Six-degree-of-freedom heavy-duty assembly industrial robot

Abstract

The application discloses a six-freedom heavy-load assembly industrial robot, which comprises a vehicle body capable of being servo-driven, a mechanical arm assembly arranged on the vehicle body, a clamping jaw assembly connected in the mechanical arm assembly, a stand fixed on the vehicle body and higher than the highest point of the mechanical arm assembly, a horizontal cross rod fixed on the top of the stand, pull ropes distributed on the cross rod, hooks connected to the ends of the pull ropes, and a holding assembly arranged on the front end of the vehicle body; compared with the prior art, the application has achieved remarkable beneficial effects in the safety of heavy-load carrying, the adaptability to different workpieces, the stability of load transfer, the precision of final assembly and the like.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically a six-degree-of-freedom heavy-duty assembly industrial robot. Background Technology

[0002] In the fields of modern intelligent manufacturing and heavy equipment manufacturing, the automated assembly and handling of large components has always been a key factor restricting production efficiency and safety. With the rapid development of industries such as aerospace, rail transportation, construction machinery, and new energy, workpieces are becoming larger, heavier, and more structurally complex, placing higher demands on the load capacity, operational flexibility, and collaborative assembly precision of industrial robots. How to safely, efficiently, and accurately grasp, transfer, and precisely assemble heavy-duty workpieces has become a core technical challenge in the automation upgrade of the manufacturing industry.

[0003] Currently, for the automated handling and assembly of heavy-duty workpieces, existing technologies mainly employ traditional heavy-duty industrial robots operating independently. These solutions utilize high-load, six-degree-of-freedom industrial robots that directly grasp the workpiece via end effectors, relying on the joints of the robot body for transfer and positioning. This method is compact, has mature control, and is suitable for small to medium-sized heavy-duty workpieces. However, when the workpiece mass approaches the robot's rated load limit, the forces on the robot's joints increase dramatically. Especially during acceleration, deceleration, or attitude adjustments, inertial impacts can easily lead to joint overload alarms or decreased positioning accuracy. Furthermore, the stability of a single-arm support is limited, making it difficult to handle long, narrow, or irregularly shaped workpieces with uneven center of gravity distribution.

[0004] Therefore, it is necessary to provide a six-degree-of-freedom heavy-duty assembly industrial robot to solve the problems mentioned in the background art. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a six-degree-of-freedom heavy-duty assembly industrial robot, comprising a servo-driven vehicle body, a robotic arm assembly mounted on the vehicle body, a gripper assembly connected to the robotic arm assembly, a column fixed on the vehicle body above the highest point of the robotic arm assembly, a horizontal crossbar fixed at the top of the column, pull ropes distributed on the crossbar, hooks connected to the ends of the pull ropes, and a clamping assembly mounted at the front end of the vehicle body.

[0006] Furthermore, the robotic arm assembly includes a rotary table that can be rotated by a servo drive. The rotary table is connected to the vehicle body, and a first connecting arm is hinged to the rotary table. A second connecting arm is hinged to the end of the first connecting arm, and a gripper assembly is rotatably disposed at the end of the second connecting arm.

[0007] Furthermore, a first drive motor is connected between the first connecting arm and the rotary seat, and a second drive motor is connected between the second connecting arm and the first connecting arm;

[0008] The second connecting arm is equipped with a third drive motor that is connected to the gripper assembly.

[0009] Furthermore, two scissor bars are hinged to the end of the crossbar, and the ends of the two scissor bars are provided with first pulleys. The two pull ropes pass over the first pulleys of the two scissor bars and extend downward to the gripper assembly.

[0010] Furthermore, a second pulley is rotatably provided at one end of the crossbar near the column, and one end of each of the two pull rope hooks passes over the second pulley and extends downward to the lower end of the column;

[0011] The vehicle body is equipped with a winch, and the two pull ropes are wound into the winch.

[0012] Furthermore, a vertical slide rail is fixed at the front of the vehicle body, and a lifting platform is servo-slidably disposed in the slide rail, with the clamping assembly connected to the lifting platform.

