Rigid-flexible hybrid driven heavy-load loading robot and moving method thereof
By adopting a rigid-flexible hybrid drive design in the heavy-load loading robot, combined with the linear sliding seat and the winch mechanism, the problem of insufficient power of the driving joint of the heavy-loaded robot is solved, efficient and accurate heavy-load loading is achieved, and the robot's working ability under heavy-load conditions is improved.
Patent Information
- Application Number
- CN202411938331.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-05-27
AI Technical Summary
During the loading and handling process, heavy-load robots have limited loading capacity due to insufficient power of the drive joints. The existing flexible wire rope system has low movement accuracy, making it difficult to meet the simultaneous needs of heavy-load and high-precision.
A heavy-load loading robot with mixed drive of rigid and flexible drive combines a linear sliding seat and a winch mechanism, and a servo motor drives a linear sliding seat and a connecting rod mechanism, and a winch drives a wire rope to achieve flexible driving, which not only meets the heavy-load needs but also improves movement accuracy.
It realizes efficient movement and loading of robots under heavy loading, improves loading accuracy and stability, reduces the thrust of rigid connecting rods, and improves continuous working time.
Smart Images
Figure CN120038787A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a rigid-flexible hybrid-driven heavy-load loading robot and its motion method, belonging to the field of robots. Background Art
[0002] During the operation of a heavy-load robot, its driving joints require high-power servo motors, usually with a power of more than 10 Kw. However, affected by the international market, foreign mature high-power servo motors are restricted from exporting to China. The domestic high-power servo motors have a long supply cycle, unstable operation, and a short continuous fault-free operation time.
[0003] When a heavy-load robot is used in motion, to increase its motion path range, it needs to be set on a sliding mechanism. However, the longitudinal direction force during sliding is large, and the motor drive has insufficient load capacity due to power problems, resulting in limited use in the field of loading and handling.
[0004] The wire rope flexible system is used in the current field of robots to achieve the movement of equipment through cable traction. However, its movement accuracy is not high enough, and many winch systems are required. How to combine the flexible wire rope winch mechanism and the moving mechanism of the linear rigid body mechanism to meet both the movement accuracy and the heavy-load requirements will be able to achieve efficient handling of large-packaged goods. Summary of the Invention
[0005] Aiming at the above problems, the present invention provides a rigid-flexible hybrid-driven heavy-load loading robot and its motion method to solve the problem of the heavy-load driving power of the robot.
[0006] To achieve the above object, the technical solution adopted by the present invention is: A rigid-flexible hybrid-driven heavy-load loading robot, characterized in that it includes two parallel linear modules, two linear sliding seats, a link mechanism, a moving platform, and two winch mechanisms; the linear sliding seats are arranged to move on the linear modules, the link mechanism is composed of two parallel links, the front ends are hinged to the rear side of the moving platform, the rear ends are hinged to the linear sliding seats, two groups of connection rings and two wire guiding mechanisms are arranged on the front side of the moving platform, and the wire ropes of the two groups of winches respectively pass through a group of wire guiding mechanisms to connect a group of the connection rings.
[0007] According to the rigid-flexible hybrid-driven heavy-load loading robot described above, the linear module includes two parallel guide rails and a rack between the guide rails. The linear sliding seat includes a sliding block, a sliding plate, a servo motor, a driving gear, and a fixed-end link connection seat. Two corresponding sliding blocks form a group for a guide rail. The sliding blocks are arranged on the back of the sliding plate, the servo motor is arranged on the outside of the sliding plate, the driving gear is connected to the output shaft of the servo motor and is arranged between the sliding blocks to cooperate with the rack, and the fixed-end link connection seat connects the rear ends of the two links.
[0008] According to the rigid-flexible hybrid driven heavy-load loading robot described above, two moving-end link connecting seats are provided at the rear end of the moving platform. The two moving-end link connecting seats are symmetrically arranged relative to the moving platform, and the moving-end link connecting seats have the same structure.
[0009] According to the rigid-flexible hybrid driven heavy-load loading robot described above, the fixed-end link connecting seat and the moving-end link connecting seat are respectively provided with a rotating shaft. The rotating shaft on the fixed-end link connecting seat is parallel to the rotating shaft on the moving-end link connecting seat. Hinge holes are opened at the top and bottom of the rotating shaft for hinge connection to the front end or the rear end of the link. The two rotating shafts and the two links form a variable parallelogram.
