A heavy-load six-axis grasping robot

Abstract

This patent application belongs to the field of articulated robot technology, and specifically relates to a heavy-load six-axis grasping robot, including a first hollow rotating shaft, a second hollow rotating shaft, an auxiliary support assembly, a limiting mechanism and a limiting seat installed on a rotating seat, wherein the first hollow rotating shaft is installed on the output shaft of the large arm reducer, and the second hollow rotating shaft is fixedly installed on the output shaft of the small arm reducer, the first hollow rotating shaft and the second hollow rotating shaft are respectively rotatably connected to the auxiliary support assembly, the limiting seat axially limits the auxiliary support assembly, and the limiting mechanism limits the rotation of the first hollow rotating shaft and the second hollow rotating shaft when the robot arm stops moving; auxiliary support and braking are performed through the cooperation of the limiting seat, the auxiliary support assembly and the limiting mechanism, so that the output shaft of the reducer is not easily deformed, the vibration is reduced, and the service life of the heavy-load robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of articulated robots, and in particular to a heavy-load six-axis grasping robot. Background Art

[0002] Heavy-load robots are widely used in industries such as automobiles, new energy, and heavy machinery, and can be used in welding, painting, casting, stamping, handling, bending, assembly and other process areas.

[0003] Heavy-load robots generally use multi-joint industrial robots, including a rotating base, an upper arm, a lower arm, a clamping part and multiple connecting joints. The joints are equipped with reducers, and the rotation of each part is achieved through the reducer; however, the objects grasped by heavy-load robots are often heavy. When grasping, the joints at the upper arm and the lower arm need to bear the weight of the robot arm itself and the grasped object, which will cause the reducer to bear excessive radial force and torque. Excessive radial force can easily cause the reducer output shaft to deform, and excessive torque will cause the robot arm to jitter and inaccurate positioning due to inertia when it stops. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention aims to provide a heavy-load six-axis grasping robot that can withstand large torques and radial forces.

[0005] The technical solutions adopted in the present invention are as follows:

[0006] A heavy-load six-axis grasping robot includes a first hollow rotating shaft, a second hollow rotating shaft, an auxiliary support assembly, a limiting mechanism and a limiting seat installed on a rotating seat. The first hollow rotating shaft is installed on the output shaft of a large arm reducer, and the second hollow rotating shaft is fixedly installed on the output shaft of a small arm reducer. The first hollow rotating shaft and the second hollow rotating shaft are respectively rotatably connected to the auxiliary support assembly. The limiting seat limits the axial position of the auxiliary support assembly. The limiting mechanism limits the rotation of the first hollow rotating shaft and the second hollow rotating shaft when the robotic arm stops moving.

[0007] Working principle: When the robotic arm grabs a heavy object, the load it generates is transmitted to the upper arm through the forearm, and is transmitted to the output shafts of the upper arm reducer and the forearm reducer through the first hollow rotating shaft and the second hollow rotating shaft, so that the output shaft of the reducer is subjected to a larger torque and downward pressure. By setting an auxiliary support assembly that rests on the limit seat, when the first hollow rotating shaft and the second hollow rotating shaft are subjected to radial force, part of the force is transmitted to the auxiliary support assembly and supported by the limit seat, thereby reducing the radial force borne by the output shaft of the reducer; when the robotic arm stops moving, the output shaft of the reducer is subjected to a downward deflection shear force due to the weight of the heavy object and the robotic arm, and the first hollow rotating shaft and the second hollow rotating shaft are locked on the limit seat through the limit mechanism, thereby reducing the load borne by the output shaft of the reducer.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] Through the cooperation of the limit seat, auxiliary support assembly and limit mechanism, auxiliary support and braking are performed, so that the output shaft of the reducer is not easily deformed, the vibration is reduced, and the service life of the heavy-load robot is increased.

[0010] As a preferred embodiment of the present invention, the auxiliary support assembly includes a first connecting plate and a second connecting plate, the limit seat is provided with a mounting groove, and the first connecting plate and the second connecting plate respectively lean against two opposite inner walls of the mounting groove;

[0011] The two ends of the first connecting plate are respectively provided with a first connecting part, and the two connecting parts are rotatably connected to the first hollow rotating shaft and the second hollow rotating shaft. The first connecting part close to the first hollow rotating shaft is against the inner wall of the limit seat, and the two ends of the second connecting plate are respectively provided with a second connecting part and a second rotating part, and the second connecting part is rotatably connected to the second hollow rotating shaft. The limit seat is provided with a rotating surface, and the second rotating part is rotatably installed on the limit seat.

