An industrial robot with a planar multi-link mechanism with integrated kinematic pairs

Abstract

The present invention relates to an industrial robot, and in particular to an industrial robot with an integrated kinematic sub-plane multi-link mechanism. The present invention includes a wrist joint and a third rotating device connected in series with the wrist joint at the end, a second rotating device, a first rotating device and a base, as well as a first length adjustment device and a second length adjustment device. The front end of the first rotating device is connected to the lower part of the second rotating device and the fixed end of the second length adjustment device through a first integrated rotating hinge; the top of the second rotating device is connected to the kinematic end of the first length adjustment device and the rear end of the third rotating device through a second integrated rotating hinge. The third rotating device is provided with three connection positions, and the wrist joint is arranged at the front connection position of the third rotating device. The load-bearing capacity and the rigidity of the whole machine of the industrial robot are improved, the number of components is effectively reduced, and the manufacturing cost is reduced.

Description

Technical Field

[0001] The invention relates to an industrial robot, in particular to an industrial robot with an integrated kinematic sub-plane multi-link mechanism. Background Art

[0002] Industrial robots are widely used in various fields such as handling, welding, cutting, testing, sorting, and assembly due to their high flexibility, large working space, and strong environmental adaptability, and have become an indispensable automated intelligent equipment in modern manufacturing. With the increasing requirements for the load capacity of industrial robots in industries such as metallurgy and new energy vehicles, the demand for heavy-duty industrial robots is increasing. However, with the increase in load capacity, the weight of the robot also increases significantly, which puts higher requirements on the load capacity and dynamic characteristics of the robot's positioning mechanism.

[0003] The industrial robots disclosed in patents CN116922362A and EP3138670A1 all have rotary hinges. When used in large load situations, the robot body needs to have a large structural size, resulting in a heavy weight of the robot.

[0004] The industrial robots disclosed in patents CN115256356A, CN116038758A, and EP3272470B1 partially use length adjustment devices as driving hinges, and each length adjustment device is connected to a frame or a component via a rotary hinge, resulting in a large number of mechanism hinges and components and a complex structure. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an industrial robot with a planar multi-link mechanism containing an integrated kinematic pair, which has a large load-bearing capacity and effectively reduces the number of components.

[0006] The technical solution adopted by the present invention is: the industrial robot of the present invention with an integrated kinematic sub-plane multi-link mechanism comprises a wrist joint and a third rotating device connected in series with the wrist joint at the end, a second rotating device, a first rotating device, a base, a first length adjusting device, and a second length adjusting device, wherein the front end of the first rotating device is connected to the lower part of the second rotating device and the fixed end of the second length adjusting device through a first integrated rotating hinge;

[0007] The top of the second rotating device is connected to the moving end of the first length adjusting device and the rear end of the third rotating device through a second integrated rotating hinge.

[0008] The third rotating device is provided with three connection positions, the wrist joint is arranged at the front connection position of the third rotating device, the moving end of the second length adjustment device is connected to the lower connection position of the third rotating device through a rotating hinge a, and the rear connection position of the third rotating device is connected through a second integrated rotating hinge;

[0009] The fixed end of the first length adjusting device is connected to the rear end of the first rotating device through a rotating hinge b.

[0010] According to the industrial robot with an integrated kinematic sub-plane multi-link mechanism, the first integrated rotary hinge is fixedly connected to the second rotary device, and both ends of the first integrated rotary hinge are respectively connected to the first rotary device through rotary hinges, and are connected to the moving end of the second length adjustment device through a rotary hinge, and the fixed end of the second length adjustment device passes through the front end of the first rotary device and is connected to the first rotary device through a rotary hinge;

[0011] The second integrated rotary hinge is fixedly connected to the third rotary device, and both ends of the second integrated rotary hinge are respectively connected to the second rotary device through rotary hinges, and are connected to the movable end of the first length adjustment device through a rotary hinge. The fixed end of the first length adjustment device passes through the first rotary device and is connected to the first rotary device through a rotary hinge.

[0012] According to the industrial robot with integrated kinematic sub-planar multi-link mechanism, the first rotating device is formed in one piece and is provided with a front positioning hole for installing the first integrated rotating hinge and a rear positioning hole for installing the fixed end rotating hinge a of the first length adjustment device, the axes of which are parallel to each other.

