Robotic boom and palletizing robot

Abstract

The utility model relates to robot technical field, the utility model provides a kind of robot big arm and stacking robot. Robot big arm includes first arm body and the second arm body being connected with first arm body, the first connecting portion for being connected with pedestal is provided at the end of first arm body away from second arm body, the second connecting portion for being connected with robot small arm is provided at the end of second arm body away from first arm body, wherein, second arm body includes first part and second part, first part is connected with first arm body and is set along predetermined direction extension, second part is connected with the end of first part away from first arm body, second part includes straight connection and bending portion, straight connection is connected between first part and second connecting portion and extends along predetermined direction, bending portion is connected between first part and second connecting portion and is bent away from the direction of straight connection and is set, there is first hollow portion between straight connection and bending portion. In this way, the dual needs of light weight and high strength can be considered.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robotic arm and a palletizing robot. Background Technology

[0002] Robots, as efficient and precise work equipment, have become an indispensable part of various production processes, widely used in welding, assembly, handling, and other scenarios. Among them, palletizing robots, as industrial robots specializing in picking, handling, and stacking goods, play a key role in the field of palletizing industrial automation due to their flexible, precise, fast, efficient, and stable operation.

[0003] Palletizing robots mainly consist of a body, arm, and wrist, each with several degrees of freedom, forming a multi-degree-of-freedom mechanical system. Among these, the robot arm, as a crucial component, accounts for a significant portion of the robot's weight. Existing palletizing robot arms generally suffer from excessive weight, making it difficult to balance the dual requirements of lightweight design and high strength. A heavier robot arm increases energy consumption and reduces the robot's performance. Utility Model Content

[0004] To at least partially address the problems existing in the prior art, according to one aspect of the present invention, a robot arm is provided. The robot arm includes a first arm body and a second arm body connected to the first arm body. The first arm body has a first connecting portion for connecting to a base at its end away from the second arm body, and the second arm body has a second connecting portion for connecting to a robot forearm at its end away from the first arm body. The second arm body includes a first portion and a second portion. The first portion is connected to the first arm body and extends along a predetermined direction. The second portion is connected to the end of the first portion away from the first arm body. The second portion includes a straight connecting portion and a bent portion. The straight connecting portion connects the first portion and the second connecting portion and extends along a predetermined direction. The bent portion connects the first portion and the second connecting portion and bends away from the straight connecting portion. A first hollow portion is provided between the straight connecting portion and the bent portion.

[0005] For example, the bending portion includes a first bending arm, a second bending arm, and a first column connected between the first bending arm and the second bending arm. The end of the first bending arm away from the second bending arm is connected to the first portion, and the end of the second bending arm away from the first bending arm is connected to the second connecting portion.

[0006] For example, there are at least two first bent arms, each connected to the first column. The number of second bent arms is the same as the number of first bent arms, and they are connected to the first column in a one-to-one correspondence with the first bent arms. There are second hollow portions between adjacent first bent arms and between adjacent second bent arms.

[0007] For example, the second cutout portion is connected to the first cutout portion.

[0008] For example, the number of first parts is the same as that of the first bent arms and they are connected in a one-to-one correspondence, and there is a third hollowed-out portion between adjacent first parts.

[0009] For example, the second bent arm has an arc-shaped structure that bends away from the direct connection.

[0010] For example, the outer perimeter of the second part is greater than that of the first part, and the outer perimeter of the second part is greater than that of the first arm.

[0011] For example, the robot arm also includes a second column connected between the first arm body and the second arm body, and there are at least two first arm bodies, with a fourth hollow portion between two adjacent first arm bodies.

[0012] According to another aspect of this utility model, a palletizing robot is also provided. This palletizing robot includes any of the aforementioned robot arms.

[0013] For example, the palletizing robot also includes a base, a turntable, and a robot forearm. The turntable is rotatably connected to the base, a first connecting part is connected to the turntable, and a second part is connected to the robot forearm.

[0014] The robot arm provided in this application features a first hollow section that reduces material usage, directly lowering the arm's weight and avoiding increased energy consumption due to excessive weight. The design of the straight connecting section extending in a predetermined direction and the bent section bending away from the straight connecting section allows for more efficient force transmission between different parts of the arm, enhancing the structure's load-bearing capacity. This ensures the robot arm maintains sufficient strength while bearing the weight of the goods being grasped and various loads during movement, balancing the dual requirements of lightweight design and high strength. Simultaneously, the reduced weight of the robot arm lessens the burden on the drive unit, helping to reduce energy consumption and preventing a decrease in the palletizing robot's performance due to its weight. This improves the overall performance of the palletizing robot, enabling it to operate flexibly, accurately, quickly, and efficiently during the grasping, handling, and stacking of goods.

