Parallelogram connecting rod structure of heavy-load industrial robot

Abstract

The utility model discloses a parallelogram connecting rod structure of a heavy-load industrial robot, and relates to the field of heavy-load industrial robots. The upper end of the large arm is connected with the small arm through a first rotating shaft, the first rotating shaft penetrates through the large arm, a first tapered roller bearing is arranged between the large arm and the first rotating shaft, the lower end of the large arm is connected with a rod shaft of the connecting rod pair through a second rotating shaft, and a self-aligning roller bearing is arranged on the second rotating shaft at the lower end of the large arm. The upper end and the lower end of the connecting rod are connected with the small arm and the auxiliary rod shaft of the connecting rod through a third rotating shaft and a fourth rotating shaft respectively, a second tapered roller bearing is arranged on the third rotating shaft at the upper end of the connecting rod, and a third tapered roller bearing is arranged on the fourth rotating shaft at the lower end of the connecting rod. Therefore, the distance and the angle between the connecting rods are kept in the moving process, so that stable load support is provided. And the device is particularly suitable for industrial application requiring heavy-load carrying and high-precision positioning.

Description

Technical Field

[0001] This utility model relates to the field of heavy-duty industrial robots, and in particular to a parallelogram linkage structure for heavy-duty industrial robots. Background Technology

[0002] With the booming development of my country's robotics industry, significant achievements have been made in technology and research, and the technological level of industrial robots has also improved rapidly. Traditional industrial robots typically consist of key components such as a base, rotating arm, upper arm, forearm, and linkages. The wrist, forearm, and upper arm are connected in series, a design that played a crucial role in past industrial automation processes. However, in the current fields of industrial automation and intelligent manufacturing, the market demands increasingly stringent load-bearing capacity and precision from robots. Traditional industrial robots, due to their inherent structural limitations, are gradually revealing their limitations in terms of load-bearing capacity and workspace. For example, in order to ensure flexibility and range of motion, the upper and forearms of traditional robots often compromise on load-bearing capacity, making it difficult to support heavy workpieces or tools. Simultaneously, the cumulative error caused by the series structure also limits further improvements in precision. Against this backdrop, the parallelogram linkage structure, with its unique geometric configuration and mechanical properties, has gradually become a research hotspot in high-load and high-precision applications, demonstrating enormous application potential. Through its ingenious link layout and kinematic design, this structure can significantly enhance the robot's load-bearing capacity and effectively reduce errors while ensuring or even improving the robot's motion flexibility, thereby better meeting the stringent requirements for robot performance in modern industrial automation and intelligent manufacturing. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides a parallelogram linkage structure for heavy-duty industrial robots. This structure, consisting of a main arm, forearm, connecting rods, and connecting rod sub-rods, forms a parallelogram shape to ensure that the distance and angle between the connecting rods are maintained during movement, thereby providing stable load support. It is particularly suitable for industrial applications requiring heavy-load handling and high-precision positioning.

[0004] To achieve the above objectives, this application discloses a parallelogram linkage structure for a high-load industrial robot, comprising a forearm, an upper arm, a connecting rod, and a connecting rod forming a parallelogram structure. The upper end of the upper arm is connected to the forearm via a first rotating shaft passing through the upper arm. A first tapered roller bearing is provided between the upper arm and the first rotating shaft. The lower end of the upper arm is connected to the connecting rod shaft via a second rotating shaft. A self-aligning roller bearing is provided on the second rotating shaft at the lower end of the upper arm. The upper and lower ends of the connecting rod are connected to the forearm and the connecting rod shaft via a third rotating shaft and a fourth rotating shaft, respectively. A second tapered roller bearing is provided on the third rotating shaft at the upper end of the connecting rod, and a third tapered roller bearing is provided on the fourth rotating shaft at the lower end of the connecting rod.

[0005] Furthermore, the first tapered roller bearing, the second tapered roller bearing, and the third tapered roller bearing are equipped with oil seals.

[0006] Furthermore, the first rotating shaft is fixed to the forearm with bolts, the second rotating shaft is fixed to the connecting rod with bolts, the third rotating shaft is fixed to the forearm with bolts, and the fourth rotating shaft is fixed to the connecting rod with bolts.

[0007] Furthermore, the boom and the connecting rod are respectively connected to the swing arm via a reducer.

