Wire drawing robot

Abstract

The utility model discloses a wire drawing robot which comprises a base, a mounting seat is arranged on the base, a first-section arm is hinged to the mounting seat, a second-section arm is hinged to the end of the first-section arm, a third-section arm is hinged to the end of the second-section arm, and a lifting appliance is hinged to the end of the third-section arm. A winch is arranged on the mounting seat and comprises a first-section-arm winch, a second-section-arm winch and a third-section-arm winch, and the first-section-arm winch, the second-section-arm winch and the third-section-arm winch are connected with a first steel wire rope, a second steel wire rope and a third steel wire rope respectively; the first steel wire rope, the second steel wire rope and the third steel wire rope are connected with the first-section arm, the second-section arm and the third-section arm respectively, and the wire drawing robot is stable and reliable in operation, simple in structure and low in cost.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robots, specifically, it relates to a wire-pulling robot. Background Technology

[0002] Most existing industrial robot systems are complex in structure and expensive. While some simple wire-pulling robots can be used in specific situations, they are still insufficient in terms of motion accuracy, stability and multifunctionality, and cannot effectively reduce costs, thus limiting their application scope.

[0003] Utility model patent CN 221248833U, published on July 2, 2022, discloses an industrial robot handling arm. It includes a support disk, with a first motor installed inside the disk's cavity. The motor's spindle extends through the upper surface of the support disk and connects upwards to a rotating body. The lower surface of the rotating body is connected to the upper surface of the support disk via a bearing disc. A second motor is installed inside the rotating body, with its spindle extending through the upper surface and connecting upwards to a lead screw. A guide post is arranged parallel to the lead screw on the upper surface of the rotating body, with a fixed plate connected to its upper end. A movable block is mounted on the lead screw, passing through and sliding on the guide post. A first hinged arm extends horizontally from the movable block, and a second hinged arm is hinged horizontally to the first hinged arm. A gripper is connected to the end of the second hinged arm. This industrial robot handling arm does not solve the aforementioned technical problems. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a wire-pulling robot that is stable and reliable in operation, has a simple structure, and is low in cost.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] The cable-pulling robot includes a base with a mounting seat. A first arm is hinged to the mounting seat, a second arm is hinged to the end of the first arm, a third arm is hinged to the end of the second arm, and a lifting device is hinged to the end of the third arm. A winch is mounted on the mounting seat, comprising a first-arm winch, a second-arm winch, and a third-arm winch. The first-arm winch, the second-arm winch, and the third-arm winch are respectively connected to a first wire rope, a second wire rope, and a third wire rope. The first wire rope, the second wire rope, and the third wire rope are respectively connected to the first arm, the second arm, and the third arm.

[0007] The hinge between the first and second arm sections is provided with a second arm connecting shaft, on which a first guide wheel is provided. The hinge between the second and third arm sections is provided with a third arm connecting shaft, on which a second guide wheel is provided. Each of the first, second, and third arm sections is provided with a wire rope joint. The first wire rope is connected to the wire rope joint on the first arm section. The second wire rope passes around the first guide wheel and connects to the wire rope joint on the second arm section. The third wire rope passes around the first and second guide wheels in sequence and connects to the wire rope joint on the third arm section.

[0008] The mounting base is fixedly connected to a mounting frame, which has a layered structure. The first-section boom winch, the second-section boom winch, and the third-section boom winch are arranged sequentially from bottom to top on the mounting frame.

[0009] Both the two-section arm connecting shaft and the three-section arm connecting shaft are provided with mounting grooves. The first guide wheel and the second guide wheel are both provided on the mounting grooves, and both the first guide wheel and the second guide wheel are provided with limiting grooves.

[0010] The winch includes a motor and a reducer, the reducer is connected to a drum, and both the motor and the drum are located on one side of the reducer.

[0011] The first, second, and third boom sections are all constructed from channel steel and square tubing.

[0012] The first, second, and third wire ropes are all installed in pairs.

