Heavy duty six-axis industrial robot

Abstract

This invention relates to the field of industrial robot technology and discloses a heavy-duty six-axis industrial robot, including a base and a rotating seat inserted at the top. A six-axis robotic arm is hinged inside the rotating seat, and a drive unit connected to the rotating seat is installed inside the base. A mounting platform is connected to the outside of the rotating seat. The gripping end of the six-axis robotic arm is connected to the mounting plate and a multi-dimensional weighing sensor module is installed thereon, with a clamping flange at its detection end. A linear motion mechanism is arranged on the top of the mounting platform, with a counterweight installed at its moving end. A first drive device is installed inside the mounting platform, with its rotor coaxially connected to a transmission arm. A transmission component is installed at the outer end of the linear motion mechanism, and a gear is inserted inside the transmission arm. The transmission component has tooth grooves on its outer side that mesh with the gear. The multi-dimensional weighing sensor module acquires the weight of the gripped material in real time, and controls the first drive device and the linear motion mechanism accordingly. The position of the counterweight is adjusted to balance the torque, avoid stress concentration due to uneven load, improve operational stability and positioning accuracy, and reduce operational redundancy and fatigue wear of the mechanism.

Description

Technical Field

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

[0002] Heavy-duty six-axis industrial robots are widely used in industrial scenarios such as heavy equipment manufacturing, bulk material warehousing and transportation, and material handling on heavy industrial production lines. They are core equipment for achieving automated and flexible production in heavy-duty operations. With the continuous upgrading of high-end manufacturing, industrial production has placed higher demands on the operating efficiency, operational stability, load adaptability, and operational accuracy of these robots.

[0003] In existing technologies, the weight detection of heavy-load materials often involves setting up independent offline weighing equipment. The material must be weighed before the robot performs the grasping and transfer operation. This disconnect between the weighing process and the robot's grasping operation results in a cumbersome and redundant workflow, adding unnecessary steps of multiple material transfers. Furthermore, while existing heavy-duty six-axis industrial robots are often equipped with counterweight balancing mechanisms, they typically use fixed counterweight structures or can only adjust the counterweight within a limited range according to preset parameters. This fails to achieve real-time synchronization and adaptation with the actual load conditions of the material being grasped, making it difficult for the robot to maintain balanced force under different load conditions. This can easily lead to stress concentration on joints and drive mechanisms, exacerbating fatigue wear over long-term operation and failing to meet the operational requirements of industrial robots. Therefore, a heavy-duty six-axis industrial robot is proposed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a heavy-duty six-axis industrial robot to solve the technical problems of low efficiency in heavy-duty operations, large losses due to force imbalance, and insufficient positioning accuracy.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a heavy-duty six-axis industrial robot, comprising a base, a rotating seat inserted into the top of the base, a six-axis robotic arm hinged inside the rotating seat, and a driving component installed inside the base, the driving component being connected to the rotating seat.

[0006] The outer side of the rotating seat is connected to a mounting platform, the gripping end of the six-axis robotic arm is connected to a mounting plate, a multi-dimensional weighing sensor module is mounted on the outer surface of the mounting plate, and a clamp mounting flange is mounted on the detection end of the multi-dimensional weighing sensor module.

[0007] A linear travel mechanism is installed on the top of the mounting platform, and a counterweight is installed on the moving end of the linear travel mechanism. A first drive device is installed inside the mounting platform, and the rotor of the first drive device is coaxially connected to a transmission arm.

[0008] The outer end of the linear travel mechanism is equipped with a transmission component, and a gear is inserted inside the transmission arm. A tooth groove is installed on the outer side of the transmission component at a position corresponding to the gear, and the tooth groove meshes with the gear.

[0009] Preferably, the linear travel mechanism includes a base, a second drive device, a moving groove, a lead screw, and an adjusting seat. The second drive device is installed on the side of the base, the moving groove is opened inside the base, and the adjusting seat is inserted inside the moving groove. This enables smooth linear displacement adjustment of the counterweight. The overall structure is compact and the transmission is stable. It can accurately control the adjustment stroke of the counterweight and adapt to the lever arm adjustment requirements under different loads.