[0012] Beneficial effect: By setting the first connecting plate and the second connecting plate, the first connecting plate is used to share the radial force borne by the first hollow rotating shaft and the second hollow rotating shaft, and the second connecting plate is used to share the radial force borne by the second hollow rotating shaft. The axial contact surface between the first connecting part and the limit seat, the rotating contact surface and the axial support surface between the second rotating part and the limit seat increase the force-bearing area of ​​the limit seat, making the force more dispersed and the overall deformation less likely. At the same time, the rotating contact surface and the axial support surface play a guiding and limiting role for the first connecting plate and the second connecting plate, making the operation of the upper arm more stable.

[0013] As a preferred embodiment of the present invention, both sides of the second connecting plate are fixedly connected to the limiting plates, one end of the two limiting plates rests on the side wall of the upper arm, and both sides of the first connecting plate are tightly attached to the inner walls of the corresponding limiting plates.

[0014] Beneficial effect: When the upper arm is subjected to a large radial force and tends to deviate, the radial force will be transmitted to the limit plate through the first connecting plate, and then transmitted to the second connecting plate and the limit seat through the limit plate, so that the first connecting plate, the second connecting plate and the limit plate form a whole, and the support structure is more stable; when the robotic arm grabs heavy objects, since the grabbing point may be offset from the center of gravity of the heavy object, the robotic arm may be subjected to a downward oblique force, causing the end of the upper arm to deviate axially. By setting the limit plate, the limit plate provides axial support to the upper arm, making the operation of the robotic arm more stable.

[0015] As a preferred embodiment of the present invention, the limiting mechanism includes a driving assembly, a movable friction portion is provided on the inner side of the two first connecting parts, and a fixed friction portion is provided on the inner wall of the second connecting part and the limiting seat. The driving assembly can control the axial movement of the first connecting plate so that the movable friction portion rests on the fixed friction portion to limit the rotation of the upper arm.

[0016] Beneficial effect: Braking is performed through friction, and the friction part is easier to replace after failure than replacing the output shaft of the reducer due to deformation; when the boom grabs a heavy object and stops moving, the drive assembly controls the moving friction parts at both ends to rest against the corresponding fixed friction parts. At this time, the friction part at the upper end prevents the second connecting plate from rotating relative to the first connecting plate, and the friction part at the lower end causes the first connecting plate to rotate relative to the limit seat, and the limit seat moves with the rotating base. Therefore, the limit seat can share the torque borne by the output shaft of the boom reducer and reduce the shaking caused by the stop of the boom.

[0017] As a preferred embodiment of the present invention, the driving assembly includes an electromagnet, and a spring is installed on one side of the first connecting plate. When the electromagnet is started, the first connecting plate moves toward the second connecting plate. When the electromagnet is turned off, the spring resets the first connecting plate.

[0018] Beneficial effects: In the existing technology, there is a method of using hydraulic cylinders and pneumatic cylinders to support the boom, but the response time of the hydraulic cylinder and the pneumatic cylinder is longer than that of the reducer. Therefore, in the above method, each time the reducer is started and stopped, it is necessary to wait for the hydraulic cylinder and the pneumatic cylinder to operate together, which reduces work efficiency; driven by an electromagnet, the response is faster and work efficiency is guaranteed; and the electromagnet is lighter, and the weight of the boom is less increased.

[0019] As a preferred embodiment of the present invention, the spring is a tension spring, the two ends of the tension spring are respectively fixedly connected to the upper arm and the first connecting plate, the electromagnet is fixedly installed on the inner side of the second connecting plate, and when the electromagnet is closed, the tension spring causes the first connecting plate to rest against the limit seat.

[0020] Beneficial effect: By setting the tension spring, the reset function of the first connecting plate is realized, and at the same time, the elasticity of the spring itself is used to limit the first connecting plate to the limit seat, thereby meeting the axial limit.

[0021] As a preferred embodiment of the present invention, the driving assembly includes an electric cylinder, which can control the axial movement of the first connecting plate so that the movable friction part abuts against the fixed friction part to limit the rotation of the upper arm.

[0022] Beneficial effect: The electric cylinder is a structure that integrates the servo motor and the lead screw, which can meet the response speed of the reducer and ensure work efficiency.

[0023] As a preferred embodiment of the present invention, the reducer and the limiting seat are respectively located on both sides of the upper arm, and the first hollow shaft is rotatably mounted on the limiting seat.