[0013] The winch is equipped with a support at its bottom, and the support has reinforcing ribs on its sides.

[0014] The technical advantages of this utility model are as follows: The wire-pulling robot of this utility model uses a winch system to provide power for the movement of the robotic arm. The steel wire rope is guided by a steel wire rope pulley, which improves the movement accuracy of the robotic arm and makes the robot run smoothly and reliably. It has good movement accuracy and stability and can be widely used in various industrial automation tasks. The overall structure is compact and simple compared with the prior art, which reduces the complexity of the structure, is low in cost, has a reasonable design, good stability, and is easy to maintain and replace parts. Attached Figure Description

[0015] This manual includes the following figures, which illustrate the following:

[0016] Figure 1 This is a structural schematic diagram of the wire-pulling robot of this utility model;

[0017] Figure 2 This is the front view of the wire-pulling robot of this utility model;

[0018] Figure 3This is a top view of the wire-pulling robot of this utility model;

[0019] Figure 4 yes Figure 1 A magnified view of a portion of the image;

[0020] Figure 5 This is a schematic diagram of the installation of the guide wheel and connecting shaft of this utility model;

[0021] Figure 6 This is a structural schematic diagram of the winch of this utility model;

[0022] Figure 7 This is a schematic diagram of the structure of the present invention using a hydraulic drive scheme.

[0023] The following are labeled in the diagram: 1. Base; 11. Mounting seat; 12. Mounting frame; 13. Rotary drive unit; 2. First boom section; 21. First boom section connecting shaft; 3. Second boom section; 31. Second boom section connecting shaft; 311. Mounting groove; 32. First guide wheel; 321. Limiting groove; 4. Third boom section; 41. Third boom section connecting shaft; 42. Second guide wheel; 43. Lifting device connecting shaft; 5. Wire rope joint; 6. Winch; 61. First boom section winch; 611. First wire rope; 62. Second boom section winch; 621. Second wire rope; 63. Third boom section winch; 631. Third wire rope; 64. Motor; 65. Reducer; 66. Drum; 67. Bracket; 68. Reinforcing rib; 7. Lifting device; 8. Hydraulic winch; 9. Hydraulic station. Detailed Implementation

[0024] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of this utility model, and to facilitate its implementation.

[0025] like Figure 1 and Figure 2 As shown, the cable-pulling robot includes a base 1, on which a mounting seat 11 is provided. A first arm 2 is hinged to the mounting seat 11. A second arm 3 is hinged to the end of the first arm 2. A third arm 4 is hinged to the end of the second arm 3. A lifting device 7 is hinged to the end of the third arm 4. A winch 6 is provided on the mounting seat 11. The winch 6 includes a first arm winch 61, a second arm winch 62, and a third arm winch 63. The first arm winch 61, the second arm winch 62, and the third arm winch 63 are respectively connected to a first wire rope 611, a second wire rope 621, and a third wire rope 631. The first wire rope 611, the second wire rope 621, and the third wire rope 631 are respectively connected to the first arm 2, the second arm 3, and the third arm 4.

[0026] The cable-pulling robot comprises a base 1, a multi-stage robotic arm, and a winch system. The base 1 supports the weight of the entire robot and the lifted object, maintaining overall stability through a ground-fixed structure. The mounting base 11 is connected to a section of the arm 2 via a connecting shaft 21 and houses three winches 6. The winch system includes three independent winches 6, each independently controlling the extension and retraction of section 2, section 3, and section 4 via steel wire ropes, enabling the lifting and lowering of the robotic arm and the positional movement of the lifting device 7. The multi-stage robotic arm comprises section 2, section 3, and section 4, with adjacent sections hinged sequentially via connecting shafts, and the ends of each section connected to the steel wire ropes of the winch system. This structure reduces overall power consumption, and since the power unit is not mounted on the robotic arm, its weight is reduced, making it lighter and more flexible. Furthermore, the cable-pulling structure lowers the reduction ratio, eliminating the need for a high-reduction-ratio reducer and reducing operating costs.

