Heavy transfer robot and flexible production line
By designing rotating parts along the R0, R1, and R2 axes, combined with a motor reducer and lifting mechanism, efficient handling of heavy goods is achieved, solving the problem of large space occupation of existing transfer robots and improving space utilization and installation efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUXI GAOGE ROBOT TECH CO LTD
- Filing Date
- 2026-03-23
- Publication Date
- 2026-05-08
AI Technical Summary
Existing transfer robots occupy a large space in flexible production lines, making it difficult to make effective use of small spaces. Furthermore, their multi-axis design prevents them from achieving 360° rotation, resulting in inconvenient handling.
The design employs rotating parts with R0, R1, and R2 axes. The motor reducer drives the support frame and fork arm to rotate 360°. Combined with the coordinated movement of the lifting unit and fork arm, it reduces the floor space and improves space utilization.
It enables efficient handling of heavy goods in small spaces, reduces equipment footprint, and improves space utilization and equipment installation efficiency.
Smart Images
Figure CN121990495A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of heavy technology, and in particular to a heavy-duty transfer robot and a flexible production line. Background Technology
[0002] Transfer robots are mainly used for moving goods. In the production line, transfer robots move heavy goods from the shelves to the processing equipment. After the processing equipment completes the processing of the heavy goods, the transfer robots move the heavy goods from the processing equipment to the shelves.
[0003] Existing transfer robots mostly have two rotating axes. One axis is located at the bottom, allowing the entire transfer robot to rotate, while the other axis is located at the handling component, driving the handling component to rotate. The axis of the processing equipment needs to pass through the axis of the bottom rotating axis of the transfer robot, and the axes of multiple shelves also need to pass through the axis of the bottom rotating axis of the transfer robot. The entire flexible production line occupies a large space, and the arrangement of multiple shelves in corners of the site wastes a lot of space. There may also be transfer robots with three rotating axes, but the middle rotating axis cannot achieve 360° rotation, which makes the minimum length of the swing arm too large, making it impossible to handle heavy-duty goods in small spaces.
[0004] To address this, we propose a heavy-duty transfer robot and a flexible production line. Summary of the Invention
[0005] In response to the shortcomings of the existing production technology, the applicant provides a heavy-duty transfer robot and a flexible production line, in which the second motor reducer can drive the second support frame to rotate 360°, and the second support frame drives the main arm to rotate, so that the main arm and the first support frame are on the same side. At this time, the handling distance is minimized, which can reduce the floor space and improve the space utilization rate.
[0006] The technical solution adopted in this application is as follows: A heavy-duty transfer robot, comprising: Base; The R0 axis rotating part is mounted on the base; The R1 axis rotating part is mounted on the R0 axis rotating part; The lifting unit is located on the rotating part of the R1 shaft; The R2 axis rotating part is mounted on the lifting part; The fork arm, mounted on the rotating part of the R2 axis, is used for handling heavy goods; Among them, the R0 axis rotating part can drive the R1 axis rotating part to rotate 360°, the R1 axis rotating part can drive the lifting part to rotate 360°, the lifting part can drive the R2 axis rotating part to lift, and the R2 axis rotating part can drive the fork arm to rotate.
[0007] Its further features are: The rotating part of the R0 shaft includes a first slewing bearing, a first support frame, a first motor reducer, and a first gear. The outer ring of the first slewing bearing is fixedly connected to the base, the first support frame is fixedly connected to the inner ring of the first slewing bearing, the first motor reducer is mounted on the first support frame, the first gear is mounted on the output shaft of the first motor reducer, the outer ring of the first slewing bearing is provided with a first circular tooth surface, and the first gear meshes with the first circular tooth surface.
[0008] The rotating part of the R1 shaft includes a second slewing bearing, a second support frame, a second motor reducer, and a second gear. The outer ring of the second slewing bearing is fixedly connected to the first support frame, and the second support frame is fixedly connected to the inner ring of the second slewing bearing. The second motor reducer is mounted on the second support frame, and the second gear is mounted on the output shaft of the second motor reducer. The outer ring of the second slewing bearing is provided with a second circular tooth surface, and the second gear meshes with the second circular tooth surface.
