Heavy-load double-arm industrial robot

Abstract

The invention discloses a heavy-load double-arm industrial robot which is characterized in that a first-shaft assembly body is connected with a rotating seat, two large arms which are arranged left and right at an interval are connected between a second-shaft assembly body and a third-shaft assembly body, and a nitrogen cylinder is connected between each large arm and the rotating seat; the rear side of the three-shaft assembly is connected with a pull rod, the lower end of the pull rod is connected with a pull rod connecting shaft, the left end and the right end of the pull rod connecting shaft are connected with a first balance supporting plate and a second balance supporting plate respectively, and the front ends of the first balance supporting plate and the second balance supporting plate are connected to the lower ends of the two large arms respectively. The rear end of the first balance supporting plate and the rear end of the second balance supporting plate are both connected with balance load blocks, the three-axis assembly body is connected with a three-axis motor, and the two-axis assembly body comprises a two-axis motor, a first speed reducer and a second speed reducer. The first speed reducer and the second speed reducer are connected in series in a transmission mode, the two large arms are connected to the output mounting face of the first speed reducer and the output mounting face of the second speed reducer respectively, and single-motor driving and double-speed-reducer series transmission are achieved.

Description

Technical Field

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

[0002] Heavy-duty industrial robots can be used for tasks such as handling and assembling large parts. This addresses the technical challenges of using large, bulky reducers, which can lead to excessive robot weight and insufficient motor torque.

[0003] Traditional heavy-duty industrial robots use two motors to drive a large reducer. The dual motors synchronously drive a single joint. This driving scheme can significantly reduce costs, but the motor synchronous drive control algorithm is complex and technically difficult to implement. In addition, the large reducer is large in size and high in weight, and the processing difficulty and cost increase exponentially.

[0004] Therefore, it is necessary to develop a new technology to solve the above problems. Summary of the Invention

[0005] In view of this, the present invention aims to address the deficiencies in the prior art, and its main purpose is to provide a heavy-duty dual-arm industrial robot that realizes single-motor drive and dual-reducer series transmission, with a smaller size, lower mass and lower cost.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A heavy-load dual-arm industrial robot comprises a base assembly and a one-axis assembly, a two-axis assembly, a three-axis assembly, a four-axis assembly, a five-axis assembly, and a six-axis assembly arranged on the base assembly and connected in sequence, wherein the four-axis assembly, the five-axis assembly, and the six-axis assembly together constitute a four-, five-, and six-axis assembly; The one-axis assembly is rotatably connected to the base assembly, the one-axis assembly is connected to a swivel seat, the two-axis assembly is connected to the swivel seat, two large arms arranged at left and right intervals are connected between the two-axis assembly and the three-axis assembly, and a nitrogen cylinder is connected between each large arm and the swivel seat; The rear side of the three-axis assembly is connected to a pull rod, the lower end of the pull rod is connected to a pull rod connecting shaft, the left and right ends of the pull rod connecting shaft are respectively connected to a first balancing support plate and a second balancing support plate, the front ends of the first balancing support plate and the second balancing support plate are respectively connected to the lower ends of the two large arms, the rear ends of the first balancing support plate and the second balancing support plate are both connected to a balancing load block, and the large arm and the pull rod always maintain a parallel relationship; The three-axis assembly is connected to a three-axis motor, and the four-axis, five-axis, and six-axis components are assembled on the three-axis assembly; the three-axis motor drives the three-axis assembly to rotate in conjunction with the four-axis, five-axis, and six-axis components, and the three-axis assembly drives the pull rod and the pull rod connecting shaft to move, and the three-axis assembly always maintains a parallel relationship with the first balance support plate and the second balance support plate; The two-axis assembly includes a two-axis motor, a first reducer, and a second reducer; the first reducer and the second reducer are connected in series transmission and are respectively installed on both sides of the swivel seat; the input end of the first reducer is connected to the two-axis motor, and the two large arms are respectively connected to the output mounting surfaces of the first reducer and the second reducer.