[0027] like Figures 1 to 3 As shown, a two-section arm connecting shaft 31 is provided at the hinge between the first arm 2 and the second arm 3, and a first guide wheel 32 is provided on the second arm connecting shaft 31. A three-section arm connecting shaft 41 is provided at the hinge between the second arm 3 and the third arm 4, and a second guide wheel 42 is provided on the third arm connecting shaft 41. Steel wire rope joints 5 are provided on the first arm 2, the second arm 3 and the third arm 4. A first steel wire rope 611 is connected to the steel wire rope joint 5 on the first arm 2. A second steel wire rope 621 passes around the first guide wheel 32 and connects to the steel wire rope joint 5 on the second arm 3. A third steel wire rope 631 passes around the first guide wheel 32 and the second guide wheel 42 in sequence and connects to the steel wire rope joint 5 on the third arm 4. Wire rope pulleys are installed at the connecting shafts of each arm segment to guide the wire rope and optimize the force direction, thereby optimizing the movement trajectory of the robotic arm and improving its motion accuracy. The wire rope guide pulleys provide a fulcrum for the wire rope, reducing the load. When the wire rope pulls the robotic arm, the lifting end of the robotic arm is much lighter. The above wire rope arrangement design is reasonable, and the wire ropes do not interfere with each other in space. The connecting shafts include a first-section arm connecting shaft 21, a second-section arm connecting shaft 31, a third-section arm connecting shaft 41, and seven lifting device connecting shafts. The first-section arm connecting shaft 21 connects the first-section arm 2 to the robot mounting base 11; the second-section arm connecting shaft 31 connects the first-section arm 2 to the second-section arm 3; the third-section arm connecting shaft 41 connects the second-section arm 3 to the third-section arm 4; and the seven lifting device connecting shafts connect the third-section arm 4 to the lifting device 7.

[0028] like Figure 1 and Figure 2As shown, the mounting base 11 is fixedly connected to the mounting frame 12. The mounting frame 12 has a layered structure, with the first-section boom winch 61, the second-section boom winch 62, and the third-section boom winch 63 arranged sequentially from bottom to top on the mounting frame 12. By using the mounting frame 12 to arrange each winch 6 in layers, the exit height of each group of wire ropes is changed, preventing the wire ropes from contacting each other and affecting the stability of lifting and handling, thus improving operational reliability. It also reduces the overall size of the robot, and the winches 6 achieve an independent layout, which is beneficial for the installation and maintenance of the winches 6.

[0029] like Figure 5 As shown, both the two-section arm connecting shaft 31 and the three-section arm connecting shaft 41 are provided with mounting grooves 311. The first guide wheel 32 and the second guide wheel 42 are both provided on the mounting grooves 311, and both the first guide wheel 32 and the second guide wheel 42 are provided with limiting grooves 321. The mounting grooves 311 on the connecting shafts prevent axial displacement of the wire rope guide wheels. The limiting grooves 321 stably restrict the wire rope while ensuring stable rotation of the guide wheels. The limiting grooves 321 also restrict the swing and sway of the wire rope, further optimizing the force direction and improving the stability of wire rope winding and unwinding.

[0030] like Figure 6 As shown, the winch 6 includes a motor 64 and a reducer 65. The reducer 65 is connected to a drum 66, and both the motor 64 and the drum 66 are located on the same side of the reducer 65. Each winch 6 in the winch system includes an independent motor 64, reducer 65, drum 66, and wire rope tension sensor. The ratio of the drum 66 diameter to the wire rope diameter is 20:1-30:1. The motor 64 is configured with the reducer 65 to control the drum 66. The reducer 65 increases the output torque while reducing the rotational speed, thereby increasing the load capacity of the robotic arm and lifting device 7. It also provides a smooth start-up effect, reduces mechanical impact and vibration, and protects the equipment and transmission system. The fact that the motor 64 and the drum 66 are both located on the same side of the reducer 65 and the drum 66 helps to reduce the overall size of the winch 6.

