Robotic mobile body and industrial robot

Abstract

The utility model relates to a kind of robot mobile main body and industrial robot.Robot mobile main body, comprising: base, base rotationally connected with frame body, frame body is connected with rotary drive device;Frame body is connected with main arm, the left side of frame body is rotationally connected with first seat body, first seat body is connected with first linear module, and first linear module is connected with main arm;The upper end of main arm is rotationally connected with auxiliary arm, and the right end of auxiliary arm is rotationally connected with connecting seat;The left end of auxiliary arm extends to left and has rear operation part, the right side of frame body is rotationally connected with second seat body, second seat body is connected with second linear module, and second linear module is connected with rear operation part;Main arm is rotationally connected with rotary frame, and right connecting rod is connected between rotary frame and connecting seat, and left connecting rod is connected between rotary frame and frame body.The utility model uses two linear modules to complete the displacement in the vertical plane of connecting seat, and overall structure is relatively simple, and space and cost are relatively lower.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic mobile body and an industrial robot. Background Technology

[0002] With the continuous development of industry, robots are being used more and more widely in industry. When transferring materials, they use multi-axis rotation to bend the lever arm. At present, the structure of industrial robots is relatively complex. In many cases, in order to reduce costs, many manufacturers still use XYZ mobile modules to replace the main body of industrial robots. However, XYZ mobile modules occupy a lot of space, especially when transferring materials between two points that are far apart. Therefore, it is necessary to develop a robot mobile body that occupies relatively less space and has a relatively low cost. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a robot mobile body that occupies relatively little space and has relatively low cost.

[0004] Another objective of this utility model is to provide an industrial robot having the aforementioned robot moving body.

[0005] A robotic mobile body, comprising: A base, on which a frame is rotatably connected, and the frame is connected to a rotary drive device for driving the frame to rotate; The right side of the frame is rotatably connected to the main boom, and the left side of the frame is rotatably connected to the first base. The first base is connected to the first linear module, which is connected to the main boom and drives the main boom to rotate relative to the frame. The upper end of the main arm is rotatably connected to the auxiliary arm, and the right end of the auxiliary arm is rotatably connected to the connecting seat for connecting with the actuator. The left end of the auxiliary arm extends to the left to form a rear operating part. The right side of the frame is rotatably connected to a second base. The second base is connected to a second linear module. The second linear module is connected to the rear operating part and drives the rear operating part to move up and down. A rotating frame is rotatably connected to one side of the main boom. A right connecting rod is connected between the right end of the rotating frame and the connecting seat. The two ends of the right connecting rod are rotatably connected to the rotating frame and the connecting seat, respectively. A left connecting rod is connected between the rotating frame and the frame body. The two ends of the left connecting rod are rotatably connected to the rotating frame and the frame body, respectively.

[0006] Furthermore, the connecting seat is connected to a rotating mechanism, which is connected to a fixed platform and drives the fixed platform to rotate. The fixed platform is used to connect the actuator.

[0007] Furthermore, the rotary drive device includes a first motor, which is fixedly connected to the frame. The first motor drives a rotating wheel, and the base is fixedly connected to a fixed ring. The rotating wheel abuts against the side of the fixed ring, and the rotating wheel rotates around the fixed ring. A connecting shaft is connected to the middle of the fixed ring, and a bearing is connected to the frame. The bearing is sleeved with the connecting shaft.

[0008] Preferably, the side of the rotating wheel is provided with protruding teeth to form a planetary gear, and the side of the fixed ring is provided with protruding teeth to form a sun gear, and the planetary gear meshes with the sun gear.

[0009] Furthermore, the frame includes an arc-shaped base plate, which is fixedly connected to the first motor. Side plates are provided on the front and rear sides of the arc-shaped base plate, and the right sides of the side plates are rotatably connected to the lower end of the main arm via a main connecting shaft. Left support shafts extend outward from the lower ends of the first base, and the left support shafts are rotatably connected to the left ends of the corresponding side plates. A support plate extends upward from the right side of one of the side plates, and a right support shaft extends outward from the lower end of the second base, and the right support shafts are rotatably connected to the corresponding support plates.

[0010] More preferably, the two left support shafts are combined into a left connecting shaft.

[0011] Furthermore, the first linear module includes a first electric cylinder, and the push rod of the first electric rod is rotatably connected to the main arm.

[0012] Furthermore, the second linear module includes a second electric cylinder, the push rod of which is rotatably connected to the rear operating part of the auxiliary arm.

[0013] Furthermore, a U-shaped block extends to the left from the left end of the connecting seat, the right end of the auxiliary arm extends into the U-shaped block, and a support plate is provided on one side of the connecting seat. The support plate is connected to the right connecting rod through a rotating shaft.

[0014] An industrial robot includes the aforementioned robot moving body and an actuator connected to a connecting seat.

[0015] The beneficial effects of this utility model are: This utility model uses two linear modules to complete the displacement of the connecting seat in the vertical plane, the overall structure is relatively simple, and the space occupied and cost are relatively low. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the robot's moving body in this embodiment.