[0013] The fixed ends of the first length adjustment device and the second length adjustment device are provided with a through hole, the through hole of the second length adjustment device and the front positioning hole of the first rotating device are used to install the first integrated rotating hinge, and the through hole of the first length adjustment device and the rear positioning hole of the first rotating device are used to install the rotating hinge a.

[0014] According to the industrial robot with integrated kinematic sub-planar multi-link mechanism, the second rotating device is an integrally formed structure, comprising a lower positioning hole for mounting the first integrated rotating hinge and an upper positioning hole for the second integrated rotating hinge, the axes of which are parallel to each other;

[0015] The third rotating device is an integrated structure, including a rear connecting positioning hole with parallel axes for installing a second integrated rotating hinge and a lower connecting positioning hole for installing an upper rotating hinge of a second length adjustment device, as well as a front connecting positioning hole capable of installing a tandem wrist joint.

[0016] According to the industrial robot with integrated kinematic sub-planar multi-link mechanism, the axis of the rotary hinge at the fixed end of the first length adjustment device, the axis of the rotary hinge at the fixed end of the second length adjustment device, the axis of the first integrated rotary hinge, and the axis of the second integrated rotary hinge are parallel to each other;

[0017] The first length adjustment device and the second length adjustment device are arranged at the front and rear sides of the second rotating device, and the movement planes of the first length adjustment device, the second length adjustment device, the second rotating device and the third rotating device are the same plane.

[0018] According to the industrial robot with an integrated kinematic sub-planar multi-link mechanism, the second rotating device, the first rotating device and the second length adjusting device are connected via a first integrated rotating hinge, and the second rotating device, the third rotating device and the first length adjusting device are connected via a second integrated rotating hinge.

[0019] According to the industrial robot with an integrated kinematic sub-planar multi-link mechanism, the first length adjustment device, the first rotation device, and the second rotation device constitute a planar motion chain for adjusting the angle of the second rotation device, and the second length adjustment device, the second rotation device, and the third rotation device constitute a planar motion chain for adjusting the angle of the third rotation device.

[0020] According to the industrial robot with an integrated kinematic sub-planar multi-link mechanism, the first length adjustment device and the second length adjustment device have the same structure, including: an outer tube, a servo motor, a servo motor seat, a lead screw and a telescopic rod, the servo motor is connected to the servo motor seat, the servo motor seat is connected to one end of the outer tube, one end of the telescopic rod is inserted into the other end of the outer tube, the servo motor is connected to the lead screw, the lead screw is connected to the telescopic rod, and a rotary hinge is installed at one end of the second telescopic rod.

[0021] According to the industrial robot with integrated kinematic sub-planar multi-link mechanism, the first length adjustment device and the second length adjustment device adopt a hydraulic or pneumatic drive structure.

[0022] The industrial robot with an integrated kinematic sub-planar multi-link mechanism of the present invention has the following advantages and positive effects:

[0023] 1. The first and second length adjustment devices are used to drive the second rotating device and the third rotating device to rotate, which improves the load-bearing capacity and the rigidity of the industrial robot compared with the industrial robots disclosed in patents CN116922362A and EP3138670A1;

[0024] 2. The first length adjustment device and the second length adjustment device are arranged on both sides of the second rotation device, and the motion planes of the first length adjustment device, the second length adjustment device, the second rotation device, and the third rotation device are the same plane, so that both the forward and inverse solutions of kinematics have analytical solutions, which is convenient for real-time control;

[0025] 3. The second rotating device, the first rotating device and the second length adjusting device are connected through a first integrated rotating hinge, and the second rotating device, the third rotating device and the first length adjusting device are connected through a second integrated rotating hinge, which effectively reduces the number of components and reduces the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 yes Figure 1 A top view of

[0028] Figure 3 It is a schematic diagram of a planar multi-link mechanism with integrated kinematic pairs according to the present invention;

[0029] Figure 4 yes Figure 3 Schematic diagram of the installation of the mid-length adjustment device;

[0030] Figure 5 It is a schematic diagram of the structure of the first length adjustment device and the second length adjustment device of the present invention;

