High-strength bearing two-axis robot

Abstract

The invention belongs to a robot, and particularly relates to a high-strength bearing two-axis robot. According to the high-strength bearing two-axis robot, the bearing capacity of key nodes is enhanced through optimization design, and the overall structural strength and the anti-fatigue performance are improved. The high-strength bearing two-axis robot comprises a mounting frame and the like. A vertical moving mechanism is vertically mounted in the mounting frame, a rotary moving mechanism is arranged on a moving part of the vertical moving mechanism, and a clamping mechanism is mounted on the rotary moving mechanism. The extension arm is tensioned on the arc-shaped track through the clamping shaft, so that the stress of a rotating point of the swing arm is more balanced, the rotating point of the swing arm is prevented from being damaged, the service life of the swing arm is prolonged, the thrust bearing is connected between the swing arm and the lifting plate, and the thrust bearing is used for reducing the friction force of the swing arm during rotation and reducing the resistance of the swing arm during rotation; the service life of equipment is prolonged; the two-way telescopic rod is used for tensioning the end of the swing arm, and the weight borne by the end of the swing arm can be shared.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a high-strength load-bearing two-axis robot. Background Art

[0002] With the continuous improvement of industrial automation, robotic arms are increasingly used in the manufacturing industry. In particular, two-axis (dual-axis) robotic arms are widely adopted in fields such as material handling, assembly, and palletizing due to their simple structure and easy control. However, in actual use, existing two-axis robotic arms generally suffer from a key problem: when handling heavy objects or performing frequent operations, the joints and supporting structures of the robotic arms bear heavy loads. This force concentration is particularly pronounced under conditions of high acceleration or heavy loads.

[0003] Currently, most dual-axis robotic arms on the market utilize lightweight designs, primarily designed for light to medium-load applications. These designs struggle to meet the demands for high strength and stability. When operating at high speeds or carrying heavy loads, the joints are prone to fatigue damage, deformation, and even fracture, severely impacting the lifespan and operational safety of the equipment.

[0004] Therefore, it is urgent to propose a high-strength load-bearing two-axis robot, enhance the load-bearing capacity of key nodes through optimized design, and improve the overall structural strength and fatigue resistance. Summary of the Invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a high-strength load-bearing two-axis robot that enhances the load-bearing capacity of key nodes through optimized design, improves the overall structural strength and fatigue resistance.

[0006] The technical solution is: a high-strength load-bearing two-axis robot, including a mounting frame, a vertical moving mechanism, a rotating moving mechanism and a clamping mechanism. The vertical moving mechanism is vertically installed in the mounting frame, and the rotating moving mechanism is provided on the moving part of the vertical moving mechanism. The clamping mechanism is installed on the rotating moving mechanism. The clamping mechanism includes a swing arm, an air claw, an extension arm, a clamping shaft and an arc track. The upper and lower parts of the rotating moving mechanism are keyed to the swing arm, and the air claw is connected between the ends of the swing arm. The right part of the swing arm is provided with an extension arm, and the lifting plate below the extension arm is fixedly connected to the arc track. The extension arm above the arc track is provided with a clamping shaft, the clamping shaft is slidably connected to the arc track, and the extension arm is tightened on the arc track through the clamping shaft.

[0007] Furthermore, the clamping mechanism also includes a thrust bearing, and the thrust bearing is connected between the swing arm and the lifting plate.

[0008] Furthermore, the vertical moving mechanism includes a lifting motor, a screw rod, a guide light shaft and a lifting plate. The lifting motor with the output facing downward is fixedly installed on the top of the mounting frame. The screw rod is installed vertically in the mounting frame. The top of the screw rod is connected to the output shaft of the lifting motor through a coupling. The guide light shaft is vertically installed in the mounting frame. The lifting plate is connected to the screw rod through a thread, and the lifting plate is slidably connected to the guide light shaft.

[0009] Furthermore, the rotating movement mechanism includes a rotating motor, a transmission assembly and a rotating shaft. The lifting plate is fixedly connected to the rotating motor with the output shaft facing downward. The left part of the lifting plate is vertically rotated and connected to the rotating shaft. A transmission assembly is connected between the rotating shaft and the output shaft of the rotating motor.

[0010] Furthermore, a rotating motor is installed on the right side of the lifting plate to balance the weight of the equipment.

[0011] Furthermore, it also includes a gravity sharing structure. A gravity sharing structure is arranged between the top of the mounting frame and the swing arm. The gravity sharing structure includes a bidirectional telescopic rod, a first rotating seat, a first spring and a second rotating seat. The top end of the bidirectional telescopic rod is hingedly connected to the first rotating seat, and the bottom end of the bidirectional telescopic rod is hingedly connected to the second rotating seat. The second rotating seat is rotatably connected to the upper swing arm, and the first rotating seat is rotatably connected to the top of the mounting frame. A first spring is connected between the telescopic end and the fixed end of the bidirectional telescopic rod, and the first spring is in a stretched state.

