shown, this scheme does not limit the specific structure of the steering mechanism 5. One feasible scheme is as follows: two swing rods 51 are respectively provided on the left front part and the right front part of the base 1. A movable rod 52 is installed between the two swing rods 51. Two driven wheels 3 are respectively installed on the two swing rods 51. The deflection angle of the swing rods 51 is controlled by moving the movable rod 52, thereby adjusting the rotation angle of the driven wheels 3.

[0049] Example 3:

[0050] like Figure 1 , Figure 3 Figure 4 As shown, this solution does not limit the driving method of the swing arm 51. One feasible solution is as follows: a steering motor 31 is installed on the base 1 and the output shaft of the steering motor 31 is connected to and drives the worm gear 32 to rotate. The worm gear 32 cooperates with the sleeve 33. The rotation of the worm gear 32 controls the sleeve 33 to move back and forth in the left and right directions. A toggle block 34 is formed on the sleeve 33 and cooperates with the limiting groove 521 formed on the movable rod 52. The sleeve 33 drives the movable rod 52 to move back and forth in the left and right directions. A limiting hole 13 is formed on the base 1 for limiting the toggle block 34.

[0051] This solution does not limit the specific structure of the deflection structure. One feasible solution is as follows: the deflection structure includes a bottom groove 414 formed on the lower end face of the guide rail 41, and a column 35 formed on the sleeve 33 that cooperates with the bottom groove 414. The sleeve 33 drives the guide rail 41 and the movable rod 52 to move synchronously. Specifically, the steering motor 31 drives the worm gear 32, the sleeve 33 and the column 35 to move in sequence, thereby controlling the deflection angle of the guide rail 41.

[0052] The working principle of this solution is as follows:

[0053] When the base 1 accelerates forward or decelerates backward, the acceleration direction of the base 1 is forward, and the center of gravity of the industrial robot shifts forward under the action of the eccentric mechanism 4. When the base 1 decelerates forward or accelerates backward, the acceleration direction of the base 1 is backward, and the center of gravity of the industrial robot shifts backward under the action of the eccentric mechanism 4. When the acceleration of the industrial robot is zero, when the acceleration sensor measures that the industrial robot is stationary or in uniform motion, the eccentric block 42 is returned to the geometric center of the base 1 through the reset structure. When the industrial robot needs to turn, the steering mechanism 5 controls the driven wheel 3 to deflect in the steering direction. The deflection structure makes the guide rail 41 turn synchronously with the driven wheel 3, so that the center of gravity of the industrial robot moves in the acceleration direction.

[0054] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An industrial robot drive system comprising a base (1), characterized in that: The base (1) is provided with a driving wheel (2) and an eccentric mechanism (4), when the driving wheel (2) accelerates the base (1), the eccentric mechanism (4) offsets the gravity center of the driving system to the acceleration direction, when the driving wheel (2) decelerates the base (1), the eccentric mechanism (4) offsets the gravity center of the driving system to the opposite direction of the acceleration direction; The eccentric mechanism (4) comprises a guide rail (41) mounted on the base (1), an eccentric block (42) matched with the guide rail (41), an eccentric distance assembly for adjusting the eccentric distance of the eccentric block (42), and a reset structure for resetting the eccentric block (42); The eccentric distance assembly comprises a straight rack (411) formed on the guide rail (41), the eccentric block (42) comprises a gear matched with the straight rack (411), and the gear is rotated to move the eccentric block (42) reciprocally along the guide rail (41); The reset structure comprises a first indicating flange (412) and a second indicating flange (413) arranged along the axis direction of the guide rail (41) and spaced apart, the first indicating flange (412) extends from the middle part of the guide rail (41) to the direction of the driven wheel (3), the second indicating flange (413) extends from the middle part of the guide rail (41) to the direction of the driving wheel (2), and the eccentric block (42) comprises two elastic sheets for detecting the first indicating flange (412) and the second indicating flange (413) respectively; The base (1) is provided with a driven wheel (3) and a steering mechanism (5) for adjusting the rotation angle of the driven wheel (3); the steering mechanism (5) comprises two swing rods (51), and a movable rod (52) is mounted between the two swing rods (51); the two driven wheels (3) are respectively mounted on the two swing rods (51); The base (1) is provided with a steering motor (31), and the output shaft of the steering motor (31) is connected to and drives the rotation of a worm (32); the worm (32) is matched with a sleeve (33), the sleeve (33) is provided with a pushing block (34), and the pushing block (34) is matched with a limiting groove (521) on the movable rod (52); the sleeve (33) drives the movable rod (52) to move reciprocally left and right; The guide rail (41) is mounted on the base (1) through a rotating shaft (12), and the base (1) is provided with a deflection structure matched with the steering mechanism (5) and used for adjusting the deflection angle of the guide rail (41); the deflection structure comprises a bottom groove (414) formed on the lower end face of the guide rail (41), and the sleeve (33) is provided with a stand column (35) matched with the bottom groove (414); the sleeve (33) drives the guide rail (41) and the movable rod (52) to move synchronously.

2. An industrial robot drive system according to claim 1, characterized in that: The eccentric distance assembly comprises an acceleration sensor for feedback control of the eccentric block (42).

3. An industrial robot drive system according to claim 1, characterized in that: The base (1) is provided with a support rail (11) for bearing the guide rail (41).

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