[0010] According to the rigid-flexible hybrid driven heavy-load loading robot described above, a nitrogen balance cylinder is arranged at the lower part of the front end face of the moving platform. The nitrogen balance cylinder is provided with the connecting ring described above, and the wire guiding mechanism is arranged above the connecting ring. The nitrogen balance cylinder is a metal ring.
[0011] According to the rigid-flexible hybrid driven heavy-load loading robot described above, it further includes a robot frame. The robot frame is provided with a left frame, a right frame, and a cross frame connecting the left frame and the right frame. Two hoisting mechanisms are respectively arranged on the left frame and the right frame, and the two linear modules are respectively arranged on the left frame and the right frame.
[0012] According to the rigid-flexible hybrid driven heavy-load loading robot described above, the left frame and the right frame are provided with track mounting beams. Track mounting brackets are arranged on the track mounting beams. The track mounting brackets protrude from the left frame and the right frame. The mounting tracks on the left frame and the right frame face the middle and are parallel. The guide rails and racks of the linear module are fixed on the track mounting brackets.
[0013] According to the rigid-flexible hybrid driven heavy-load loading robot described above, the two sets of hoisting machines release or wind the steel wire ropes simultaneously or at different times. The two linear sliding seats can move in the same direction, or in opposite directions, or one is stationary and the other moves.
[0014] Motion method of the heavy-load loading robot with rigid-flexible hybrid drive of the present invention, including the following motion paths. The moving platform moves forward along the guide rail. During this process, the servo motors in the linear moving seats work to drive the two linear moving seats to move forward along the guide rail. At the same time, the steel wires of the two hoisting mechanisms are released or retracted according to the distance between the moving platform and the hoisting machines, and the moving platform moves forward along the direction of the guide rail. The moving platform moves backward along the guide rail. During this process, the servo motors in the linear moving seats work to drive the two linear moving seats to move backward along the guide rail. At the same time, the steel wires of the two hoisting mechanisms are released or retracted according to the distance between the moving platform and the hoisting machines, and the moving platform moves backward along the direction of the guide rail. The moving platform moves left along the guide rail. During this process, the steel wire of the right hoisting mechanism is released, and the steel wire of the left hoisting mechanism is retracted, and the moving platform moves left along the vertical plane of the guide rail. The moving platform moves right along the guide rail. During this process, the steel wire of the left hoisting mechanism is released, and the steel wire of the right hoisting mechanism is retracted, and the moving platform moves right along the vertical plane of the guide rail. The moving platform moves up along the vertical plane of the guide rail. During this process, the steel wires of the left and right hoisting mechanisms are retracted, and the moving platform moves up. The moving platform moves down along the vertical plane of the guide rail. During this process, the steel wires of the left and right hoisting mechanisms are released, and the moving platform moves down. In the above motion paths, the moving platform can move simultaneously along one direction among paths 1) or 2), one direction among 3) or 4), and one direction among 5) or 6).
[0015] The rigid connecting rod at the lower part of the robot of the present invention can control the left and right position coordinates of the moving platform at the end of the robot, and the up and down position coordinates of the robot are synchronously controlled by the winding and unwinding of the steel wires of the two hoisting machines at the left and right ends.
[0016] The flexible drive chain of the heavy-load loading robot with rigid-flexible hybrid drive of the present invention is a hoisting machine. By means of the hoisting machine, the large-load lifting effect is realized by driving the drum through a high-power three-phase asynchronous motor to balance the load at the end of the robot, so as to reduce the thrust of the two rigid connecting rod robots at the lower part. Description of the Drawings
[0017] Figure 1 is the structure of the present invention Figure 1 , Figure 2 is the structure of the present invention Figure 2 , Figure 3 is the rear side view of the present invention, Figure 4 is the Figure 3 partial enlarged view of the present invention, Figure 5 is the top view of the present invention, Reference Numerals: 1 linear module, 11 guide rail, 12 rack, 2 linear sliding seat, 21 slider, 22 sliding plate, 23 servo motor, 24 driving gear, 25 fixed-end connecting seat of connecting rod, 3 connecting rod mechanism, 4 moving platform, 41 moving-end connecting seat of connecting rod, 42 wire guiding mechanism, 43 connecting ring, 44 nitrogen balance cylinder, 5 hoisting mechanism, 6 robot frame, 61 left frame, 62 right frame, 63 cross frame, 64 track mounting beam, 65 track mounting bracket. Detailed Embodiment
[0018] The content of the present invention will be further described below: The heavy-load loading robot with rigid-flexible hybrid drive of the present invention includes a robot frame 6, two parallel linear modules 1, two linear sliding seats 2, a connecting rod mechanism 3, a moving platform 4 and two hoisting mechanisms 5.
