Heavy-duty robotic arm with rotating gripper

Abstract

This invention discloses a heavy-duty robotic arm with a rotating gripper, comprising a support frame, a longitudinal transfer frame, a longitudinal transfer frame drive mechanism, a transverse transfer frame, a transverse transfer frame drive mechanism, a vertical transfer frame, a vertical transfer frame drive mechanism, a rotating base, a rotating drive mechanism, a gripper assembly, and a balance cylinder. The support frame is raised off the ground, with a passageway below it. The upper and lower parts of the rotating base are respectively a fixed part and a rotating part. The fixed part is connected to the lower end of the vertical transfer frame by planar distributed springs, and the gripper assembly is located at the lower end of the rotating part. A lifting hook is hinged to the lower end of the balance cylinder, and the lifting hook supports the ground hook on the lower side of the edge of the rotating part, with the two in rolling contact. The gripper assembly, rotating base, and vertical transfer frame are supported on the transverse transfer frame by the balance cylinder. The balance cylinder has an accumulator; when the rotating part descends, the accumulator provides resistance, and when the rotating part rises, the accumulator provides assistance. This invention is adaptable to materials coming from all directions, facilitates the gripping of heavy parts, facilitates stacking, has high operating efficiency, and significantly reduces equipment and operating costs, making it suitable for widespread use.

Description

Technical Field

[0001] This invention relates to robotic arms, and more specifically to a heavy-duty robotic arm with a rotating gripper. Background Technology

[0002] Robotic arms are widely used in large-scale industrial production, primarily for the precise and dexterous handling and transfer of lightweight parts, thereby improving production efficiency. For large parts in heavy industry, overhead cranes are generally used instead of robotic arms. This is because current robotic arms are structurally and power-dependent, unable to withstand the large volume and weight of heavy components. Indiscriminately enhancing the structure and power system would significantly increase equipment and operating costs, resulting in poor practicality. Summary of the Invention

[0003] The purpose of this invention is to provide a heavy-duty robotic arm with a rotating gripper. This heavy-duty robotic arm is adaptable to materials coming from all directions, making it convenient to grasp heavy parts, easy to stack, highly efficient, and significantly reducing equipment and operating costs, making it suitable for widespread use.

[0004] The technical solution adopted in this invention is: A heavy-duty robotic arm with a rotating gripper includes a support frame, a longitudinal frame, a transverse frame, a vertical frame, a rotating base, a gripper assembly, and a balance cylinder. The support frame is raised off the ground, with a passageway below it. The longitudinal frame spans and is supported on both sides of the top of the support frame, and its longitudinal movement is achieved through a longitudinal frame drive mechanism. The transverse frame is supported on both sides of the top of the longitudinal frame, and its transverse movement is achieved through a transverse frame drive mechanism. The vertical frame is fitted into the middle of the transverse frame and passes downward through the middle of the longitudinal frame, and its vertical movement is achieved through a vertical frame drive mechanism. The upper and lower parts of the rotating base are respectively a fixed part and a rotating part assembled together. The fixed part is connected to the lower end of the vertical moving frame by springs distributed in a plane. The rotating part is rotated by a rotating drive mechanism. The gripper assembly is located at the lower end of the rotating part. The balance cylinder is installed on the horizontal moving frame and distributed around the rotating part. The balance cylinder passes downward through the middle of the vertical moving frame and the lower end is hinged to the lifting hook. The lifting hook supports the hook on the lower side of the edge of the rotating part and the two are in rolling contact. The gripper assembly, the rotating seat and the vertical moving frame are supported on the horizontal moving frame by the balance cylinder. The balance cylinder has an accumulator. When the rotating part descends and drives the balance cylinder to extend, the accumulator stores energy and provides resistance. When the rotating part rises, the accumulator releases energy and provides assistance.

[0005] Preferably, the longitudinal transfer frame drive mechanism includes a first rack, a first motor, a first reducer, a first drive shaft, an end shaft, a first bearing housing, and a first gear. The first rack is installed on both sides of the top of the support frame. The first motor and the first reducer are installed on the longitudinal transfer frame. The input end of the first reducer is connected to the first motor, and the two output ends are respectively connected to the two first drive shafts through the first universal joint. The two first drive shafts are respectively connected to the two end shafts through the second universal joint. The two end shafts are respectively installed on both sides of the longitudinal transfer frame through the first bearing housing. The first gear is installed on the end shaft and meshes with the first rack on the side where it is located.