[0024] Beneficial effect: the first support plate and the limiting seat support the rotating shaft, increase the force points, and reduce the radial force on the output shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 2 is a schematic structural diagram of a first embodiment of a heavy-load six-axis grasping robot according to the present invention;

[0026] Figure 2 This is a schematic diagram of the connection between the auxiliary support assembly and the limiting mechanism in the first embodiment of the heavy-load six-axis grasping robot of the present invention;

[0027] Figure 3 1 is a schematic structural diagram of the auxiliary support assembly and the limiting mechanism in the first embodiment of the heavy-load six-axis grasping robot of the present invention;

[0028] Figure 4 This is a structural diagram of the first connecting plate in Example 1 of the heavy-load six-axis grasping robot of the present invention;

[0029] Figure 5 This is a partial cross-sectional view of the coupling in the connected state in the second embodiment of the heavy-load six-axis grasping robot of the present invention;

[0030] Figure 6 It is a partial cross-sectional view of the coupling in the disconnected state in the second embodiment of the heavy-load six-axis grasping robot of the present invention.

[0031] The reference numerals include: first output shaft 1, first hollow rotating shaft 11, second output shaft 2, second hollow rotating shaft 22, limit seat 3, first connecting plate 41, first connecting part 411, second connecting plate 42, second connecting part 421, limit plate 423, second rotating part 422, fixed friction part 51, movable friction part 52, electromagnet 53, tension spring 54, rotating seat 6, upper arm 7, lower arm 8, and coupling 9. DETAILED DESCRIPTION

[0032] Typical embodiments that embody the features and advantages of the present invention are described in detail in the following description. It should be understood that the present invention is capable of various variations in different embodiments without departing from the scope of the present invention, and that the descriptions and illustrations are intended to be illustrative rather than limiting.

[0033] In the description of this application, the terms "first", "second", etc. are only used to facilitate the description of this application and simplify the description, and do not indicate or imply that the structure referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on this application.

[0034] Example 1:

[0035] See also Figure 1 As shown, this embodiment discloses a heavy-load six-axis grasping robot, including a rotating base 6, a large arm 7, a small arm 8, a first hollow rotating shaft 11, a second hollow rotating shaft 22, an auxiliary support assembly, a limiting mechanism and a limiting seat 3 installed on the rotating base 6, wherein the first hollow rotating shaft 11 is fixedly installed on the output shaft of the large arm reducer, the large arm 7 is installed on the second hollow rotating shaft 22, the small arm 8 and the second hollow rotating shaft 22 are fixedly installed on the output shaft of the small arm reducer, the auxiliary support assembly is rotatably connected to the first hollow rotating shaft 11 and the second hollow rotating shaft 22 respectively, the limiting seat 3 rests on the auxiliary support assembly, and the limiting mechanism limits the first hollow rotating shaft 11 and the second hollow rotating shaft when the robot arm stops moving. The central rotating shaft 22 rotates; when the robot arm grabs heavy objects, the load it generates is transmitted to the upper arm 7 through the small arm 8, and is transmitted to the output shafts of the upper arm reducer and the small arm reducer through the first hollow rotating shaft 11 and the second hollow rotating shaft 22, so that the output shaft of the reducer is subjected to a larger shear force and downward pressure. By setting an auxiliary support assembly that rests on the limit seat 3, when the first hollow rotating shaft 11 and the second hollow rotating shaft 22 are subjected to radial force, part of the force is transmitted to the auxiliary support assembly and supported by the limit seat 3, thereby reducing the radial force borne by the output shaft of the reducer; when the robot arm stops moving, the limiting mechanism locks the first hollow rotating shaft 11 and the second hollow rotating shaft 22, thereby reducing the load borne by the output shaft of the reducer.

[0036] In this embodiment, the output shaft of the boom reducer is the first output shaft 1, and the output shaft of the arm reducer is the second output shaft 2. The arm reducer adopts a dual-shaft reducer, one output shaft is connected to the arm 8, and the other shaft is connected to the second hollow rotating shaft 22, and the second hollow rotating shaft 22 and the first hollow rotating shaft 11 are on the same side of the boom 7.