[0008] Furthermore, a pair of second tapered roller bearings are provided at the upper end of the connecting rod, and a pair of third tapered roller bearings are provided at the lower end of the connecting rod. Grooved spacers are provided between the second tapered roller bearings and between the third tapered roller bearings. Threaded holes are provided at the relative positions of the connecting rods. The connecting rods are limited by the cooperation of the positioning bolts in the threaded holes and the grooves of the spacers.

[0009] Furthermore, a counterweight for balancing the load weight is provided at the end of the connecting rod. Balance cylinders are provided on both sides of the first rotating shaft, and the bottom of each balance cylinder is connected to the rotating arm.

[0010] Beneficial effects of the technical solution of this utility model

[0011] This application utilizes a parallelogram shape comprised of a main arm, forearm, connecting rods, and connecting rod sub-rods to ensure stable load support by maintaining the distance and angle between the connecting rods during movement. This structure is particularly suitable for industrial applications requiring heavy load handling and high-precision positioning. It eliminates the need for separate sealing structures between the main arm and forearm, and between the connecting rods and the drive shaft, simplifying the corresponding sealing structures. Installation is convenient, practical, reliable, and cost-effective. The connection between the connecting rods and the main arm does not increase the complexity of the main arm's structure. The geometric symmetry of the parallelogram structure disperses load stress, reducing single-point stress. Balancing the robot's heavy load using counterweights and spring-loaded cylinders is simple, reliable, and cost-effective. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 A three-dimensional structural diagram of a parallelogram linkage structure used in industrial robots.

[0014] Figure 2 A cross-sectional structural diagram of the upper arm of a parallelogram linkage structure.

[0015] Figure 3 This is a cross-sectional structural diagram of a parallelogram-shaped linkage.

[0016] The components include: forearm-1, boom-2, connecting rod-3, connecting rod-4, first rotating shaft-5, first tapered roller bearing-6, second rotating shaft-7, self-aligning roller bearing-8, third rotating shaft-9, fourth rotating shaft-10, second tapered roller bearing-11, third tapered roller bearing-12, bolt-13, reducer-14, swing arm-15, spacer-16, positioning bolt-17, counterweight-18, balance cylinder-19, and oil seal-20. Detailed Implementation

[0017] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0018] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] refer to Figure 1-3 A parallelogram linkage structure for a high-load industrial robot includes a forearm 1, an upper arm 2, a connecting rod 3, and a connecting rod 4 forming a parallelogram structure. The upper end of the upper arm 1 is connected to the forearm 2 via a first rotating shaft 5, which passes through the upper arm 2. A first tapered roller bearing 6 is provided between the upper arm 2 and the first rotating shaft 5. The lower end of the upper arm 2 is connected to the connecting rod 3 via a second rotating shaft 7. A self-aligning roller bearing 8 is provided on the second rotating shaft 7 at the lower end of the upper arm 2. The upper and lower ends of the connecting rod 4 are connected to the forearm 1 and the connecting rod 3 via a third rotating shaft 9 and a fourth rotating shaft 10, respectively. A second tapered roller bearing 11 is provided on the third rotating shaft 9 at the upper end of the connecting rod 4, and a third tapered roller bearing 12 is provided on the fourth rotating shaft 10 at the lower end of the connecting rod.

[0021] The parallelogram structure enables the forearm, upper arm, connecting rods, and links to form a stable geometry, ensuring that the relative positions of the components remain relatively fixed during movement and reducing the impact of structural deformation on the robot's accuracy. This structure also better distributes and transmits forces under load, improving the overall load-bearing capacity and resistance to deformation of the robot, making it suitable for applications involving heavy-duty industrial robots.

[0022] A first tapered roller bearing is installed between the boom and the first rotating shaft, and second and third tapered roller bearings are installed at the upper and lower ends of the connecting rod, respectively. These bearings can withstand large radial and axial loads, enhancing the stability of the structure under stress in different directions. In particular, the use of self-aligning roller bearings allows the structure to continue operating normally even when the shaft is bent or misaligned, further improving its reliability and stability.

[0023] Preferably, the first tapered roller bearing 6, the second tapered roller bearing 11, and the third tapered roller bearing 12 are provided with oil seals 20 to seal the lubricating oil inside the bearings.

