Novel six-degree-of-freedom heavy load handling assembly industrial robot

Abstract

The present application relates to a kind of novel six-degree-of-freedom heavy load handling assembly industrial robots, including base and installing plumb joint axle waist seat component on base, screw sliding block drive unit and swing arm component are coupled with plumb joint axle waist seat component rotary pair, connecting rod is coupled with plumb joint axle waist seat component rotary pair, translational seat component is installed on swing arm component front end rotary pair, and is coupled with connecting rod rotary pair, constitute parallelogram mechanism, rotary arm component is coupled with translational seat component plumb joint pair, wrist arm component is installed on rotary arm component front end rotary shaft pair, wrist seat component is installed on wrist arm component front end rotary shaft pair, output flange one and output flange two are located on two adjacent surfaces of wrist seat component respectively, and axis is perpendicular to each other.Using the device disclosed in the present application, pose adjustment can be carried out in a small confined space, motion interference can be avoided, and heavy load handling assembly component handling and assembly application can be realized.

Description

Technical Field

[0001] This invention belongs to the field of multi-joint industrial robot technology, specifically relating to a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot. Background Technology

[0002] As a type of flexible machine device with multiple degrees of freedom, industrial robots can replace human labor in performing long-term, high-intensity, repetitive tasks under various complex working conditions and in high-risk and hazardous environments, executing tasks with a high degree of automation. They have broad market and application prospects in fields such as heavy-duty material handling, auxiliary assembly, welding, cutting, and grinding.

[0003] With the widespread application of industrial robots in various industrial sectors, new demands have emerged. Taking heavy-duty handling and assembly assistance as examples, existing heavy-duty industrial robots are limited by their structural characteristics, making them unsuitable for tasks such as top-mounted assembly and handling in mezzanine spaces. Furthermore, the wrist posture range and turning torque of existing heavy-duty industrial robots are relatively small compared to their weight-bearing capacity, making them unsuitable for applications requiring heavy-duty workpieces to be flipped and assembled. From an application perspective, the assembly of workpieces weighing over 300 kg requires mechanical power devices to assist manual operation. The application of heavy-duty industrial robots for human-robot interaction and assembly assistance is almost nonexistent in these industries, and the compatibility of traditional heavy-duty industrial robots with specific production processes makes it difficult to achieve the desired application objectives and effects. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot. This robot features a large wrist posture space, an end effector capable of meeting the application requirements for flipping and assembling large, heavy workpieces, and a horizontally rotating front arm that minimizes the vertical assembly space required. Its functional design meets the needs of human-machine interaction, achieving a deep integration of heavy-duty industrial robots with application processes. This facilitates the promotion of industrial robots to specialized industrial applications and represents a significant revolutionary advancement over existing industrial robots. It minimizes assembly space usage, enabling top-mounted assembly and handling in mezzanine spaces. It is suitable for applications involving flipping and assembling large, heavy workpieces, primarily for handling and assembling products weighing 300-1000 kg, achieving spatial assembly applications in any spatial position and posture. Furthermore, its functional design meets the needs of human-machine interaction, achieving a deep integration of heavy-duty industrial robots with application processes, representing an important development direction for heavy-duty handling and assembly robots.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot, comprising a base, a vertical joint axis waist seat component, a lead screw and slider drive unit, a swing arm component, a connecting rod, a translational seat component, a rotary arm component, a wrist arm component, a wrist seat component, an output flange one, and an output flange two.

[0006] The vertical joint axis waist seat component is mounted on the base and rotates around the base to construct the robot's first joint pair;

[0007] The lead screw and slider drive unit and the swing arm component are connected to the rotary joint of the vertical joint axis waist seat component to form a rocker slider mechanism, which drives the swing arm component to pitch and swing around the horizontal rotary joint mounted on the vertical joint axis waist seat component, thus constructing the second joint of the robot.

[0008] The translational seat component is mounted on the front rotary joint of the swing arm component. The connecting rod is connected to the vertical joint axis waist seat component and the rotary joint of the translational seat component respectively, forming a parallelogram mechanism. The translational seat component maintains translational motion, thus constructing the robot's third joint.