[0006] Preferably, the transverse frame drive mechanism includes a second rack, a second motor, a second reducer, a second drive shaft, a second bearing housing, and a second gear. The second rack is installed on both sides of the top of the longitudinal frame, and the second motor and the second reducer are installed on the transverse frame. The input end of the second reducer is connected to the second motor, and the two output ends are respectively connected to two second drive shafts through a third universal joint. The two second drive shafts are respectively installed on both sides of the transverse frame through the second bearing housing, and the second gear is installed on the second drive shaft and meshes with the second rack on the side where it is located.

[0007] Preferably, the vertical moving frame drive mechanism includes a third rack, a third motor, a third reducer, a third transmission shaft, a third bearing housing, and a third gear. The third rack is installed on the side of the vertical moving frame, the third motor and the third reducer are installed on the horizontal moving frame, the input end of the third reducer is connected to the third motor, and the output end is connected to the third transmission shaft. The third transmission shaft is installed on the horizontal moving frame through the third bearing housing, and the third gear is installed on the third transmission shaft and meshes with the third rack.

[0008] Preferably, the rotary drive mechanism includes a gear ring, a fourth motor, a fourth reducer, a fourth transmission shaft, a fourth bearing housing, and a fourth gear. The gear ring is mounted on the outer ring of the rotating part. The fourth motor and the fourth reducer are mounted on the vertical moving frame. The input end of the fourth reducer is connected to the fourth motor, and the output end is connected to the fourth transmission shaft. The fourth transmission shaft is mounted on the vertical moving frame through the fourth bearing housing. The fourth gear is mounted on the fourth transmission shaft and meshes with the gear ring.

[0009] Preferably, a strip is installed on the lower edge of the rotating part, and a bullseye bearing is installed on the lifting hook, with the strip supported on the bullseye bearing.

[0010] Preferably, a spherical bearing is provided at the hinge between the balance cylinder and the lifting hook.

[0011] Preferably, the springs are evenly distributed around the axis.

[0012] Preferably, the longitudinal moving frame is supported across the top of the support frame by a first linear slide groove and a first linear slide rail that are fitted together; the transverse moving frame is supported on the top of the longitudinal moving frame by a second linear slide groove and a second linear slide rail that are fitted together; and a pair of sides of the vertical moving frame are engaged with the middle of the transverse moving frame by a third linear slide groove and a third linear slide rail that are fitted together.

[0013] Preferably, the longitudinal frame is provided with lateral displacement limiting blocks at both ends for limiting the travel of the transverse frame; the vertical frame is provided with vertical displacement limiting blocks for limiting the vertical travel.

[0014] The beneficial effects of this invention are: This heavy-duty robotic arm is adaptable to materials coming from all directions, making it easy to grab heavy parts and stack them. It has high operating efficiency and significantly reduces equipment and operating costs, making it suitable for widespread use. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a heavy-duty robotic arm with rotating grippers in an embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the longitudinal shifting frame in an embodiment of the present invention; wherein, a) is the front view, b) is the top view, and c) is the side view.

[0017] Figure 3 This is a schematic diagram of the transverse frame in an embodiment of the present invention; wherein, a) is the front view, b) is the top view, and c) is the side view.

[0018] Figure 4 This is a schematic diagram of the vertical moving frame in an embodiment of the present invention; wherein, a) is the front view, b) is the top view, and c) is the side view.

[0019] Figure 5 This is a front view of the installation of the horizontal moving frame, vertical moving frame, balance cylinder, rotating seat and gripper assembly in an embodiment of the present invention.

[0020] Figure 6 This is a side view of the installation of the horizontal moving frame, vertical moving frame, balance cylinder, rotating seat and gripper assembly in an embodiment of the present invention.

[0021] Figure 7 yes Figure 6 Cross-sectional view at point AA.

[0022] Figure 8 yes Figure 7 Enlarged view of point B in the middle.

