A heavy-load joint robotic arm and robot

Abstract

This patent application belongs to the field of industrial robot technology, and specifically relates to a heavy-load joint mechanical arm and robot, including a rotating base and a large arm, a reducer is installed on the rotating base, a rotating shaft is installed on the output shaft of the reducer, and the large arm is fixedly connected to the rotating shaft, and also includes a support base, the support base is fixedly connected to the rotating base, a first support plate is vertically provided on the support base, the first support plate is horizontally provided with a first through hole, one end of the rotating shaft extends out of the large arm and is rotatably connected to the first through hole; its purpose is: by providing the support base and the first support plate, the rotating shaft is extended and rotatably connected to the first support plate, so that the first support plate and the support base play a supporting role on the rotating shaft, increase the force points, provide auxiliary support to the rotating shaft, reduce the radial force on the output shaft, do not need to provide a hydraulic cylinder for support, play the same supporting effect, ensure the rotation speed of the large arm, and save equipment costs.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a heavy-load joint robotic arm and a robot. Background Art

[0002] A heavy-duty robotic arm is a robotic component designed to bear high loads and perform heavy operations. Heavy-duty robots generally use six-axis robots, including a gripper, a forearm, a large arm, a rotating base, and a rotary joint. The rotary joint is an RV reducer or a harmonic reducer. The impact force and gravity during operation will be transmitted to the output shaft of the reducer. The structural characteristics of the reducer determine that the radial force it can withstand is small, and a large radial force will affect its service life.

[0003] At present, a hydraulic cylinder is generally set at the bottom of the boom for auxiliary support. The two ends of the hydraulic cylinder are respectively hinged on the boom and the rotating base. When the boom rotates, the hydraulic cylinder can be extended and retracted synchronously to provide certain support to the boom, thereby reducing the radial force exerted on the reducer; however, compared with the response time of the reducer, the response time of the hydraulic cylinder is longer. Therefore, the rotation speed of the boom needs to be reduced to adapt to the operation of the hydraulic cylinder, which reduces the working efficiency of the robotic arm. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention aims to provide a heavy-load joint robotic arm that ensures the rotation speed of the upper arm and reduces the radial force exerted on the reducer.

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

[0006] A heavy-load joint robotic arm includes a rotating base and a large arm, a reducer is installed on the rotating base, a rotating shaft is installed on the output shaft of the reducer, the large arm is fixedly connected to the rotating shaft, and the rotating shaft is a hollow shaft. It also includes a support base, which is fixedly connected to the rotating base. A first support plate is vertically provided on the support base, and a first through hole is horizontally opened on the first support plate. One end of the rotating shaft extends out of the large arm and is rotatably connected to the first through hole.

[0007] Working principle: When the robotic arm grabs heavy objects, the load it generates is transmitted to the upper arm through the forearm, and then to the output shaft of the reducer through the rotating shaft, so that the output shaft of the reducer is subjected to a larger torque and downward pressure. Since the reducer is located on one side of the upper arm, a first support plate is set on the other side, the rotating shaft is extended, and the first support plate is rotatably connected to the first support plate, so that the first support plate and the support seat support the rotating shaft, increase the force points, and reduce the radial force on the output shaft.

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

[0009] By providing a support seat and a first support plate, the rotating shaft is auxiliary supported, which reduces the radial force on the output shaft. There is no need to provide a hydraulic cylinder, which has the same supporting effect, ensures the rotation speed of the boom, and saves equipment costs.

[0010] As a preferred embodiment of the present invention, it further includes an axial support assembly, which is installed on the support seat and provides axial support to the upper arm.

[0011] Beneficial effects: When the articulated robotic arm is grasping, when the grasping point is not above the center of gravity of the object, and when the rotating base rotates, the arm tends to deflect to both sides, causing the output shaft of the reducer to be subjected to an upward or downward force. By setting an axial support assembly to support the arm, the support seat shares part of the oblique force, thereby increasing the service life of the reducer.

[0012] As a preferred embodiment of the present invention, the axial support assembly includes a second support plate, the second support plate is fixedly connected to the support seat, the second support plate is located on the side of the first support plate away from the upper arm, a second through hole is opened on the second support plate, one end of the rotating shaft passes through the first through hole and is rotatably connected to the second through hole, a rotating plate is fixedly connected to the rotating shaft, both sides of the rotating plate are respectively in contact with the second support plate and the inner side of the first support plate, the upper end of the rotating plate is fixedly connected to the limiting frame, and the limiting frame is sleeved on the upper arm.