[0010] Preferably, the transmission end of the lead screw is connected to the rotor of the second drive device, the lead screw passes through the interior of the adjustment seat and is screwed to it, the top of the adjustment seat is connected to the counterweight, and the cross-section of the moving groove and the adjustment seat are both trapezoidal structures. The lead screw screw connection transmission can ensure the accuracy of the counterweight adjustment, and the trapezoidal cross-section of the groove and the adjustment seat can improve the running guidance and effectively avoid jamming and deviation shaking during operation.

[0011] Preferably, the transmission component has an arc-shaped structure. A guide groove is provided on the top of the mounting platform at a position corresponding to the transmission component. A slider is inserted inside the guide groove, and the top of the slider is connected to the bottom of the transmission component. The arc-shaped transmission component can adapt to the torque adjustment requirements of the whole machine rotation. With the guide structure of the slider and the guide groove, the stability of the transmission component swing process can be ensured, and transmission offset problems can be avoided.

[0012] Preferably, the curvature of the guide groove and the slider is the same as that of the transmission component. The two ends of the guide groove are connected to the side wall of the mounting platform. The cross-section of the guide groove and the slider are both convex structures. The same curvature design can ensure the fit of the transmission. The convex cross-section guide structure can improve the limiting effect, effectively prevent the slider from falling out of the groove, and ensure the stability and reliability of the transmission process.

[0013] Preferably, the counterweight has a hollow internal structure, with a water inlet pipe installed on the top and a circulation pipe installed on the lower side of the counterweight. Both the water inlet pipe and the circulation pipe are connected to the inner cavity of the counterweight. The hollow counterweight can flexibly adjust the water storage capacity of the inner cavity through the water inlet and outlet pipes, thereby realizing dynamic adjustment of the counterweight weight, further expanding the counterweight's adaptability range, and improving the overall balance and adaptability effect of the machine.

[0014] Preferably, the multi-dimensional weighing sensor module, the first driving device, and the second driving device all integrate control units. The signal output terminal of the multi-dimensional weighing sensor module is communicatively connected to the control input terminals of the first driving device and the second driving device, respectively. The integrated control unit simplifies the overall control chain. The direct communication between the weighing module and the driving device enables synchronous linkage of detection and adjustment, improving the system response speed and control accuracy.

[0015] Preferably, the interfaces of the inlet pipe and the circulation pipe are both connected to a water circulation system via flexible spring hoses. The water circulation system is communicatively connected to the control terminal of the multi-dimensional weighing sensor module. The water circulation system includes a water storage tank, a booster pump group, a return water filter pump group, an electric flow regulating valve group, an internal liquid level detection device, and a system control unit. The inlet of the booster pump group is sealed and connected to the outlet of the water storage tank. The outlet of the booster pump group is sealed and connected to the bend-resistant flexible spring hose and the inlet pipe in sequence via the electric flow regulating valve group, forming a closed-loop water injection path. The closed-loop water circulation system can accurately control the injection and drainage volume of the counterweight. When linked with the multi-dimensional weighing sensor module, it can realize adaptive adjustment of the counterweight weight and achieve precise balance of the whole machine by adjusting the lever arm.

[0016] Preferably, a sealing cover is provided on the outer side of the meshing point of the gear and the tooth groove, and support plates are installed on both sides of the mounting platform. The support plates are all fan-shaped structures. The sealing cover can isolate dust and oil stains from eroding the meshing transmission, and the fan-shaped support plates can improve the load-bearing strength of the mounting platform, avoid structural deformation under heavy load conditions, and ensure the stability of the whole machine operation.

