A high-rigidity, high-precision heavy-duty robot

Abstract

The application relates to a robot, in particular to a high-rigidity high-precision heavy-load robot. The robot has the characteristics of high rigidity, high precision and large bearing capacity. The technical scheme is that the robot is rotatably positioned on a base and driven by a third driving mechanism, and the robot further comprises a first mechanism positioned on the base through a first rotary pair, a second mechanism positioned on the first mechanism through a third rotary pair, and a terminal flange positioned on the second mechanism through a fourth rotary pair and driven by a joint motor.

Description

Technical Field

[0001] This invention relates to a robot, specifically a high-rigidity, high-precision, heavy-duty robot. Background Technology

[0002] In the manufacturing of large equipment such as automobiles, ships, and aircraft, robots are used in various fields, including welding, painting, parts production and assembly, material handling, and processing. For example, on automobile production lines, robots are used to handle heavy components and materials, such as engines and body panels. They reduce the labor intensity of workers and increase the automation level of the production line. Through integration with automated conveyor lines and warehousing systems, robots can automate the handling and storage of materials, improving production efficiency. In aircraft manufacturing, robots are used to assemble aircraft components, such as wings, fuselage sections, and engines, performing the positioning and connection of these parts. The application of robots not only improves production efficiency and quality but also reduces production costs and risks. With continuous technological advancements and innovation, the application prospects of robots in these fields will become even broader.

[0003] With the trend towards larger and heavier components, the aforementioned manufacturing fields have placed high demands on the rigidity, precision, and load-bearing capacity of robots. Existing serial robots (CN219860057U, CN214446516U) have an overall open-loop structure, which makes them lacking in rigidity, precision, and load-bearing capacity, failing to meet application requirements. Therefore, it is necessary to propose a high-rigidity, high-precision, heavy-duty robot. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a high-rigidity, high-precision heavy-duty robot with the characteristics of high rigidity, high precision and large load-bearing capacity.

[0005] The technical solution provided by this invention is:

[0006] A high-rigidity, high-precision heavy-duty robot, which is rotatably positioned on a base and driven by a third drive mechanism, is characterized in that: the robot further includes a first mechanism positioned on the base via a first revolute joint, a second mechanism positioned on the first mechanism via a third revolute joint, and an end flange positioned on the second mechanism via a fourth revolute joint and driven by a joint motor.

[0007] The first mechanism includes a first mechanism mounting base that is rotatably positioned on a base about a vertical axis via a first revolute joint, a first robotic arm that is rotatably positioned on the first mechanism mounting base about a horizontal axis via a second revolute joint, a first prismatic joint that is horizontally arranged on the first mechanism mounting base and connected to a first drive mechanism, and a first connecting rod that is connected at one end to the first robotic arm via a fifth revolute joint and at the other end to a first slider connected to the first prismatic joint via a sixth revolute joint.

[0008] The second mechanism includes a second robotic arm whose one end is rotatably positioned on the first robotic arm via a third revolute joint, a second prismatic joint mounted on the first robotic arm and driven by a second drive mechanism, and a second connecting rod whose one end is connected to the second robotic arm via a seventh revolute joint and whose other end is connected to the second prismatic joint via an eighth revolute joint.

[0009] Two support rods are symmetrically fixed to the two side walls of the middle part of the first robotic arm. The two support rods protrude from the first robotic arm and the top of the two support rods are connected to one end of the two first connecting rods through two coaxially arranged fifth revolute joints. The other ends of the two first connecting rods are respectively connected to both sides of the first slider through two coaxially arranged sixth revolute joints.

[0010] The rotation axes of the second rotary joint, the fifth rotary joint, and the sixth rotary joint are parallel to each other and perpendicular to the first slide rail axis of the first sliding joint.

[0011] One end of the first robotic arm along its length is connected to the base via the second revolute joint.

[0012] The two first connecting rods are connected at their midpoints by a connecting block.

[0013] The first drive mechanism includes a first motor fixed on a first mechanism mounting base, a first lead screw whose two ends are respectively rotatably positioned on the first mechanism mounting base via brackets, and a first nut connected to the first slider and meshing with the first lead screw.

