Novel five-degree-of-freedom industrial robot

Abstract

The present application relates to a novel five-degree-of-freedom industrial robot, comprising at least two vertical joint shaft components and a hollow joint shaft component, the first vertical joint shaft component is arranged on a mounting base, a rotary arm rod component is arranged between the first vertical joint shaft component and the second vertical joint shaft component, a rotary swing base component and a horizontal joint shaft component are arranged on the second vertical joint shaft component; the hollow 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 wrist arm component is arranged on the hollow joint shaft component, an execution tool is arranged on the output flange of the wrist arm component, the rotary swing base component, the connecting rod component, the translational base component and the rocker arm component constitute a parallelogram mechanism, by using the device disclosed in the present application, pose adjustment can be carried out in a narrow space, motion interference is 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 five-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 in various industrial production sectors, new challenges have emerged. Taking the welding and cutting of container products as an example, this involves many fields such as petroleum, chemical, gas, power, shipbuilding, marine engineering, nuclear power, municipal engineering, pharmaceuticals, food, and water treatment. The welding and cutting components involve various intersecting trajectories, all of which are closed trajectory applications. Furthermore, due to the limitations of welding space and welding process methods, the robot's welding torch needs to rotate continuously around the axis of the pipe being welded. However, the compatibility of traditional industrial robots with specific production processes makes it difficult to achieve the required application objectives and effects. Consequently, the market has placed new demands on the working space and attitude range of the end effector joints of industrial robots. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a novel five-degree-of-freedom industrial robot. The robot's joint structure allows for independent position and attitude adjustment, and its end effector enables pitch and yaw movements, thereby achieving continuous rotation around a fixed axis without cable entanglement. This facilitates closed-track welding and cutting applications, meets the requirements for offline parametric programming, and is conducive to promoting industrial robots to specialized industrial applications. This represents a significant revolutionary advancement over existing industrial robots. Furthermore, in most production applications, the robot grips straight-handled (linear) and planar bending (planar) tools. The robot's joint structure allows for independent position and attitude adjustment, enabling a five-axis industrial robot to achieve the application effects of a six-axis industrial robot even when gripping linear or planar tools. The application is intuitive and easy to operate.

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

[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 hollow 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] A wrist arm component is provided at the output shaft end of the hollow joint shaft component. The end of the wrist arm component includes the output flange. An execution tool is provided at the output end of the output flange. A cable assembly is provided on the rotary arm component and the rotary swing seat component.

[0009] The first vertical joint shaft component, the second vertical joint shaft component, and the hollow joint shaft component are parallel to each other, and 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. This achieves decoupling of the robot's joint position and attitude, enabling independent position and attitude adjustment.

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

[0012] Furthermore, the hollow joint shaft component and the output flange work together to enable the actuator to rotate around a fixed axis, thus achieving closed-track welding and cutting applications.

[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, the wrist arm component, and the hollow joint shaft component all include a servo motor and an RV reduction device, wherein the servo motor is a shaft joint servo motor.

[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 fourth servo motor, a fourth RV reduction gear, and a hollow output shaft.

[0017] Furthermore, the wrist arm component includes a cast aluminum wrist arm, a fifth servo motor, a gear transmission device, and a fifth RV reduction device.

[0018] Furthermore, the axis of the second vertical joint axis component is perpendicular to the axis of the horizontal joint axis component.

[0019] The beneficial technical effects of this invention are as follows: The novel five-degree-of-freedom industrial robot disclosed in this invention includes at least two vertical joint axis components and a hollow joint axis component. The first vertical joint axis component is mounted on a mounting base. A rotary arm component is disposed between the first and second vertical joint axis components. A rotary swing seat component and a horizontal joint axis component are disposed on the second vertical joint axis component. The hollow joint axis component is disposed on a translational seat component. A connecting rod component is disposed between the rotary swing seat component and the translational seat component. A rocker arm component is disposed between the horizontal joint axis component and the translational seat component. A wrist arm component is disposed on the hollow joint axis component. An execution tool is disposed on the output flange of the wrist arm component. The rotary swing seat component, connecting rod component, translational seat component, and rocker arm component constitute a parallelogram mechanism, realizing the decoupling of robot joint position and attitude, independent position and attitude adjustment, clamping linear and planar tools, producing the application effect of a 6-axis industrial robot. Moreover, the application is intuitive and the operation is simple, which meets the needs of closed trajectory welding and cutting of large nozzle components of container products, filling the technical gap of existing serial joint five-axis industrial robots for welding container products at home and abroad.

[0020] It meets the requirements of intensive saddle-shaped pipe bundle welding for container products. The robot's end-effector has no dead angles in position or posture, and can construct the welding torch position and posture required for welding in a small enclosed space.