[0023] In the picture: 1-Bearing frame; 1.1-First linear guide rail; 2-Longitudinal shift frame; 2.1-First linear slide rail; 2.2-Second linear slide rail; 2.3-Transverse displacement limiting block; 3-Longitudinal transfer frame drive mechanism; 3.1-First rack; 3.2-First motor; 3.3-First reducer; 3.4-First transmission shaft; 3.5-End shaft; 3.6-First bearing housing; 3.7-First gear; 3.8-First universal joint; 3.9-Second universal joint; 4-Transverse sliding frame; 4.1-Second linear slide rail; 4.2-Third linear slide rail; 5-Transverse frame drive mechanism; 5.1-Second rack; 5.2-Second motor; 5.3-Second reducer; 5.4-Second drive shaft; 5.5-Second bearing housing; 5.6-Second gear; 5.7-Third universal joint; 6-Vertical shifter; 6.1-Third linear slide rail; 6.2-Vertical displacement limit block; 7-Vertical shift frame drive mechanism; 7.1-Third rack; 7.2-Third motor; 7.3-Third reducer; 7.4-Third transmission shaft; 7.5-Third bearing housing; 7.6-Third gear; 8-Rotating seat; 8.1-Fixed part; 8.2-Rotating part; 9-Rotary drive mechanism; 9.1-Ring gear; 9.2-Fourth motor; 9.3-Fourth reducer; 9.4-Fourth transmission shaft; 9.5-Fourth bearing housing; 9.6-Fourth gear; 10-Spring; 11-Gripper assembly; 12-Balance cylinder; 13-Hook; 14-Inlay; 15-Bullseye bearing; 16-Spherical plain bearing. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] This invention discloses a heavy-duty robotic arm with a rotating gripper, such as... Figures 1 to 8As shown: Includes a support frame 1, a longitudinal moving frame 2, a transverse moving frame 4, a vertical moving frame 6, a rotating seat 8, a gripper assembly 11, and a balance cylinder 12; the support frame 1 is raised off the ground, with a passageway below it; the longitudinal moving frame 2 spans and supports the top two sides of the support frame 1 and moves longitudinally via a longitudinal moving frame drive mechanism 3; the transverse moving frame 4 supports the top two sides of the longitudinal moving frame 2 and moves laterally via a transverse moving frame drive mechanism 5; the vertical moving frame 6 engages with the middle of the transverse moving frame 4 and passes downward through the middle of the longitudinal moving frame 2, moving vertically via a vertical moving frame drive mechanism 7; the upper and lower parts of the rotating seat 8 are respectively a fixed part 8.1 and a rotating part 8.2 assembled together, with the fixed part 8.1 supported by planar distributed springs 1. The rotating part 8.2 is connected to the lower end of the vertical moving frame 6. The rotating part 8.2 is rotated by the rotating drive mechanism 9. The gripper assembly 11 is located at the lower end of the rotating part 8.2. The balance cylinder 12 is installed on the horizontal moving frame 4 and distributed around the rotating part 8.2. The balance cylinder 12 passes downward through the middle of the vertical moving frame 2 and the lower end is hinged to the lifting hook 13. The lifting hook 13 supports the ground hook on the lower side of the edge of the rotating part 8.2 and the two are in rolling contact. The gripper assembly 11, the rotating seat 8, and the vertical moving frame 6 are supported on the horizontal moving frame 4 by the balance cylinder 12. The balance cylinder 12 has an accumulator. When the rotating part 8.2 descends and drives the balance cylinder 12 to extend, the accumulator stores energy and provides resistance. When the rotating part 8.2 rises, the accumulator releases energy and provides assistance.

