Novel seven-degree-of-freedom industrial robot

Abstract

The present application relates to a novel seven-degree-of-freedom industrial robot, comprising three vertical joint shaft components, a first vertical joint shaft component is arranged on a mounting base, the first vertical joint shaft component is connected with a second vertical joint shaft component through a rotary arm rod component, the second vertical joint shaft component is connected with a rotary swing base component and a horizontal joint shaft component; a third vertical joint shaft component is arranged on a translational base component, a connecting rod component is arranged between the rotary swing base component and the translational base component, a rocker arm component is arranged between the horizontal joint shaft component and the translational base component; a redundant joint shaft component is arranged on the third vertical joint shaft component, a hollow joint shaft component and a wrist arm component are arranged on the redundant joint shaft component, an execution tool is arranged on the wrist arm component, the rotary swing base component, the connecting rod component, the translational base component and the rocker arm component form a parallelogram mechanism, by using the device disclosed in the present application, pose adjustment can be performed in a narrow space, motion interference can be avoided, and there is no problem of welding cable winding.

Description

Technical Field

[0001] This invention belongs to the field of multi-joint industrial robot technology, specifically relating to a novel seven-degree-of-freedom 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 welding, cutting, handling, assembly, and grinding.

[0003] With the widespread adoption and application of industrial robots across various industrial sectors, new challenges have emerged. Taking container welding as an example, this involves numerous fields such as petroleum, chemical, gas, power, shipbuilding, marine engineering, nuclear power, municipal engineering, pharmaceuticals, food, and water treatment. The types of welded pipe components are diverse, and due to limitations in welding space and processes, most welds are closed-track welds, requiring the robot's welding torch to rotate continuously and infinitely around the axis of the pipe being welded, involving multi-layer and multi-pass welding. Overcoming the problem of welding cable entanglement is crucial. Traditional industrial robots, however, are not well-suited to specific production processes, making it difficult to achieve the desired application objectives and effects. The market has placed new demands on the workspace and posture range of the end effector joints of industrial robots. Furthermore, because the workpieces being welded are large and heavy, limiting their flexibility, more flexible robot arm postures are needed to avoid obstacles and adapt to different production conditions. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a novel seven-degree-of-freedom industrial robot. Compared to six-axis industrial robots, it offers greater positional space and more flexible arm posture to adapt to different production environments. The robot's end effector can perform pitch and yaw movements, enabling continuous and infinite rotation around a virtual axis without cable entanglement. This allows for unlimited position and posture adjustments, meeting the requirements for offline parametric programming. This facilitates the promotion of industrial robots to specialized industrial applications and represents a significant revolutionary advancement over existing industrial robots.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a novel seven-degree-of-freedom industrial robot, comprising a mounting base, a first vertical joint axis component, a second vertical joint axis component, a third vertical joint axis component, a redundant joint axis component, a horizontal joint axis component, a hollow joint axis component, and an output joint axis component.

[0006] The first vertical joint shaft component is disposed on the mounting base, and a rotary arm component is fixedly connected between the first vertical joint shaft component and the second vertical joint shaft component. A rotary swing seat component is disposed at the output end of the second vertical joint shaft component, and the horizontal joint shaft component is disposed on the rotary swing seat component.

[0007] The third vertical joint shaft component is disposed on the translational seat component, a connecting rod component is disposed between the rotary swing seat component and the translational seat component, and a rocker arm component is disposed between the horizontal joint shaft component and the translational seat component;

[0008] The redundant joint shaft component is disposed at the output end of the third vertical joint shaft component, the hollow joint shaft component is disposed at the output end of the redundant joint shaft component, a wrist arm component is disposed at the output shaft end of the hollow joint shaft component, the end of the wrist arm component includes the output joint shaft component, an execution tool is disposed at the output end of the output joint shaft component, and a cable assembly is disposed on the rotary arm component and the rotary swing seat component.

[0009] The first vertical joint axis component, the second vertical joint axis component, and the third vertical joint axis component are parallel to each other. The axis of the second vertical joint axis component is perpendicular to the axis of the horizontal joint axis component. The rotary swing seat component, the connecting rod component, the translational seat component, and the rocker arm component constitute a parallelogram mechanism.

[0010] Furthermore, the hollow joint shaft component and the wrist arm component move in the XY plane of the Cartesian coordinate system.

[0011] Furthermore, the output joint shaft component is perpendicular to the axis of the hollow joint shaft component and intersects at a single point.

[0012] Furthermore, the third vertical joint axis component, the redundant joint axis component, the hollow joint axis component, and the output joint axis component work together to enable the execution tool to move around a spatial virtual axis.