[0007] As a preferred solution, the upper end of the swivel seat is connected to a first nitrogen cylinder support shaft, the lower ends of the two nitrogen cylinders are respectively connected to the two ends of the first nitrogen cylinder support shaft, and both ends of the first nitrogen cylinder support shaft are connected to a first nitrogen cylinder pressure plate for limiting the axial movement of the nitrogen cylinder, and the first nitrogen cylinder pressure plate abuts against the outer side of the lower end of the corresponding nitrogen cylinder.

[0008] As a preferred solution, the inner upper side of each of the upper arms is connected to a second nitrogen cylinder support shaft, the upper end of the nitrogen cylinder is connected to the second nitrogen cylinder support shaft, and the second nitrogen cylinder support shaft is connected to a second nitrogen cylinder pressure plate for limiting the axial movement of the nitrogen cylinder, and the second nitrogen cylinder pressure plate abuts against the inner side of the upper end of the corresponding nitrogen cylinder.

[0009] As a preferred solution, the input end of the two-axis motor is connected to a first spline sleeve, the left and right ends of the first reducer are both input ends of the first reducer, the input ends of the two first reducers are both spline structures, and the input end of the second reducer is a second spline sleeve, and the two spline structures are respectively connected to the first spline sleeve and the second spline sleeve.

[0010] As a preferred solution, the first spline sleeve is fixed to the input end of the two-axis motor by screws.

[0011] As a preferred solution, the first spline sleeve is connected to the motor shaft of the two-axis motor through a deep groove ball bearing.

[0012] As a preferred solution, the two-axis motor is installed on the left side of the upper arm on the left side through the motor flange, and the front ends of the first balance support plate and the second balance support plate are respectively connected to the outer side of the lower ends of the two upper arms through cross roller bearings, and the motor flange is pressed against the left side of the cross roller bearing.

[0013] As a preferred solution, a bearing cover is provided outside the cross roller bearing, and the bearing cover is used to compress the axial clearance of the cross roller bearing.

[0014] As a preferred solution, the first reducer and the second reducer are both medium-sized reducers.

[0015] Compared with the prior art, the present invention has obvious advantages and beneficial effects: The heavy-duty dual-arm industrial robot provided by the present invention is characterized by a two-axis assembly including a two-axis motor, a first reducer, and a second reducer, wherein the first reducer and the second reducer are connected in series transmission and are respectively installed on both sides of a swivel seat, and the input end of the first reducer is connected to the two-axis motor, and the two large arms are respectively connected to the output mounting surfaces of the first reducer and the second reducer. In this way, single-motor drive and dual-reducer series transmission are achieved, and the drive control is simpler than that of dual motors and is technically easy to implement. The torque of two medium-sized reducers is equivalent to that of a large reducer, and the robot is smaller in size, lower in weight, and lower in cost than a large reducer. In addition, the two reducers are designed with a spline connection structure, which enables synchronous input and output. Secondly, by connecting the one-axis assembly to a swivel seat, connecting the two-axis assembly to the swivel seat, connecting two large arms arranged at left and right intervals between the two-axis assembly and the three-axis assembly, and connecting a nitrogen cylinder between each large arm and the swivel seat, connecting a pull rod to the rear side of the three-axis assembly, connecting the lower end of the pull rod to a pull rod connecting shaft, connecting the left and right ends of the pull rod connecting shaft to the first balance support plate and the second balance support plate respectively, the front ends of the first balance support plate and the second balance support plate are respectively connected to the lower ends of the two large arms, and the rear ends of the first balance support plate and the second balance support plate are connected to a balance load block, so that the large arm and the pull rod are always kept parallel. The relationship is that the three-axis assembly is connected to the three-axis motor, and the four-, five-, and six-axis components are assembled on the three-axis assembly, so that the three-axis motor drives the three-axis assembly to rotate in conjunction with the four-, five-, and six-axis components, and the three-axis assembly drives the pull rod and the pull rod connecting shaft to move, so that the three-axis assembly and the first balance support plate and the second balance support plate always maintain a parallel relationship. In this way, the three axes can use the balance load block to assist, the two axes use the double nitrogen cylinder to assist, and the second and third axes use the balance connecting rod design. During the coupling process of the two and three axes joints, the two and three axes move in opposite directions. Due to the parallelogram structure, the three axes will assist the two axes, so that it can use a variety of assistance methods to reduce the torque required by the motor; In addition, the heavy-loaded dual-arm industrial robot of the present invention has a smaller machine body and lighter weight. The volume of the dual reducer is reduced, and the designed robot body is also reduced. The balancing load block is placed at the rear, the distance between the center of mass of the first, second and third axes is shortened, the deformation of the body is also reduced, and the designed body weight is also lighter.