[0015] This utility model description introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to limit the scope of protection of the claimed technical solution.

[0016] The advantages and features of this utility model will be described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] The following drawings, which are incorporated herein by reference as part of this invention, are provided for understanding the invention. The drawings illustrate embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0018] Figure 1 A perspective view of a palletizing robot according to an exemplary embodiment of the present invention;

[0019] Figure 2 A perspective view of a robot arm according to an exemplary embodiment of the present invention;

[0020] Figure 3 This is a front view of a robot arm according to an exemplary embodiment of the present invention;

[0021] Figure 4 A side view of the robot arm according to an exemplary embodiment of the present invention;

[0022] Figure 5 This is a top view of the robot arm according to an exemplary embodiment of the present invention.

[0023] The above figures include the following reference numerals:

[0024] 10. Palletizing robot; 100. Robot arm; 110. First arm body; 120. Second arm body; 1210. First part; 1220. Second part; 1221. Straight connection part; 1222. Bending part; 1222a. First bent arm; 1222b. Second bent arm; 1222c. First column; 1230. First hollow part; 1240. Second hollow part; 1250. Third hollow part; 130. First connecting part; 140. Second connecting part; 150. Second column; 160. Fourth hollow part; 210. Base; 220. Turntable; 300. Robot forearm. Detailed Implementation

[0025] In the following description, numerous details are provided to enable a thorough understanding of the present invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the present invention, which may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well-known in the art have not been described in detail.

[0026] This embodiment of the invention provides a robotic arm. Referring to the reference... Figure 1 , Figure 2 and Figure 3The robot arm 100 may include a first arm body 110 and a second arm body 120 connected to the first arm body 110. The first arm body 110 has a first connecting portion 130 for connecting to a base 210 at its end away from the second arm body 120. The second arm body 120 has a second connecting portion 140 for connecting to a robot forearm 300 at its end away from the first arm body 110. The second arm body 120 includes a first portion 1210 and a second portion 1220. The first portion 1210 is connected to the first arm body 110 and extends along a predetermined path. The second part 1220 is connected to the end of the first part 1210 away from the first arm 110, and includes a straight connecting part 1221 and a bent part 1222. The straight connecting part 1221 connects the first part 1210 and the second connecting part 140 and extends in a predetermined direction. The bent part 1222 connects the first part 1210 and the second connecting part 140 and bends away from the straight connecting part 1221. A first hollow part 1230 is provided between the straight connecting part 1221 and the bent part 1222. The predetermined direction can be understood as... Figure 3 From a vertical perspective, the first part 1210 can extend along a predetermined direction. The second part 1220 is connected to the first part 1210. The straight connecting portion 1221 in the second part 1220 extends in the same direction as the first part 1210, while the bending portion 1222 in the second part 1220 extends in a different direction than the first part 1210. Both the bending portion 1222 and the straight connecting portion 1221 are connected between the first part 1210 and the second connecting portion 140, and the bending portion 1222 and the straight connecting portion 1221 share the force.

[0027] The robot arm 100 provided in this application features a first hollowed-out portion 1230 that reduces material usage, directly lowering the weight of the robot arm 100 and avoiding increased energy consumption due to excessive weight. The design of the direct connection portion 1221 extending in a predetermined direction and the bending portion 1222 bending away from the direct connection portion 1221 allows for more efficient force transmission between different parts of the arm, enhancing the structure's load-bearing capacity. This ensures that the robot arm 100 maintains sufficient strength when bearing the weight of the goods being grasped and various loads during movement, balancing the dual requirements of lightweight and high strength. Simultaneously, the reasonable reduction in the weight of the robot arm 100 reduces the burden on the drive unit, helping to reduce energy consumption and preventing a decrease in the working performance of the palletizing robot 10 due to its weight. This improves the overall working performance of the palletizing robot 10, enabling it to maintain a flexible, precise, fast, and efficient operation during the grasping, handling, and stacking of goods.

[0028] For example, in conjunction with reference Figure 2 , Figure 3 and Figure 4The bending portion 1222 may include a first bending arm 1222a, a second bending arm 1222b, and a first column 1222c connected between the first bending arm 1222a and the second bending arm 1222b. The end of the first bending arm 1222a away from the second bending arm 1222b is connected to the first portion 1210, and the end of the second bending arm 1222b away from the first bending arm 1222a is connected to the second connecting portion 140. The first column 1222c can be used to mount sensors or other structural components. The first bending arm 1222a and the second bending arm 1222b are located on opposite sides of the first column 1222c in the radial direction. The arrangement of the first bending arm 1222a, the second bending arm 1222b, and the first column 1222c optimizes the force transmission path and enhances the overall structural stability. The first column 1222c can be used to install structural components such as sensors. It can expand functions and improve adaptability without additional modifications to other structures, and will not disrupt the original mechanical balance, thus ensuring stable working performance.