[0013] Furthermore, the slewing boom component adopts a crank arm structure.

[0014] Furthermore, the first vertical joint shaft component, the second vertical joint shaft component, and the third vertical joint shaft component all include a servo motor and an RV reduction device. The servo motor is a shaft joint servo motor, and the third vertical joint shaft component also includes a translational seat.

[0015] Furthermore, the slewing seat component is made of a material that is heavier than the slewing arm component.

[0016] Furthermore, the hollow joint shaft component includes a hollow shaft joint seat, a fifth servo motor, a fifth RV reduction gear, and a hollow output shaft.

[0017] Furthermore, the wrist arm component includes a cast aluminum wrist arm and an output joint shaft component.

[0018] Furthermore, the output joint shaft component includes a sixth servo motor, a gear transmission device, and a sixth RV reduction device.

[0019] The beneficial technical effects of this invention are as follows: The novel seven-degree-of-freedom industrial robot disclosed in this invention has a more flexible arm position and posture, adapts to production conditions, meets the welding needs of various types of parts, and the robot's welding torch can continuously and infinitely rotate around the axis of the pipe being welded, enabling multi-layer and multi-pass welding, avoiding the problem of welding cable entanglement, and filling the technical gap in the application of existing serial joint seven-axis industrial robots in specific spatial position and posture for welding container products.

[0020] It meets the requirements of closed-track welding of dense saddle-shaped pipe bundles for container products. The robot end tool has no dead angles in position or posture in the working area, and can construct the welding gun position and posture required for welding in a small enclosed space.

[0021] Meeting the requirements of 5G all-position welding of tube sheets for container products, tube sheet welding for container products is large and extensive. Unlike existing tube sheet welding robot equipment, industrial robots only serve as handling carriers and are combined with special welding devices to achieve industrialized welding. The industrial robot product clamping welding gun tool disclosed in this invention can be directly applied to achieve 5G all-position welding of tube sheets.

[0022] This technology decouples robot position and posture, expanding the robot's working range and providing 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 tooling to intelligent flexible process equipment, thereby enabling specialized industrial robot products integrated with production processes.

[0023] 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

[0024] Figure 1 This is a three-dimensional structural diagram of a novel seven-degree-of-freedom industrial robot according to an embodiment of the present invention;

[0025] Figure 2 This is a front view of a novel seven-degree-of-freedom industrial robot as shown in an embodiment of the present invention;

[0026] Figure 3 This is a top view of a novel seven-degree-of-freedom industrial robot as shown in an embodiment of the present invention;

[0027] Among them: 1-Mounting base, 2-First vertical joint shaft component, 201-First servo motor, 202-First RV reduction device, 3-Rotating arm component, 4-Second vertical joint shaft component, 401-Second servo motor, 402-Second RV reduction device, 5-Rotating swing seat component, 6-Horizontal joint shaft component, 601-Third servo motor, 602-Third RV reduction device, 7-Rocker arm component, 8-Linkage component, 9-Translation seat component, 10-Third vertical joint shaft component, 1001-Translation seat, 1002-Fourth servo motor, 1003-Fourth RV reducer, 11-hollow joint shaft component, 1101-hollow shaft joint seat, 1102-fifth servo motor, 1103-fifth RV reducer, 1104-hollow output shaft, 12-arm component, 1201-cast aluminum arm, 13-output joint shaft component, 1301-sixth servo motor, 1302-gear transmission device, 1303-sixth RV reducer, 14-actuating tool, 15-redundant joint shaft component, 1501-connecting seat, 1502-redundant shaft servo motor, 1503-redundant shaft RV reducer, 16-cable assembly. Detailed Implementation

[0028] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0029] Example 1

[0030] like Figure 1As shown, this embodiment of the invention provides a novel seven-degree-of-freedom industrial robot, including a mounting base 1, a first vertical joint axis component 2 mounted on the mounting base 1, a rotary arm component 3 fixedly connected to the first vertical joint axis component 2, a second vertical joint axis component 4 mounted at the end of the rotary arm component 3, a rotary swing seat component 5 mounted at the output end of the second vertical joint axis component 4, a horizontal joint axis component 6 mounted on the rotary swing seat component 5, a rocker arm component 7 mounted at the output end of the horizontal joint axis component 6, a translational seat component 9 mounted at the end of the rocker arm component 7 and connected to the rotary joint of the rocker arm component 7, and a translational seat component 9 mounted on the rotary swing seat component 5. The components include a connecting rod component 8 on the translational seat component 9, a third vertical joint shaft component 10 mounted on the translational seat component 9, a redundant joint shaft component 15 mounted on the output end of the third vertical joint shaft component 10, a hollow joint shaft component 11 mounted on the output end of the redundant joint shaft component 15, a carpal component 12 mounted on the output shaft end of the hollow joint shaft component 11, an output joint shaft component 13 mounted on the end of the carpal component 12, an actuating tool 14 mounted on the output end of the output joint shaft component 13, and a cable assembly 16. The output joint shaft component 13 mounted on the end of the carpal component 12 is perpendicular to the axis of the hollow joint shaft component 11 and intersects at a point.