[0024] Preferably, the first rotating shaft 5 is fixed to the forearm 1 by bolts 13, the second rotating shaft 7 is fixed to the connecting rod 3 by bolts 13, the third rotating shaft 9 is fixed to the forearm 1 by bolts 13, the fourth rotating shaft 10 is fixed to the connecting rod 3 by bolts 13, and the transmission shaft is fixed to the forearm and the connecting rod by bolts respectively; the upper arm and the connecting rod are respectively connected to the swing arm through a reducer.

[0025] Preferably, the boom 2 and the connecting rod 3 are connected to the swing arm 15 via a reducer 14.

[0026] Preferably, a pair of second tapered roller bearings 11 are provided at the upper end of the connecting rod 4, and a pair of third tapered roller bearings 12 are provided at the lower end of the connecting rod 4. Grooved spacers 16 are provided between the second tapered roller bearings 11 and between the third tapered roller bearings 12. Threaded holes are provided at the relative positions of the connecting rod 4. The connecting rod is limited by the cooperation between the positioning bolts 17 in the threaded holes and the grooves of the spacers 16.

[0027] Preferably, a counterweight 18 for balancing the load weight is provided at the end of the connecting rod 3. Balance cylinders (19) are provided on both sides of the first rotating shaft 5, and the bottom of the balance cylinders 19 is connected to the rotating arm 15.

[0028] The parallelogram linkage structure of the heavy-duty industrial robot in this application eliminates the need for separate sealing structures between the upper arm and forearm, and between the linkage and the drive shaft. This simplifies the structure and eliminates the need for corresponding sealing structures. Installation is convenient, practical, reliable, and cost-effective. The connection between the linkage and the upper arm does not increase the complexity of the upper arm's structure. The geometric symmetry of the parallelogram structure disperses load stress, reducing single-point stress. Balancing the robot's heavy load weight is achieved through counterweights and spring-loaded cylinders, a simple, reliable, and cost-effective method.

[0029] Although embodiments of the present 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 present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A parallelogram linkage structure for a high-load industrial robot, characterized in that: The structure includes a forearm (1), an upper arm (2), a connecting rod (3), and a connecting rod (4) forming a parallelogram structure. The upper end of the upper arm (2) is connected to the forearm (1) via a first rotating shaft (5), which passes through the upper arm (2). A first tapered roller bearing (6) is provided between the upper arm (2) and the first rotating shaft (5). The lower end of the upper arm (2) is connected to the connecting rod (3) via a second rotating shaft (7). A self-aligning roller bearing (8) is provided on the second rotating shaft (7) at the lower end of the upper arm (2). The upper and lower ends of the connecting rod (4) are connected to the forearm (1) and the connecting rod (3) via a third rotating shaft (9) and a fourth rotating shaft (10), respectively. A second tapered roller bearing (11) is provided on the third rotating shaft (9) at the upper end of the connecting rod (4), and a third tapered roller bearing (12) is provided on the fourth rotating shaft (10) at the lower end of the connecting rod.

2. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: The first tapered roller bearing (6), the second tapered roller bearing (11), and the third tapered roller bearing (12) are equipped with oil seals.

3. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: The first rotating shaft (5) is fixed to the forearm (1) by bolts (13), the second rotating shaft (7) is fixed to the connecting rod (3) by bolts (13), the third rotating shaft (9) is fixed to the forearm (1) by bolts (13), and the fourth rotating shaft (10) is fixed to the connecting rod (3) by bolts (13).

4. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: The boom (2) and the connecting rod (3) are connected to the swing arm (15) via a reducer (14).

5. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: The upper end of the connecting rod (4) has a pair of second tapered roller bearings (11) and the lower end of the connecting rod (4) has a pair of third tapered roller bearings (12). The second tapered roller bearings (11) and the third tapered roller bearings (12) are respectively provided with grooved spacers (16). There are threaded holes at the relative positions of the connecting rod (4). The connecting rod is limited by the positioning bolts (17) in the threaded holes and the grooves of the spacers (16).

6. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: The end of the connecting rod (3) is provided with a counterweight (18) to balance the load weight.

7. The parallelogram linkage structure for a high-load industrial robot according to claim 1, characterized in that: Balance cylinders (19) are provided on both sides of the first rotating shaft (5), and the bottom of the balance cylinders (19) is connected to the rotating arm (15).

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