Load-bearing robot structure

Abstract

The utility model relates to the field of robots, in particular to a load-bearing robot structure which comprises a supporting column and a clamping assembly, the clamping assembly comprises a moving frame and two symmetrically-arranged mechanical arms, the moving frame is arranged on the supporting column in a sleeved mode and connected with the supporting column in a sliding mode, and each mechanical arm comprises a supporting section, a rotating section and a telescopic rod. One end of the supporting section is fixedly connected with the movable frame, the other end of the supporting section is rotationally connected with the rotating section, a sucker clamp is rotationally arranged at the end of the rotating section, one end of the telescopic rod rotates with the supporting section, the other end of the telescopic rod is rotationally connected with the rotating section, and a connecting platform is further fixedly arranged at the bottom of the supporting column. Through the arrangement of the supporting columns and the movable frame, the bearing capacity is improved, so that the strength requirement for the structure at the connecting position of the supporting columns and the movable frame is reduced, the maintenance cost is reduced, and the stability is improved; and the connecting platform is assembled with the movable base or the rotary base, so that the device can adapt to in-situ fixed installation and can also adapt to movable operation or flexible steering operation.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a load-bearing robot structure. Background Technology

[0002] In today's era of rapid development in robotics technology, the importance of heavy-duty robots in industrial production, logistics, and emergency rescue is growing daily. However, current mainstream heavy-duty robots have many shortcomings in joint control and overall structural design. Taking traditional humanoid heavy-duty robots as an example, their joints mostly rely on a combination of gears and stepper motors for motion control. However, due to the mismatch between the length of the robotic arm and the radius of the connecting gears, the huge torque generated during the operation of the robotic arm is concentrated on the gears. This requires the gears to be made of extremely expensive and difficult-to-process high-strength, high-toughness, and wear-resistant alloy materials to withstand the strong forces. Furthermore, under long-term high-load operation, the gears frequently fail due to severe wear and fatigue, greatly reducing the stability and reliability of the robot, while increasing maintenance costs and downtime, severely restricting the efficient operation of heavy-duty robots in complex environments.

[0003] Furthermore, existing heavy-duty robots lack flexibility in their base design, often adapting only to a single work scenario. They struggle to switch between different modes, such as fixed operation, flexible turning operation, or mobile operation, according to actual needs, thus failing to fully meet diverse work requirements. Therefore, it is necessary to improve this structure to overcome these shortcomings. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a load-bearing robot structure. This utility model is achieved through the following technical solution:

[0005] A load-bearing robot structure includes a support column and a clamping assembly. The clamping assembly includes a movable frame and two symmetrically arranged robotic arms. The movable frame is sleeved on the support column and is slidably connected to the support column. Each robotic arm includes a support section, a rotating section, and a telescopic rod. One end of the support section is fixedly connected to the movable frame, and the other end is rotatably connected to the rotating section. A suction cup clamp is rotatably mounted at the end of the rotating section. One end of the telescopic rod rotates with the support section, and the other end is rotatably connected to the rotating section. A connecting platform is also fixedly mounted at the bottom of the support column.

[0006] In the above technical solution: the support column is used to set the other components as the main structure; the moving frame is used to drive the other components of the clamping assembly to move, and the connection between the moving frame and the support column makes the load-bearing capacity greater and avoids excessive force at the connection point; two robotic arms are used for clamping; the support end of the robotic arm is used to connect with the moving frame; the rotating section is used to adjust the angle between the two robotic arms, thereby realizing opening and closing; the telescopic rod is used to move the moving frame; the suction cup clamp is used for clamping; the connecting platform is used to connect with different bases or directly fix it in a fixed position.

[0007] A further feature of this invention is that a guide rail is provided on the support column, and a sliding groove is provided on the movable frame, with the guide rail and the sliding groove being slidably connected.

[0008] In the above technical solution: the guide rail and the slide are used to limit the movement path of the moving frame.

[0009] A further feature of this invention is that a vision camera is rotatably mounted on the top of the support column.

[0010] In the above technical solution: the visual camera is used to collect information in order to determine the scene situation.

[0011] A further feature of this invention is that at least one lidar is provided on each side of the support column.

[0012] In the above technical solution: LiDAR is used to make judgments in low-brightness scenarios.

[0013] A further feature of this invention is that a force sensor is provided on the suction cup clamp, and an angle sensor is provided at the connection between the rotating section and the supporting section.

[0014] In the above technical solution: the force sensor is used to determine the clamping force; the angle sensor is used to determine the rotation angle of the rotating section.