[0019] Specifically, as shown in FIG. 1, the robot frame 6 is provided with a left frame 61, a right frame 62 and a cross frame 63 connecting the left frame 61 and the right frame 62. The two hoisting mechanisms 5 are respectively arranged on the left frame 61 and the right frame 62, and the two linear modules 1 are respectively arranged on the left frame 61 and the right frame 62.
[0020] Specifically, the left frame 61 and the right frame 62 are provided with a track mounting beam 64, and a track mounting bracket 65 is arranged on the track mounting beam 64. The track mounting bracket 65 protrudes from the left frame 61 and the right frame 62, and the mounting track brackets 65 on the left frame 61 and the right frame 62 face the middle and are parallel. The linear module 1 includes two parallel guide rails 11 and a rack 12 between the guide rails 11. The guide rails 11 and the rack 12 of the linear module 1 are fixed on the track mounting bracket 65.
[0021] The linear sliding seat 2 is arranged to move on the linear module 1. The connecting rod mechanism 3 is two parallel connecting rods, the front ends of which are hinged to the rear side of the moving platform 4, and the rear ends of which are hinged to the linear sliding seat 2. Specifically, two moving-end connecting seats 41 of connecting rod are arranged at the rear end of the moving platform 4. The two moving-end connecting seats 41 of connecting rod are symmetrically arranged relative to the moving platform 4, and the moving-end connecting seats 41 of connecting rod have the same structure.
[0022] The fixed-end connecting seat 25 of connecting rod and the moving-end connecting seat 41 of connecting rod are respectively provided with a rotating shaft. The rotating shaft on the fixed-end connecting seat 25 of connecting rod is parallel to the rotating shaft on the moving-end connecting seat 41 of connecting rod. Hinge holes are opened at the top and bottom of the rotating shaft for hinge connection to the front end or the rear end of the connecting rod. The two rotating shafts and the two connecting rods form a variable parallelogram.
[0023] On the front side of the moving platform 4, there are two sets of connecting rings 43 and two wire guiding mechanisms 42. The steel wires of the two winches respectively pass through a set of wire guiding mechanisms 42 and are connected to a set of the connecting rings 43.
[0024] Specifically, a nitrogen balance cylinder 44 is arranged at the lower part of the front end face of the moving platform 4. The connecting ring 43 is provided on the nitrogen balance cylinder 44, and the wire guiding mechanism 42 is arranged above the connecting ring 43. The nitrogen balance cylinder 44 is a metal ring. The nitrogen balance cylinder 44 is equivalent to a mechanical spring, which can eliminate the traction force generated by the incomplete coincidence of the wire rope traction and the position of the mobile platform while ensuring that the traction force of the wire rope is within a certain range.
[0025] The linear sliding seat 2 of the present device is shown in Figure 4. The linear sliding seat 2 includes a sliding block 21, a sliding plate 22, a servo motor 23, a driving gear 24 and a fixed-end connecting rod seat 25. Two corresponding sets of guide rails 11 are provided for the sliding block 21. The sliding block 21 is arranged on the back of the sliding plate 22. The servo motor 23 is arranged outside the sliding plate 22. The driving gear 24 is connected to the output shaft of the servo motor 23 and is arranged between the sliding blocks 21 and is engaged with the rack 12. The fixed-end connecting rod seat 25 is connected to the rear ends of the two connecting rods.
[0026] The two winches of the present device release or wind up the wire ropes simultaneously or at different times. The two linear sliding seats 2 can move in the same direction, or in opposite directions, or one is stationary and the other moves.