[0026] In the above scheme: the longitudinal shift frame 2, the transverse shift frame 4, and the vertical shift frame 6 can drive the gripper assembly 11 to move in three dimensions, the rotating seat 8 can drive the gripper assembly 11 to rotate, and the support frame 1 is lifted off the ground to provide a passage area for ground transport equipment, which is convenient for materials to come from different directions. Therefore, when the ground transport equipment (such as AGV trolleys, trailers, forklifts, etc.) delivers heavy parts to the underside of the support frame 1, the gripper assembly 11 can grab the heavy parts at a suitable angle and position. That is, it is not necessary to position the heavy parts at a specific angle and position, but the gripper assembly 11 can be adjusted to grab the heavy parts, eliminating the positioning process of the heavy parts. For heavy parts delivered to the underside of the support frame 1 from different directions, they can be grabbed quickly. Moreover, after grabbing the heavy parts, they can be adjusted to a suitable angle and position to facilitate processing, assembly, maintenance, replacement, inspection and other processes. If stacking is required, heavy parts at any angle can be rotated to the same direction, which greatly shortens the time for manual turning and stacking, and the operation efficiency is high.

[0027] In the above scheme: since the longitudinal frame 2 spans and supports the top two sides of the bearing frame 1, the transverse frame 4 supports the top two sides of the longitudinal frame 2, the vertical frame 6 is fitted in the middle of the transverse frame 4 and passes downward through the middle of the longitudinal frame 2, and the gripper assembly 11 is installed at the lower end of the vertical frame 6 through the rotating seat 8, the gripper assembly 11, the rotating seat 8 and the vertical frame 6 are supported on the transverse frame 4 through the balance cylinder 12, therefore, after gripping heavy parts, the stress points of each component are located in the middle local area of ​​their respective structures, which can not only provide stable support when gripping and transferring heavy parts, but also reduce the load on each drive mechanism and reduce energy consumption.

[0028] In the above scheme: Since the fixed part 8.1 is connected to the lower end of the vertical moving frame 6 by the planar distributed springs 10, after the gripper assembly 11 grips the heavy part, the gripper assembly 11 and the rotating seat 8 will self-balance with the center of gravity of the heavy part under the action of the springs 10, so that the center of gravity of the heavy part is at or closer to the axis, reducing the off-center load of the gripper assembly 11, the rotating seat 8 and the vertical moving frame 6, thereby reducing the load of each drive mechanism, resulting in low energy consumption. In addition, the balance cylinder 12 is hinged to the hook 13, so that the rotating part 8.2 can adapt to the self-balancing action.

[0029] In the above scheme: Since the balance cylinder 12 is installed on the horizontal moving frame 6 and distributed around the rotating part 8.2, the gripper assembly 11, the rotating seat 8 and the vertical moving frame 6 are supported on the horizontal moving frame 4 by the balance cylinder 12. The balance cylinder 12 is equipped with an energy accumulator. Therefore, the balance cylinder 12 provides support for each vertical component when stationary, provides assistance for each vertical component when rising, provides buffer for each vertical component when descending, and avoids excessive skewness when self-balancing. In this way, the vertical moving frame drive mechanism 7 does not have to bear or bears less of the weight and gravitational acceleration, thereby greatly reducing the load on the vertical moving frame drive mechanism 7, resulting in low energy consumption and relatively safe self-balancing. Without the balance cylinder 12, firstly, the load on the vertical moving frame drive mechanism 7 would increase significantly, and it would consume a lot of energy whether stationary or in a lifting state; secondly, excessive skewness during self-balancing could easily cause the spring 10 to fail.

[0030] In the above scheme: because the lifting hook 13 and the rotating part 8.2 are in rolling contact, the load on the rotating drive mechanism 9 is greatly reduced, resulting in low energy consumption.

[0031] As described above, this heavy-duty robotic arm is adaptable to materials coming from all directions, making it convenient to grab heavy parts and stack them. It has high operating efficiency and significantly reduces equipment and operating costs, making it suitable for widespread use, especially in the heavy industry. It can grab, transfer and stack heavy parts such as tracked chassis.