[0012] Furthermore, the gravity sharing structure also includes a concave connecting block, a one-way telescopic rod, a sliding shaft and a second spring. The middle part of the two-way telescopic rod is connected to the concave connecting block, and the bottom end of the concave connecting block is rotatably connected to the one-way telescopic rod. A waist-shaped hole is provided on the swing arm below the one-way telescopic rod, and the one-way telescopic rod passes downward through the waist-shaped hole. The part of the one-way telescopic rod that passes through the waist-shaped hole is symmetrically rotated front and back and is provided with a sliding shaft. The sliding shaft is stuck at the bottom of the swing arm, and a second spring is connected between the telescopic end and the fixed end of the one-way telescopic rod, and the second spring is in a rope-pulling state.

[0013] Furthermore, it also includes reinforcing ribs, and reinforcing ribs are provided at the connection points of the components of the installation frame to reinforce the components.

[0014] The beneficial effects are: the extension arm of the present invention is tightened on the arc track through the clamping shaft, so that the force on the rotation point of the swing arm can be more balanced, so as to prevent the rotation point of the swing arm from being damaged and improve the service life of the swing arm. A thrust bearing is connected between the swing arm and the lifting plate. The thrust bearing is used to reduce the friction of the swing arm rotation, reduce the resistance to the swing arm rotation, and improve the service life of the equipment; the end of the swing arm is tightened by the two-way telescopic rod, which can share the weight borne by the end of the swing arm and improve the service life of the swing arm. The bottom of the swing arm is tightened by the unidirectional telescopic rod to prevent the swing arm from bending under force. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure from another perspective of the present invention.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the vertical moving mechanism of the present invention.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure of the rotary movement mechanism of the present invention.

[0019] Figure 5 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention.

[0020] Figure 6 It is a schematic diagram of the three-dimensional structure of the gravity sharing structure of the present invention.

[0021] Figure 7 It is an enlarged view of the gravity sharing structure of the present invention.

[0022] Names and serial numbers of parts in the figure: 1_installation frame, 2_vertical moving mechanism, 21_lifting motor, 22_screw, 23_guide light axis, 24_lifting plate, 3_rotating moving mechanism, 31_rotating motor, 32_transmission assembly, 33_rotating shaft, 4_clamping mechanism, 41_swing arm, 42_air claw, 43_extension arm, 44_clamping shaft, 45_arc track, 46_thrust bearing, 5_gravity sharing structure, 51_bidirectional telescopic rod, 52_first rotating seat, 53_first spring, 54_second rotating seat, 55_concave connecting block, 56_unidirectional telescopic rod, 57_sliding shaft, 58_second spring, 6_reinforcement rib. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Example: A high-strength two-axis robot, such as Figure 1-Figure 5 As shown, it includes a mounting frame 1, a vertical moving mechanism 2, a rotating moving mechanism 3 and a clamping mechanism 4. The vertical moving mechanism 2 is vertically installed in the mounting frame 1, the rotating moving mechanism 3 is provided on the moving part of the vertical moving mechanism 2, and the clamping mechanism 4 is installed on the rotating moving mechanism 3.

[0025] like Figure 3As shown, the vertical moving mechanism 2 includes a lifting motor 21, a screw rod 22, a guide light shaft 23 and a lifting plate 24. The lifting motor 21 with the output facing downward is fixed on the top of the mounting frame 1 by bolts, and the screw rod 22 is vertically rotated in the mounting frame 1 through a bearing seat. The top of the screw rod 22 is connected to the output shaft of the lifting motor 21 through a coupling, and a guide light shaft 23 is vertically installed in the mounting frame 1. The lifting plate 24 is connected to the screw rod 22 by a thread, and the lifting plate 24 is slidably connected to the guide light shaft 23. When transporting materials, the lifting motor 21 is controlled to drive the screw rod 22 to rotate forward and backward, which can drive the lifting plate 24 and the components thereon to move up and down, thereby changing the height of the material for transportation.

[0026] like Figure 4 As shown, the rotating movement mechanism 3 includes a rotating motor 31, a transmission assembly 32 and a rotating shaft 33. The right part of the lifting plate 24 is fixedly connected to the rotating motor 31 with the output shaft facing downward by bolts, and the left part of the lifting plate 24 is vertically rotatably connected to the rotating shaft 33 through a bearing seat. A transmission assembly 32 is connected between the rotating shaft 33 and the output shaft of the rotating motor 31. The transmission assembly 32 consists of a large pulley, a small pulley and a flat belt. The small pulley is installed on the output shaft of the rotating motor 31, the large pulley is installed on the rotating shaft 33, and the flat belt is installed between the large pulley and the small pulley. The power of the rotating motor 31 is transmitted to the rotating shaft 33 through the transmission assembly 32, which then drives the rotating shaft 33 to rotate, thereby changing the horizontal position of the material, and the rotating motor 31 is installed on the right part of the lifting plate 24, so that the weight on the left and right sides of the equipment is more balanced, thereby improving the stability of the equipment operation.