[0016] In order to more clearly illustrate the structural features, technical means and specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic three-dimensional diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a perspective diagram of the overall structure of an embodiment of the present invention from another angle; Figure 3 is a front view of an embodiment of the present invention; Figure 4 It is a partial structural decomposition schematic diagram of an embodiment of the present invention; Figure 5 It is a partial structural cross-sectional schematic diagram of an embodiment of the present invention.

[0018] Description of reference numerals: 10. Base assembly 20. Axis assembly 21. Rotating seat 22. First nitrogen cylinder support shaft 23. First nitrogen cylinder pressure plate 24. Second nitrogen cylinder support shaft 25. Second nitrogen cylinder pressure plate 30. Two-axis assembly 31. Big arm 32. Second axis motor 33. First reducer 34. Second reducer 35. First spline sleeve 36. Spline structure 37. Second spline sleeve 38. Screw 39. Deep groove ball bearing 301, motor flange 302, Crossed Roller Bearing 303, Bearing Cover 40. Three-axis assembly 41. Three-axis motor 50. Four-axis assembly 60. Five-axis assembly 70. Six-axis assembly 80. Nitrogen cylinder 90, tie rod 101, tie rod connecting shaft 102, first balance support plate 103, second balance support plate 104. Balanced load block 105. Output mounting surface. DETAILED DESCRIPTION

[0019] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0020] Please refer to Figures 1 to 5 As shown, this embodiment provides a heavy-loaded dual-arm industrial robot, including a base assembly 10 and a one-axis assembly 20, a two-axis assembly 30, a three-axis assembly 40, a four-axis assembly 50, a five-axis assembly 60, and a six-axis assembly 70 arranged on the base assembly 10 and connected in sequence. The four-axis assembly 50, the five-axis assembly 60, and the six-axis assembly 70 together constitute a four-five-six-axis assembly.

[0021] The one-axis assembly 20 can be rotatably connected to the base assembly 10, the one-axis assembly 20 is connected to the swivel seat 21, the two-axis assembly 30 is connected to the swivel seat 21, and two large arms 31 arranged at left and right intervals are connected between the two-axis assembly 30 and the three-axis assembly 40, and a nitrogen cylinder 80 is connected between each large arm 31 and the swivel seat 21; the nitrogen cylinder 80 is fixed on the large arm 31 and the swivel seat 21 to reduce the torque required by the two-axis motor 32; the rear side of the three-axis assembly 40 is connected to a pull rod 90, the lower end of the pull rod 90 is connected to a pull rod connecting shaft 101, and the left and right ends of the pull rod connecting shaft 101 are respectively connected to a first balance support plate 102 and a second balance support plate 103, and the front ends of the first balance support plate 102 and the second balance support plate 103 are respectively connected to the lower ends of the two large arms 31 At the end, the rear ends of the first balancing support plate 102 and the second balancing support plate 103 are connected with a balancing load block 104, and the balancing load block 104 extends horizontally backward, and the upper arm 31 and the pull rod 90 always maintain a parallel relationship; the three-axis assembly 40 is connected with a three-axis motor 41, and the four-five-sixth axis assembly is assembled on the three-axis assembly 40; the three-axis motor 41 drives the three-axis assembly 40 to rotate in conjunction with the four-five-sixth axis assembly, and the three-axis assembly 40 drives the pull rod 90 and the pull rod connecting shaft 101 to move, and the three-axis assembly 40 and the first balancing support plate 102 and the second balancing support plate 103 always maintain a parallel relationship; here, a double upper arm 31 and a double nitrogen cylinder 80 structural design are adopted, which form a parallelogram structure with the four-five-sixth axis assembly, the pull rod 90, the first balancing support plate 102, and the second balancing support plate 103. The two balancing load blocks 104 are respectively fixed on the first balancing support plate 102 and the second balancing support plate 103 to reduce the torque required by the three-axis motor 41 .