[0032] Regarding the configuration of the longitudinal moving frame 2 and the longitudinal moving frame drive mechanism 3, there are many structures and drive schemes that can achieve longitudinal movement. This scheme prioritizes reliability and stability, and provides the following preferred examples: Figure 1 and Figure 2As shown, the longitudinal transfer frame drive mechanism 3 includes a first rack 3.1, a first motor 3.2, a first reducer 3.3, a first drive shaft 3.4, an end shaft 3.5, a first bearing seat 3.6, and a first gear 3.7. The first rack 3.1 is mounted on both sides of the top of the support frame 1. The first motor 3.2 and the first reducer 3.3 are mounted on the longitudinal transfer frame 2. The input end of the first reducer 3.3 is connected to the first motor 3.2, and the two output ends are connected to the two first drive shafts 3.4 respectively through the first universal joint 3.8. The two first drive shafts 3.4 are connected through the second universal joint 3.7. Two end shafts 3.5 are connected to the longitudinal frame 2 via first bearing seats 3.6. The first gear 3.7 is mounted on the end shafts 3.5 and meshes with the first rack 3.7 on the corresponding side. This rack and pinion drive structure is reliable. Due to the long span of the longitudinal frame 2, a first universal joint 3.8 and a second universal joint 3.9 are used to prevent jamming or failure during long-distance transmission and to reduce assembly difficulty. The first reducer 3.3 adopts a one-end input and two-end output structure to ensure synchronous drive on both sides. Both the first universal joint 3.8 and the second universal joint 3.9 are connected to their respective docking shafts via flanges. The main body of the longitudinal frame 2 is a frame structure welded from rectangular tubes, which is simple to manufacture. Lateral displacement limiting blocks 2.3 are provided at both ends of the longitudinal frame 2 to limit the travel of the transverse frame 4, improving safety. The longitudinal frame 2 is supported across the top of the support frame 1 by the first linear slide groove 2.1 and the first linear slide rail 1.1 that are fitted together, providing stable support while guiding, which is suitable for heavy-duty applications.

[0033] Regarding the configuration of the transverse frame 4 and the transverse frame drive mechanism 5, there are many structures and drive schemes that can achieve lateral movement. This scheme prioritizes reliability and stability, and provides the following preferred examples: Figure 1 and Figure 3As shown, the transverse frame drive mechanism 5 includes a second rack 5.1, a second motor 5.2, a second reducer 5.3, a second drive shaft 5.4, a second bearing seat 5.5, and a second gear 5.6. The second rack 5.1 is mounted on both sides of the top of the longitudinal frame 2. The second motor 5.2 and the second reducer 5.3 are mounted on the transverse frame 4. The input end of the second reducer 5.3 is connected to the second motor 5.2, and the two output ends are connected to the two second drive shafts 5.4 respectively through a third universal joint 5.7. The two second drive shafts 5.4 are mounted on both sides of the transverse frame 4 respectively through the second bearing seat 5.5. The second gear 5.6 is mounted on the second drive shaft 5.4 and meshes with the second rack 5.4 on the side it is on. This rack and pinion drive structure is relatively reliable, and the third universal joint 5.7 is provided to avoid transmission jamming or failure, while also reducing assembly difficulty. The second reducer 5.3 adopts a one-end input and two-end output structure to ensure synchronous drive on both sides. The third universal joint 5.7 is connected to the mating shaft through a flange. The transverse frame 4 is a simple frame structure made of welded rectangular tubes. It is supported on both sides of the top of the longitudinal frame 2 by interlocking second linear grooves 4.4 and second linear rails 2.2, providing guidance and stable support, making it suitable for heavy-duty applications.

[0034] Regarding the configuration of the vertical moving frame 6 and the vertical moving frame drive mechanism 7, there are many structures and drive schemes that can achieve vertical movement. This scheme prioritizes reliability and stability, and provides the following preferred examples: Figure 1 , Figure 3 and Figure 4 As shown, the vertical moving frame drive mechanism 7 includes a third rack 7.1, a third motor 7.2, a third reducer 7.3, a third drive shaft 7.4, a third bearing housing 7.5, and a third gear 7.6. The third rack 7.1 is mounted on the side of the vertical moving frame 6, while the third motor 7.2 and the third reducer 7.3 are mounted on the horizontal moving frame 4. The input end of the third reducer 7.3 is connected to the third motor 7.2, and the output end is connected to the third drive shaft 7.4. The third drive shaft 7.4 is mounted on the horizontal moving frame 4 via the third bearing housing 7.5, and the third gear 7.6 is mounted on the third drive shaft 7.4 and meshes with the third rack 7.1. This rack and pinion drive structure is relatively reliable because the transmission path is short, eliminating the need for a universal joint. The main body of the vertical moving frame 6 is a frame structure welded from metal plates, making it simple to manufacture. The vertical moving frame 6 has a pair of sides that engage with the middle of the horizontal moving frame 4 via a third linear slide groove 6.1 and a third linear slide rail 4.2, which guide the vertical moving frame 6 while maintaining its verticality, making it suitable for heavy-duty applications. The vertical moving frame 6 is also equipped with a vertical displacement limiting block 6.2 to limit its vertical travel, improving safety.