[0009] The lifting unit includes a main column, a third motor reducer, a lead screw, a lead screw nut seat, a hanging plate, a main arm, a guide rail, a slider, and a connecting block. The main column is fixed on the second support frame, the third motor reducer is installed on the second support frame, one end of the lead screw is fixedly connected to the output shaft of the third motor reducer, and the other end of the lead screw is rotatably connected to the main column through a rotating shaft. A lead screw nut seat is sleeved on the lead screw, a guide rail is provided on the main column parallel to the lead screw, a slider is matched on the guide rail, the hanging plate is fixedly connected to the slider, a connecting block is provided on the side of the hanging plate near the lead screw, the lead screw nut seat is fixedly connected to the connecting block, and the main arm is fixedly connected to the hanging plate.
[0010] The rotating part of the R2 shaft includes a third slewing bearing, a third support frame, a fourth motor reducer, a fourth support frame, and a third gear; the third support frame is fixed on the main arm, the inner ring of the third slewing bearing is fixedly connected to the third support frame, the fourth motor reducer is mounted on the third support frame, the third gear is mounted on the output shaft of the fourth motor reducer, the fourth support frame is fixedly connected to the outer ring of the third slewing bearing, the outer ring of the third slewing bearing is provided with a third circular tooth surface, and the third gear meshes with the third circular tooth surface.
[0011] This application also discloses a flexible production line, comprising: Processing equipment used for processing heavy goods; The aforementioned heavy-duty transfer robot is installed on one side of the processing equipment and is used to move heavy goods; Multiple shelves are installed outside the heavy-duty transfer robot to store heavy goods.
[0012] Its further features are: The projection of the axis of the processing equipment onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part onto the ground.
[0013] The projection of the axis of the processing equipment onto the ground passes through the projection of the rotation center of the R0 axis rotating part onto the ground.
[0014] The projection of the axis of the shelf onto the ground passes through the projection of the rotation center of the R0 axis rotating part onto the ground.
[0015] The projection of the axis of the shelf onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part onto the ground, and multiple shelves are arranged in an L-shape.
[0016] The beneficial effects of this application are as follows: This application features a compact and reasonable structure, and is easy to operate. The output shaft of the first motor reducer drives the first gear to rotate, and the first gear moves along the first circular tooth surface, thereby driving the first support frame to rotate. The first support frame then drives the R1 shaft rotating part to rotate. The output shaft of the second motor reducer drives the second gear to rotate, and the second gear moves along the second circular tooth surface, thereby driving the second support frame to rotate. The second support frame then drives the lifting part to rotate. The output shaft of the third motor reducer drives the lead screw to rotate, and the lead screw and lead screw nut seat cooperate to drive the lead screw nut seat to move. The lead screw nut seat drives the hanging plate to move through the connecting block, and the hanging plate drives the main arm to move. The main arm then drives the R2 shaft rotating part to move. The output shaft of the fourth motor reducer drives the third gear to rotate, and the third gear moves along the third circular tooth surface, thereby driving the fourth support frame to rotate. The fourth support frame then drives the fork arm to rotate. Through the coordinated control of the control system, heavy goods are transported by the fork arm.
[0017] In addition, this application also has the following advantages: (1) The projection of the axis of the processing equipment on the ground does not pass through the projection of the rotation center of the R0 axis rotating part on the ground. Through the cooperation of the R0 axis rotating part, the R1 axis rotating part, the lifting part, and the R2 axis rotating part, heavy goods can also be moved into the processing equipment. The placement restrictions of the heavy transfer robot are smaller, and space can be used reasonably to improve space utilization.
[0018] (2) The projection of the axis of the rack onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part onto the ground, and multiple racks are arranged in an L-shape. This can improve space utilization, and the racks are relatively quick and convenient to install, which can improve equipment installation efficiency.