[0009] The rotary arm component is connected to the vertical joint of the translational seat component to form the fourth joint of the robot. The rotary axis of the front end of the rotary arm component is parallel to the axis of the vertical joint of the translational seat component, so that the rotary axis can move in three dimensions in the Cartesian coordinate system while changing its motion posture around the vertical joint axis.

[0010] The wrist arm component is mounted on the front rotary axis of the rotary arm component. The front rotary axis of the wrist arm component is horizontal and perpendicularly intersects the front rotary axis of the rotary arm component at a point, thus forming the fifth joint of the robot.

[0011] The wrist support component is mounted on the front rotary shaft of the rotary arm component. The front rotary shaft of the wrist support component and the front rotary shaft of the wrist arm component are perpendicularly orthogonal to a point, forming the sixth joint of the robot.

[0012] The output flange is installed perpendicular to the front rotary shaft of the wrist support component to realize the handling and assembly of disc-shaped workpieces, thus constructing the robot's seventh joint.

[0013] The output flange 2 is coaxially mounted with the front rotary shaft of the bracket component, enabling the infinite rotation, handling, and assembly of shaft-type workpieces around the axis.

[0014] The vertical joint axis waist seat component is mounted on the base and rotates around the base. The lead screw and slider drive unit is mounted on the vertical joint axis waist seat component. The lead screw and slider drive unit, the swing arm component, and the connecting rod are connected to the rotary joint of the vertical joint axis waist seat component. The translational seat component is mounted on the rotary joint at the front end of the swing arm component. The rotary arm component is connected to the vertical joint of the translational seat component. The wrist arm component is mounted on the rotary shaft joint at the front end of the rotary arm component. The wrist seat component is mounted on the rotary shaft joint at the front end of the rotary arm component. The first output flange is vertically mounted on the rotary shaft joint at the front end of the wrist seat component. The second output flange is coaxially mounted with the rotary shaft joint at the front end of the wrist seat component.

[0015] Furthermore, the lead screw and slider drive unit and the swing arm component are connected to the rotary joint of the vertical joint axis waist seat component to form a rocker-slider mechanism, thereby driving the swing arm component to pitch and swing around the horizontal rotary joint mounted on the vertical joint axis waist seat component.

[0016] Furthermore, the translational seat component is mounted on the front rotary joint of the swing arm component, and the connecting rod is connected to the vertical joint axis waist seat component and the rotary joint of the translational seat component respectively. The vertical joint axis waist seat component, the swing arm component, the connecting rod and the translational seat component form a parallelogram mechanism, and the translational seat component maintains translational motion.

[0017] Furthermore, the rotary arm component is connected to the vertical joint of the translational seat component, and the rotary shaft at the front end of the rotary arm component is parallel to the rotary drive axis of the translational seat component, so that the rotary shaft can move in three dimensions in the Cartesian coordinate system while changing its motion posture around the vertical joint axis.

[0018] Furthermore, the wrist arm component is mounted on the front end rotation shaft of the rotary arm component, and the front end rotation axis of the wrist arm component is horizontal and perpendicularly orthogonal to the front end rotation axis of the rotary arm component at a point.

[0019] Furthermore, the wrist seat component is mounted on the front end rotation shaft of the wrist arm component, and the front end rotation shaft of the wrist seat component and the front end rotation shaft of the wrist arm component are perpendicularly orthogonal at a point.

[0020] Furthermore, the output flange is vertically mounted on the front rotary shaft of the wrist support component to realize the handling and assembly of disc-shaped workpieces.

[0021] Furthermore, the second output flange is coaxially mounted with the front rotary shaft of the wrist seat component to enable the infinite rotation, handling, and assembly of shaft-type workpieces around the axis.

[0022] Furthermore, the first output flange and the second output flange are respectively located on two adjacent surfaces of the wrist rest component.

[0023] Furthermore, the axes of the first output flange and the second output flange are perpendicular to each other.