[0013] Furthermore, the clamping assembly includes a fixing block, with clamping rods slidably disposed on both sides of the fixing block, and an arc-shaped clamping plate fixed in each of the two clamping rods.

[0014] Furthermore, the gripper assembly holds the connecting plate tightly, and the connecting plate has a first connecting rod and a second connecting rod hinged to both sides. The first connecting rod and the second connecting rod on the same side are hinged to the clamping block. A slider is slidably provided in the center of the connecting plate, and the slider is hinged to each of the two second connecting rods through a third connecting rod.

[0015] Furthermore, the connecting plate is threadedly connected to the center with a lead screw that passes through it, and the end of the lead screw is rotatably disposed in the slider;

[0016] The second connecting arm is equipped with a fourth drive motor, which is connected to the lead screw.

[0017] Furthermore, a linkage link is hinged to the side of the first link away from the second link, and the linkage link has a through hole, through which the two pull ropes pass respectively.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] In this invention, an auxiliary traction system consisting of a column, a crossbar, a pull rope, and a winch is added to the existing robotic arm clamping mechanism. By hooking the workpiece to both sides with hooks and tensioning the pull rope with a winch, the workpiece is simultaneously subjected to the supporting force of the robotic arm and the oblique tension of the pull rope during transport. This forms a spatial force system that shares the load, significantly reducing the instantaneous load on each drive motor of the robotic arm and improving the reliability and safety of heavy-duty operations.

[0020] In this invention, the scissor bar at the end of the crossbar can change the lateral span of the pull rope to adapt to workpieces of different widths. Simultaneously, the linkage in the gripper assembly has a through hole for the pull rope to pass through. When the gripper opens or closes, the linkage causes the pull rope to change position accordingly, ensuring that the pull rope remains on a reasonable path during gripper movement, avoiding entanglement or friction with the robotic arm or workpiece, thus achieving motion coordination between the gripping and traction systems. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a six-degree-of-freedom heavy-duty assembly industrial robot.

[0022] Figure 2 This is a side view of a six-degree-of-freedom heavy-duty assembly industrial robot.

[0023] Figure 3 This is a structural diagram of the clamping component;

[0024] Figure 4 This is a schematic diagram of the robotic arm assembly.

[0025] Figure 5 This is a schematic diagram of the gripper assembly.

[0026] In the diagram: 1. Vehicle body; 2. Robotic arm assembly; 21. Rotary seat; 22. First connecting arm; 23. Second connecting arm; 24. First drive motor; 25. Second drive motor; 26. Third drive motor; 27. Fourth drive motor; 3. Gripper assembly; 31. Connecting plate; 32. First connecting rod; 33. Second connecting rod; 34. Third connecting rod; 35. Slider; 36. Clamping block; 37. Lead screw; 38. Linkage rod; 4. Column; 41. Crossbar; 42. Scissor lift; 43. First pulley; 44. Second pulley; 45. Winch; 5. Slide rail; 6. Lifting platform; 7. Clamping assembly; 71. Fixing block; 72. Clamping rod; 73. Clamping plate; 74. Telescopic cylinder; 8. Pull rope; 9. Hook. Detailed Implementation

[0027] Please see Figures 1-5 In this embodiment of the invention, a six-degree-of-freedom heavy-duty assembly industrial robot includes a servo-driven vehicle body 1, a robotic arm assembly 2 mounted on the vehicle body 1, a gripper assembly 3 connected to the robotic arm assembly 2, a column 4 fixed on the vehicle body 1 above the highest point of the robotic arm assembly 2, a horizontal crossbar 41 fixed at the top of the column 4, pull ropes 8 distributed on the crossbar 41, hooks 9 connected to the ends of the pull ropes 8, and a clamping assembly 7 mounted at the front end of the vehicle body 1.

[0028] The robotic arm assembly 2 can control the movement of the gripper assembly 3 to hold the workpiece, while the hook 9 at the end of the pull rope 8 can further hook the workpiece and provide pulling force to transfer the workpiece to the clamping assembly 7 for clamping, and then transfer and assemble it by moving the vehicle body 1.