[0019] (3) The second motor reducer can drive the second support frame to rotate 360°. The output shaft of the second motor reducer drives the second gear to rotate. The second gear moves along the second circular tooth surface, thereby driving the second support frame to rotate. The second support frame drives the main arm to rotate, so that the main arm and the first support frame are on the same side. At this time, the transport distance of the heavy-duty transfer robot is the smallest, which can reduce the footprint of the heavy-duty transfer robot and improve the space utilization rate. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of this application.
[0021] Figure 2 for Figure 1 The main view.
[0022] Figure 3 for Figure 2 Top view.
[0023] Figure 4 This is a schematic diagram of the base, the R0 axis rotating part, and the R1 axis rotating part of this application.
[0024] Figure 5 This is a schematic diagram of the lifting unit in this application.
[0025] Figure 6 This is a schematic diagram of the main column, the third motor reducer, the lead screw, etc. of this application.
[0026] Figure 7 This is a schematic diagram of the mounting plate, main boom, etc. in this application.
[0027] Figure 8 This is a schematic diagram of the R2 axis rotating part and the fork arm of this application.
[0028] Figure 9 This is a schematic diagram of the flexible production line layout for this application. Figure 1 .
[0029] Figure 10 This is a schematic diagram of the flexible production line layout for this application. Figure 2 .
[0030] Among them: 100, base; 200, R0 axis rotating part; 300, R1 axis rotating part; 400, lifting part; 500, R2 axis rotating part; 600, fork arm; 700, processing equipment; 800, shelf; 201. First slewing bearing; 202. First support frame; 203. First motor reducer; 204. First gear; 301. Second slewing bearing; 302. Second support frame; 303. Second motor reducer; 304. Second gear; 401. Main column; 402. Third motor reducer; 403. Lead screw; 404. Lead screw nut seat; 405. Hanging plate; 406. Main boom; 407. Guide rail; 408. Slider; 409. Connecting block; 501. Third slewing bearing; 502. Third support frame; 503. Fourth motor reducer; 504. Fourth support frame; 505. Third gear. Detailed Implementation
[0031] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0032] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0033] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0034] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0035] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0036] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0037] like Figures 1-8 As shown, a heavy-duty transfer robot includes a base 100, an R0 axis rotating part 200, an R1 axis rotating part 300, a lifting part 400, an R2 axis rotating part 500, and a fork arm 600.
[0038] The R0 axis rotating part 200 is mounted on the base 100, the R1 axis rotating part 300 is mounted on the R0 axis rotating part 200, the lifting part 400 is mounted on the R1 axis rotating part 300, the R2 axis rotating part 500 is mounted on the lifting part 400, and the fork arm 600 is mounted on the R2 axis rotating part 500. The R0 axis rotating part 200 can drive the R1 axis rotating part 300, the lifting part 400, the R2 axis rotating part 500, and the fork arm 600 to rotate around the rotation center of the R0 axis rotating part 200; the R1 axis rotating part 300 can drive the lifting part 400, the R2 axis rotating part 500, and the fork arm 600 to rotate around the rotation center of the R1 axis rotating part 300; the lifting part 400 can drive the R2 axis rotating part 500 and the fork arm 600 to rise and fall; and the R2 axis rotating part 500 can drive the fork arm 600 to rotate around the rotation center of the R2 axis rotating part 500.
[0039] The R0 shaft rotating part 200 includes a first slewing bearing 201, a first support frame 202, a first motor reducer 203, and a first gear 204. The outer ring of the first slewing bearing 201 is fixedly connected to the base 100, and the first support frame 202 is fixedly connected to the inner ring of the first slewing bearing 201. The first motor reducer 203 is mounted on the first support frame 202, and the first gear 204 is mounted on the output shaft of the first motor reducer 203. The outer ring of the first slewing bearing 201 is provided with a first circular tooth surface, and the first gear 204 meshes with the first circular tooth surface.
[0040] When the first motor reducer 203 is working, the output shaft of the first motor reducer 203 drives the first gear 204 to rotate. The first gear 204 moves along the first circular tooth surface, thereby driving the first support frame 202 to rotate, which can drive the first support frame 202 to rotate 360°.