[0027] like Figure 5 As shown, the clamping mechanism 4 includes a swing arm 41, an air claw 42, an extension arm 43, a clamping shaft 44, an arc track 45 and a thrust bearing 46. The upper and lower parts of the rotating shaft 33 are keyed to the swing arm 41. The ends of the swing arm 41 are connected to the air claw 42 for clamping the goods for transportation. The right part of the swing arm 41 is provided with an extension arm 43. The lifting plate 24 below the extension arm 43 is fixedly connected to the arc track 45 by bolts. The extension arm 43 above the arc track 45 is connected to the lifting plate 24 below the extension arm 43. 3 are provided with a clamping shaft 44, which is slidably connected to the arc track 45. The extension arm 43 is tightened on the arc track 45 through the clamping shaft 44, so that the force on the rotation point of the swing arm 41 can be more balanced to prevent the rotation point of the swing arm 41 from being damaged, thereby improving the service life of the swing arm 41. A thrust bearing 46 is connected between the swing arm 41 and the lifting plate 24. The thrust bearing 46 is used to reduce the friction of the swing arm 41 when rotating, reduce the resistance to the rotation of the swing arm 41, and improve the service life of the equipment.

[0028] like Figure 6 and Figure 7As shown, it also includes a gravity sharing structure 5, a gravity sharing structure 5 is provided between the top of the mounting frame 1 and the swing arm 41, the gravity sharing structure 5 includes a two-way telescopic rod 51, a first rotating seat 52, a first spring 53, a second rotating seat 54, a concave connecting block 55, a one-way telescopic rod 56, a sliding shaft 57 and a second spring 58, the top of the two-way telescopic rod 51 is hingedly connected to the first rotating seat 52, the bottom of the two-way telescopic rod 51 is hingedly connected to the second rotating seat 54, the second rotating seat 54 is rotatably connected to the upper swing arm 41, the first rotating seat 52 is rotatably connected to the top of the mounting frame 1, a first spring 53 is connected between the telescopic end and the fixed end of the two-way telescopic rod 51, the first spring 53 is in a stretched state, and the The two-way telescopic rod 51 tightens the end of the swing arm 41, which can share the weight borne by the end of the swing arm 41 and improve the service life of the swing arm 41. The middle part of the two-way telescopic rod 51 is connected to a concave connecting block 55, and the bottom end of the concave connecting block 55 is rotatably connected to a one-way telescopic rod 56. A waist-shaped hole is provided on the swing arm 41 below the one-way telescopic rod 56, and the one-way telescopic rod 56 passes downward through the waist-shaped hole. The part of the one-way telescopic rod 56 that passes through the waist-shaped hole is symmetrically rotated front and back and is provided with a sliding shaft 57. The sliding shaft 57 is stuck at the bottom of the swing arm 41, and a second spring 58 is connected between the telescopic end and the fixed end of the one-way telescopic rod 56. The second spring 58 is in a pulling rope state, and the bottom of the swing arm 41 is tightened by the one-way telescopic rod 56 to prevent the swing arm 41 from bending under force.

[0029] like Figure 1 and Figure 2 As shown, reinforcing ribs 6 are also included. Reinforcing ribs 6 are provided at the connection points of the components of the mounting frame 1 for reinforcement.

[0030] When using the device to convey materials, first install the equipment vertically at the specified position. Then, when the material moves to the bottom of the air claw 42, first control the lifting motor 21 to start working, the lifting motor 21 drives the screw rod 22 to rotate, and then drives the lifting plate 24 to move downward, so that the swing arm 41 and the air claw 42 move downward. After the air claw 42 moves downward to clamp the material, the lifting motor 21 drives the air claw 42 and the material to move upward to the specified height. Then control the rotating motor 31 to rotate, and then drive the rotating shaft 33 to rotate through the transmission assembly 32, so that the swing arm 41 and its upper components rotate to convey the material. When the material is conveyed to the specified position, first use the lifting motor 21 to move the lifting plate 24 and the upper device downward to the specified height, then the air claw 42 releases the material, and then the rotating motor 31 drives the air claw 42 to move to the material handling position. Repeat the above operation to continue to transport the material. After the material handling is completed, the control device is reset and stops working.