[0014] The rotation axis of the third, seventh, and eighth rotating joints is parallel to the rotation axis of the second rotating joint.

[0015] The second slide rail of the second movable pair is parallel to the length direction of the first robotic arm.

[0016] The second drive mechanism includes a second motor fixed on the first robotic arm, a second lead screw whose two ends are rotatably positioned on the first robotic arm via brackets, and a second slider connected to the second sliding pair and meshing with the second lead screw.

[0017] The first drive mechanism and the second drive mechanism are arranged on the same side of the robot.

[0018] The beneficial effects of this invention are:

[0019] The high-rigidity, high-precision, heavy-duty robot proposed in this invention has the characteristics of high rigidity, high precision, and large load-bearing capacity, and can be applied to multiple fields such as automobile manufacturing, logistics warehousing, energy industry, and aerospace. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the first mechanism in an embodiment of the present invention.

[0022] Figure 3 This is a three-dimensional structural diagram of the second mechanism in an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the first driving mechanism in an embodiment of the present invention.

[0024] The numbers in the diagram are: First revolute joint A1, Second revolute joint A2, Third revolute joint A3, Fourth revolute joint A4; Fifth revolute joint A5, Sixth revolute joint A6, Seventh revolute joint A7, Eighth revolute joint A8;

[0025] Base 1, First Mechanism Mounting Seat 2, First Mechanism 3, Second Mechanism 4, Second Motor Seat 5, Fourth Motor 6, Third Coupling 7, End Flange 8, Base Plate 11, Third Motor Seat 12, Third Motor 13, First Gear 14, Second Gear 16, Gear Connecting Seat 18, First Robotic Arm 31, Support Rod 31.1, First Connecting Rod 33, Third Auxiliary Mounting Seat 35, First Drive Mechanism 36, First Slider 36.1, First Nut 36.2, First Lead Screw 36.3, First Coupling 36.4, First Motor Seat 36.5, First Motor 36.6, First Slide Rail 36.7, First Moving Pair 36.8, Second Robotic Arm 41, Second Connecting Rod 43, Fourth Auxiliary Mounting Seat 45, Second Slide Rail 46, Second Lead Screw 47, Second Drive Mechanism 48. Detailed Implementation

[0026] The present invention will be further described below with reference to the examples shown in the accompanying drawings.

[0027] Figure 1This is a three-dimensional structural diagram of a high-rigidity, high-precision, heavy-duty robot, wherein: the base 1 is fixed to the ground, the first mechanism mounting seat 2 is rotatably positioned on the top of the base through the first rotating joint A1 (preferably an end face bearing or a guide rail slider assembly), the base bears the weight of the first mechanism mounting seat 2 and the mechanisms it carries through the first rotating joint; the third drive mechanism drives the first mechanism mounting seat to rotate.

[0028] In the third drive mechanism (see...) Figure 4 Two third motor mounts 12 are fixedly connected to the bottom plate 11 inside the base cavity. Two third motors 13 are installed in the third motor mounts. The first gear 14 is connected to the shaft of the third motor by a key. The two third motors drive the first gear to rotate around the axis of the first rotating pair A1. Since the second gear 16 is coaxially fixed to the bottom end of the gear connecting seat 18 and the gear connecting seat is fixed to the bottom end of the first mechanism mounting seat, the third motor 13 can drive the first mechanism mounting seat to rotate when it is started.

[0029] The above structure is similar to that of existing robots.

[0030] The improvement of the present invention is that: the first mechanism 3 is connected to the first mechanism mounting base 2 through a second rotating joint A2 that rotates about a horizontal axis, and drives the first mechanism through a first driving mechanism; the second mechanism 4 is connected to the first mechanism through a third rotating joint A3 that rotates about a horizontal axis, and drives the second mechanism through a second driving mechanism.

[0031] like Figure 2 As shown, the first mechanism includes a first robotic arm 31, a fifth rotary joint A5, a first connecting rod 33, a sixth rotary joint A6, a third auxiliary mounting base 35, and a first drive mechanism 36, which are connected in sequence.