[0027] The movement method of the heavy-load loading robot with rigid-flexible hybrid drive of the present invention will be described below, which specifically includes the following movement paths. 1) The moving platform 4 moves forward along the guide rail 11. During this process, the servo motor 23 in the linear moving seat works to drive the two linear moving seats to move forward along the guide rail 11. At the same time, the wire ropes of the two winch mechanisms 5 are released or retracted according to the distance between the moving platform 4 and the winches, and the moving platform 4 moves forward along the direction of the guide rail 11. 2) The moving platform 4 moves backward along the guide rail 11. During this process, the servo motor 23 in the linear moving seat works to drive the two linear moving seats to move backward along the guide rail 11. At the same time, the wire ropes of the two winch mechanisms 5 are released or retracted according to the distance between the moving platform 4 and the winches, and the moving platform 4 moves backward along the direction of the guide rail 11. 3) The moving platform 4 moves leftward along the guide rail 11. During this process, the wire rope of the right winch mechanism 5 is released, and the wire rope of the left winch mechanism 5 is retracted. The moving platform 4 moves leftward perpendicular to the guide rail 11. 4) The moving platform 4 moves rightward along the guide rail 11. During this process, the steel wire rope of the left hoisting mechanism 5 is released, and the steel wire rope of the right hoisting mechanism 5 is retracted. The moving platform 4 moves rightward perpendicular to the plane of the guide rail 11; 5) The moving platform 4 moves upward perpendicular to the plane of the guide rail 11. During this process, the steel wire ropes of the left and right hoisting mechanisms 5 are retracted, and the moving platform 4 moves upward; 6) The moving platform 4 moves downward perpendicular to the plane of the guide rail 11. During this process, the steel wire ropes of the left and right hoisting mechanisms 5 are released, and the moving platform 4 moves downward; 7) In the above movement paths, the moving platform 4 can move simultaneously along three paths in one direction of path 1) or 2), one direction of path 3) or 4), and one direction of path 5) or 6).
[0028] The rigid connecting rod at the lower part of the robot of the present invention can control the left and right position coordinates of the moving platform at the end of the robot, and the up and down position coordinates of the robot are synchronously controlled by the retraction and release of the steel wire ropes of the two hoisting machines at the left and right ends.
[0029] For the heavy-load loading robot with rigid-flexible hybrid drive of the present invention, its flexible drive chain is a hoisting machine. By means of the hoisting machine, the large-load lifting effect is realized by driving the drum through a high-power three-phase asynchronous motor to balance the load at the end of the robot, so as to reduce the thrust of the two rigid connecting rod robots at the lower part.
Claims
1. A rigid-flexible hybrid drive heavy-duty loading robot, characterized in that it includes Two parallel linear modules (1), two linear sliding seats (2), a connecting rod mechanism (3), a moving platform (4) and two winch mechanisms (5); The linear slide seat (2) is arranged to move on the linear module (1); the connecting rod mechanism (3) is two parallel connecting rods, the front end of which is hingedly connected to the rear side of the moving platform (4) and the rear end of which is hingedly connected to the linear slide seat (2); the front side of the moving platform (4) is provided with two groups of connecting rings (43) and two steel wire guide mechanisms (42); the steel wire ropes of the two groups of winches respectively pass through a group of steel wire guide mechanisms (42) and are connected to a group of the connecting rings (43).
2. The rigid-flexible hybrid driven heavy-load loading robot according to claim 1 is characterized in that: The linear module (1) comprises two parallel guide rails (11) and a rack (12) between the guide rails (11); the linear sliding seat (2) comprises a sliding block (21), a sliding plate (22), a servo motor (23), a driving gear (24) and a fixed-end connecting rod connecting seat (25); two sliding blocks (21) correspond to one set of guide rails (11); the sliding blocks (21) are arranged on the back of the sliding plate (22); the servo motor (23) is arranged on the outside of the sliding plate (22); an output shaft of the driving gear (24) connected to the servo motor (23) is arranged between the sliding blocks (21) and cooperates with the rack (12); and the fixed-end connecting rod connecting seat (25) connects the rear ends of the two connecting rods.
3. The rigid-flexible hybrid driven heavy-load loading robot according to claim 2 is characterized in that: Two moving end connecting rod connection seats (41) are provided at the rear end of the moving platform (4). The two moving end connecting rod connection seats (41) are symmetrically arranged relative to the moving platform (4), and the moving end connecting rod connection seats (41) and the moving end connecting rod connection seats (41) have the same structure.
