Redundant drive high-rigidity heavy-load industrial robot

Abstract

The utility model relates to a robot, in particular to a redundant drive high-rigidity heavy-load industrial robot. The utility model aims to provide a redundant drive high-rigidity heavy-load industrial robot which has the characteristics of high rigidity, high bearing capacity and the like. According to the technical scheme, the redundancy-driven high-rigidity heavy-load industrial robot is characterized in that the two sides of the middle of a first mechanical arm are connected with a second driving device installed on the upper surface of a bottom rotary table through a seventh rotating pair, a first connecting rod and a sixth rotating pair; and the top end of the first mechanical arm is connected with a third driving device mounted in the middle of the first mechanical arm through a third revolute pair, a second mechanical arm provided with a tail end flange plate, an eighth revolute pair, a second connecting rod and a sixth revolute pair in sequence.

Description

Technical Field

[0001] This utility model relates to a robot, and more particularly to a redundantly driven, high-rigidity, heavy-duty industrial robot. Background Technology

[0002] Industrial robots have wide applications in various fields. With the expansion of these applications, many situations (such as automobile manufacturing, aerospace, and heavy machinery processing and assembly) require robots to have high rigidity and the ability to withstand heavy loads. From a structural perspective, a closed-loop structure, such as a parallel robot, is advantageous for improving robot rigidity and load-bearing capacity. However, parallel robots have limited workspace. Adding local closed loops to the configuration of a serial robot is an effective way to improve rigidity and load-bearing capacity.

[0003] Redundant actuation refers to a robot with a number of actuators greater than its degrees of freedom. Redundant actuation can eliminate singular configurations and improve kinematic, dynamic, and stiffness performance. Therefore, many researchers add redundant actuation to robots to improve their overall performance. To meet the application requirements for high-stiffness, high-load, and large-workspace robots, it is necessary to propose a high-stiffness, heavy-duty industrial robot with redundant actuation. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings mentioned above and provide a redundantly driven, high-rigidity, heavy-duty industrial robot with high rigidity and large load-bearing capacity.

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

[0006] A redundantly driven high-rigidity heavy-duty industrial robot includes a base fixed to the ground, a bottom turntable rotatably positioned at the top of the base and driven by a first drive device, and a first robotic arm positioned on one side of the bottom turntable via a horizontally arranged second revolute joint.

[0007] Its features are:

[0008] The first robotic arm is connected to a second drive device mounted on the upper surface of the bottom turntable via a seventh revolute joint, a first connecting rod, and a sixth revolute joint on both sides of its middle section.

[0009] The top of the first robotic arm is connected in sequence to a third drive device installed in the middle of the first robotic arm via a third rotary joint, a second robotic arm with an end flange, an eighth rotary joint, a second connecting rod, and a sixth rotary joint.

[0010] or,

[0011] The top of the first robotic arm is connected in sequence to the mounting bracket of the third drive unit installed on the upper surface of the bottom turntable via the third rotary joint, the second robotic arm with the end flange, the eighth rotary joint, the second connecting rod, the sixth rotary joint, and the third drive unit.

[0012] The second drive device includes two sets of identical ball screw mechanisms driven by a motor; the two sets of ball screw mechanisms are horizontally installed on the left and right sides of the upper end of the base, and the screw axes are parallel to each other and perpendicular to the axis of the second rotary joint; one end of each of the two sets of ball screw mechanisms drives the first robotic arm to rotate around the second rotary joint through the first connecting rod; thus forming a redundant drive.