[0035] Regarding the configuration of the rotary drive mechanism 9, there are many drive schemes capable of rotation. This scheme prioritizes reliability and stability, and provides the following preferred examples: (e.g.) Figure 1 , Figures 4 to 7 As shown, the rotary drive mechanism 9 includes a gear ring 9.1, a fourth motor 9.2, a fourth reducer 9.3, a fourth drive shaft 9.4, a fourth bearing housing 9.5, and a fourth gear 9.6. The gear ring 9.1 is mounted on the outer ring of the rotating part 8.2. The fourth motor 9.2 and the fourth reducer 9.3 are mounted on the vertical moving frame 6. The input end of the fourth reducer 9.3 is connected to the fourth motor 9.2, and the output end is connected to the fourth drive shaft 9.4. The fourth drive shaft 9.4 is mounted on the vertical moving frame 6 via the fourth bearing housing 9.5. The fourth gear 9.6 is mounted on the fourth drive shaft 9.5 and meshes with the gear ring 9.1. The ring drive structure is relatively reliable. Due to the large size of the ring gear 9.1, there is a certain range of movement between the fourth gear 9.6 and the ring gear 9.1 when they mesh. When the ring gear 9.1 tilts due to self-balancing (under the action of the balance cylinder 12 and the limitation of the spring 10 itself, it will not tilt significantly), it does not affect the meshing state of the two. Of course, for a more reliable purpose, a universal joint can be installed between the fourth gear 9.6 and the fourth drive shaft 9.4, or the entire rotary drive mechanism 7 can be installed on the fixed part 8.1. However, this will generate a large off-center load and is not the optimal solution.

[0036] The hinge point between the balance cylinder 12 and the lifting hook 13 is a critical force-bearing node, such as... Figure 7 and Figure 8 As shown, a spherical bearing 16 can be installed at the hinge, which can reduce friction and facilitate installation, removal and replacement.

[0037] When the gripper assembly 11 is used for a long time or frequently, the number of rotations of the gripper assembly 11 will be relatively large, such as Figure 8 As shown, a strip 14 can be installed on the lower edge of the rotating part 8.2, and a bullseye bearing 15 can be installed on the hook 13. The strip 14 is supported on the bullseye bearing 15, which can reduce friction and facilitate loading, unloading and replacement.

[0038] In order to achieve an effective self-balancing effect, such as Figures 4 to 7 As shown, the spring 10 can be evenly distributed around the axis.

[0039] The gripper assembly 11 can adopt a common structure. In this embodiment, several grippers are simultaneously tightened and opened by driving components such as motors, electric push rods, hydraulic cylinders, and air cylinders to achieve gripping and releasing actions. The number of grippers and the selection of driving components are set according to actual needs and are not limited.

[0040] In the description of this application, 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, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] The embodiments described above are some, but not all, of the embodiments of this application. The detailed description of the embodiments of this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