[0017] Compared with the prior art, the present invention provides a heavy-duty six-axis industrial robot with the following advantages:

[0018] This heavy-duty six-axis industrial robot, equipped with a multi-dimensional weighing sensor module, can simultaneously detect the weight of materials while the six-axis robotic arm is grasping them. This eliminates the need for a separate offline weighing station, simplifying the transfer process for heavy-duty materials and avoiding redundancy caused by multiple material transfers. Simultaneously, the acquired weight data controls the activation of the first drive unit and the linear motion mechanism. The first drive unit rotates the transmission arm, which in turn drives the swing of the transmission components and the linear motion mechanism. Furthermore, the linear motion mechanism controls the horizontal movement of the counterweight, ensuring the robot maintains balanced force during operation. This effectively avoids stress concentration on the joints and drive mechanism under heavy loads, alleviating fatigue wear during operation. The optimized force distribution further improves the robot's operational stability, reduces vibration deviations during operation, and ensures accurate positioning during material handling. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic cross-sectional view of the base structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the mounting plate structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the mounting platform and linear travel mechanism of the present invention;

[0023] Figure 5 This is a schematic diagram of the guide groove structure of the present invention;

[0024] Figure 6 This is a schematic diagram of the transmission component structure of the present invention;

[0025] Figure 7 This is a bottom-view structural diagram of the linear travel mechanism of the present invention;

[0026] Figure 8 This is a schematic cross-sectional view of the platform structure of the present invention;

[0027] Figure 9 This is a schematic diagram of the counterweight structure of the present invention.

[0028] In the diagram: 1. Base; 2. Rotary seat; 3. Six-axis robotic arm; 4. Mounting platform; 41. Support plate; 5. Drive component; 6. Mounting plate; 7. Multi-dimensional weighing sensor module; 8. Fixture mounting flange; 9. Linear travel mechanism; 91. Platform; 92. Second drive device; 93. Moving groove; 94. Lead screw; 95. Adjusting seat; 10. Transmission component; 11. First drive device; 12. Transmission arm; 13. Gear; 14. Gear groove; 15. Counterweight; 151. Water inlet pipe; 152. Circulation pipe; 16. Guide groove; 17. Slider; 18. Assembly hole. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] This invention provides a technical solution: a heavy-duty six-axis industrial robot, comprising a base 1, a rotating seat 2, a six-axis robotic arm 3, a mounting platform 4, a support plate 41, a drive component 5, a mounting plate 6, a multi-dimensional weighing sensor module 7, a fixture mounting flange 8, a linear travel mechanism 9, a platform 91, a second drive device 92, a moving groove 93, a lead screw 94, an adjusting seat 95, a transmission component 10, a first drive device 11, a transmission arm 12, a gear 13, a toothed groove 14, a counterweight 15, a water inlet pipe 151, a circulation pipe 152, a guide groove 16, a slider 17, and an assembly hole 18.

[0031] Please see Figure 1 A rotating base 2 is inserted into the top of the base 1, and a six-axis robotic arm 3 is hinged inside the rotating base 2. Please refer to [link / reference]. Figure 2 The base 1 is equipped with a drive component 5, which is connected to the rotating base 2. Please refer to [link / reference]. Figure 1 The outer side of the rotating base 2 is connected to the mounting platform 4. Please refer to [link / reference]. Figure 3 The gripping end of the six-axis robotic arm 3 is connected to a mounting plate 6. A multi-dimensional weighing sensor module 7 is mounted on the outer surface of the mounting plate 6. A clamp mounting flange 8 is mounted on the detection end of the multi-dimensional weighing sensor module 7. The multi-dimensional weighing sensor module 7 adopts a spoke-type multi-dimensional force weighing sensor commonly used in heavy-load conditions in this field. It can simultaneously collect the net weight value, off-center load vector data and dynamic load fluctuation data of the gripped material. Its signal acquisition, filtering processing and data output methods are all conventional technical means in this field.