[0031] The mounting base 1 is used to fix the robot. The first vertical joint axis component 2 is used to drive the rotary arm component 3 to rotate. The rotary arm component 3 is used to connect the first vertical joint axis component 2 and the second vertical joint axis component 4. The second vertical joint axis component 4 is used to drive the rotary swing seat component 5 to rotate. The rotary swing seat component 5 is used to mount the horizontal joint axis component 6 and the connecting rod component 8. The horizontal joint axis component 6 is used to drive the rocker arm component 7 to rotate. The rocker arm component 7 is connected to the translational seat component 9 via a rotary joint.

[0032] like Figure 2 As shown, the translational seat component 9 is used to mount the third vertical joint shaft component 10. The translational seat component 9 is connected to the rocker arm component 7 and the connecting rod component 8 via a rotary joint. The translational seat component 9, the rotary swing seat component 5, the rocker arm component 7, and the connecting rod component 8 form a parallelogram mechanism, maintaining translation during movement. The third vertical joint shaft component 10 is used to drive the redundant joint shaft component 15 to rotate. The redundant joint shaft component 15 is used to drive the hollow joint shaft component 11 to rotate. The hollow joint shaft component 11 is used to drive the wrist arm component 12 to rotate. The wrist arm component 12 is used to mount the output joint shaft component 13. The output joint shaft component 13 is used to drive the end effector 14 to rotate. The end effector 14 includes a straight shank welding torch, a cutting torch, a spray gun, etc. The end effector 14 has a welding cable connected to its tail. When using continuous rotation, it is necessary to ensure that the welding cable is not tangled.

[0033] The novel seven-degree-of-freedom industrial robot provided in this embodiment of the invention adopts a 7-axis, 8-joint mechanism, with the robot joints arranged in a R∥R⊥R∥R⊥R⊥R⊥R⊥R joint configuration. The axes of the first vertical joint axis component 2 and the second vertical joint axis component 4 are parallel; the axis of the second vertical joint axis component 4 is perpendicular to the axis of the horizontal joint axis component 6. The rotary swing base component 5, the rocker arm component 7, the translational base component 9, and the connecting rod component 8 constitute a parallelogram mechanism.

[0034] 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 seat component 9 can achieve XYZ three-axis movement in the Cartesian coordinate system while maintaining its posture. The third vertical joint axis component 10 is parallel to the axes of the first vertical joint axis component 2 and the second vertical joint axis component 4, forming a three-parallel-axis joint feature, which enables the robot's end effector to have a simple kinematic analytical solution.

[0035] The hollow joint axis component 11 and the wrist arm component 12 move in the XY plane in the Cartesian coordinate system, enabling redundant arm applications for pen-shaped tools (straight shank welding torches, cutting torches, spray guns, etc.). The output joint axis component 13 is perpendicular to the axis of the hollow joint axis component 11 and intersects at a point, enabling the pitch and yaw motion of the end effector in the Cartesian coordinate system. The third vertical joint axis component 10, the redundant joint axis component 15, the hollow joint axis component 11, and the output joint axis component 13 work together to enable the end effector 14 to move around a spatial virtual axis, realizing the application characteristic of the robot end effector 14 to continuously and infinitely rotate around the virtual axis without the entanglement of welding cables.

[0036] The rotating arm component 3 adopts a curved arm structure, which allows space for the movement of other robot components, facilitates in-situ folding of the arm robot, and makes transportation convenient.

[0037] The vertical joint shaft component 2 includes a first servo motor 201 and a first RV reduction gear 202; the rotary arm component 3, which is fixedly connected to the vertical joint shaft component 2, adopts a cast aluminum arm structure; the second vertical joint shaft component 4 includes a second servo motor 401 and a second RV reduction gear 402.

[0038] like Figure 3 As shown, the rotary swing base component 5 is made of cast iron, and the horizontal joint shaft component 6 includes a third servo motor 601 and a third RV reduction gear 602. By using a heavier material for the rotary swing base component 5 than for the rotary arm component 3, the coordination of the robot's dynamic performance is improved.