[0029] For example, in conjunction with reference Figure 2 , Figure 3 and Figure 4 There are at least two first bent arms 1222a, each connected to a first column 1222c. The number of second bent arms 1222b is the same as the number of first bent arms 1222a, and they are connected to the first column 1222c in a one-to-one correspondence. A second hollow portion 1240 is provided between adjacent first bent arms 1222a and between adjacent second bent arms 1222b. In other words, one first bent arm 1222a and one second bent arm 1222b constitute one bent portion 1222, meaning the robot arm 100 includes at least two bent portions 1222. The number of bent portions 1222 can be set according to usage requirements. For example, when higher strength is required, more bent portions 1222 can be provided, such as three or five, ensuring that there is a second hollow portion 1240 between adjacent bent portions 1222. The second hollow section 1240 can reduce material usage and enhance the lightweight effect. The setting of at least two first bending arms 1222a and at least two second bending arms 1222b can increase support points, improve overall rigidity, distribute the force to reduce load, avoid local overload, achieve a higher degree of lightweighting, and ensure the strength of the robot arm 100.

[0030] For example, in conjunction with reference Figure 2 , Figure 3 and Figure 4 The second hollow section 1240 is connected to the first hollow section 1230. This design can further expand the size of the hollow area, more effectively reduce the amount of material used, and enhance the lightweight effect.

[0031] For example, in conjunction with reference Figure 2, Figure 3 and Figure 4 The number of first parts 1210 is the same as that of the first bent arms 1222a, and they are connected one-to-one. Adjacent first parts 1210 have a third hollow section 1250. The third hollow section 1250 further reduces material usage and enhances the lightweight effect. Multiple sets of first parts 1210 connected to their corresponding first bent arms 1222a improve the stability and dispersion of force transmission. Combined with the third hollow section 1250, stress distribution is optimized, avoiding excessive local stress. This ensures structural strength while continuously balancing lightweight and performance requirements.

[0032] For example, in conjunction with reference Figure 2 and Figure 3 The second bent arm 1222b has an arc-shaped structure that bends away from the direct connection 1221. As a component of the second part 1220, the second bent arm 1222b adopts an arc-shaped structure that bends away from the direct connection 1221, which makes the overall force distribution of the robot arm 100 more optimized. The arc shape can conform to the force transmission path during the movement of the robot arm 100, allowing the load to be gradually distributed along the arc surface, avoiding stress abrupt changes at the connection between the direct connection 1221 and the bent part 1222, and reducing the risk of local overload. At the same time, the bending direction away from the direct connection 1221 forms a complementary spatial force structure with the direct connection 1221. Combined with the hollow design to optimize weight distribution, the overall force distribution is more balanced, ensuring strength while taking into account weight reduction, and improving the structural stability and durability of the robot arm 100 during operation.

[0033] For example, in conjunction with reference Figure 2 , Figure 3 and Figure 5 The outer perimeter of the second part 1220 can be greater than that of the first part 1210, and the outer perimeter of the second part 1220 can be greater than that of the first arm 110. As a key area closer to the robot forearm 300, the second part 1220, with its greater outer perimeter than both the first part 1210 and the first arm 110, can strengthen its load-bearing foundation by increasing its lateral structural dimensions. A larger outer perimeter can distribute more load, improving overall load-bearing capacity. Especially when subjected to complex forces such as bending and torsion, it can reduce the stress intensity per unit area and decrease the risk of structural deformation.

[0034] For example, in conjunction with reference Figure 2 , Figure 3 and Figure 4The robot arm 100 may further include a second column 150 connecting the first arm body 110 and the second arm body 120. There may be at least two first arm bodies 110, with a fourth hollow portion 160 between adjacent first arm bodies 110. The second column 150 can be used for mounting sensors and other structural components. The fourth hollow portion 160 further optimizes structural stress and reduces weight. The second column 150 strengthens the stability of the connection between the two arms and distributes the load transmitted to the connection point. Multiple sets of first arm bodies 110, combined with the fourth hollow portion 160, increase support points and improve overall rigidity while reducing material usage, allowing the first arm body 110 to maintain sufficient load-bearing capacity while reducing weight.