[0031] In the figure: 1: base, 2: first rotating device, 3: second rotating device, 4: third rotating device, 5: wrist joint, 6: first length adjusting device, 7: second length adjusting device, 8: rotating hinge b, 9: second integrated rotating hinge, 10: first integrated rotating hinge, 11: rotating hinge a, 12 servo motor, 13 servo motor seat, 14 lead screw, 15 outer tube, 16 telescopic rod. DETAILED DESCRIPTION

[0032] The industrial robot with an integrated kinematic pair planar multi-link mechanism of the present invention is described in detail below in conjunction with the embodiments and drawings.

[0033] like Figure 1 , Figure 2 As shown, an industrial robot with an integrated kinematic sub-planar multi-link mechanism of the present invention includes a wrist joint 5 and a third rotating device 4 whose end is connected in series with the wrist joint 5, as well as a second rotating device 3, a first rotating device 2, a base 1, a first length adjustment device 6, a second length adjustment device 7, a first integrated rotary hinge 10 and a second integrated rotary hinge 9.

[0034] In this device, the first rotating device 2 is provided with two connection positions, which are divided into a low-end connection position at the front end and a high-end connection position at the rear end. The low-end connection position at the front end is connected to the lower part of the second rotating device 3 and the fixed end of the second length adjustment device 7 through the first integrated rotating hinge 10; the fixed end of the first length adjustment device 6 is connected to the high-end connection position at the rear end of the first rotating device 2 through a rotating hinge b8.

[0035] The first length adjusting device 6 , the first rotating device 2 , and the second rotating device 3 form a planar kinematic chain for adjusting the angle of the second rotating device 3 .

[0036] The top of the second rotating device 3 is connected to the moving end of the first length adjustment device 6 and the rear end of the third rotating device 4 through the second integrated rotating hinge 9; the third rotating device 4 is provided with three connection positions, the wrist joint 5 is arranged at the front end connection position of the third rotating device 4, the moving end of the second length adjustment device 7 is connected to the lower end connection position of the third rotating device 4 through a rotating hinge a, and the rear end connection position of the third rotating device 4 is connected through a second integrated rotating hinge 9.

[0037] The second length adjusting device 7 , the second rotating device 3 , and the third rotating device 4 form a planar kinematic chain for adjusting the angle of the third rotating device 4 .

[0038] Specifically, the first integrated rotary hinge 10 is fixedly connected to the second rotating device 3, and the two ends of the first integrated rotary hinge 10 are respectively connected to the first rotating device 2 through rotary hinges, and are connected to the moving end of the second length adjustment device 7 through a rotary hinge, and the fixed end of the second length adjustment device 7 passes through the front end of the first rotating device 2 and is connected to the first rotating device 2 through a rotary hinge; the second integrated rotary hinge 9 is fixedly connected to the third rotating device 4, and the two ends of the second integrated rotary hinge 9 are respectively connected to the second rotating device 3 through rotary hinges, and are connected to the moving end of the first length adjustment device 6 through a rotary hinge, and the fixed end of the first length adjustment device 6 passes through the first rotating device 2 and is connected to the first rotating device 2 through a rotary hinge.

[0039] The first rotating device 2 of the present device is an integrated structure, and the front connecting position is provided with a front positioning hole with axes parallel to each other for installing the first integrated rotating hinge 10, and the rear end is connected to a rear positioning hole for installing the fixed end rotating hinge b8 of the first length adjustment device 6.

[0040] The fixed ends of the first length adjustment device 6 and the second length adjustment device 7 are provided with through holes, the through hole of the second length adjustment device 7 and the front positioning hole of the first rotating device 2 are used for installing the first integrated rotating hinge, and the through hole of the first length adjustment device 6 and the rear positioning hole of the first rotating device 2 are used for installing the rotating hinge b8.

[0041] The second rotating device 3 of the present device is an integrated structure, including a lower positioning hole with axes parallel to each other for installing the first integrated rotating hinge 10 and an upper positioning hole of the second integrated rotating hinge 9; the third rotating device 4 is an integrated structure, including a rear connecting positioning hole with axes parallel to each other for installing the second integrated rotating hinge 9 and a lower connecting positioning hole for installing the upper end rotating hinge 11 of the second length adjustment device 7, as well as a front connecting positioning hole capable of installing the tandem wrist joint 5.