[0013] Beneficial effects:

[0014] 1. When the boom tends to deflect to both sides, part of the force is transmitted to the limit frame and then to the rotating plate through the limit frame. The first and second support plates on both sides limit the rotating plate laterally, making the rotation of the boom more stable and reducing the vibration and operating noise of the boom. The first and second support plates bear the lateral force, reducing the load on the output shaft.

[0015] 2. Since the first through hole and the second through hole are rotatably connected to the rotating shaft, the support points are increased, and the output shaft and the output shaft jointly bear the downward radial force, thereby increasing the service life of the reducer.

[0016] As a preferred embodiment of the present invention, it further includes an auxiliary support assembly, which is installed on the support seat and axially presses the rotating shaft when the boom stops.

[0017] Beneficial effects:

[0018] 1. When the arm grabs an object and hovers, the reducer stops working. Due to the inertia of the object, a large torque may be generated. The auxiliary support assembly presses against the rotating shaft, generating a certain friction force and providing auxiliary support for the rotating shaft, thereby reducing the torque on the output shaft;

[0019] 2. The axial support assembly and the first support plate jointly support the arm and the rotating shaft, reducing the load on the output shaft and thus increasing its service life.

[0020] As a preferred embodiment of the present invention, the auxiliary support assembly includes a friction plate, a pressure plate and a driving member. The upper end of the rotating shaft extends out of the second through hole and is fixedly connected to a third support plate. The pressure plate is mounted on the third support plate, and the friction plate is fixedly mounted on the second support plate. The driving member is used to control the pressure plate to tighten or disengage from the friction plate.

[0021] Beneficial effect: By setting the pressure plate and the friction plate, friction force is generated to prevent the rotation of the shaft, thereby reducing the load on the output shaft when the boom stops.

[0022] As a preferred embodiment of the present invention, the driving member includes an electromagnetic coil and a leaf spring, the leaf spring is arranged between the pressure plate and the third support plate, the electromagnetic coil is arranged in the second support plate, and when the electromagnetic coil is energized, the pressure plate moves toward the friction plate.

[0023] Beneficial effect: By setting the electromagnetic coil and the leaf spring, the electromagnetic coil generates a magnetic field when energized, so that the pressure plate is pressed tightly against the friction plate. When the power is off, the leaf spring returns the pressure plate to its original position, achieving automatic tightening.

[0024] As a preferred embodiment of the present invention, a first sliding groove is provided on the inner wall of the rotating shaft, a connecting piece is slidably installed in the first sliding groove, one side of the connecting piece is fixedly connected to the rotating shaft through a tension spring, and a second sliding groove is provided on the outer side of the output shaft of the reducer. When the electromagnetic coil is powered off, the lower end of the connecting piece is slidably connected to the second sliding groove, and when the electromagnetic coil is powered on, the connecting piece disengages from the second sliding groove.

[0025] Beneficial effects:

[0026] 1. When the electromagnetic coil is energized, the connector is adsorbed and the compression spring is stretched, so that the rotating shaft and the output shaft are separated. The friction plate and the pressure plate bear all the torque, making the output shaft of the reducer less likely to deform. The replacement of the friction plate is more convenient and the cost is lower.

[0027] 2. The auxiliary support assembly, the axial support assembly and the first support plate jointly support the arm and the rotating shaft, thereby reducing the load on the output shaft and thus increasing its service life.

[0028] The present invention also provides a robot comprising the heavy-load joint robotic arm described above. During use, the response block and the output shaft of the reducer are subjected to relatively small loads, and the service life is long. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 12 is a schematic structural diagram of a first embodiment of a heavy-load joint robotic arm according to the present invention;

[0030] Figure 2 This is a schematic structural diagram of a second embodiment of a heavy-load joint robotic arm according to the present invention;

[0031] Figure 3 This is a schematic structural diagram of a third embodiment of a heavy-load joint robotic arm according to the present invention;

[0032] Figure 4 2. It is a cross-sectional view of the reducer, support base and auxiliary support assembly in the third embodiment of the heavy-load joint robot arm of the present invention;

[0033] Figure 5 It is a cross-sectional view of the reducer, support base and auxiliary support assembly in the fourth embodiment of the heavy-load joint robot arm of the present invention.