[0035] The robot arm 100 provided in this application minimizes the volume of its parts while meeting technical requirements. Smaller volume means less weight and less material usage, thus reducing production costs for enterprises. In existing technologies, the maximum displacement of robot arm parts is 0.05322 mm, the maximum Mises equivalent stress is 27.70 MPa, and the minimum safety factor is 11.6. The robot arm 100 provided in this application has a maximum displacement of 0.4862 mm, a maximum Mises equivalent stress of 157.3 MPa, a minimum safety factor of 2.0, and a weight of 17.904 kg, while the weight of existing robot arm parts is 95.162 kg. This lightweight design reduces the weight by 81.19% of the design space, significantly reduces overall material consumption, has a more rational material distribution, and a smoother, more aesthetically pleasing structure.

[0036] According to another aspect of this utility model, a palletizing robot 10 is also provided. (See reference...) Figure 1 The palletizing robot 10 may include any of the robot arms 100 described above. Since the robot arm 100 adopts the technical solution of any of the above embodiments, the palletizing robot 10 has at least the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0037] For example, refer to Figure 1 The palletizing robot 10 may also include a base 210, a turntable 220, and a robot forearm 300. The turntable 220 is rotatably connected to the base 210, a first connecting part 130 is connected to the turntable 220, and a second part 1220 is connected to the robot forearm 300. The base 210 provides stable support for the whole, and the turntable 220 can rotate relative to the base 210, giving the robot arm 100 a horizontal degree of rotational freedom. The cooperation of these parts allows the robot arm 100 to move flexibly in multiple directions. While ensuring flexibility of movement, it can balance the requirements of strength and lightweight, improving the overall operating efficiency and stability of the palletizing robot 10.

[0038] In the description of this utility model, it should be understood that the directional terms such as "front", "rear", "up", "down", "left", "right", "horizontal", "vertical", "horizontal", "top", and "bottom" indicate the orientation or positional relationship, which are usually 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. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0039] For ease of description, relative terms such as "above," "over," "on the upper surface of," and "above" are used here to describe the regional positional relationship of one or more components or features shown in the figures to other components or features. It should be understood that relative terms include not only the orientation of the component as depicted in the figure but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0041] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0042] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A robotic arm, characterized in that, The system includes a first arm and a second arm connected to the first arm. The first arm has a first connecting portion for connecting to a base at its end away from the second arm, and the second arm has a second connecting portion for connecting to a robot forearm at its end away from the first arm. The second arm includes a first part and a second part. The first part is connected to the first arm and extends along a predetermined direction. The second part is connected to the end of the first part away from the first arm. The second part includes a straight connecting portion and a bent portion. The straight connecting portion connects the first part and the second connecting portion and extends along the predetermined direction. The bent portion connects the first part and the second connecting portion and bends away from the straight connecting portion. A first hollow portion is provided between the straight connecting portion and the bent portion.

2. The robotic arm according to claim 1, characterized in that, The bending portion includes a first bending arm, a second bending arm, and a first column connecting the first bending arm and the second bending arm. The end of the first bending arm away from the second bending arm is connected to the first portion, and the end of the second bending arm away from the first bending arm is connected to the second connecting portion.

3. The robotic arm according to claim 2, characterized in that, There are at least two first bent arms, each connected to the first column. The number of second bent arms is the same as the number of first bent arms, and they are connected to the first column in a one-to-one correspondence with the first bent arms. There are second hollow portions between adjacent first bent arms and between adjacent second bent arms.

4. The robotic arm according to claim 3, characterized in that, The second hollowed-out portion is connected to the first hollowed-out portion.

5. The robotic arm according to claim 3, characterized in that, The number of the first parts is the same as that of the first bent arm and they are connected in a one-to-one correspondence. There is a third hollow part between adjacent first parts.

6. The robotic arm according to claim 2, characterized in that, The second bent arm has an arc-shaped structure that bends away from the straight connection.

7. The robotic arm according to claim 1, characterized in that, The outer perimeter of the second part is greater than that of the first part, and the outer perimeter of the second part is greater than that of the first arm.

8. The robotic arm according to any one of claims 1 to 7, characterized in that, The robot arm also includes a second column connecting the first arm body and the second arm body. There are at least two first arm bodies, and a fourth hollow portion is provided between two adjacent first arm bodies.

9. A palletizing robot, characterized in that, Includes the robotic arm as described in any one of claims 1 to 8.

10. The palletizing robot according to claim 9, characterized in that, The palletizing robot also includes a base, a turntable, and a robot forearm. The turntable is rotatably connected to the base, the first connecting part is connected to the turntable, and the second part is connected to the robot forearm.

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