[0041] The rotating part 300 of the R1 shaft includes a second slewing bearing 301, a second support frame 302, a second motor reducer 303, and a second gear 304. The outer ring of the second slewing bearing 301 is fixedly connected to the first support frame 202, and the second support frame 302 is fixedly connected to the inner ring of the second slewing bearing 301. The second motor reducer 303 is mounted on the second support frame 302, and the second gear 304 is mounted on the output shaft of the second motor reducer 303. The outer ring of the second slewing bearing 301 is provided with a second circular tooth surface, and the second gear 304 meshes with the second circular tooth surface.
[0042] When the second motor reducer 303 is working, the output shaft of the second motor reducer 303 drives the second gear 304 to rotate. The second gear 304 moves along the second circular tooth surface, thereby driving the second support frame 302 to rotate, which can drive the second support frame 302 to rotate 360°.
[0043] The lifting unit 400 includes a main column 401, a third motor reducer 402, a lead screw 403, a lead screw nut seat 404, a hanging plate 405, a main arm 406, a guide rail 407, a slider 408, and a connecting block 409; the main column 401 is fixed on the second support frame 302, the third motor reducer 402 is mounted on the second support frame 302, one end of the lead screw 403 is fixedly connected to the output shaft of the third motor reducer 402, and the other end of the lead screw 403 is connected to... The rotating shaft is rotatably connected to the main column 401. A lead screw nut seat 404 is sleeved on the lead screw 403. A guide rail 407 is provided on the main column 401, which is parallel to the lead screw 403. A slider 408 is matched on the guide rail 407. The hanging plate 405 is fixedly connected to the slider 408. A connecting block 409 is provided on the side of the hanging plate 405 near the lead screw 403. The lead screw nut seat 404 is fixedly connected to the connecting block 409. The main arm 406 is fixedly connected to the hanging plate 405.
[0044] When the third motor reducer 402 is working, the output shaft of the third motor reducer 402 drives the lead screw 403 to rotate. The lead screw 403 cooperates with the lead screw nut seat 404 to drive the lead screw nut seat 404 to move up or down. The lead screw nut seat 404 drives the hanging plate 405 to move through the connecting block 409. The hanging plate 405 drives the main arm 406 to move.
[0045] The mounting plate 405 drives the slider 408 to move along the guide rail 407. The interaction between the slider 408 and the guide rail 407... The R2 shaft rotating part 500 includes a third slewing bearing 501, a third support frame 502, a fourth motor reducer 503, a fourth support frame 504, and a third gear 505. The third support frame 502 is fixed on the main arm 406. The inner ring of the third slewing bearing 501 is fixedly connected to the third support frame 502. The fourth motor reducer 503 is mounted on the third support frame 502. The third gear 505 is mounted on the output shaft of the fourth motor reducer 503. The fourth support frame 504 is fixedly connected to the outer ring of the third slewing bearing 501. The outer ring of the third slewing bearing 501 is provided with a third circular tooth surface. The third gear 505 meshes with the third circular tooth surface.
[0046] When the fourth motor reducer 503 is working, the output shaft of the fourth motor reducer 503 drives the third gear 505 to rotate. The third gear 505 moves along the third circular tooth surface, thereby driving the fourth support frame 504 to rotate.
[0047] There are two fork arms 600, which are installed at intervals on the fourth support frame 504 to move heavy goods.
[0048] It also includes a control system, which controls the first motor reducer 203, the second motor reducer 303, the third motor reducer 402 and the fourth motor reducer 503 to achieve coordinated control of the first motor reducer 203, the second motor reducer 303, the third motor reducer 402 and the fourth motor reducer 503, thereby enabling the handling of heavy goods by the forklift 600.
[0049] In one embodiment, the straight-in and straight-out movements of the fork arm 600 can be achieved through the control of the control system.