[0032] Please see Figure 4 A linear travel mechanism 9 is installed on the top of the mounting platform 4, and a counterweight 15 is installed on the moving end of the linear travel mechanism 9. A first drive device 11 is installed inside the mounting platform 4. Please refer to [link / reference]. Figure 6 The rotor of the first drive device 11 is coaxially connected to the transmission arm 12.

[0033] A transmission component 10 is mounted on the outer end of the linear travel mechanism 9. A gear 13 is inserted inside the transmission arm 12, and the upper and lower sides of the gear 13 are fixedly connected to the inner side of the transmission arm 12. Please refer to [link / reference]. Figure 7 A toothed groove 14 is installed on the outer side of the transmission component 10 at a position corresponding to the gear 13, and the toothed groove 14 meshes with the gear 13. A sealing cover is provided on the outer side of the meshing point between the gear 13 and the toothed groove 14. Please refer to [link / reference]. Figure 4 Both sides of the mounting platform 4 are equipped with support plates 41, which are all fan-shaped structures. The transmission component 10 has an arc-shaped structure. Please refer to [link / reference]. Figure 5 A guide groove 16 is provided on the top of the mounting platform 4 at a position corresponding to the transmission component 10. Please refer to [link / reference]. Figure 7A slider 17 is inserted inside the guide groove 16, and the top of the slider 17 is connected to the bottom of the transmission component 10. The curvature of the guide groove 16 and the slider 17 is the same as that of the transmission component 10. The two ends of the guide groove 16 are connected to the side wall of the mounting platform 4. The cross-section of the guide groove 16 and the slider 17 are both convex structures. When the first driving device 11 drives the transmission arm 12 to rotate around its own axis, the gear 13 rotates synchronously with the transmission arm 12. Through the meshing transmission force of the gear 13 and the tooth groove 14, the arc-shaped transmission component 10 is driven to swing in an arc along the guide groove 16, thereby driving the linear travel mechanism 9 to adjust the swing angle synchronously, so as to achieve precise adjustment of the lever arm swing angle.

[0034] The added multi-dimensional weighing sensor module 7 can simultaneously detect the weight of materials when the six-axis robotic arm 3 grasps them, eliminating the need for a separate offline weighing station. This simplifies the transfer process for heavy-load materials and avoids redundancy caused by multiple material transfers. Simultaneously, the acquired weight data can control the activation of the first drive device 11 and the linear motion mechanism 9. The first drive device 11 drives the rotation of the transmission arm 12, which in turn drives the swing of the transmission component 10 and the linear motion mechanism 9. Furthermore, the linear motion mechanism 9 controls the horizontal movement of the counterweight 15, ensuring the robot maintains balanced force during operation. This effectively avoids stress concentration on the joints and drive mechanism under heavy loads, alleviating fatigue wear during operation, and further improving the optimization of the force distribution. The smooth operation of the robot reduces vibration deviations during operation and ensures the positioning accuracy of material handling. The specific linkage control process is as follows: After the six-axis robotic arm 3 completes the material gripping through the gripper connected by the clamp mounting flange 8, the multi-dimensional weighing sensor module 7 synchronously collects the material weight data and transmits it to the control unit in real time; the control unit calculates the lever arm swing angle, lever arm length and counterweight weight parameters required for the overall machine balance based on the weight data, and synchronously outputs control commands to the first drive device 11, the second drive device 92 and the water circulation system; the first drive device 11 executes the command to complete the swing angle adjustment of the linear walking mechanism 9, the second drive device 92 executes the command to complete the horizontal displacement adjustment of the counterweight 15, and the water circulation system executes the command to complete the weight adjustment of the counterweight 15. The multi-mechanism collaboration achieves the overall machine's force balance under all working conditions.