[0013] In each ball screw mechanism: two first guide rails are fixed to the left or right side of the base by screws and are perpendicular to the second rotating joint; the front bearing seat of the first screw is installed on the side of the first guide rail near the first robotic arm; the rear bearing seat of the first screw is installed on the other side of the first guide rail; the first screw is installed in the middle of the two guide rails and parallel to the guide rails via two bearing seats; the side of the first screw near the rear bearing seat of the first screw is connected to the motor shaft of the second motor via a first coupling; the second motor is fixedly installed on the flange surface of the rear bearing seat of the first screw; the lower end of the first slider, which slides with the first guide rail, is connected to the first nut, which meshes with the first screw; the upper end of the first slider is connected to the first connecting rod via a fifth rotating joint; the other end of the first connecting rod is connected to the connecting rod mounting seat fixed on the left or right side of the first robotic arm via a seventh rotating joint.

[0014] The end flange is mounted on the second robotic arm via a fourth rotating joint, the axis of which is perpendicular to the length direction of the second robotic arm and the axis of the third rotating joint; the fourth drive device includes a fourth motor and a reducer mounted on the second robotic arm; the output shaft of the fourth motor is connected to the reducer, and the output end of the reducer is connected to the end flange.

[0015] The structure of the third drive device is as follows: two second guide rails are arranged perpendicular to the axis of the third rotating joint; the second slider, which slides with the second guide rails, is connected to the second connecting rod through the sixth rotating joint; the second lead screw is arranged parallel to the second guide rails and is located in the middle of the two second guide rails, and the upper and lower ends of the second lead screw are connected to the guide rails through the front bearing seat and the rear bearing seat of the second lead screw, respectively; the third motor is fixedly installed on the flange surface of the rear bearing seat of the second lead screw, and the end of the second lead screw near the rear bearing seat of the second lead screw is connected to the motor shaft of the third motor through the second coupling.

[0016] The rotation axes of the second, third, fifth, sixth, seventh, and eighth revolute joints are parallel to each other and arranged horizontally; and are also perpendicular to the rotation axes of the first and fourth revolute joints.

[0017] The rotation axis of the first rotating joint is arranged vertically, and the fourth rotating joint is perpendicular to the upper surface of the end flange.

[0018] The third drive unit is installed on the side of the first robotic arm facing the second link.

[0019] The third drive device is mounted on the top surface of the third drive device mounting bracket, which is in turn mounted on the mounting plane at the top of the base. The top surface of the mounting bracket is parallel to the horizontal plane.

[0020] The beneficial effects of this utility model are:

[0021] The redundant-drive high-rigidity heavy-duty industrial robot proposed in this invention features high stability, high rigidity, and large load-bearing capacity, and can be applied to fields such as vehicle manufacturing, aerospace, and heavy processing manufacturing. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural schematic diagram of Embodiment 1 of this utility model.

[0023] Figure 2 yes Figure 1 A schematic diagram of the main structure of the first drive unit.

[0024] Figure 3 yes Figure 1 A three-dimensional structural diagram of the second drive unit.

[0025] Figure 4 yes Figure 1 A schematic diagram of the installation structure of the third drive unit.

[0026] Figure 5 This is a three-dimensional structural diagram of Embodiment 2 of this utility model.

[0027] The markings in the diagram are: 1-base, 1.1-first motor, 1.2-first gear, 1.3-second gear, 1.4-RV reducer, A1-first rotating pair;

[0028] 2- Bottom turntable, A2- Second rotating joint;

[0029] 3-First robotic arm, A3-Third revolute joint;

[0030] 4 - Linkage mounting bracket, A4 - Fourth rotating joint;

[0031] 5 - Second robotic arm, A5 - Fifth revolute joint;

[0032] 6-Second drive device, 6.1-First guide rail, 6.2-First lead screw, 6.3-First slider, 6.4-First lead screw front bearing seat, 6.5-Second lead screw rear bearing seat, 6.6-First coupling, 6.7-Second motor, A7-Seventh rotating pair;

[0033] 8-Third drive unit, 8.1-Second guide rail, 8.2-Second lead screw, 8.3-Second slider, 8.4-Second lead screw front bearing housing, 8.5-Second lead screw rear bearing housing, 8.6-Second coupling, 8.7-Third motor;