[0042] like Figure 3 , Figure 4 As shown, the axis of the lower fixed end rotary hinge b8 of the first length adjustment device 6, the axis of the upper moving end rotary hinge a11 of the second length adjustment device 7, the axis of the first integrated rotary hinge 10, and the axis of the second integrated rotary hinge 9 are parallel to each other, and the first length adjustment device 6 and the second length adjustment device 7 are arranged at the rear and front sides of the second rotary device 3. The motion planes of the first length adjustment device 6, the second length adjustment device 7, the second rotary device 3, and the third rotary device 4 are the same plane; the second rotary device 3, the first rotary device 2, and the second length adjustment device 7 are connected by the first integrated rotary hinge 10, and the second rotary device 3, the third rotary device 4, and the first length adjustment device 6 are connected by the second integrated rotary hinge 9.

[0043] like Figure 5 As shown, the first length adjustment device 6 and the second length adjustment device 7 have the same structure, and both include: an outer tube 15, a servo motor 12, a servo motor seat 13, a lead screw 14 and a second telescopic rod 16, the servo motor 12 is connected to the servo motor seat 13, the servo motor seat 13 is connected to one end of the outer tube 15, one end of the second telescopic rod 16 is inserted into the other end of the outer tube 15, the servo motor 12 is connected to the lead screw 14, the lead screw is connected to the second telescopic rod 16 / 22, and a rotary hinge is installed at one end of the second telescopic rod 16.

[0044] The first length adjusting device 6 and the second length adjusting device 7 of the device can also adopt a hydraulic or pneumatic drive structure to replace the servo motor 12.

[0045] The wrist joint 5 is the execution end mechanism of the device, and can execute rotation or other forms of movement through the front end connection position of the third rotating device.

[0046] The working process of this device is described as follows:

[0047] With the swinging motion of the second rotating device 3, the lengths of the moving end and the fixed end of the first length adjusting device 6 change, and the top of the second rotating device 3 swings along with the upper moving end of the first length adjusting device with the length of the second rotating device 3 as the radius.

[0048] The wrist joint 5 rotates with the rear end connection position of the third rotating device 4 as the axis, and the top moving end of the second length adjustment device 7 pushes the lower end connection position of the third rotating device 4 to swing with the rear end connection position of the third rotating device 4 as the center. The wrist joint 5 synchronously swings with the distance between the wrist joint 5 and the rear end connection position of the third rotating device 4 as the radius.

[0049] Driven by two length adjustment devices, the device comprises a rear variable triangle composed of a first length adjustment device 6, a first rotating device 2, and a second rotating device 3, and a front variable triangle composed of a second length adjustment device 7, a second rotating device 3, and a third rotating device 4, thereby improving the carrying capacity and the rigidity of the industrial robot, effectively reducing the number of speed reducer components, and reducing manufacturing costs.