[0022] The two-axis assembly 30 includes a two-axis motor 32, a first reducer 33, and a second reducer 34; the first reducer 33 and the second reducer 34 are both medium-sized reducers, and the first reducer 33 and the second reducer 34 are connected in series transmission and are respectively installed on both sides of the swivel seat 21; the input end of the first reducer 33 is connected to the two-axis motor 32, and the two large arms 31 are respectively connected to the output mounting surfaces 105 of the first reducer 33 and the second reducer 34, so that it can realize single-motor drive and dual-reducer series transmission. The drive control is simpler than that of dual motors and is technically easy to implement. The torque of two medium-sized reducers is equivalent to that of a large reducer, which is smaller in size, lower in weight, and lower in cost than a large reducer. Moreover, the two reducers are designed with a spline connection structure, which can be input and output synchronously.

[0023] During the operation of the robot, there will be a coupling phenomenon between the second and third axes. When the second-axis motor 32 rotates, the third-axis motor 41 rotates at the same time, but in opposite directions; when the upper arm 31 moves downward, the fourth, fifth and sixth-axis components move upward. Due to the parallelogram structure, the pull rod 90 will also have an upward force. The upper arm 31 and the pull rod 90 always maintain a parallel relationship. The upper arm 31 will also be affected by the upward force of the pull rod 90. The magnitude of the assist torque is roughly consistent with that of the three axes.

[0024] The upper end of the swivel seat 21 is connected to a first nitrogen cylinder support shaft 22, and the lower ends of the two nitrogen cylinders 80 are respectively connected to both ends of the first nitrogen cylinder support shaft 22. Both ends of the first nitrogen cylinder support shaft 22 are connected to a first nitrogen cylinder pressure plate 23 for limiting the axial movement of the nitrogen cylinder 80. The first nitrogen cylinder pressure plate 23 abuts against the outer side of the lower end of the corresponding nitrogen cylinder 80.

[0025] A second nitrogen cylinder support shaft 24 is connected to the inner upper side of each arm 31. The upper end of each nitrogen cylinder 80 is connected to the second nitrogen cylinder support shaft 24. A second nitrogen cylinder pressure plate 25 is connected to the second nitrogen cylinder support shaft 24 to limit the axial movement of the nitrogen cylinder 80. The second nitrogen cylinder pressure plate 25 abuts the inner side of the upper end of the corresponding nitrogen cylinder 80. Furthermore, due to the limited installation space for the second nitrogen cylinder support shaft 24, a hole is opened in the arm 31 to facilitate the installation of the second nitrogen cylinder support shaft 24. A second-axis cover plate is fixed to the arm 31 at the corresponding hole position for aesthetic purposes.