[0031] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-strength load-bearing two-axis robot, comprising a mounting frame (1), a vertical moving mechanism (2), a rotary moving mechanism (3) and a clamping mechanism (4), wherein the vertical moving mechanism (2) is vertically mounted in the mounting frame (1), the rotary moving mechanism (3) is arranged on the moving part of the vertical moving mechanism (2), and the clamping mechanism (4) is mounted on the rotary moving mechanism (3), wherein the robot is characterized in that: The clamping mechanism (4) comprises a swing arm (41), an air claw (42), an extension arm (43), a clamping shaft (44) and an arc track (45). The upper and lower parts of the rotating movement mechanism (3) are key-connected with the swing arm (41). The air claw (42) is connected between the ends of the swing arm (41). The right part of the swing arm (41) is provided with an extension arm (43). The lifting plate (24) below the extension arm (43) is fixedly connected with the arc track (45). The extension arm (43) above the arc track (45) is provided with a clamping shaft (44). The clamping shaft (44) is slidably connected to the arc track (45). The extension arm (43) is tightened on the arc track (45) through the clamping shaft (44).

2. A high-strength load-bearing two-axis robot as claimed in claim 1, characterized in that: The clamping mechanism (4) further comprises a thrust bearing (46), and the thrust bearing (46) is connected between the swing arm (41) and the lifting plate (24).

3. A high-strength load-bearing two-axis robot as claimed in claim 1, characterized in that: The vertical moving mechanism (2) comprises a lifting motor (21), a screw rod (22), a guide optical shaft (23) and a lifting plate (24). The lifting motor (21) with the output facing downward is fixedly installed on the top of the mounting frame (1). The screw rod (22) is vertically rotatably installed in the mounting frame (1). The top end of the screw rod (22) is connected to the output shaft of the lifting motor (21) through a coupling. The guide optical shaft (23) is vertically installed in the mounting frame (1). The lifting plate (24) is connected to the screw rod (22) through a thread, and the lifting plate (24) is slidably connected to the guide optical shaft (23).

4. A high-strength load-bearing two-axis robot as claimed in claim 3, characterized in that: The rotary movement mechanism (3) comprises a rotary motor (31), a transmission assembly (32) and a rotating shaft (33); the rotary motor (31) with its output shaft facing downward is fixedly connected to the lifting plate (24); the rotating shaft (33) is vertically rotated on the left side of the lifting plate (24); and the transmission assembly (32) is connected between the rotating shaft (33) and the output shaft of the rotary motor (31).

5. A high-strength load-bearing two-axis robot as claimed in claim 4, characterized in that: The rotating motor (31) is installed on the right side of the lifting plate (24) to balance the weight of the equipment.

6. A high-strength load-bearing two-axis robot as claimed in claim 1, characterized in that: The invention also includes a gravity sharing structure (5), wherein the gravity sharing structure (5) is provided between the top of the mounting frame (1) and the swing arm (41), and the gravity sharing structure (5) includes a bidirectional telescopic rod (51), a first rotating seat (52), a first spring (53) and a second rotating seat (54). The top of the bidirectional telescopic rod (51) is hingedly connected to the first rotating seat (52) up and down, and the bottom of the bidirectional telescopic rod (51) is hingedly connected to the second rotating seat (54) up and down. The second rotating seat (54) is rotatably connected to the upper swing arm (41), and the first rotating seat (52) is rotatably connected to the top of the mounting frame (1). A first spring (53) is connected between the telescopic end and the fixed end of the bidirectional telescopic rod (51), and the first spring (53) is in a stretched state.

7. A high-strength load-bearing two-axis robot as claimed in claim 6, characterized in that gravity The sharing structure (5) also includes a concave connecting block (55), a one-way telescopic rod (56), a sliding shaft (57) and a second spring (58). The middle part of the two-way telescopic rod (51) is connected with the concave connecting block (55), and the bottom end of the concave connecting block (55) is rotatably connected with the one-way telescopic rod (56). A waist-shaped hole is provided on the swing arm (41) below the one-way telescopic rod (56). The one-way telescopic rod (56) passes through the waist-shaped hole downwardly. The part of the one-way telescopic rod (56) passing through the waist-shaped hole is symmetrically rotated with a sliding shaft (57) in the front and back directions. The sliding shaft (57) is stuck at the bottom of the swing arm (41). A second spring (58) is connected between the telescopic end and the fixed end of the one-way telescopic rod (56). The second spring (58) is in a rope-pulling state.

8. A high-strength load-bearing two-axis robot as claimed in claim 1, characterized in that: It also includes reinforcing ribs (6), and the component connections of the mounting frame (1) are provided with reinforcing ribs (6), and reinforcement is performed by the reinforcing ribs (6).

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