[0031] like Figure 1 As shown, the first arm section 2, the second arm section 3, and the third arm section 4 are all constructed from channel steel and square tubing. The square tubing not only connects each section of the robotic arm formed by the two channel steel sections but also provides an installation location for the wire rope joint 5. Using channel steel and square tubing to construct the arm sections results in a simple structure, reduces manufacturing costs, and improves the structural strength of the robotic arm. The decreasing length of the square tubing in the first arm section 2, the second arm section 3, and the third arm section 4 allows for a sequential decrease in the relative spacing between the channel steel sections, facilitating the arrangement of the wire ropes in a near-parallel manner and eliminating the adverse effects of wire rope contact.

[0032] like Figure 3As shown, the first wire rope 611, the second wire rope 621, and the third wire rope 631 are all arranged in pairs. The above-mentioned wire ropes are arranged in pairs, and the number of wire rope joints 5 and guide wheels is also set accordingly, which helps to optimize the force direction of the wire ropes, and the force direction of each arm segment is accurate and the force is uniform.

[0033] like Figure 6 As shown, the winch 6 has a support 67 at its bottom, and a reinforcing rib 68 on the side of the support 67. The reinforcing rib 68 further improves the support strength of the support 67.

[0034] like Figure 7 As shown, a hydraulic workstation 9 is provided on one side of the mounting frame 12. The winch 6 can also be replaced by a hydraulic winch 8, with a corresponding hydraulic workstation 9 provided on the side of the mounting frame 12. The hydraulic drive force is greater, and a motor with a small reduction ratio can be selected, which has a greater advantage in terms of application cost.

[0035] like Figure 1 and Figure 2 As shown, the mounting base 11 is mounted on the base 1 and is used to connect the robotic arm assembly. The mounting base 11 and the base 1 are connected by flange bolts. The flange contact surface can be provided with a shock-absorbing rubber layer for cushioning. The rotation of the mounting base 11 is achieved by the rotary drive unit 13, which provides power to enable the robot to complete rotational movements and achieve arbitrary switching in the horizontal plane. This rotary drive unit 13 is a commonly used structure in existing industrial robots. The rotary drive unit 13 includes a drive motor and a rotary driver, which is fixed to the base 1 or the robot mounting base 11 and drives the entire robot to rotate around the vertical Z-axis. The drive motor of the rotary drive unit 13 is a servo motor 64, integrated with a reducer, with an output torque range ≥50 N·m and a rotation angle accuracy ≤0.1°.

[0036] The spreader 7 is mounted to the end of the three-section boom 4 via the spreader connecting shaft 43, and is used for gripping or placing goods. The spreader connecting shaft 43 has a built-in pressure sensor for detecting the weight and stability of the gripped load. The spreader 7 adopts a modular design and can be replaced with an electromagnetic chuck, pneumatic clamp, or vacuum adsorption device to meet the needs of different scenarios. The spreader connecting shaft 43 is mounted at the end of the three-section boom 4. By replacing the spreader connecting shaft 43, it can be replaced with a welding head, a spray nozzle, or a detection probe to realize assembly, processing, or inspection functions and expand the application range.

[0037] Example: Each connecting axis of the multi-stage robotic arm has a built-in angular displacement sensor, which feeds back the robotic arm's posture data to the control system in real time. All arm segments are made of lightweight aluminum alloy, which helps reduce the load on the wire rope. The segment length ratio is 1:0.8:0.6, and the maximum extended length is ≥5 meters. Adjustable support feet and anti-slip pads can be installed at the bottom of the base 1, making it suitable for uneven ground. The mounting base 11 can also be fixed with a pulley for initial guidance of the wire rope exiting the winch 6. The wire rope can also be replaced with carbon fiber rope as needed, suitable for high-temperature or corrosive environments.