[0026] The input end of the dual-axis motor 32 is connected to a first splined sleeve 35. The left and right ends of the first reducer 33 serve as the input ends of the first reducer 33. The input ends of both first reducers 33 are splined structures 36. The input end of the second reducer 34 is a second splined sleeve 37. The two spline structures 36 are respectively connected to the first splined sleeve 35 and the second splined sleeve 37. In this way, by connecting several workpieces together, synchronous input and output can be achieved. The first splined sleeve 35 is fixed to the input end of the dual-axis motor 32 by screws 38. The first splined sleeve 35 is connected to the motor shaft of the dual-axis motor 32 via a deep groove ball bearing 39. Here, the deep groove ball bearing 39 is used to axially locate the first splined sleeve 35 when assembling, making assembly easier.

[0027] The two-axis motor 32 is mounted on the left side of the left arm 31 via a motor flange 301. The front ends of the first and second balance support plates 102, 103 are connected to the outer sides of the lower ends of the two arms 31 via cross roller bearings 302, respectively. The motor flange 301 is pressed against the left side of the cross roller bearing 302. A bearing cover 303 is provided outside the cross roller bearing 302 to tighten the axial clearance of the cross roller bearing 302.

[0028] In summary, the design focus of the present invention is that the two-axis assembly includes a two-axis motor, a first reducer, and a second reducer, so that the first reducer and the second reducer are connected in series transmission, and are respectively installed on both sides of the swivel seat, and the input end of the first reducer is connected to the two-axis motor, so that the two large arms are respectively connected to the output mounting surfaces of the first reducer and the second reducer, so that it can realize single motor drive and dual reducer series transmission, the drive control is simpler than the dual motor, and it is technically easy to implement. The torque of two medium-sized reducers is equivalent to that of a large reducer, and the volume is small. Smaller, lower quality, and lower cost than large reducers. In addition, the two reducers are designed with a spline connection structure to achieve synchronous input and output. Secondly, by connecting the one-axis assembly to a swivel seat, the two-axis assembly is connected to the swivel seat, and two large arms arranged at left and right intervals are connected between the two-axis assembly and the three-axis assembly. A nitrogen cylinder is connected between each large arm and the swivel seat, and a pull rod is connected to the rear side of the three-axis assembly. The lower end of the pull rod is connected to a pull rod connecting shaft, and the left and right ends of the pull rod connecting shaft are respectively connected to the first balance support plate and the second balance support plate. The first balance The front ends of the balancing support plate and the second balancing support plate are respectively connected to the lower ends of the two large arms, and the rear ends of the first balancing support plate and the second balancing support plate are connected with a balancing load block, so that the large arms and the pull rod always maintain a parallel relationship, the three-axis assembly is connected to the three-axis motor, and the four-, five- and six-axis components are assembled on the three-axis assembly, so that the three-axis motor drives the three-axis assembly to rotate in conjunction with the four-, five- and six-axis components, and the three-axis assembly drives the pull rod and the pull rod connecting shaft to move, so that the three-axis assembly and the first balancing support plate and the second balancing support plate always maintain a parallel relationship. In this way, the three axes can use a balancing load block The second axis uses a double nitrogen cylinder for power assistance, and the second and third axes use a balanced connecting rod design. During the coupling process of the second and third axis joints, the second and third axes move in opposite directions. Due to the parallelogram structure, the third axis will assist the second axis, enabling it to use a variety of power assistance methods, thereby reducing the torque required by the motor; and the heavy-duty dual-arm industrial robot of the present invention has a smaller machine body and a lighter weight. The volume of the dual reducer is reduced, and the designed robot body is also reduced. The balancing load block is placed at the rear, the distance between the center of mass of the first, second and third axes is shortened, the deformation of the body is reduced, and the designed body weight is also lighter.