[0021] This invention meets the requirements for 2G all-position welding of tube sheets in container products. Tube sheet welding of 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 2G 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 1This is a three-dimensional structural diagram of a novel five-degree-of-freedom industrial robot as shown in an embodiment of the present invention;

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

[0027] The components are as follows: 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-Output flange, 11-Hollow joint shaft component, 1101-Hollow shaft joint seat, 1102-Fourth servo motor, 1103-Fourth RV reduction device, 1104-Hollow output shaft, 12-Wrist arm component, 1201-Cast aluminum wrist arm, 1202-Fifth servo motor, 1203-Fifth RV reduction device, 13-Actuating tool, 14-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 1 As shown, this embodiment of the invention provides a novel five-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 pair of the rocker arm component 7; a connecting rod component 8 mounted on the rotary swing seat component 5 and the translational seat component 9; a hollow joint axis component 11 mounted on the translational seat component 9, a wrist arm component 12 mounted at the output shaft end of the hollow joint axis component 11, an output flange 10 mounted at the end of the wrist arm component 12, an execution tool 13 mounted at the output end of the output flange 10, and a cable assembly 14. Hollow joint shaft component 11 serves as the third vertical joint shaft, and the output flange 10 is perpendicular to the axis of 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 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 translational motion during operation. The translational seat component 9 drives the hollow joint shaft component 11 to rotate, which in turn drives the wrist arm component 12 to rotate. The wrist arm component 12 is used to mount the output flange 10, which in turn drives the end effector 13 to rotate. The end effector 13 includes a straight-shank welding torch, a cutting torch, a spray gun, etc. A welding cable is connected to the tail of the end effector 13. During continuous rotation, it is essential to ensure that the welding cable remains untangled.

[0033] The novel five-degree-of-freedom industrial robot provided in this embodiment of the invention adopts a 5-axis, 6-joint mechanism, with the robot joints arranged in an 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 base component 9 can achieve XYZ three-axis movement in the Cartesian coordinate system while maintaining its posture. The hollow joint axis component 11, mounted on the translational base component 9, 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 shaft 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 flange 10 is perpendicular to the axis of the hollow joint shaft component 11 and intersects at a single point, enabling pitch and yaw motion of the end effector in the Cartesian coordinate system. The hollow joint shaft component 11 and the output flange 10 work together to allow the end effector 13 to move around a virtual spatial axis, enabling the robot's end effector 13 to continuously and infinitely rotate around the virtual axis without the need for tangled welding cables.

[0036] The rotating arm component 3 adopts a curved arm structure, which allows space for the movement of other robot components, facilitates the 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 hollow joint shaft component 11 includes a hollow shaft joint seat 1101, a fourth servo motor 1102, a fourth RV reduction device 1103, and a hollow output shaft 1104.

[0041] The cantilever assembly 12 is mounted on the hollow output shaft 1104. The cantilever assembly 12 includes a cast aluminum cantilever arm 1201, a fifth servo motor 1202, a gear transmission device 1203, and a fifth RV reduction device 1204. An output flange 10 is installed at the end of the cantilever assembly 12, and an actuator 13 is installed at the end of the output flange 10. The cable assembly 14 is fixed to the rotary arm assembly 3 and the rotary swing seat assembly 5.

[0042] As can be seen from the above embodiments, the novel five-degree-of-freedom 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.

[0043] 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 five-degree-of-freedom industrial robot, characterized in that: It includes a mounting base, a first vertical joint shaft component, a second vertical joint shaft component, a horizontal joint shaft component, a hollow joint shaft component, and an output flange; 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 hollow 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; A wrist arm component is provided at the output shaft end of the hollow joint shaft component. The end of the wrist arm component includes the output flange. An execution tool is provided at the output end of the output flange. A cable assembly is provided on the rotary arm component and the rotary swing seat component. The first vertical joint shaft component, the second vertical joint shaft component, and the hollow joint shaft component are parallel to each other, and 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 five-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 five-degree-of-freedom industrial robot as described in claim 1, characterized in that: The output flange is perpendicular to the axis of the hollow joint shaft component and they intersect at a single point.

4. The novel five-degree-of-freedom industrial robot as described in claim 1, characterized in that: The hollow joint shaft component and the output flange work together to make the actuator move around a spatial virtual axis.

5. The novel five-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 five-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, the wrist arm component, and the hollow joint shaft component all include a servo motor and an RV reduction gear, wherein the servo motor is a shaft joint servo motor.

7. The novel five-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 five-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 fourth servo motor, a fourth RV reduction gear, and a hollow output shaft.

9. The novel five-degree-of-freedom industrial robot as described in claim 1, characterized in that: The wrist arm component includes a cast aluminum wrist arm, a fifth servo motor, a gear transmission device, and a fifth RV reduction device.

10. The novel five-degree-of-freedom industrial robot as described in claim 1, characterized in that: The axis of the second vertical joint axis component is perpendicular to the axis of the horizontal joint axis component.

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