[0029] In this embodiment, the robotic arm assembly 2 includes a rotating base 21 that can be rotated by a servo drive. The rotating base 21 is connected to the vehicle body 1. A first connecting arm 22 is hinged to the rotating base 21. A second connecting arm 23 is hinged to the end of the first connecting arm 22. A gripper assembly 3 is rotatably provided at the end of the second connecting arm 23.

[0030] In this embodiment, a first drive motor 24 is connected between the first connecting arm 22 and the rotary seat 21, and a second drive motor 25 is connected between the second connecting arm 23 and the first connecting arm 22.

[0031] The second connecting arm 23 is provided with a third drive motor 26 connected to the gripper assembly 3.

[0032] The first drive motor 24 can drive the first connecting arm 22 to swing between the rotating base 21, the second drive motor 25 can drive the second connecting arm 23 to swing between the first connecting arm 22, and the third drive motor 26 can drive the gripper assembly 3 to rotate, thereby enabling the gripper assembly 3 to clamp workpieces at different positions and different tilt angles.

[0033] In this embodiment, two scissor bars 42 are hinged to the end of the crossbar 41, and the ends of the two scissor bars 42 are provided with first pulleys 43. The two pull ropes 8 pass over the first pulleys 43 of the two scissor bars 42 and extend downward to the gripper assembly 3.

[0034] The two pull ropes 8 can hook onto both sides of the workpiece to ensure balance and improve the stability when clamping the workpiece. The two scissor levers 42 can adjust the lateral position of the pull ropes 8 to adapt to workpieces of different shapes.

[0035] In this embodiment, a second pulley 44 is rotatably provided at one end of the crossbar 41 near the column 4, and one end of each of the two pull ropes 8 and hooks 9 passes around the second pulley 44 and extends downward to the lower end of the column 4.

[0036] A winch 45 is installed on the vehicle body 1, and the two pull ropes 8 are wound into the winch 45.

[0037] The winch 45 can wind up the pull rope 8, thereby tightening the pull rope 8 and pulling the workpiece, so as to cooperate with the robotic arm assembly 2 to lift the workpiece.

[0038] In this embodiment, a vertical slide rail 5 is fixed in front of the vehicle body 1, and a lifting platform 6 is servo-slidably arranged in the slide rail 5. The clamping component 7 is connected to the lifting platform 6.

[0039] The height of the clamping component 7 can be changed by the lifting platform 6, so that the clamping component 7 can clamp the workpiece from different heights and lower the center of gravity of the workpiece during movement.

[0040] In this embodiment, the clamping component 7 includes a fixing block 71, and clamping rods 72 are slidably arranged on both sides of the fixing block 71. Each of the two clamping rods 72 is fixed with an arc-shaped clamping plate 73.

[0041] In this embodiment, a telescopic cylinder 74 is provided between each of the two support rods 72 and the fixing block 71.

[0042] The telescopic cylinder 74 can drive the clamping plate 73 to clamp the workpiece for transfer.

[0043] In this embodiment, the gripper assembly 3 clamps the connecting plate 31. The connecting plate 31 is hinged to both sides by a first connecting rod 32 and a second connecting rod 33. The first connecting rod 32 and the second connecting rod 33 on the same side are hinged to the clamping block 36. A slider 35 is slidably disposed at the center of the connecting plate 31. The slider 35 is hinged to each of the two second connecting rods 33 by a third connecting rod 34.

[0044] In this embodiment, the connecting plate 31 is threadedly connected to the center of a lead screw 37 that passes through it, and the end of the lead screw 37 is rotatably disposed in the slider 35;

[0045] The second connecting arm 23 is provided with a fourth drive motor 27, which is connected to the lead screw 37.

[0046] In other words, the fourth drive motor 27 can drive the lead screw 37 to rotate, thereby causing the slider 35 to slide, so as to pull the second link 33 and the first link 32 through the third link 34, thereby causing the clamping plate 73 to clamp the workpiece.

[0047] In this embodiment, a linkage link 38 is hinged to the side of the first link 32 away from the second link 33. The linkage link 38 has a through hole, and the two pull ropes 8 pass through the through holes of the two linkage links 38 respectively.