[0035] Please see Figure 8The linear travel mechanism 9 includes a base 91, a second drive device 92, a moving groove 93, a lead screw 94, and an adjusting seat 95. The second drive device 92 is mounted on the side of the base 91. The moving groove 93 is opened inside the base 91, and the adjusting seat 95 is inserted inside the moving groove 93. The transmission end of the lead screw 94 is connected to the rotor of the second drive device 92. The lead screw 94 passes through the interior of the adjusting seat 95 and is screwed to it. The top of the adjusting seat 95 is connected to the counterweight 15. The cross-sections of the moving groove 93 and the adjusting seat 95 are both trapezoidal structures. When the second drive device 92 drives the lead screw 94 to rotate, the rotational motion can be converted into the linear reciprocating motion of the adjusting seat 95 along the moving groove 93 through the screwing connection between the lead screw 94 and the adjusting seat 95. This, in turn, drives the counterweight 15 to synchronously complete the horizontal displacement adjustment, thereby achieving precise control of the lever arm length.

[0036] Please see Figure 9 The counterweight 15 has a hollow internal structure. A water inlet pipe 151 is installed on the top of the counterweight 15, and a circulation pipe 152 is installed on the lower side of the counterweight 15. Both the water inlet pipe 151 and the circulation pipe 152 are connected to the inner cavity of the counterweight 15. The multi-dimensional weighing sensor module 7, the first drive device 11, and the second drive device 92 all integrate control units. The signal output terminal of the multi-dimensional weighing sensor module 7 is communicatively connected to the control input terminals of the first drive device 11 and the second drive device 92, respectively. The interface terminals of the water inlet pipe 151 and the circulation pipe 152 are connected to a water circulation system via flexible spring hoses. The water circulation system is communicatively connected to the control terminal of the multi-dimensional weighing sensor module 7. The water circulation system includes a water storage tank, a booster pump group, a return water filter pump group, an electric flow regulating valve group, an internal cavity liquid level detection device, and a system control unit. The inlet of the booster water supply pump group is sealed and connected to the outlet of the water storage tank. The outlet of the booster water supply pump group is sealed and connected to the bend-resistant spring hose and the inlet pipe 151 in sequence through the electric flow regulating valve group, forming a closed-loop water injection passage. The inlet of the return water filter pump group is sealed and connected to the circulation pipe 152 through the bend-resistant spring hose. The outlet of the return water filter pump group is sealed and connected to the return water chamber of the water storage tank through the multi-stage filtration components, forming a closed-loop return water passage. The system control unit can receive the material weight data output by the multi-dimensional weighing sensor module 7, and calculate the target counterweight value of the counterweight 15 by combining the lever arm adjustment parameters of the linear walking mechanism 9. Then, it can control the start and stop, operating power and valve opening of the booster water supply pump group, the return water filter pump group and the electric flow regulating valve group, and dynamically adjust the overall weight of the counterweight 15 by precisely controlling the water injection and drainage volume.

[0037] This solution, through the addition of a multi-dimensional weighing sensor module 7, can simultaneously detect the weight of materials when the six-axis robotic arm 3 grasps them, eliminating the need for a separate offline weighing station. This simplifies the transfer process for heavy-load materials, avoids redundancy caused by multiple material transfers, and controls the activation of the first drive device 11 and the linear motion mechanism 9 based on the acquired weight data. This allows the first drive device 11 to drive the rotation of the transmission arm 12, which in turn drives the swing of the transmission component 10 and the linear motion mechanism 9. Furthermore, the linear motion mechanism 9 controls the horizontal movement of the counterweight 15, ensuring that the robot maintains balanced force during operation. This effectively avoids stress concentration on the joints and drive mechanism under heavy loads, alleviates fatigue wear during operation, and further improves the stability of robot operation by optimizing the force state, reducing vibration deviations during operation, and ensuring the positioning accuracy of material handling.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A heavy-duty six-axis industrial robot, comprising a base (1), a rotating seat (2) inserted into the top of the base (1), a six-axis robotic arm (3) hinged inside the rotating seat (2), and a drive unit (5) installed inside the base (1), the drive unit (5) being connected to the rotating seat (2), characterized in that: The rotating seat (2) is connected to a mounting platform (4) on its outer side. The gripping end of the six-axis robotic arm (3) is connected to a mounting plate (6). A multi-dimensional weighing sensor module (7) is mounted on the outer surface of the mounting plate (6). A clamp mounting flange (8) is mounted on the detection end of the multi-dimensional weighing sensor module (7). The top of the mounting platform (4) is equipped with a linear walking mechanism (9), and the moving end of the linear walking mechanism (9) is equipped with a counterweight (15). The inside of the mounting platform (4) is equipped with a first driving device (11), and the rotor of the first driving device (11) is coaxially connected to a transmission arm (12). The outer end of the linear walking mechanism (9) is equipped with a transmission component (10), and a gear (13) is inserted inside the transmission arm (12). A tooth groove (14) is installed on the outer side of the transmission component (10) at a position corresponding to the gear (13), and the tooth groove (14) meshes with the gear (13).