[0024] The beneficial technical effects of this invention are as follows: This invention discloses a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot that occupies minimal assembly space, enabling top-mounted assembly and handling assembly in mezzanine spaces; it is suitable for applications involving the flipping and assembly of large, heavy workpieces, achieving spatial assembly applications in any spatial position and posture; and its functional design meets the needs of human-machine interaction, achieving a deep integration of heavy-duty industrial robots and application processes. It fills a technological gap in the domestic and international applications of heavy-duty industrial robots for assisted assembly.

[0025] The beneficial technical effects of this invention also lie in the following: The novel six-degree-of-freedom heavy-duty handling and assembly industrial robot adopts a 6-axis, 7-joint mechanism, with an R⊥R∥R⊥R∥R⊥R⊥R joint arrangement, achieving decoupling of robot position and attitude, thereby enabling operation applications in the Cartesian coordinate system. This expands the robot's working range and provides a Cartesian coordinate robot programming environment. It facilitates operation while meeting the requirements for production applications under offline parametric programming conditions. This expands the application scenarios of industrial robots from flexible tool applications to intelligent flexible process equipment applications, thereby realizing the application of specialized industrial robot products integrated with production processes.

[0026] It also has significant methodological advantages in optimizing robot kinematics and dynamics algorithms and application functions. The analytical solution algorithm for robot inverse kinematics is concise, has a small program memory footprint, and fast computation speed. This enables the realization of the robot application advantages and features claimed in this invention. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot according to an embodiment of the present invention;

[0028] Figure 2 This is a front view of a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot according to an embodiment of the present invention;

[0029] Figure 3 This is a top view of a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot according to an embodiment of the present invention;

[0030] Among them: 1-base, 2-vertical joint shaft waist seat component, 201-waist seat, 202-slewing bearing, 203-transmission device, 204-first RV reducer, 205-first servo motor, 3-lead screw slider drive unit, 301-nut seat, 302-lead screw pair, 303-transmission seat, 304-second servo motor, 305-bearing slewing pair, 4-swing arm component, 401-swing arm slewing device, 402-swing arm, 403-front end slewing pair, 5-connecting rod, 6-translational seat component, 601 - Translational base, 602- Rotary drive, 603- Reduction gear, 604- Third servo motor, 7- Rotary arm assembly, 701- Rotary arm, 702- Fourth servo motor, 703- Fourth RV reducer, 8- Wrist arm assembly, 801- Rotary drive, 802- Fifth reduction gear, 803- Fifth servo motor, 9- Wrist support assembly, 901- Wrist support, 902- Sixth RV reducer, 903- Sixth servo motor, 10- Output flange one, 11- Output flange two, 1101- Connecting shaft. Detailed Implementation

[0031] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] like Figure 1 As shown, this embodiment of the invention provides a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot, including a base 1, a vertical joint axis waist seat component 2, a lead screw and slider drive unit 3, a swing arm component 4, a connecting rod 5, a translational seat component 6, a rotary arm component 7, a wrist arm component 8, a wrist seat component 9, an output flange one 10, and an output flange two 11.

[0034] The vertical joint axis waist support component 2 is mounted on the base 1 and rotates around the base 1 to form the robot's first joint pair. The vertical joint axis waist support component 2 includes a waist support 201, a slewing bearing 202, a transmission device 203, a first RV reducer 204, and a first servo motor 205.

[0035] The lead screw and slider drive unit 3 is mounted on the vertical joint axis waist seat component 2. The lead screw and slider drive unit 3 includes a nut seat 301, a lead screw pair 302, a transmission seat 303, a second servo motor 304, and a bearing swivel pair 305. The swing arm component 4 includes a swing arm swivel device 401, a swing arm 402, and a front end swivel pair 403. The swing arm component 4 and the lead screw and slider drive unit 3 are connected to the swivel pair of the vertical joint axis waist seat component 2 to form a rocker-slider mechanism. The lead screw and slider drive unit 3 drives the swing arm component 4 to pitch and swing around the swing arm swivel device 401 mounted on the vertical joint axis waist seat component 2, thus constructing the second joint pair of the robot.