Claims

1. A heavy-duty robotic arm with a rotating gripper, characterized in that: The system includes a support frame, a longitudinal transfer frame, a transverse transfer frame, a vertical transfer frame, a rotating base, a gripper assembly, and a balance cylinder. The support frame is raised off the ground, with a passageway underneath, allowing ground-based transport equipment to receive materials from different directions. The longitudinal transfer frame spans and supports the top of the support frame on both sides, and its longitudinal movement is achieved through a longitudinal transfer frame drive mechanism. The transverse transfer frame supports the top of the longitudinal transfer frame on both sides, and its lateral movement is achieved through a transverse transfer frame drive mechanism. The vertical transfer frame is fitted into the middle of the transverse transfer frame and passes downward through the middle of the longitudinal transfer frame, achieving vertical movement through a vertical transfer frame drive mechanism. The upper and lower parts of the rotating base are respectively assembled fixed and rotating parts. The fixed part is connected to the lower end of the vertical transfer frame by planar distributed springs, and the rotating part is connected through... Rotation is achieved through a rotary drive mechanism. The gripper assembly is located at the lower end of the rotating part. After the gripper assembly grabs the heavy part, the gripper assembly and the rotating seat will self-balance with the center of gravity of the heavy part under the action of the spring, so that the center of gravity of the heavy part is at or closer to the axis. The balance cylinder is mounted on the transverse frame and distributed around the rotating part. The balance cylinder passes downward through the middle of the longitudinal frame and the lower end is hinged to the lifting hook. The lifting hook supports the hook on the lower side of the edge of the rotating part and the two are in rolling contact. The gripper assembly, the rotating seat and the vertical frame are supported on the transverse frame by the balance cylinder. The balance cylinder has an accumulator. When the rotating part descends and drives the balance cylinder to extend, the accumulator stores energy and provides resistance. When the rotating part rises, the accumulator releases energy and provides assistance.

2. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The longitudinal transfer frame drive mechanism includes a first rack, a first motor, a first reducer, a first drive shaft, an end shaft, a first bearing housing, and a first gear. The first rack is installed on both sides of the top of the support frame. The first motor and the first reducer are installed on the longitudinal transfer frame. The input end of the first reducer is connected to the first motor, and the two output ends are connected to the two first drive shafts respectively through the first universal joint. The two first drive shafts are connected to the two end shafts respectively through the second universal joint. The two end shafts are installed on both sides of the longitudinal transfer frame respectively through the first bearing housing. The first gear is installed on the end shaft and meshes with the first rack on the side where it is located.

3. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The transverse frame drive mechanism includes a second rack, a second motor, a second reducer, a second drive shaft, a second bearing housing, and a second gear. The second rack is installed on both sides of the top of the longitudinal frame. The second motor and the second reducer are installed on the transverse frame. The input end of the second reducer is connected to the second motor, and the two output ends are connected to the two second drive shafts respectively through a third universal joint. The two second drive shafts are installed on both sides of the transverse frame respectively through the second bearing housing. The second gear is installed on the second drive shaft and meshes with the second rack on the side where it is located.

4. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The vertical moving frame drive mechanism includes a third rack, a third motor, a third reducer, a third transmission shaft, a third bearing housing, and a third gear. The third rack is installed on the side of the vertical moving frame, and the third motor and the third reducer are installed on the horizontal moving frame. The input end of the third reducer is connected to the third motor, and the output end is connected to the third transmission shaft. The third transmission shaft is installed on the horizontal moving frame through the third bearing housing, and the third gear is installed on the third transmission shaft and meshes with the third rack.

5. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The rotary drive mechanism includes a gear ring, a fourth motor, a fourth reducer, a fourth drive shaft, a fourth bearing housing, and a fourth gear. The gear ring is mounted on the outer ring of the rotating part. The fourth motor and the fourth reducer are mounted on the vertical moving frame. The input end of the fourth reducer is connected to the fourth motor, and the output end is connected to the fourth drive shaft. The fourth drive shaft is mounted on the vertical moving frame through the fourth bearing housing. The fourth gear is mounted on the fourth drive shaft and meshes with the gear ring.

6. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: A strip is installed on the lower edge of the rotating part, and a bullseye bearing is installed on the hook. The strip is supported on the bullseye bearing.

7. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: A spherical bearing is installed at the hinge between the balance cylinder and the lifting hook.

8. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The springs are evenly distributed around the axis.

9. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The longitudinal frame is supported across the top of the support frame by a first linear slide groove and a first linear slide rail that fit together; the transverse frame is supported on the top of the longitudinal frame by a second linear slide groove and a second linear slide rail that fit together; a pair of sides of the vertical frame are engaged with the middle of the transverse frame by a third linear slide groove and a third linear slide rail that fit together.

10. The heavy-duty robotic arm with rotating gripper as described in claim 1, characterized in that: The longitudinal frame is equipped with lateral displacement limiting blocks at both ends to limit the travel of the transverse frame; the vertical frame is equipped with vertical displacement limiting blocks to limit the vertical travel.

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