2. The heavy-duty six-axis industrial robot according to claim 1, characterized in that: The linear travel mechanism (9) includes a base (91), a second drive device (92), a moving groove (93), a lead screw (94), and an adjusting seat (95). The second drive device (92) is installed on the side of the base (91), the moving groove (93) is opened inside the base (91), and the adjusting seat (95) is inserted inside the moving groove (93).

3. A heavy-duty six-axis industrial robot according to claim 2, characterized in that: The transmission end of the lead screw (94) is connected to the rotor of the second drive device (92). The lead screw (94) passes through the interior of the adjustment seat (95) and is screwed to it. The top of the adjustment seat (95) is connected to the counterweight (15). The cross-sections of the moving groove (93) and the adjustment seat (95) are both trapezoidal structures.

4. A heavy-duty six-axis industrial robot according to claim 1, characterized in that: The transmission component (10) has an arc-shaped structure. A guide groove (16) is provided on the top of the mounting platform (4) at a position corresponding to the transmission component (10). A slider (17) is inserted inside the guide groove (16), and the top of the slider (17) is connected to the bottom of the transmission component (10).

5. A heavy-duty six-axis industrial robot according to claim 1, characterized in that: The curvature of the guide groove (16) and the slider (17) is the same as that of the transmission component (10). The two ends of the guide groove (16) are connected to the side wall of the mounting platform (4). The cross-sections of the guide groove (16) and the slider (17) are both convex structures.

6. A heavy-duty six-axis industrial robot according to claim 1, characterized in that: The counterweight (15) has a hollow interior. A water inlet pipe (151) is installed on the top of the counterweight (15), and a circulation pipe (152) is installed on the lower side of the counterweight (15). Both the water inlet pipe (151) and the circulation pipe (152) are connected to the inner cavity of the counterweight (15).

7. A heavy-duty six-axis industrial robot according to claim 1, characterized in that: The multidimensional weighing sensor module (7), the first drive device (11), and the second drive device (92) all have control units integrated inside. The signal output terminal of the multidimensional weighing sensor module (7) is connected to the control input terminals of the first drive device (11) and the second drive device (92) respectively.

8. A heavy-duty six-axis industrial robot according to claim 6, characterized in that: The inlet pipe (151) and the circulation pipe (152) are both connected to a water circulation system via spring hoses. The water circulation system is communicatively connected to the control terminal of the multi-dimensional weighing sensor module (7). The water circulation system includes a water storage tank, a booster water supply pump group, a return water filter pump group, an electric flow regulating valve group, an internal liquid level detection device, and a system control unit. The inlet end of the booster water supply pump group is sealed and connected to the outlet chamber of the water storage tank. The outlet end of the booster water supply pump group is sealed and connected to the bend-resistant spring hose and the inlet pipe (151) in sequence via the electric flow regulating valve group to form a closed-loop water injection passage.

9. A heavy-duty six-axis industrial robot according to claim 1, characterized in that: The meshing point of the gear (13) and the tooth groove (14) is covered with a sealing cover. Both sides of the mounting platform (4) are equipped with support plates (41), and the support plates (41) are all fan-shaped structures.

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