[0036] The translational seat component 6 consists of a translational seat 601, a rotary drive 602, a third reduction gear 603, and a third servo motor 604. The translational seat component 6 is mounted on the rotary joint 403 at the front end of the swing arm component 4. The connecting rod 5 is connected to the rotary joint of the vertical joint axis waist seat component 2 and the translational seat component 6, respectively. The swing arm component 4, the connecting rod 5, the vertical joint axis waist seat component 2, and the translational seat component 6 form a parallelogram mechanism. The translational seat component 6 maintains translational motion, thus constructing the robot's third joint.

[0037] The rotary arm component 7 includes a rotary arm 701, a fourth servo motor 702, and a fourth RV reducer 703. The rotary arm component 7 is fixedly connected to the output end of the rotary drive 602 of the translational seat component 6, forming the fourth joint pair of the robot. The axis of the fourth RV reducer 703 at the front end of the rotary arm component 7 is parallel to the axis of the rotary drive 602 of the translational seat component 6, so that the rotary joint can move in three dimensions in the Cartesian coordinate system while changing its motion posture around the vertical joint axis.

[0038] The wrist arm component 8 includes a rotary drive 801, a fifth reduction gear 802, and a fifth servo motor 803. The wrist arm component 8 is installed at the output end of the fourth RV reducer 703 at the front end of the rotary arm component 7, forming the fifth joint of the robot. The axis of the rotary drive 801 at the front end of the wrist arm component 8 is horizontal and perpendicular to the axis of the fourth RV reducer 703 at the front end of the rotary arm component 7, intersecting at a point.

[0039] The wrist support component 9 includes a wrist support 901, a sixth RV reducer 902, and a sixth servo motor 903. The wrist support component 9 is mounted on the output end of the rotary drive 801 at the front end of the wrist arm component 8. The axis of the sixth RV reducer 902 at the front end of the wrist support component 9 is perpendicular to and intersects with the axis of the rotary drive 801 at the front end of the wrist arm component 8 at a point, thus forming the sixth joint pair of the robot.

[0040] The rotary drive 801 at the front end of the wrist arm component 8 has a load capacity far exceeding that of traditional machine RV joints, enabling the flipping and assembly of heavy-duty components and achieving + / -180 degree posture changes.

[0041] The output flange 10 is installed at the output end of the sixth RV reducer 902 at the front end of the wrist support component 9. Its tool mounting surface is perpendicular to the axis of the sixth RV reducer 902, realizing the handling and assembly of disc-shaped workpieces, and constructing the seventh joint pair of the robot.

[0042] The output flange-10 is used to mount disc-type components, enabling + / -180 degree attitude changes. This increases the robot's working range.

[0043] The output flange 21 is coaxially mounted with the output end of the sixth RV reducer 902 at the front end of the bracket component 9 via the connecting shaft 1101, so as to realize the infinite rotation, handling and assembly of shaft-type workpieces around the axis.

[0044] Output flange 211 is used to install shaft-type workpieces, enabling the shaft-type workpieces to rotate infinitely around the axis for transport and assembly, thus realizing advanced processing applications.

[0045] Output flange 10 and output flange 21 are located on two adjacent surfaces of the bracket component 9, and the axes of output flange 10 and output flange 21 are perpendicular to each other.

[0046] This invention provides a novel six-degree-of-freedom heavy-duty handling and assembly industrial robot. It employs a 6-axis, 7-joint mechanism with an R⊥R∥R⊥R∥R⊥R⊥R joint arrangement, achieving decoupling of robot position and attitude, thereby enabling operational applications in the robot's Cartesian coordinate system.

[0047] Assuming the robot's base coordinate system Z-axis is perpendicular to the ground, an XY plane coordinate system is established on the ground plane according to the right-hand rule. The translational base component 6 can achieve XYZ three-axis movement in the Cartesian coordinate system while maintaining its posture. The fourth and fifth joint pairs constructed by the rotary arm component 7 mounted on the translational base component 6 are parallel to the axis of the first joint pair constructed by the vertical joint axis waist seat component 2, forming a three-parallel-axis joint feature, which enables the robot's end effector to have a simple kinematic analytical solution.