[0034] The reference numerals include: rotating base 1, upper arm 2, support base 3, first support plate 31, reducer 4, output shaft 41, rotating shaft 42, second support plate 51, rotating plate 52, limit frame 53, auxiliary support assembly 6, friction plate 61, pressure plate 62, electromagnetic coil 63, leaf spring 64, third support plate 65, first sliding groove 71, second sliding groove 72, compression spring 73, and connecting part 74. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] Example 1:

[0038] See also Figure 1 As shown, this embodiment discloses a heavy-load joint robotic arm, including a rotating base 1, a large arm 2 and a support base 3, a reducer 4 is installed on the rotating base 1, a rotating shaft 42 is fixedly installed on the output shaft 41 of the reducer 4, the large arm 2 is fixedly connected to the rotating shaft 42, the support base 3 is fixedly connected to the rotating base 1, a first support plate 31 is vertically provided on the support base 3, a first through hole is horizontally opened in the first support plate 31, one end of the rotating shaft 42 extends out of the large arm 2 and is rotatably connected to the first through hole, and the rotating shaft 42 is a hollow shaft.

[0039] In this embodiment, when the robotic arm grabs a heavy object, the load it generates is transmitted to the upper arm 2 through the forearm, and is transmitted to the output shaft 41 of the reducer 4 through the rotating shaft 42, so that the output shaft 41 of the reducer 4 is subjected to a larger torque and downward pressure. Since the reducer 4 is located on one side of the upper arm 2, a first support plate 31 is provided on the other side, the rotating shaft 42 is extended, and is rotatably connected to the first support plate 31, so that the first support plate 31 and the support seat 3 support the rotating shaft 42, increase the force points, and reduce the radial force on the output shaft 41.

[0040] Example 2:

[0041] See also Figure 2 As shown, based on the first embodiment, this embodiment further discloses a heavy-load joint robot arm, which also includes an axial support assembly. The axial support assembly is installed on the support seat 3 and axially supports the upper arm 2.

[0042] Among them, the axial support assembly includes a second support plate 51, which is fixedly connected to the support seat 3, and the second support plate 51 is located on the side of the first support plate 31 away from the upper arm 2. A second through hole is opened on the second support plate 51, and one end of the rotating shaft 42 passes through the first through hole and is rotatably connected to the second through hole. A rotating plate 52 is fixedly connected to the rotating shaft 42, and both sides of the rotating plate 52 respectively rest on the inner sides of the second support plate 51 and the first support plate 31. The upper end of the rotating plate 52 is fixedly connected to the limiting frame 53, and the limiting frame 53 is sleeved on the upper arm 2.

[0043] In this embodiment, when the articulated robotic arm is grasping, when the grasping point is not above the center of gravity of the object, and when the rotating base 1 rotates, the upper arm 2 tends to deflect to both sides, and part of the force is transmitted to the limit frame 53, and then transmitted to the rotating plate 52 through the limit frame 53. The first support plate 31 and the second support plate 51 on both sides laterally limit the rotating plate 52 and bear the lateral force, thereby reducing the load on the output shaft 41.

[0044] Example 3:

[0045] See also Figure 3 and Figure 4 As shown, based on the second embodiment, this embodiment further discloses a heavy-load articulated robotic arm, which also includes an auxiliary support assembly 6, which is installed on the support seat 3 and axially presses the rotating shaft 42 when the upper arm 2 stops; when the upper arm 2 grabs an object and hovers, the reducer 4 stops working. Since the object has inertia, a large torque may be generated. The auxiliary support assembly 6 presses the rotating shaft 42, generating a certain friction force, which provides auxiliary support for the rotating shaft 42, thereby reducing the torque applied to the output shaft 41.

[0046] Among them, the auxiliary support assembly 6 includes a friction plate 61, a pressure plate 62 and a driving member. The upper end of the rotating shaft 42 extends out of the second through hole and is fixedly connected to the third support plate 65. The pressure plate 62 is installed on the third support plate 65. The friction plate 61 is fixedly installed on the second support plate 51. The driving member is used to control the pressure plate 62 to tighten or disengage from the friction plate 61; by setting the pressure plate 62 and the friction plate 61, friction force is generated to prevent the rotating shaft 42 from rotating, thereby reducing the load on the output shaft 41 when the upper arm 2 stops.