[0050] like Figure 2 As shown, the main arm 406 and the first support frame 202 are not on the same side, and the heavy-duty transfer robot has the maximum transport distance in this case. Figure 2Based on this, the second motor reducer 303 can drive the second support frame 302 to rotate 360°. The output shaft of the second motor reducer 303 drives the second gear 304 to rotate. The second gear 304 moves along the second circular tooth surface, thereby driving the second support frame 302 to rotate. The second support frame 302 drives the main arm 406 to rotate, so that the main arm 406 and the first support frame 202 are on the same side. At this time, the handling distance of the heavy-duty transfer robot is minimized, which can reduce the footprint of the heavy-duty transfer robot and improve space utilization.
[0051] In practical use, the output shaft of the first motor reducer 203 drives the first gear 204 to rotate. The first gear 204 moves along the first circular tooth surface, thereby driving the first support frame 202 to rotate. The first support frame 202 then drives the R1 shaft rotating part 300 to rotate. The output shaft of the second motor reducer 303 drives the second gear 304 to rotate. The second gear 304 moves along the second circular tooth surface, thereby driving the second support frame 302 to rotate. The second support frame 302 then drives the lifting part 400 to rotate. The output shaft of the third motor reducer 402 drives the lead screw 403 to rotate. The lead screw 403 and the lead screw nut seat 404 cooperate to drive the lead screw nut seat 404 to move. The lead screw nut seat 404 drives the hanging plate 405 to move through the connecting block 409. The hanging plate 405 drives the main arm 406 to move. The main arm 406 drives the R2 shaft rotating part 500 to move. The output shaft of the fourth motor reducer 503 can drive the third gear 505 to rotate. The third gear 505 moves along the third circular tooth surface, thereby driving the fourth support frame 504 to rotate. The fourth support frame 504 drives the fork arm 600 to rotate. Through the coordinated control of the control system, heavy goods are transported by the fork arm 600.
[0052] A flexible production line includes a processing device 700, a heavy-duty transfer robot, and multiple shelves 800. The processing device 700 is used to process heavy goods. The heavy-duty transfer robot is located on one side of the processing device 700 and is used to transport heavy goods. The multiple shelves 800 are located outside the heavy-duty transfer robot and are used to store heavy goods.
[0053] In one embodiment, the projection of the axis of the processing equipment 700 onto the ground passes through the projection of the rotation center of the R0 axis rotating part 200 onto the ground.
[0054] In one embodiment, such as Figure 9 As shown, the projection of the axis of the processing equipment 700 onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part 200 onto the ground.
[0055] With the cooperation of the R0 axis rotating part 200, the R1 axis rotating part 300, the lifting part 400, and the R2 axis rotating part 500, heavy goods can be moved into the processing equipment 700. The placement restrictions of the heavy-duty transfer robot are smaller, and space can be used more reasonably to improve space utilization.
[0056] In one embodiment, the projection of the axis of the shelf 800 onto the ground passes through the projection of the rotation center of the R0 axis rotating part 200 onto the ground.
[0057] In one embodiment, such as Figure 10 As shown, the projection of the axis of the shelf 800 onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part 200 onto the ground, and multiple shelves 800 are arranged in an L-shape.
[0058] It can improve space utilization, and the installation of the 800 rack is relatively quick and convenient, which can improve equipment installation efficiency.
[0059] The above description is an explanation of this application and not a limitation thereof. The scope of this application is defined by the claims. Within the scope of protection of this application, any form of modification may be made.
Claims
1. A heavy-duty transfer robot, characterized in that, include: Base (100); The R0 axis rotating part (200) is provided on the base (100); The R1 axis rotating part (300) is provided on the R0 axis rotating part (200); The lifting part (400) is mounted on the rotating part (300) of the R1 axis; The R2 axis rotating part (500) is provided on the lifting part (400); A fork arm (600) is mounted on the rotating part (500) of the R2 axis and is used for handling heavy goods; Among them, the R0 axis rotating part (200) can drive the R1 axis rotating part (300) to rotate 360°, the R1 axis rotating part (300) can drive the lifting part (400) to rotate 360°, the lifting part (400) can drive the R2 axis rotating part (500) to lift, and the R2 axis rotating part (500) can drive the fork arm (600) to rotate.