4. The rigid-flexible hybrid driven heavy-load loading robot according to claim 3 is characterized in that: The fixed end connecting rod connection seat (25) and the movable end connecting rod connection seat (41) are respectively provided with a rotation axis. The rotation axis on the fixed end connecting rod connection seat (25) is parallel to the rotation axis of the movable end connecting rod connection seat (41). The top and bottom of the rotation axis are provided with hinge holes and are hingedly connected to the front end or the rear end of the connecting rod. The two rotation axes and the two connecting rods form a variable parallelogram.
5. The rigid-flexible hybrid driven heavy-load loading robot according to claim 1 is characterized in that: A nitrogen balance cylinder (44) is provided at the lower part of the front end surface of the moving platform (4), the nitrogen balance cylinder (44) is provided with the connecting ring (43), the wire guide mechanism (42) is provided above the connecting ring (43), and the nitrogen balance cylinder (44) is a metal ring.
6. The rigid-flexible hybrid driven heavy-load loading robot according to claim 2 is characterized in that: The robot frame (6) is provided with a left frame (61), a right frame (62) and a horizontal frame (63) connecting the left frame (61) and the right frame (62); the two hoisting mechanisms (5) are respectively arranged on the left frame (61) and the right frame (62); and the two linear modules (1) are respectively arranged on the left frame (61) and the right frame (62).
7. The rigid-flexible hybrid driven heavy-load loading robot according to claim 5 is characterized in that: The left side frame (61) and the right side frame (62) are provided with a track mounting beam (64), and a track mounting frame (65) is provided on the track mounting beam (64). The track mounting frame (65) protrudes from the left side frame (61) and the right side frame (62). The mounting track frames on the left side frame (61) and the right side frame (62) face the middle and are parallel. The guide rail (11) and the rack (12) of the linear module (1) are fixed on the track mounting frame (65).
8. The rigid-flexible hybrid driven heavy-load loading robot according to claim 1 is characterized in that: The two sets of winches release or wind up the wire rope simultaneously or in different time periods, and the two linear sliding seats (2) move in the same direction or in different directions, or one is stationary while the other moves.
9. A motion method of a rigid-flexible hybrid driven heavy-load loading robot as claimed in claim 2, characterized in that: The following motion paths are included: The moving platform (4) moves forward along the guide rail (11). During this process, the servo motor (23) in the linear moving seat works to drive the two linear moving seats to move forward along the guide rail (11). At the same time, the steel wire ropes of the two sets of hoisting mechanisms (5) are released or retracted according to the distance between the moving platform (4) and the hoist, and the moving platform (4) moves forward along the guide rail (11); The moving platform (4) moves backward along the guide rail (11). During this process, the servo motor (23) in the linear moving seat works to drive the two linear moving seats to move backward along the guide rail (11). At the same time, the steel wire ropes of the two sets of hoisting mechanisms (5) are released or retracted according to the distance between the moving platform (4) and the hoist, and the moving platform (4) moves backward along the guide rail (11); The movable platform (4) moves to the left along the guide rail (11). During this process, the steel wire rope of the right hoisting mechanism (5) is released, and the steel wire rope of the left hoisting mechanism (5) is retracted, and the movable platform (4) moves to the left along the vertical plane of the guide rail (11); The moving platform (4) moves to the right along the guide rail (11). During this process, the steel wire rope of the left hoisting mechanism (5) is released, and the steel wire rope of the right hoisting mechanism (5) is retracted, and the moving platform (4) moves to the right along the guide rail (11) in a vertical direction. The moving platform (4) moves upward along the vertical plane of the guide rail (11). During this process, the steel wire ropes of the left and right hoisting mechanisms (5) are retracted, and the moving platform (4) moves upward; The moving platform (4) moves downward along the vertical plane of the guide rail (11). During this process, the steel wire ropes of the left and right hoisting mechanisms (5) are released, and the moving platform (4) moves downward; In the above-mentioned motion path, the moving platform (4) can move simultaneously along three paths: one direction in path 1) or 2), one direction in path 3) or 4), and one direction in path 5) or 6).