[0039] The third vertical joint shaft component 10 includes a translational seat 1001, a fourth servo motor 1002, and a fourth RV reduction device 1003. The fourth servo motor 1002 is a shaft joint servo motor.

[0040] The redundant joint axis component 15 includes a connecting seat 1501, a redundant axis servo motor 1502, and a redundant axis RV reduction gear 1503.

[0041] The hollow joint shaft component 11 includes a hollow shaft joint seat 1101, a fifth servo motor 1102, a fifth RV reduction gear 1103, and a hollow output shaft 1104.

[0042] The wrist arm component 12 is mounted on the hollow output shaft 1104. The wrist arm component 12 includes a cast aluminum wrist arm 1201 and an output joint shaft component 13. The output joint shaft component 13 includes a sixth servo motor 1301, a gear transmission device 1302, and a sixth RV reduction device 1303. An execution tool 14 is mounted at the end of the output joint shaft component 13. The cable assembly 16 is fixed to the rotary arm component 3 and the rotary swing seat component 5.

[0043] As can be seen from the above embodiments, the novel seven-DOF industrial robot disclosed in this invention can achieve decoupling of position and posture in a serial articulated robot, enabling independent adjustment of the robot's position and posture, and improving the reachability of any position and posture within the robot's motion space. The robot's end effector can be arbitrarily adjusted in a 360-degree spherical space, allowing it to rotate around the workpiece in confined spaces and avoid motion interference. The end effector's output axis gripping tool can perform pitch and yaw movements, thus achieving continuous infinite rotation around a virtual axis without cable entanglement, avoiding cable entanglement problems. It meets the requirements for offline parametric programming, promoting the application of industrial robots to specialized industrial applications. It can achieve continuous infinite rotation welding of container nozzle components and can be applied under offline parametric programming conditions. Furthermore, the robot's kinematic performance is significantly improved, possessing the characteristics of a Cartesian coordinate robot application. The end effector's axis posture is highly intuitive, convenient to operate, and can be integrated with production processes.

[0044] 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 seven-degree-of-freedom industrial robot, characterized in that: It includes a mounting base, a first vertical joint axis component, a second vertical joint axis component, a third vertical joint axis component, a redundant joint axis component, a horizontal joint axis component, a hollow joint axis component, and an output joint axis component; The first vertical joint shaft component is disposed on the mounting base, and a rotary arm component is fixedly connected between the first vertical joint shaft component and the second vertical joint shaft component. A rotary swing seat component is disposed at the output end of the second vertical joint shaft component, and the horizontal joint shaft component is disposed on the rotary swing seat component. The third vertical joint shaft component is disposed on the translational seat component, a connecting rod component is disposed between the rotary swing seat component and the translational seat component, and a rocker arm component is disposed between the horizontal joint shaft component and the translational seat component; The redundant joint shaft component is disposed at the output end of the third vertical joint shaft component, the hollow joint shaft component is disposed at the output end of the redundant joint shaft component, a wrist arm component is disposed at the output shaft end of the hollow joint shaft component, the end of the wrist arm component includes the output joint shaft component, an execution tool is disposed at the output end of the output joint shaft component, and a cable assembly is disposed on the rotary arm component and the rotary swing seat component. The first vertical joint axis component, the second vertical joint axis component, and the third vertical joint axis component are parallel to each other. The axis of the second vertical joint axis component is perpendicular to the axis of the horizontal joint axis component. The rotary swing seat component, the connecting rod component, the translational seat component, and the rocker arm component constitute a parallelogram mechanism.

2. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The hollow joint shaft component and the wrist arm component move in the XY plane of the Cartesian coordinate system.

3. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The output joint shaft component is perpendicular to the axis of the hollow joint shaft component and they intersect at a single point.

4. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The third vertical joint axis component, the redundant joint axis component, the hollow joint axis component, and the output joint axis component work together to make the execution tool move around a spatial virtual axis.

5. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The slewing boom component adopts a crank boom structure.

6. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The first vertical joint shaft component, the second vertical joint shaft component, and the third vertical joint shaft component all include a servo motor and an RV reduction device. The servo motor is a shaft joint servo motor, and the third vertical joint shaft component also includes a translational seat.

7. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The slewing seat component is made of a material that is heavier than the slewing arm component.

8. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The hollow joint shaft component includes a hollow shaft joint seat, a fifth servo motor, a fifth RV reduction gear, and a hollow output shaft.

9. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The wrist arm component includes a cast aluminum wrist arm and an output joint shaft component.

10. The novel seven-degree-of-freedom industrial robot as described in claim 1, characterized in that: The output joint shaft component includes a sixth servo motor, a gear transmission device, and a sixth RV reduction device.

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