[0032] One end of the first robotic arm 31 is connected to the first mechanism mounting base via a second revolute joint A2, and the other end is connected to the second robotic arm in the second mechanism via a third revolute joint A3. Two support rods 31.1 are symmetrically fixed to the two side walls of the middle section of the first robotic arm. These two support rods protrude from one side of the robotic arm, and their top ends are connected to one end of two first connecting rods 33 via two coaxially arranged fifth revolute joints A5. The other ends of the two first connecting rods are connected to both sides of the first slider via two coaxially arranged sixth revolute joints (as shown in the figure: third auxiliary mounting bases 35 are fixed to both sides of the first slider, and two sixth revolute joints A6 are installed between the first connecting rods and the third auxiliary mounting bases). The middle sections of the two first connecting rods are also connected by a connecting block; thus, while ensuring synchronous movement, a space is formed between the two first connecting rods to avoid motion interference with the second mechanism.

[0033] The first drive mechanism is mounted on the first mechanism mounting base; the first drive mechanism includes a first slider 36.1, a first nut 36.2, a first lead screw 36.3, a first coupling 36.4, a first motor base 36.5, a first motor 36.6, a first slide rail 36.7, and a first sliding pair 36.8.

[0034] Wherein: the first sliding pair formed by the first slide rail and the first slider is horizontally set at the upper end of the first mechanism mounting base; the length direction of the first slide rail is perpendicular to the second rotary pair A2; the first lead screw 36.3 is rotatably positioned at the upper end of the first mechanism mounting base through the brackets at both ends, and is arranged parallel to the first slide rail (as shown in the figure: the first lead screw is positioned between the two first slide rails); the first motor is mounted on the first mechanism mounting base through the first motor seat, and the first motor shaft is connected to the first lead screw through the first coupling; the first slider, which slides with the first slide rail, is also fixed with a first nut that meshes with the first lead screw; during operation, the first motor drives the first lead screw, the first lead screw drives the first slider fixed to the first nut, and the first slider drives the first robotic arm to move around the axis of rotation of the second rotary pair through the first connecting rod.

[0035] like Figure 3 As shown, the second mechanism includes a second robotic arm 41, a seventh rotary joint A7, a second connecting rod 43, an eighth rotary joint A8, a fourth auxiliary mounting base 45, and a second drive mechanism 48 connected in sequence.

[0036] The bottom end of the second robotic arm 41 is connected to the top end of the first robotic arm through the third revolute joint A3, and the top end is connected to one end of the second connecting rod 43 through the seventh revolute joint A7. The other end of the second connecting rod 43 is connected to the fourth auxiliary mounting seat 45 fixed on the second slider through the eighth revolute joint A8. The second slider and the second slide rail 46 cooperate to form the second sliding joint. The second slide rail is fixed on the first robotic arm and its length direction is perpendicular to the third revolute joint.

[0037] The structure and connection relationship of the second drive mechanism 48 are the same as those of the first drive device; that is: the second lead screw 47 is rotatably positioned on the second robotic arm through the brackets at both ends and is arranged parallel to the second slide rail; the second motor is mounted on the second robotic arm through the second motor base, and the second motor shaft is connected to the second lead screw through the second coupling; the second slider, which slides in cooperation with the second slide rail, is also fixed with a second nut that meshes with the second lead screw; during operation, the second motor drives the second lead screw, the second lead screw drives the second slider which is fixed to the second nut, and the second slider drives the second robotic arm to move around the axis of rotation of the third rotary pair through the second connecting rod.

[0038] To reduce weight, the second connecting rod was hollowed out.

[0039] As shown in the figure, the first drive mechanism and the second drive mechanism are arranged on the same side of the first robotic arm and the second robotic arm.

[0040] The rotation axes of the fifth and sixth rotary joints in the first mechanism are parallel to each other and perpendicular to the first slide rail axis of the first sliding joint.

[0041] The rotation axes of the third, seventh, and eighth rotary joints in the second mechanism are parallel to each other and perpendicular to the second slide rail axis of the second sliding joint.

[0042] The rotation axes of the second and third revolute joints are parallel to each other and arranged horizontally; and are also perpendicular to the rotation axis of the first revolute joint. The rotation axis of the fourth revolute joint is perpendicular to the rotation axis of the third revolute joint. The rotation axis of the first revolute joint is arranged vertically.