[0048] In other words, when the first link 32 opens or closes, it will cause the position of the pull rope 8 to change. When the winch 45 tightens the pull rope 8, it will cause the scissor lever 42 to change its opening and closing angle to adapt to the position of the pull rope 8.

[0049] In practice, this includes:

[0050] Robotic arm deployment: Rotor 21 rotates to the workpiece orientation. The first drive motor 24 and the second drive motor 25 work together to drive the first connecting arm 22 and the second connecting arm 23 to swing, moving the end gripper assembly 3 above or to the side of the workpiece and adjusting it to a suitable gripping posture. The third drive motor 26 drives the gripper assembly 3 to rotate, fine-tuning the gripper angle to ensure it is fully in contact with the workpiece's gripping surface.

[0051] Auxiliary hook connection: The operator or auxiliary mechanical device hooks the hooks 9 at the ends of the two pull ropes 8 on the crossbar 41 onto the lifting lugs or process holes on both sides of the workpiece to ensure balance. According to the width of the workpiece, the scissor lift 42 adjusts the opening and closing angle, and guides the pull ropes 8 to the optimal traction position through the first pulley 43.

[0052] Robotic arm pre-clamping: The drive mechanism of the gripper assembly 3 is activated. The fourth drive motor 27 drives the lead screw 37 to rotate, pushing the slider 35 to slide. The slider 35 pushes the second link 33 and the first link 32 to move through the third link 34, causing the clamping blocks 36 on both sides to close towards the center, thus initially clamping the workpiece.

[0053] Rope tensioning: The winch 45 located on the vehicle body 1 is started to wind up the rope 8. The rope 8 passes sequentially through the through holes of the second pulley 44, the first pulley 43, and the linkage 38, applying a pulling force to the workpiece upwards or towards the vehicle body. At this time, the workpiece is simultaneously subjected to the supporting force of the robotic arm and the oblique pulling force of the rope 8, forming a stable "double insurance" state, effectively offsetting the inertial impact of the heavy-load workpiece when it leaves the material rack.

[0054] Robotic arm coordinated lifting: The motors 24, 25, and 26 of each axis of the robotic arm assembly 2 work in coordination with the winch 45. While the pull rope 8 continuously provides tension, the robotic arm smoothly lifts the workpiece from the rack. The linkage 38 adjusts the guide angle of the pull rope 8 in real time according to the opening and closing action of the gripper assembly 3 to avoid interference between the pull rope 8 and the workpiece or the robotic arm.

[0055] Clamping component height adjustment: The slide rail 5 at the front of the vehicle body 1 drives the lifting platform 6 to slide up and down, adjusting the clamping component 7 to a height that matches the center of gravity of the workpiece, usually slightly lower than the current height of the workpiece, so as to support it.

[0056] The robotic arm docks with the clamping assembly: The vehicle body 1 remains stationary, and the robotic arm assembly 2 retracts backward, delivering the workpiece to the opening of the clamping assembly 7. The telescopic cylinder 74 drives the gripping rod 72 to extend towards the center, causing the arc-shaped clamping plate 73 to conform to the outer contour of the workpiece. Simultaneously with the clamping plate 73 contacting the workpiece, the robotic arm's gripper assembly 3 gradually releases, while the pull rope 8 maintains moderate tension, achieving a smooth transition of clamping force from the robotic arm to the vehicle body clamping assembly 7.

[0057] Center of gravity locking: After the clamping assembly 7 fully clamps the workpiece, the lifting platform 6 descends, lowering the workpiece's center of gravity and increasing the stability of the vehicle body 1 during movement. The winch 45 keeps the pull rope 8 slightly tensioned to prevent the workpiece from swaying during transportation.

[0058] Heavy-duty movement: The drive wheels of vehicle 1 start, transferring the workpiece from the material handling area to the target assembly station. Since the workpiece is firmly fixed to the front end of the vehicle body by the clamping assembly 7 and has a low center of gravity, it has high safety and stability during movement.

[0059] Precision assembly: After reaching the assembly position, the lifting platform 6 starts again to fine-tune the workpiece to the precise assembly height. If the workpiece's posture needs to be fine-tuned during the assembly process, the robotic arm assembly 2 can extend forward again, and the gripper assembly 3 assists in straightening the workpiece. In conjunction with the fine-tuning function of the clamping assembly 7, high-precision docking assembly is completed.