[0050] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. An industrial robot with an integrated kinematic sub-planar multi-link mechanism, comprising a wrist joint (5) and a third rotating device (4) whose end is connected in series with the wrist joint (5), a second rotating device (3), a first rotating device (2), a base (1), a first length adjusting device (6), and a second length adjusting device (7), characterized in that: The front end of the first rotating device (2) is connected to the lower part of the second rotating device (3) and the fixed end of the second length adjustment device (7) via a first integrated rotating hinge (10); the top of the second rotating device (3) is connected to the moving end of the first length adjustment device (6) and the rear end of the third rotating device (4) via a second integrated rotating hinge (9); the third rotating device (4) is provided with three connection positions, the wrist joint (5) is arranged at the front connection position of the third rotating device (4), the moving end of the second length adjustment device (7) is connected to the lower connection position of the third rotating device (4) via a rotating hinge a (11), and the rear connection position of the third rotating device (4) is connected via a second integrated rotating hinge (9); the fixed end of the first length adjustment device (6) is connected to the rear end of the first rotating device (2) via a rotating hinge b (8); The first integrated rotary hinge (10) is fixedly connected to the second rotary device (3), and both ends of the first integrated rotary hinge (10) are respectively connected to the first rotary device (2) through rotary hinges, and are connected to the moving end of the second length adjustment device (7) through a rotary hinge, and the fixed end of the second length adjustment device (7) passes through the front end of the first rotary device (2) and is connected to the first rotary device (2) through a rotary hinge; the second integrated rotary hinge (9) is fixedly connected to the third rotary device (4), and both ends of the second integrated rotary hinge (9) are respectively connected to the second rotary device (3) through rotary hinges, and are connected to the moving end of the first length adjustment device (6) through a rotary hinge, and the fixed end of the first length adjustment device (6) passes through the first rotary device (2) and is connected to the first rotary device (2) through a rotary hinge; The axis of the rotary hinge b (8) at the fixed end of the first length adjustment device (6), the axis of the rotary hinge a (11) at the fixed end of the second length adjustment device (7), the axis of the first integrated rotary hinge (10), and the axis of the second integrated rotary hinge (9) are parallel to each other; the first length adjustment device (6) and the second length adjustment device (7) are arranged at the front and rear sides of the second rotating device (3), and the movement planes of the first length adjustment device (6), the second length adjustment device (7), the second rotating device (3), and the third rotating device (4) are the same plane; The second rotating device (3), the first rotating device (2) and the second length adjusting device (7) are connected via a first integrated rotating hinge (10), and the second rotating device (3), the third rotating device (4) and the first length adjusting device (6) are connected via a second integrated rotating hinge (9).

2. The industrial robot with integrated kinematic sub-planar multi-link mechanism according to claim 1, characterized in that: The first rotating device (2) is formed in one piece and is provided with a front positioning hole for mounting the first integrated rotating hinge (10) and a rear positioning hole for mounting the rotating hinge b (8) at the fixed end of the first length adjustment device (6), the axes of which are parallel to each other. The fixed ends of the first length adjustment device (6) and the second length adjustment device (7) are provided with through holes, the through hole of the second length adjustment device (7) and the front positioning hole of the first rotating device (2) are used to install the first integrated rotating hinge (10), and the through hole of the first length adjustment device (6) and the rear positioning hole of the first rotating device (2) are used to install the rotating hinge b (8).

3. The industrial robot with integrated kinematic sub-planar multi-link mechanism according to claim 1, characterized in that: The second rotating device (3) is an integrally formed structure, comprising a lower positioning hole for mounting the first integrated rotating hinge (10) and an upper positioning hole for mounting the second integrated rotating hinge (9), the axes of which are parallel to each other; The third rotating device (4) is an integrally formed structure, comprising a rear connection positioning hole with axes parallel to each other for mounting a second integrated rotating hinge (9) and a lower connection positioning hole for mounting a rotating hinge a (11) at the upper end of the second length adjustment device (7), and a front connection positioning hole capable of mounting a tandem wrist joint (5).

4. The industrial robot with an integrated kinematic sub-planar multi-link mechanism according to claim 1, characterized in that: The first length adjustment device (6), the first rotation device (2), and the second rotation device (3) form a planar motion chain for adjusting the angle of the second rotation device (3); the second length adjustment device (7), the second rotation device (3), and the third rotation device (4) form a planar motion chain for adjusting the angle of the third rotation device (4).

5. The industrial robot with an integrated kinematic sub-planar multi-link mechanism according to claim 1, characterized in that: The first length adjustment device (6) and the second length adjustment device (7) have the same structure, comprising: an outer tube (15), a servo motor (12), a servo motor seat (13), a lead screw (14) and a telescopic rod (16), wherein the servo motor (12) is connected to the servo motor seat (13), the servo motor seat (13) is connected to one end of the outer tube (15), one end of the telescopic rod (16) is inserted into the other end of the outer tube (15), the servo motor (12) is connected to the lead screw (14), the lead screw is connected to the telescopic rod (16), and a rotary hinge is installed at one end of the telescopic rod (16).

6. The industrial robot with an integrated kinematic sub-planar multi-link mechanism according to claim 1, characterized in that: The first length adjustment device (6) and the second length adjustment device (7) adopt a hydraulic or pneumatic drive structure.

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