[0038] The control system of this wire-pulling robot includes a central controller that receives data from the rotary drive unit 13, the hoisting system, and various sensors, and uses a PID algorithm to achieve closed-loop control of the robotic arm's motion trajectory. It supports both manual operation and automatic programming modes; in automatic mode, the transport path and load parameters can be preset. The central controller integrates a wireless communication module, supporting remote monitoring and fault diagnosis. The control system also has a built-in anti-collision algorithm that automatically triggers emergency braking when the robotic arm is detected to be ≤0.5 meters from an obstacle.

[0039] This wire-pulling robot uses a winch system to power the movement of the robotic arm. The wire rope is guided by a pulley, which improves the movement accuracy of the robotic arm and makes the robot run smoothly and reliably. It has good motion accuracy and stability and can be widely used in various industrial automation tasks. The overall structure is compact and simple compared with existing technologies, which reduces structural complexity, reduces cost, is reasonably designed, has good stability, and is easy to maintain and replace parts.

[0040] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A guy wire robot, characterized by: The system includes a base (1), on which a mounting seat (11) is provided. A first arm (2) is hinged to the mounting seat (11). A second arm (3) is hinged to the end of the first arm (2). A third arm (4) is hinged to the end of the second arm (3). A lifting device (7) is hinged to the end of the third arm (4). A winch (6) is provided on the mounting seat (11). The winch (6) includes a first-arm winch (61) and a second-arm winch (62). The winch (62) and the three-section boom winch (63) are respectively connected to a first wire rope (611), a second wire rope (621) and a third wire rope (631); the first wire rope (611), the second wire rope (621) and the third wire rope (631) are respectively connected to a first boom (2), a second boom (3) and a third boom (4).

2. The guyed robot according to claim 1, characterized in that: A two-section arm connecting shaft (31) is provided at the hinge of the first arm (2) and the second arm (3), and a first guide wheel (32) is provided on the two-section arm connecting shaft (31). A three-section arm connecting shaft (41) is provided at the hinge of the second arm (3) and the third arm (4), and a second guide wheel (42) is provided on the three-section arm connecting shaft (41). A wire rope joint (5) is provided on the first arm (2), the second arm (3) and the third arm (4). The first wire rope (611) is connected to the wire rope joint (5) on the first arm (2). The second wire rope (621) passes around the first guide wheel (32) and is connected to the wire rope joint (5) on the second arm (3). The third wire rope (631) passes around the first guide wheel (32) and the second guide wheel (42) in sequence and is connected to the wire rope joint (5) on the third arm (4).

3. The guyed robot according to claim 2, characterized in that: The mounting base (11) is fixedly connected to the mounting frame (12), which has a layered structure. The first-section boom winch (61), the second-section boom winch (62), and the third-section boom winch (63) are arranged sequentially from bottom to top on the mounting frame (12).

4. The guyed robot according to claim 3, characterized in that: Both the two-section arm connecting shaft (31) and the three-section arm connecting shaft (41) are provided with mounting grooves (311), the first guide wheel (32) and the second guide wheel (42) are both provided on the mounting grooves (311), and the first guide wheel (32) and the second guide wheel (42) are both provided with limiting grooves (321).

5. The guyed robot according to claim 4, characterized in that: The winch (6) includes a motor (64) and a reducer (65). The reducer (65) is connected to a drum (66). Both the motor (64) and the drum (66) are located on one side of the reducer (65).

6. The guyed robot according to claim 2, characterized in that: The first arm (2), second arm (3) and third arm (4) are all made of channel steel and square tubes.

7. The guyed robot according to claim 5, characterized in that: The first wire rope (611), the second wire rope (621) and the third wire rope (631) are all installed in pairs.

8. The guyed robot according to claim 1, characterized in that: The winch (6) is provided with a support (67) at the bottom, and the support (67) is provided with reinforcing ribs (68) on the side.

9. The guyed robot according to claim 3, characterized in that: A hydraulic workstation (9) is provided on one side of the mounting frame (12).

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