[0037] Among them, see Figure 2 and Figure 4As shown, the auxiliary support assembly includes a first connecting plate 41 and a second connecting plate 42, and the limiting seat 3 is provided with a mounting groove, and the first connecting plate 41 and the second connecting plate 42 are respectively pressed against the two opposite inner walls of the mounting groove; the two ends of the first connecting plate 41 are respectively provided with a first connecting portion 411, and the two connecting portions are rotatably connected to the first hollow rotating shaft 11 and the second hollow rotating shaft 22, and the first connecting portion 411 close to the first hollow rotating shaft 11 is pressed against the inner wall of the limiting seat 3, and the two ends of the second connecting plate 42 are respectively provided with a second connecting portion 421 and a second rotating portion 422, and the second connecting portion 421 is rotatably connected to the second hollow rotating shaft 22, and the limiting seat 3 is provided with a rotating surface , the second rotating part 422 is rotatably installed on the limit seat 3; by setting the first connecting plate 41 and the second connecting plate 42, the first connecting plate 41 is used to share the radial force borne by the first hollow rotating shaft 11 and the second hollow rotating shaft 22, and the second connecting plate 42 is used to share the radial force borne by the second hollow rotating shaft 22. The axial contact surface between the first connecting part 411 and the limit seat 3, the rotating contact surface and the axial support surface between the second rotating part 422 and the limit seat 3 increase the force-bearing area of ​​the limit seat 3, make the force more dispersed, and the whole is not easy to deform. At the same time, the rotating contact surface and the axial support surface play a guiding and limiting role for the first connecting plate 41 and the second connecting plate 42, so that the operation of the arm 7 is more stable.

[0038] Among them, see Figure 2 As shown, the two sides of the second connecting plate 42 are fixedly connected to the limit plates 423 respectively, and one end of the two limit plates 423 is against the side wall of the upper arm 7, and the two sides of the first connecting plate 41 are respectively close to the inner wall of the corresponding limit plates 423; when the upper arm 7 is subjected to a large radial force and tends to deviate, the radial force will be transmitted to the limit plate 423 through the first connecting plate 41, and then transmitted to the second connecting plate 42 and the limit seat 3 through the limit plate 423, so that the first connecting plate 41, the second connecting plate 42, and the limit plate 423 form a whole, and the support structure is more stable; when the robotic arm grabs heavy objects, since the grabbing point may be offset from the center of gravity of the heavy object, the robotic arm may be subjected to an oblique downward force, causing the end of the upper arm 7 to deviate axially. By setting the limit plate 423, the limit plate 423 axially supports the upper arm 7, making the operation of the robotic arm more stable.

[0039] Among them, see Figure 2 and Figure 3As shown, the limiting mechanism includes a driving assembly, and the inner sides of the two first connecting parts 411 are each provided with a moving friction part 52, and the inner wall of the second connecting part 421 and the limiting seat 3 are each provided with a fixed friction part 51. The driving assembly can control the axial movement of the first connecting plate 41 so that the moving friction part 52 presses against the fixed friction part 51 to limit the rotation of the boom 7; braking is performed through friction, and the friction part is easier to replace after failure than replacing the output shaft of the reducer due to deformation; when the boom 7 grabs a heavy object and stops moving, the driving assembly controls the moving friction parts 52 at both ends to press against the corresponding fixed friction parts 51. At this time, the friction part at the upper end makes the second connecting plate 42 unable to rotate relative to the first connecting plate 41, and the friction part at the lower end makes the first connecting plate 41 rotate relative to the limiting seat 3, and the limiting seat 3 moves with the rotating base. Therefore, the limiting seat 3 can share the shear force borne by the output shaft of the boom reducer, thereby reducing the shaking caused by the stop of the boom 7.

[0040] Among them, the driving component includes an electromagnet 53, and a spring is installed on one side of the first connecting plate 41. When the electromagnet 53 is started, the first connecting plate 41 moves toward the second connecting plate 42. When the electromagnet 53 is turned off, the spring resets the first connecting plate 41. Driven by the electromagnet 53, the response is faster, and work efficiency is guaranteed. In addition, the electromagnet 53 is light in weight, and the weight added to the arm 7 is less.

[0041] Among them, see Figure 2 and Figure 3 As shown, the spring is a tension spring 54, the two ends of which are fixedly connected to the upper arm 7 and the first connecting plate 41 respectively, and the electromagnet 53 is fixedly installed on the inner side of the second connecting plate 42. When the electromagnet 53 is closed, the tension spring 54 causes the first connecting plate 41 to rest against the limit seat 3; by setting the tension spring 54, the reset function of the first connecting plate 41 is realized, and the elasticity of the spring itself is used to limit the first connecting plate 41 to the limit seat 3, thereby meeting the axial limit.