[0060] Unloading and Resetting: After assembly, the telescopic cylinder 74 retracts, releasing the clamping plate 73. The operator removes the hook 9, and the winch 45 retracts the pull rope 8 to its reset position. The robotic arm assembly 2 retracts to its minimum turning radius, and the vehicle body 1 returns to the standby area, ready for the next work cycle.

[0061] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A six-degree-of-freedom heavy-duty assembly industrial robot, comprising a servo-driven chassis (1), characterized in that, The vehicle body (1) is provided with a robotic arm assembly (2), and a gripper assembly (3) is connected in the robotic arm assembly (2). A column (4) higher than the highest point of the robotic arm assembly (2) is fixed on the vehicle body (1). A horizontal bar (41) is fixed on the top of the column (4). Pull ropes (8) are distributed on the horizontal bar (41). A hook (9) is connected to the end of the pull ropes (8). A clamping assembly (7) is provided at the front end of the vehicle body (1).

2. The six-degree-of-freedom heavy-duty assembly industrial robot according to claim 1, characterized in that, The robotic arm assembly (2) includes a rotating base (21) that can be rotated by a servo drive. The rotating base (21) is connected to the vehicle body (1). A first connecting arm (22) is hinged to the rotating base (21). A second connecting arm (23) is hinged to the end of the first connecting arm (22). A gripper assembly (3) is rotatably provided at the end of the second connecting arm (23).

3. The six-degree-of-freedom heavy-duty assembly industrial robot according to claim 2, characterized in that, A first drive motor (24) is connected between the first connecting arm (22) and the rotating base (21), and a second drive motor (25) is connected between the second connecting arm (23) and the first connecting arm (22). The second connecting arm (23) is provided with a third drive motor (26) connected to the gripper assembly (3).

4. The six-degree-of-freedom heavy-duty assembly industrial robot according to claim 1, characterized in that, Two scissor bars (42) are hinged to the end of the crossbar (41). The ends of the two scissor bars (42) are provided with first pulleys (43). The two pull ropes (8) pass over the first pulleys (43) of the two scissor bars (42) and extend downward to the gripper assembly (3).

5. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 1, characterized in that, The crossbar (41) is rotatably equipped with a second pulley (44) at one end near the column (4), and one end of each of the two pull ropes (8) and hooks (9) passes around the second pulley (44) and extends downward to the lower end of the column (4); A winch (45) is installed on the vehicle body (1), and the two pull ropes (8) are wound into the winch (45).

6. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 1, characterized in that, A vertical slide rail (5) is fixed in front of the vehicle body (1), and a lifting platform (6) is servo-slidably arranged in the slide rail (5). The clamping component (7) is connected to the lifting platform (6).

7. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 1, characterized in that, The clamping assembly (7) includes a fixing block (71), and clamping rods (72) are slidably arranged on both sides of the fixing block (71). Each of the two clamping rods (72) has an arc-shaped clamping plate (73) fixed in it.

8. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 7, characterized in that, The gripper assembly (3) grips the connecting plate (31). The connecting plate (31) has a first connecting rod (32) and a second connecting rod (33) hinged on both sides. The first connecting rod (32) and the second connecting rod (33) on the same side are hinged to the clamping block (36). The connecting plate (31) has a slider (35) slidably disposed in the center. The slider (35) is hinged to each of the two second connecting rods (33) through a third connecting rod (34).

9. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 8, characterized in that, The connecting plate (31) is threadedly connected to a lead screw (37) that passes through it, and the end of the lead screw (37) is rotatably disposed in the slider (35); The second connecting arm (23) is provided with a fourth drive motor (27), which is connected to the lead screw (37).

10. A six-degree-of-freedom heavy-duty assembly industrial robot according to claim 8, characterized in that, The first link (32) is hinged to a linkage link (38) on the side away from the second link (33). The linkage link (38) has a through hole, and the two pull ropes (8) pass through the through holes of the two linkage links (38) respectively.

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