[0015] A further feature of this invention is that it includes a movable base, which comprises a housing, a battery, a motor, a drive wheel, and a driven wheel. The housing is fixedly connected to the connecting platform, and the battery and housing are fixedly mounted on the housing. The battery provides power to the motor, the drive wheel is connected to the output end of the motor, and the driven wheel is rotatably mounted on the housing.

[0016] In the above technical solution: the movable base is used to realize the movement of the support column and other components; the outer shell is used to house the other components of the movable base; the battery is used to provide power; the motor is used to realize the drive; the drive wheel is used to output power to realize the movement; and the driven wheel is used to cooperate with the drive wheel to rotate.

[0017] A further feature of this invention is that at least one second lidar is provided on each side of the mobile base.

[0018] In the above technical solution: the second lidar is used for obstacle avoidance of the mobile base.

[0019] A further feature of this invention is that it includes a rotating base, which comprises a base plate and a turntable, the turntable being disposed on the base plate, and the top surface of the turntable being fixedly connected to the connecting platform.

[0020] In the above technical solution: the rotating base is used to realize the rotation of the support column; the base plate is used to set the turntable; the turntable is used to realize the rotation of the support column.

[0021] This utility model discloses a load-bearing robot structure, which, compared with the prior art:

[0022] 1. This utility model improves the load-bearing capacity by setting up support columns and a movable frame, thereby reducing the strength requirements of the structure at the connection point between the two, reducing maintenance costs, and improving stability;

[0023] 2. This utility model also adapts to both fixed installation in place and mobile or rotating operation by assembling the connecting platform with the mobile base or rotating base. Attached Figure Description

[0024] Figure 1 This is a perspective view of the present utility model;

[0025] Figure 2 This is a perspective view of the present invention including the movable base;

[0026] Figure 3 This is a perspective view of the present invention including a rotating base.

[0027] The numbers and letters in the diagram represent the following component names: 10-Support column; 101-Guide rail; 20-Clamping assembly; 201-Moving frame; 201a-Slide groove; 202-Robotic arm; 202a-Support section; 202b-Rotating section; 202c-Telescopic rod; 202d-Suction cup clamp; 30-Connecting platform; 40-Vision camera; 50-Moving base; 501-Outer shell; 502-Drive wheel; 503-Driven wheel; 60-Rotating base; 601-Base plate; 602-Turntable. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. These embodiments are implemented based on the technical solution of this utility model and provide detailed implementation methods and specific operation processes. However, the protection scope of this utility model is not limited to the following embodiments.

[0029] like Figure 1-3 As shown, the present invention proposes a load-bearing robot structure, including a support column 10 and a clamping assembly 20. The clamping assembly 20 includes a movable frame 201 and two symmetrically arranged robotic arms 202. The movable frame 201 is sleeved on the support column 10 and is slidably connected to the support column 10. The robotic arm 202 includes a support section 202a, a rotating section 202b, and a telescopic rod 202c. One end of the support section 202a is fixedly connected to the movable frame 201, and the other end is rotatably connected to the rotating section 202b. A suction cup clamp 202d is rotatably provided at the end of the rotating section 202b. One end of the telescopic rod 202c is rotatably connected to the support section 202a, and the other end is rotatably connected to the rotating section 202b. A connecting platform 30 is also fixedly provided at the bottom of the support column 10. The support column 10 has a rectangular cross-section; the output component of the suction cup clamp 202d is a suction cup used to adsorb the workpiece to be clamped; when the movable base 50 is used, the telescopic rod 202c is an electric cylinder; when the fixed installation or rotating base is used, the telescopic rod 202c can also be a hydraulic cylinder or a pneumatic cylinder; the support column 10 is equipped with an industrial control computer and related control components. After receiving information from various sensors, it controls the various control components through the control algorithm in the industrial control computer.

[0030] like Figure 1-3 As shown, this utility model proposes a load-bearing robot structure. A guide rail 101 is provided on the support column 10, and a sliding groove 201a is provided on the moving frame 201. The guide rail 101 and the sliding groove 201a are slidably connected. The guide rail 101 runs vertically. Preferably, one guide rail 101 is provided on each of the four sides of the support column 10. The number of sliding grooves 201a corresponds to the number of guide rails 101. The moving frame 201 is powered by a servo motor, which converts rotational motion into linear motion via a lead screw and outputs the result to the moving frame 201.

[0031] like Figure 1-3 As shown, the present invention proposes a load-bearing robot structure, wherein a vision camera 40 is rotatably mounted on the top of the support column 10. The vision camera 40 has a rotation range of 360 degrees in the vertical plane; preferably, the top of the support column 10 is also provided with a rotating frame, on which the vision camera 40 is rotatably mounted, and the rotation range of the rotating frame is 360 degrees in the horizontal plane; the vision camera 40 is electrically connected to the industrial control computer.