[0034] 9-Fourth drive unit, 10-End flange, 11-First connecting rod, 12-Second connecting rod, 13-Third drive unit mounting bracket, A6-Sixth rotating joint, A8-Eighth rotating joint. Detailed Implementation

[0035] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0036] Example 1

[0037] Figure 1 In the redundant-drive high-rigidity heavy-duty industrial robot shown: the base 1 is fixed to the ground and has a horizontally arranged circular guide rail at the top. The bottom turntable 2 is installed at the top of the base and has a slider at the bottom that is compatible with the circular guide rail. The slider and the circular guide rail cooperate to form a first rotating pair A1 with a vertically arranged axis. The bottom turntable is also driven by the first driving device, thereby rotating around the vertical axis.

[0038] Figure 2 In the first drive device (prior art) shown: the RV reducer is mounted in the base by a support frame, the output surface of the RV reducer is fixed to the bottom end of the bottom turntable, the input shaft of the RV reducer is vertically downward and fixed with the second gear 1.3; the first motor 1.1 is fixedly mounted in the base by a bracket, the output end of the motor is vertically upward and connected to the first gear 1.2; the first gear meshes with the second gear 1.3, the output shaft of the second gear is connected to the input shaft of the RV reducer, and the output end (output surface) of the RV reducer drives the base to rotate.

[0039] The bottom end of the first robotic arm 3 is mounted on the bottom turntable via a second rotating joint A2 arranged horizontally along the axis. The middle part of the first robotic arm 3 is connected to the second drive device mounted on the upper surface of the bottom turntable via a seventh rotating joint A7, a first connecting rod, and a sixth rotating joint A6 in sequence.

[0040] The second drive device 6 includes two identical ball screw mechanisms driven by motors; the two ball screw mechanisms are horizontally installed on the left and right sides of the upper end of the base, and the screw axes are parallel to each other and perpendicular to the axis of the second rotary joint; one end of the two ball screw mechanisms respectively drives the first robotic arm to rotate around the second rotary joint through the first connecting rod 11; thus forming a redundant drive.

[0041] Figure 3 In the second drive device shown: the ball screw mechanism installed on the left side of the bottom turntable has the following structure: two first guide rails 6.1 are fixed to the bottom turntable with screws; the front bearing seat 6.4 of the first screw is installed on the side of the first guide rail near the first robotic arm; the rear bearing seat 6.5 of the second screw is installed on the other side of the first guide rail; the first screw 6.2 is installed in the middle of the two guide rails through two bearing seats and is parallel to the guide rails and perpendicular to the second rotary joint; the side of the first screw near the rear bearing seat of the first screw is connected to the motor shaft of the second motor 6.7 through the first coupling 6.6; the second motor is fixedly installed on the flange surface on the other side of the rear bearing seat of the first screw; the lower end of the first slider 6.3, which slides with the first guide rail, is connected to the first nut that meshes with the first screw; the upper end of the first slider (the upper end of the first slider is a hinged seat structure) is connected to one end of the first connecting rod 11 through the fifth rotary joint; the other end of the first connecting rod is connected to the connecting rod mounting seat 4 fixed on the left side of the first robotic arm through the seventh rotary joint A7. The structure of the ball screw mechanism installed on the right side of the bottom turntable is exactly the same as that installed on the left side of the bottom turntable, and will not be described again. After the two second motors rotate, they can drive the two first screws to rotate through the first coupling 6.6, so that the first nut that cooperates with the first screw moves back and forth, which in turn drives the two first sliders to move back and forth; thus, the two first connecting rods driven by the two first sliders jointly drive the first robotic arm to rotate around the second revolute joint.

[0042] Preferably, the axes of the two fifth revolute joints are arranged coaxially, and the axes of the two seventh revolute joints are arranged coaxially.