2. The heavy-duty transfer robot as described in claim 1, characterized in that: The R0 shaft rotating part (200) includes a first slewing bearing (201), a first support frame (202), a first motor reducer (203), and a first gear (204). The outer ring of the first slewing bearing (201) is fixedly connected to the base (100), the first support frame (202) is fixedly connected to the inner ring of the first slewing bearing (201), the first motor reducer (203) is mounted on the first support frame (202), and the first gear (204) is mounted on the output shaft of the first motor reducer (203). The outer ring of the first slewing bearing (201) is provided with a first circular tooth surface, and the first gear (204) meshes with the first circular tooth surface.
3. A heavy-duty transfer robot as described in claim 2, characterized in that: The rotating part (300) of the R1 shaft includes a second slewing bearing (301), a second support frame (302), a second motor reducer (303), and a second gear (304). The outer ring of the second slewing bearing (301) is fixedly connected to the first support frame (202), and the second support frame (302) is fixedly connected to the inner ring of the second slewing bearing (301). The second motor reducer (303) is mounted on the second support frame (302), and the second gear (304) is mounted on the output shaft of the second motor reducer (303). The outer ring of the second slewing bearing (301) is provided with a second circular tooth surface, and the second gear (304) meshes with the second circular tooth surface.
4. A heavy-duty transfer robot as described in claim 3, characterized in that: The lifting unit (400) includes a main column (401), a third motor reducer (402), a lead screw (403), a lead screw nut seat (404), a hanging plate (405), a main arm (406), a guide rail (407), a slider (408), and a connecting block (409); the main column (401) is fixed on the second support frame (302), the third motor reducer (402) is installed on the second support frame (302), one end of the lead screw (403) is fixedly connected to the output shaft of the third motor reducer (402), and the other end of the lead screw (403) is connected to the output shaft of the third motor reducer (402). The shaft is rotatably connected to the main column (401). A screw nut seat (404) is sleeved on the screw (403). A guide rail (407) is set on the main column (401) parallel to the screw (403). A slider (408) is matched on the guide rail (407). The hanging plate (405) is fixedly connected to the slider (408). A connecting block (409) is set on the side of the hanging plate (405) near the screw (403). The screw nut seat (404) is fixedly connected to the connecting block (409). The main arm (406) is fixedly connected to the hanging plate (405).
5. A heavy-duty transfer robot as described in claim 4, characterized in that: The R2 shaft rotating part (500) includes a third slewing bearing (501), a third support frame (502), a fourth motor reducer (503), a fourth support frame (504), and a third gear (505); the third support frame (502) is fixed on the main arm (406), the inner ring of the third slewing bearing (501) is fixedly connected to the third support frame (502), the fourth motor reducer (503) is installed on the third support frame (502), the third gear (505) is installed on the output shaft of the fourth motor reducer (503), the fourth support frame (504) is fixedly connected to the outer ring of the third slewing bearing (501), the outer ring of the third slewing bearing (501) is provided with a third circular tooth surface, and the third gear (505) meshes with the third circular tooth surface.
6. A flexible production line, characterized in that, include: Processing equipment (700) is used for processing heavy goods; A heavy-duty transfer robot as described in any one of claims 1-5 is disposed on one side of the processing equipment (700) for transporting heavy goods; Multiple shelves (800) are installed outside the heavy-duty transfer robot for storing heavy goods.
7. A flexible production line as described in claim 6, characterized in that: The projection of the axis of the processing equipment (700) onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part (200) onto the ground.
8. A flexible production line as described in claim 6, characterized in that: The projection of the axis of the processing equipment (700) onto the ground passes through the projection of the rotation center of the R0 axis rotating part (200) onto the ground.
9. A flexible production line as described in claim 6, characterized in that: The projection of the axis of the shelf (800) onto the ground passes through the projection of the rotation center of the R0 axis rotating part (200) onto the ground.
10. A flexible production line as described in claim 6, characterized in that: The projection of the axis of the shelf (800) onto the ground does not pass through the projection of the rotation center of the R0 axis rotating part (200) onto the ground, and the multiple shelves (800) are arranged in an L-shape.