[0042] In other embodiments, the driving component may adopt an electric cylinder, which can control the axial movement of the first connecting plate 41 so that the movable friction part 52 abuts against the fixed friction part 51, thereby limiting the rotation of the upper arm 7; the electric cylinder is a structure that integrates the servo motor and the screw, which can meet the response speed of the reducer and ensure work efficiency.

[0043] Among them, see Figure 1 As shown, the reducer and the limit seat 3 are respectively located on both sides of the arm 7, and the first hollow rotating shaft 11 is rotatably mounted on the limit seat 3; so that the first support plate and the limit seat 3 support the rotating shaft, increase the force points, and reduce the radial force on the output shaft.

[0044] Example 2:

[0045] See also Figure 5 and Figure 6 As shown, on the basis of Example 1, the present invention also provides a heavy-load six-axis grasping robot, a coupling 9 is rotatably installed on the first connecting plate 41, and the coupling 9 is clamped between the output shaft of the boom reducer and the first hollow rotating shaft 11, so that the output shaft of the boom reducer can drive the first hollow rotating shaft 11 to rotate, and when the movable friction part 52 contacts the corresponding fixed friction part 51, the coupling 9 disengages from the output shaft of the boom reducer; when the robot arm stops working, the coupling 9 disengages from the output shaft of the boom reducer. At this time, the output shaft of the boom reducer no longer bears shear force, but only bears part of the radial force. The movable friction part 52 and the fixed friction part 51 bear all the torque, so that the output shaft of the boom reducer is not easy to deform, thereby improving the service life of the boom reducer.

[0046] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A heavy-load six-axis grasping robot, characterized by: The robot comprises a first hollow rotating shaft, a second hollow rotating shaft, an auxiliary support assembly, a limiting mechanism and a limiting seat installed on the rotating seat, wherein the first hollow rotating shaft is installed on the output shaft of the large arm reducer, and the second hollow rotating shaft is fixedly installed on the output shaft of the small arm reducer, the first hollow rotating shaft and the second hollow rotating shaft are respectively rotatably connected to the auxiliary support assembly, the limiting seat axially limits the auxiliary support assembly, and the limiting mechanism limits the rotation of the first hollow rotating shaft and the second hollow rotating shaft when the robot arm stops moving; The auxiliary support assembly includes a first connecting plate and a second connecting plate, the limit seat is provided with a mounting groove, and the first connecting plate and the second connecting plate respectively lean against two opposite inner walls of the mounting groove; The first connecting plate is provided with a first connecting portion at each end, and the two connecting portions are rotatably connected to the first hollow rotating shaft and the second hollow rotating shaft. The first connecting portion close to the first hollow rotating shaft is pressed against the inner wall of the limit seat. The second connecting plate is provided with a second connecting portion and a second rotating portion at each end, and the second connecting portion is rotatably connected to the second hollow rotating shaft. The limit seat is provided with a rotating surface, and the second rotating portion is rotatably mounted on the limit seat. The two sides of the second connecting plate are respectively fixedly connected to the limit plates, one end of each of the two limit plates rests on the side wall of the upper arm, and the two sides of the first connecting plate are respectively in close contact with the inner wall of the corresponding limit plate; The limiting mechanism includes a driving assembly, wherein the inner sides of the two first connecting parts are each provided with a movable friction part, and the inner wall of the second connecting part and the limiting seat are each provided with a fixed friction part. The driving assembly can control the axial movement of the first connecting plate so that the movable friction part abuts against the fixed friction part to limit the rotation of the upper arm; The driving assembly includes an electromagnet, and a spring is installed on one side of the first connecting plate. When the electromagnet is activated, the first connecting plate moves toward the second connecting plate. When the electromagnet is closed, the spring resets the first connecting plate.

2. The heavy-load six-axis grasping robot according to claim 1, characterized in that: The spring is a tension spring, the two ends of which are fixedly connected to the upper arm and the first connecting plate respectively. The electromagnet is fixedly installed on the inner side of the second connecting plate. When the electromagnet is closed, the tension spring causes the first connecting plate to rest against the limit seat.

3. The heavy-load six-axis grasping robot according to claim 1, characterized in that: The driving assembly includes an electric cylinder, which can control the axial movement of the first connecting plate so that the movable friction part abuts against the fixed friction part to limit the rotation of the upper arm.

4. The heavy-load six-axis grasping robot according to claim 1, characterized in that: The reducer and the limiting seat are respectively located on both sides of the big arm, and the first hollow rotating shaft is rotatably mounted on the limiting seat.

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