[0043] Depend on Figure 4 It can be seen that: one end of the second robotic arm 5 is mounted on the upper end of the first robotic arm through the horizontally arranged third revolute joint A3, and the other end of the second robotic arm 5 is connected to one end of the second link 12 through the horizontally arranged eighth revolute joint A8. The other end of the second link 12 is connected to the third drive device 8 mounted on the first robotic arm through the horizontally arranged sixth revolute joint A6. The second robotic arm is driven to rotate around the third revolute joint by the third drive device.

[0044] like Figure 4As shown, the third drive device 8 is a ball screw system installed on the side of the first robotic arm facing the second link 12. The third drive device is a ball screw system with a structure similar to the second drive device. Specifically: two second guide rails are positioned on one side surface of the first robotic arm by screws and are parallel to the length direction of the first robotic arm and perpendicular to the axis of the third rotary joint; a second slider 8.3, which slides with the second guide rails, is connected to the second link 12 through a sixth rotary joint A6; a second screw 8.2 is arranged parallel to the second guide rails and positioned between the two second guide rails, with its upper and lower ends connected to the second guide rails via a front bearing seat 8.4 and a rear bearing seat 8.5, respectively; a third motor 8.7 is fixedly installed on the flange surface of the rear bearing seat of the second screw, and the end of the second screw near the rear bearing seat is connected to the motor shaft of the third motor via a second coupling 8.6. After the third motor starts, it drives the second lead screw to rotate through the second coupling, causing the second nut that cooperates with the second lead screw to move back and forth and drive the second slider to move back and forth. Finally, the second mechanical arm is driven to rotate around the third rotary joint through the second connecting rod connected to the slider.

[0045] The end-effector structure (existing technology) includes a fourth drive unit 9 and an end flange 10, wherein: the end flange is mounted on the second robotic arm via a fourth rotating joint, the axis of the fourth rotating joint being perpendicular to the length direction of the second robotic arm. The fourth drive unit includes a fourth motor and a reducer mounted on the second robotic arm; the output shaft of the fourth motor is connected to the reducer, and the output end of the reducer is connected to the end flange; after the fourth motor is started, it can drive the end flange to rotate around the fourth rotating joint.

[0046] The rotation axes of the second, third, fifth, sixth, seventh, and eighth rotating pairs are parallel to each other and arranged horizontally; and are also perpendicular to the rotation axes of the first and fourth rotating pairs. The rotation axis of the first rotating pair is arranged vertically, and the rotation axis of the fourth rotating pair is perpendicular to the upper surface of the end flange.

[0047] Example 2

[0048] like Figure 5 As shown, the difference between this embodiment and Embodiment 1 is:

[0049] This embodiment only changes the installation position of the third drive device in Embodiment 1; the structure of the third drive device remains unchanged. As shown in the figure, a third drive device mounting bracket 13 is added to the mounting plane at the top of the bottom turntable. The upper surface of this mounting bracket is parallel to the horizontal plane. The third drive device is changed from being mounted on the first robotic arm in Embodiment 1 to being mounted on the upper surface of this mounting bracket, wherein the length direction of the second guide rail is perpendicular to the third rotating pair.

[0050] Compared to Embodiment 1, the third drive device in this embodiment is mounted on the bottom turntable via a third drive device mounting bracket. This avoids damage to the machine caused by motor overload due to high requirements on the output torque and speed of the motor in the second drive device under extreme working conditions caused by large loads.

Claims

1. A redundantly driven high-rigidity heavy-duty industrial robot, comprising a base (1) fixed to the ground, a bottom turntable (2) rotatably positioned at the top of the base and driven by a first drive device, and a first robotic arm (3) positioned on one side of the bottom turntable by a horizontally arranged second rotary joint (A2). Its features are: The first robotic arm is connected to a second drive device mounted on the upper surface of the bottom turntable via a seventh rotary joint (A7), a first connecting rod (11), and a sixth rotary joint (A6) on both sides of the middle part. The top of the first robotic arm is connected in sequence to the third drive device (8) installed in the middle of the first robotic arm via the third rotary joint (A3), the second robotic arm (5) with the end flange (10) installed, the eighth rotary joint (A8), the second connecting rod (12) and the sixth rotary joint (A6); or, The top of the first robotic arm is connected in sequence to the third drive unit mounting bracket (13) mounted on the upper surface of the bottom turntable via the third rotary joint (A3), the second robotic arm (5) with the end flange (10) installed, the eighth rotary joint (A8), the second connecting rod (12), the sixth rotary joint (A6), and the third drive unit (8).

2. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 1, characterized in that: The second drive device includes two sets of ball screw mechanisms with the same structure and driven by a motor; the two sets of ball screw mechanisms are horizontally installed on the left and right sides of the upper end of the base, and the screw axes are parallel to each other and perpendicular to the axis of the second rotary joint; one end of the two sets of ball screw mechanisms respectively drives the first mechanical arm to rotate around the second rotary joint through the first connecting rod (11); thus forming a redundant drive.

3. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 2, characterized in that: In each ball screw mechanism: two first guide rails (6.1) are fixed to the left or right side of the base by screws and are perpendicular to the second rotating joint; the first screw front bearing seat (6.4) is installed on the side of the first guide rail near the first robotic arm; the first screw rear bearing seat (6.5) is installed on the other side of the first guide rail; the first screw (6.2) is installed in the middle of the two guide rails through two bearing seats and is parallel to the guide rails; the side of the first screw near the first screw rear bearing seat is connected to the motor shaft of the second motor (6.7) through the first coupling (6.6); the second motor is fixedly installed on the flange surface of the first screw rear bearing seat; the lower end of the first slider (6.3) which slides with the first guide rail is connected to the first nut which meshes with the first screw; the upper end of the first slider is connected to the first connecting rod (11) through the fifth rotating joint (A5); the other end of the first connecting rod is connected to the connecting rod mounting seat (4) fixed on the left or right side of the first robotic arm through the seventh rotating joint (A7).

4. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 3, characterized in that: The end flange is mounted on the second robotic arm via a fourth rotating joint (A4), the axis of which is perpendicular to the length direction of the second robotic arm and the axis of the third rotating joint; the fourth drive device includes a fourth motor and a reducer mounted on the second robotic arm; the output shaft of the fourth motor is connected to the reducer, and the output end of the reducer is connected to the end flange.

5. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 4, characterized in that: The structure of the third drive device is as follows: two second guide rails (8.1) are arranged perpendicular to the axis of the third rotating joint; the second slider (8.3) which slides with the second guide rails is connected to the second connecting rod (12) through the sixth rotating joint (A6); the second lead screw (8.2) is arranged parallel to the second guide rails and is located in the middle of the two second guide rails, and the upper and lower ends of the second lead screw are connected to the guide rails through the front bearing seat (8.4) and the rear bearing seat (8.5) of the second lead screw, respectively; the third motor (8.7) is fixedly installed on the flange surface of the rear bearing seat of the second lead screw, and the end of the second lead screw near the rear bearing seat of the second lead screw is connected to the motor shaft of the third motor through the second coupling (8.6).

6. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 5, characterized in that: The rotation axes of the second, third, fifth, sixth, seventh, and eighth revolute joints are parallel to each other and arranged horizontally; and are also perpendicular to the rotation axes of the first and fourth revolute joints.

7. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 6, characterized in that: The rotation axis of the first rotating joint is arranged vertically, and the fourth rotating joint is perpendicular to the upper surface of the end flange.

8. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 7, characterized in that: The third drive unit (8) is installed on the side of the first robotic arm facing the second link (12).

9. The redundantly driven high-rigidity heavy-duty industrial robot according to claim 7, characterized in that: The third drive device (8) is mounted on the top surface of the third drive device mounting bracket (13), which is in turn mounted on the mounting plane at the top of the base. The top surface of the mounting bracket is parallel to the horizontal plane.

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