Claims

1. A heavy-load dual-arm industrial robot comprising a base assembly and a one-axis assembly, a two-axis assembly, a three-axis assembly, a four-axis assembly, a five-axis assembly, and a six-axis assembly disposed on the base assembly and connected in sequence, wherein the four-axis assembly, the five-axis assembly, and the six-axis assembly together constitute a four-, five-, and six-axis assembly; characterized in that: The one-axis assembly is rotatably connected to the base assembly, the one-axis assembly is connected to a swivel seat, the two-axis assembly is connected to the swivel seat, two large arms arranged at left and right intervals are connected between the two-axis assembly and the three-axis assembly, and a nitrogen cylinder is connected between each large arm and the swivel seat; The rear side of the three-axis assembly is connected to a pull rod, the lower end of the pull rod is connected to a pull rod connecting shaft, the left and right ends of the pull rod connecting shaft are respectively connected to a first balancing support plate and a second balancing support plate, the front ends of the first balancing support plate and the second balancing support plate are respectively connected to the lower ends of the two large arms, the rear ends of the first balancing support plate and the second balancing support plate are both connected to a balancing load block, and the large arm and the pull rod always maintain a parallel relationship; The three-axis assembly is connected to a three-axis motor, and the four-axis, five-axis, and six-axis components are assembled on the three-axis assembly; the three-axis motor drives the three-axis assembly to rotate in conjunction with the four-axis, five-axis, and six-axis components, and the three-axis assembly drives the pull rod and the pull rod connecting shaft to move, and the three-axis assembly always maintains a parallel relationship with the first balance support plate and the second balance support plate; The two-axis assembly includes a two-axis motor, a first reducer, and a second reducer; the first reducer and the second reducer are connected in series transmission and are respectively installed on both sides of the swivel seat; the input end of the first reducer is connected to the two-axis motor, and the two large arms are respectively connected to the output mounting surfaces of the first reducer and the second reducer.

2. A heavy-load dual-arm industrial robot according to claim 1, characterized in that: The upper end of the swivel is connected to a first nitrogen cylinder support shaft, and the lower ends of the two nitrogen cylinders are respectively connected to the two ends of the first nitrogen cylinder support shaft. Both ends of the first nitrogen cylinder support shaft are connected to a first nitrogen cylinder pressure plate for limiting the axial movement of the nitrogen cylinder, and the first nitrogen cylinder pressure plate abuts against the outer side of the lower end of the corresponding nitrogen cylinder.

3. The heavy-load dual-arm industrial robot according to claim 1, characterized in that: The inner upper side of each of the big arms is connected to a second nitrogen cylinder support shaft, the upper end of the nitrogen cylinder is connected to the second nitrogen cylinder support shaft, the second nitrogen cylinder support shaft is connected to a second nitrogen cylinder pressure plate for limiting the axial movement of the nitrogen cylinder, and the second nitrogen cylinder pressure plate abuts against the inner side of the upper end of the corresponding nitrogen cylinder.

4. The heavy-load dual-arm industrial robot according to claim 1, characterized in that: The input end of the two-axis motor is connected to the first spline sleeve, the left and right ends of the first reducer are both the input ends of the first reducer, the input ends of the two first reducers are both spline structures, the input end of the second reducer is the second spline sleeve, and the two spline structures are respectively connected to the first spline sleeve and the second spline sleeve.

5. The heavy-load dual-arm industrial robot according to claim 4, characterized in that: The first spline sleeve is fixed to the input end of the two-axis motor by screws.

6. The heavy-load dual-arm industrial robot according to claim 4, characterized in that: The first spline sleeve is connected to the motor shaft of the two-axis motor through a deep groove ball bearing.

7. The heavy-load dual-arm industrial robot according to claim 1, characterized in that: The two-axis motor is installed on the left side of the left arm through the motor flange. The front ends of the first balance support plate and the second balance support plate are respectively connected to the outer sides of the lower ends of the two arms through cross roller bearings, and the motor flange is pressed against the left side of the cross roller bearing.

8. The heavy-load dual-arm industrial robot according to claim 7, characterized in that: A bearing cover is provided outside the cross roller bearing, and the bearing cover is used to compress the axial clearance of the cross roller bearing.

9. The heavy-load dual-arm industrial robot according to claim 1, characterized in that: The first reducer and the second reducer are both medium-sized reducers.

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