[0043] Furthermore, the second motor mount 5 is mounted on the second mechanism, and the fourth motor 6 (i.e., the articulated motor) is mounted inside the second motor mount. The shaft of the fourth motor extends from the inner cavity of the second motor mount and is then connected to the end flange 8 via the third coupling 7. After the fourth motor starts, it can drive the end flange to rotate (the fourth motor is also the fourth rotating joint, and the axis of the fourth motor is the axis of rotation of the fourth rotating joint). Clearly, this articulated motor drive structure is a conventional structure.

[0044] The high-rigidity, high-precision, heavy-duty robot has four drive mechanisms. In the first drive mechanism, a first motor drives a first slider fixed to a first nut via a first lead screw. The first slider drives a first robotic arm to move around the rotation axis of a second revolute joint via a first connecting rod. In the second drive mechanism, a second motor drives a second slider fixed to a second nut via a second lead screw. The second slider drives a second robotic arm to move around the rotation axis of a third revolute joint via a second connecting rod. In the third drive mechanism, a third motor drives a first mechanism mounting base to rotate around the rotation axis of the first revolute joint via a gear set. The end flange is driven by a joint motor to move around the rotation axis of a fourth revolute joint.

Claims

1. A high-rigidity high-precision heavy-duty robot, which is rotatably positioned on a base (1) and is driven by a third driving mechanism, characterized in that: The robot further comprises a first mechanism (3) positioned on the base through a first rotary pair (A1), a second mechanism positioned on the first mechanism through a third rotary pair (A3), and an end flange (8) positioned on the second mechanism through a fourth rotary pair (A4) and driven by a joint motor; The first mechanism comprises a first mechanism mount (2) positioned on the base through a first rotary pair and rotatable around a vertical axis, a first mechanical arm (31) positioned on the first mechanism mount through a second rotary pair (A2) and rotatable around a horizontal axis, a first moving pair (36.8) horizontally arranged on the first mechanism mount and connected to the first driving mechanism, and a first connecting rod (33) having one end connected to the first mechanical arm through a fifth rotary pair (A5) and the other end connected to a first sliding block (36.1) of the first moving pair through a sixth rotary pair (A6); The second mechanism comprises a second mechanical arm (41) rotatably positioned on the first mechanical arm through a third rotary pair, a second moving pair mounted on the first mechanical arm and driven by a second driving mechanism, and a second connecting rod (43) having one end connected to the second mechanical arm through a seventh rotary pair and the other end connected to the second moving pair through an eighth rotary pair; Two support rods (31.1) are symmetrically fixed to the side walls of the middle part of the first mechanical arm, the two support rods protrude from the first mechanical arm, and the top ends of the two support rods are connected to one end of the two first connecting rods through two coaxially arranged fifth rotary pairs (A5), and the other ends of the two first connecting rods are connected to the two sides of the first sliding block through two coaxially arranged sixth rotary pairs (A6); The rotary axes of the second rotary pair, the fifth rotary pair, and the sixth rotary pair are parallel to each other and perpendicular to the first sliding rail axis of the first moving pair; One end of the length direction of the first mechanical arm is connected to the base through the second rotary pair; The rotary axes of the third rotary pair, the seventh rotary pair, and the eighth rotary pair are parallel to the rotary axis of the second rotary pair; The second sliding rail (46) of the second moving pair is parallel to the length direction of the first mechanical arm.

2. The high-rigidity high-precision heavy-duty robot according to claim 1, characterized by: The middle parts of the two first connecting rods are connected by a connecting block.

3. The high-rigidity high-precision heavy-duty robot according to claim 2, characterized by: The first driving mechanism comprises a first motor (36.6) fixed on the first mechanism mount, a first lead screw (36.3) rotatably positioned on the first mechanism mount through a support at both ends, and a first nut (36.2) connected to the first sliding block and engaged with the first lead screw.

4. The high-rigidity high-precision heavy-duty robot according to claim 3, characterized by: The second driving mechanism comprises a second motor fixed on the first mechanical arm, a second lead screw (47) rotatably positioned on the first mechanical arm through a support at both ends, and a second nut connected to the second sliding block of the second moving pair and engaged with the second lead screw.

Images