[0047] The driving member includes an electromagnetic coil 63 and a leaf spring 64. The leaf spring 64 is arranged between the pressure plate 62 and the third support plate 65. The electromagnetic coil 63 is arranged in the second support plate 51. When the electromagnetic coil 63 is energized, the pressure plate 62 moves toward the friction plate 61.

[0048] In other embodiments, the driving member may be an electric push rod.

[0049] Example 4:

[0050] See also Figure 5 As shown, on the basis of Example 3, this embodiment also discloses a heavy-load joint robotic arm, the inner wall of the rotating shaft 42 is provided with a first sliding groove 71, and the first sliding groove 71 is slidably installed with a connecting piece 74, one side of the connecting piece 74 is fixedly connected to the rotating shaft 42 by a tension spring, and a second sliding groove 72 is provided on the outer side of the output shaft 41 of the reducer 4. When the electromagnetic coil 63 is powered off, the lower end of the connecting piece 74 is slidably connected to the second sliding groove 72, and when the electromagnetic coil 63 is powered on, the connecting piece 74 is disengaged from the second sliding groove 72; the connecting piece 74 adopts a pin shaft, and when the electromagnetic coil 63 is powered on, the connecting piece 74 is adsorbed and the compression spring 73 is stretched, so that the rotating shaft is disengaged from the output shaft 41, and the friction plate 61 and the pressure plate 62 bear all the torque, so that the output shaft 41 of the reducer 4 is not easily deformed, and the replacement of the friction plate 61 is more convenient and has lower cost.

[0051] The present invention also provides a robot comprising the heavy-load joint robotic arm described above. During use, the response block and the output shaft of the reducer are subjected to relatively small loads, and the service life is long.

[0052] 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 joint robot arm, comprising a rotating base and a large arm, wherein a reducer is mounted on the rotating base, a rotating shaft is mounted on the output shaft of the reducer, the large arm is fixedly connected to the rotating shaft, and the rotating shaft is a hollow shaft, characterized in that: It also includes a support base, the support base is fixedly connected to the rotating base, the support base is vertically provided with a first support plate, the first support plate is horizontally provided with a first through hole, one end of the rotating shaft extends a large arm and is rotatably connected to the first through hole; It also includes an axial support assembly, which is installed on the support seat and axially supports the big arm; The axial support assembly includes a second support plate, the second support plate is fixedly connected to the support seat, the second support plate is located on a side of the first support plate away from the upper arm, a second through hole is opened on the second support plate, one end of the rotating shaft passes through the first through hole and is rotatably connected to the second through hole, a rotating plate is fixedly connected to the rotating shaft, two sides of the rotating plate are respectively in contact with the second support plate and the inner side of the first support plate, the upper end of the rotating plate is fixedly connected to the limit frame, and the limit frame is sleeved on the upper arm; It also includes an auxiliary support assembly, which is installed on the support seat and axially presses the rotating shaft when the boom stops; The auxiliary support assembly includes a friction plate, a pressure plate and a driving member. The upper end of the rotating shaft extends out of the second through hole and is fixedly connected to the third support plate. The pressure plate is mounted on the third support plate, and the friction plate is fixedly mounted on the second support plate. The driving member is used to control the pressure plate to press against or release from the friction plate. The driving member includes an electromagnetic coil and a leaf spring, wherein the leaf spring is arranged between the pressure plate and the third support plate, and the electromagnetic coil is arranged in the second support plate. When the electromagnetic coil is energized, the pressure plate moves toward the friction plate; A first sliding groove is provided on the inner wall of the rotating shaft, and a connecting piece is slidably installed in the first sliding groove. One side of the connecting piece is fixedly connected to the rotating shaft through a tension spring. A second sliding groove is provided on the outer side of the output shaft of the reducer. When the electromagnetic coil is powered off, the lower end of the connecting piece is slidably connected to the second sliding groove. When the electromagnetic coil is powered on, the connecting piece is disengaged from the second sliding groove.

2. A robot, characterized in that: Comprising the heavy-load articulated robotic arm according to claim 1.

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