[0032] like Figure 1-3As shown, this utility model proposes a load-bearing robot structure, in which at least one lidar is provided on each side of the support column 10. The lidar is electrically connected to the industrial control computer.

[0033] like Figure 1-3 As shown, this utility model proposes a load-bearing robot structure, in which a force sensor is installed on the suction cup gripper 202d, and an angle sensor is installed at the connection between the rotating section 202b and the support section 202a. Both the force sensor and the angle sensor are electrically connected to the industrial control computer.

[0034] like Figure 1-3 As shown, the present invention proposes a load-bearing robot structure, which further includes a mobile base 50. The mobile base 50 includes a housing 501, a battery, a motor, drive wheels 502, and driven wheels 503. The housing 501 is fixedly connected to the connecting platform 30. The battery and housing 501 are fixedly mounted on the housing 501. The battery provides power to the motor. The drive wheels 502 are connected to the output end of the motor. The driven wheels 503 are rotatably mounted on the housing 501. There are two drive wheels 502 and two driven wheels 503.

[0035] like Figure 1-3 As shown, this utility model proposes a load-bearing robot structure, in which at least one second lidar is provided on each side of the mobile base 50. The second lidar is electrically connected to the industrial control computer.

[0036] like Figure 1-3 As shown, the present invention proposes a load-bearing robot structure, which further includes a rotating base 60. The rotating base 60 includes a base plate 601 and a turntable 602. The turntable 602 is disposed on the base plate 601, and its top surface is fixedly connected to the connecting platform 30. The turntable 602 may be a pneumatic turntable.

[0037] The working principle of this utility model is as follows:

[0038] a) When clamping a workpiece;

[0039] b) The telescopic rod extends first, making the angle between the two rotating sections larger, thus making room for clamping;

[0040] c) When installing the movable base, move it to the position of the workpiece that needs to be clamped;

[0041] d) During fixed installation, the workpiece is placed either via conveyor belt or manually;

[0042] e) The telescopic rod retracts, bringing the suction cup clamps on the two rotating sections closer to the workpiece;

[0043] f) After the suction cup clamp comes into contact with the workpiece, the suction cup clamp works to hold the workpiece, thus achieving clamping.

[0044] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

[0045] 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 a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A load-bearing robotic structure, characterized by: Including support column (10) and clamping assembly (20), the clamping assembly (20) includes moving frame (201) and two symmetrical mechanical arms (202), the moving frame (201) is sleeved on the support column (10), and the moving frame (201) is slidably connected with the support column (10), the mechanical arm (202) includes support section (202a), rotating section (202b) and telescopic rod (202c), one end of the support section (202a) is fixedly connected with the moving frame (201), the other end is rotatably connected with the rotating section (202b), the end of the rotating section (202b) is rotatably provided with a suction cup clamp (202d), one end of the telescopic rod (202c) is rotatably connected with the support section (202a), and the other end is rotatably connected with the rotating section (202b), and the bottom of the support column (10) is further provided with a connecting platform (30).

2. A load-bearing robot structure according to claim 1, characterized in that: The support column (10) is provided with a guide rail (101), and the moving frame (201) is provided with a sliding groove (201a), and the guide rail (101) is slidably connected with the sliding groove (201a).

3. A load-bearing robot structure according to claim 2, characterized in that: The top of the support column (10) is further provided with a visual camera (40).

4. A load-bearing robot structure according to claim 3, characterized in that: At least one laser radar is arranged on each side of the support column (10).

5. A load-bearing robot structure according to claim 4, characterized in that: A force sensor is arranged on the suction cup clamp (202d), and an angle sensor is arranged at the connection between the rotating section (202b) and the support section (202a).

6. A load bearing robot structure according to any one of claims 1 to 5, wherein: Further comprising a mobile base (50), the mobile base (50) includes a housing (501), a battery, a motor, a drive wheel (502) and a driven wheel (503), the housing (501) is fixedly connected with the connecting platform (30), the battery and the housing (501) are fixedly arranged on the housing (501), the battery provides power for the motor, the drive wheel (502) is connected with the output end of the motor, and the driven wheel (503) is rotatably arranged on the housing (501).

7. A load-bearing robot structure according to claim 6, characterized in that: At least one second laser radar is arranged on each side of the mobile base (50).

8. A load bearing robot structure according to any one of claims 1 to 5, wherein: Further comprising a rotating base (60), the rotating base (60) includes a bottom plate (601) and a turntable (602), the turntable (602) is arranged on the bottom plate (601), and the top surface of the turntable (602) is fixedly connected with the connecting platform (30).

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