[0048] As can be seen from the above embodiments, the novel six-degree-of-freedom heavy-duty handling and assembly industrial robot disclosed in this invention can achieve top-mounted assembly and handling assembly in mezzanine spaces with minimal space occupation; it meets the application scenarios of flipping and assembling large, unbalanced workpieces, and realizes spatial assembly applications in any spatial position and posture; moreover, its functional design meets the needs of human-machine interaction applications, realizing a deep integration of heavy-duty industrial robots and application processes. It fills the technological gap in the domestic and international applications of heavy-duty industrial robots for assisted assembly.

[0049] It also has significant methodological advantages in optimizing robot kinematics and dynamics algorithms and application functions. The analytical solution algorithm for robot inverse kinematics is concise, has a small program memory footprint, and fast computation speed. This enables the realization of the robot application advantages and features claimed in this invention.

[0050] The device described in this invention is not limited to the embodiments described in the specific implementation. Other implementation methods derived by those skilled in the art based on the technical solution of this invention also fall within the scope of technical innovation of this invention.

Claims

1. A novel six-degree-of-freedom heavy-duty handling and assembly industrial robot, characterized in that: Includes a base, a vertical joint axis waist seat assembly, a lead screw and slider drive unit, a swing arm assembly, a connecting rod, a translation seat assembly, a rotary arm assembly, a wrist arm assembly, a wrist seat assembly, output flange one, and output flange two; The vertical joint axis waist seat component is mounted on the base and rotates around the base. The lead screw and slider drive unit is mounted on the vertical joint axis waist seat component. The lead screw and slider drive unit, the swing arm component, and the connecting rod are connected to the rotary joint of the vertical joint axis waist seat component. The translational seat component is mounted on the rotary joint at the front end of the swing arm component. The rotary arm component is connected to the vertical joint of the translational seat component. The wrist arm component is mounted on the rotary shaft joint at the front end of the rotary arm component. The wrist seat component is mounted on the rotary shaft joint at the front end of the rotary arm component. Output flange one is vertically mounted on the rotary shaft joint at the front end of the wrist seat component to realize the handling and assembly of disc-shaped workpieces. Output flange two is coaxially mounted with the rotary shaft joint at the front end of the wrist seat component to realize the infinite rotation handling and assembly of shaft-shaped workpieces around the axis. Output flange one and output flange two are respectively located on two adjacent surfaces of the wrist seat component.

2. The novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 1, characterized in that: The lead screw and slider drive unit and the swing arm component are connected to the rotary joint of the vertical joint axis waist seat component to form a rocker-slider mechanism, which in turn drives the swing arm component to pitch and swing around the horizontal rotary joint mounted on the vertical joint axis waist seat component.

3. The novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 1, characterized in that: The translational seat component is mounted on the front rotary joint of the swing arm component. The connecting rod is connected to the vertical joint axis waist seat component and the rotary joint of the translational seat component respectively. The vertical joint axis waist seat component, the swing arm component, the connecting rod and the translational seat component form a parallelogram mechanism. The translational seat component maintains translational motion.

4. The novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 1, characterized in that: The rotary arm component is connected to the vertical joint of the translational seat component. The rotary shaft at the front end of the rotary arm component is parallel to the axis of the vertical joint of the translational seat component, so that the rotary shaft can move in three dimensions in the Cartesian coordinate system while changing its motion posture around the axis of the vertical joint.

5. A novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 1, characterized in that: The wrist arm component is mounted on the front end of the rotary arm component's rotary shaft pair. The front end of the wrist arm component's rotary axis is horizontal and perpendicularly intersects the front end of the rotary arm component's rotary axis at a single point.

6. A novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 5, characterized in that: The wrist support component is mounted on the front end rotating shaft of the wrist arm component, and the front end rotating shaft of the wrist support component and the front end rotating shaft of the wrist arm component are perpendicularly orthogonal at a point.

7. A novel six-degree-of-freedom heavy-duty handling and assembly industrial robot as described in claim 1, characterized in that: Furthermore, the axes of the first output flange and the second output flange are perpendicular to each other.

Images