[0017] Figure 2 for Figure 1 Another perspective structural diagram.

[0018] Figure 3 for Figure 1 A structural diagram excluding the frame.

[0019] Figure label: 1—Base; 2—Main arm; 3—Sub-arm; 4—Connecting seat; 5—Rotating frame; 6—Second linear module; 7—First linear module; 8—First seat body; 9—Second seat body; 10—Frame body; 11—Side plate; 12—Base plate; 13—Support plate; 14—Fixed platform; 15—Second motor; 16—Left connecting rod; 17—First motor; 18—Connecting shaft; 19—Fixed ring; 20—Rotating wheel; 21—Right connecting rod; 31 – Rear operating section; 41 – U-shaped block; 42 – Support plate; 81 – Left support shaft; 91 – Right support shaft. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "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 application 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 application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] The present invention will now be described in detail with reference to the accompanying drawings. Figures 1 to 3 As shown.

[0025] Example 1: See Figures 1 to 3 A robotic mobile body, comprising: A base 1 is rotatably connected to a frame 10, and the frame 10 is connected to a rotary drive device for driving the frame 10 to rotate. The right side of the frame 10 is rotatably connected to the main arm 2, and the left side of the frame 10 is rotatably connected to the first base 8. The first base 8 is connected to the first linear module 7, which is connected to the main arm 2 and drives the main arm 2 to rotate relative to the frame 10. The upper end of the main arm 2 is rotatably connected to the auxiliary arm 3, and the right end of the auxiliary arm 3 is rotatably connected to the connecting seat 4 for connecting with the actuator; The left end of the auxiliary arm 3 extends to the left to form a rear operating part 31. The right side of the frame 10 is rotatably connected to a second base 9. The second base 9 is connected to a second linear module 6. The second linear module 6 is connected to the rear operating part 31 and drives the rear operating part 31 to move up and down. A rotating frame 5 is rotatably connected to one side of the main boom 2. A right connecting rod 21 is connected between the right end of the rotating frame 5 and the connecting seat 4. The two ends of the right connecting rod 21 are rotatably connected to the rotating frame 5 and the connecting seat 4, respectively. A left connecting rod 16 is connected between the rotating frame 5 and the frame body 10. The two ends of the left connecting rod 16 are rotatably connected to the rotating frame 5 and the frame body 10, respectively.

[0026] This technical solution utilizes the rotation of the base 1 and the coordinated movement of the main arm 2 and the auxiliary arm 3 when performing three-dimensional movement of the robot body. Specifically, when the connecting seat 4 moves in the vertical plane, it moves in coordination with the main arm 2 and the auxiliary arm 3. For example, when the connecting seat 4 moves downward, the second linear module 6 drives the left end of the auxiliary arm 3 to move upward, while the first linear module 7 drives the main arm 2 to rotate to the left. The two work together to achieve the displacement of the connecting seat 4 in the vertical plane. Combined with the rotation device, it can move essentially in three-dimensional space. The movement of the connecting seat 4 in the vertical plane via two-dimensional drive (first linear module 7 and second linear module 6) occupies relatively less space compared to XYZ movement mechanisms, and the range of movement of the connecting seat 4 is also relatively smaller than the driving range of XYZ movement mechanisms. While the range of three-dimensional position is relatively small, it is sufficient for fixed-point transfer (i.e., from point A to point B), requiring only that the fixed point be within the movement range. Furthermore, it occupies relatively little space and has a relatively low cost. During control, the connecting seat 4 can achieve three-dimensional movement within its range of motion by controlling the first linear module 7 and the second linear module 6 through a PLC, microcontroller, processor, robot control box, etc. This is existing technology and will not be elaborated further. Secondly, since only two driving components (the first linear module 7 and the second linear module 6) achieve movement in the vertical plane, the cost is relatively low; the overall structure is also simpler than existing industrial robots. The rotating frame 5 is a tripod in this embodiment. Of course, it can also be other shapes.

[0027] See Figure 1 , Figure 2 The connecting seat 4 is connected to a rotating mechanism, which is connected to a fixed platform 14 and drives the fixed platform 14 to rotate. The fixed platform 14 is used to connect the actuator.

[0028] The actuators include a suction cup structure and a clamping structure. The suction cup structure adsorbs and fixes the object by suction, and the clamping structure holds the object in place by clamping. Both the suction cup structure and the clamping structure are existing technologies, and many patent documents describe them, so they will not be elaborated here. The rotating mechanism can be a second motor 15, which drives the fixed table to rotate.

[0029] A rotating mechanism can be used to adjust the position and angle of objects, making the robot's functions more complete.

[0030] See Figure 1 as well as Figure 3 The rotary drive device includes a first motor 17, which is fixedly connected to the frame 10. The first motor 17 drives a rotating wheel 20. The base 1 is fixedly connected to a fixing ring 19. The rotating wheel 20 abuts against the side of the fixing ring 19 and rotates around the fixing ring 19. A connecting shaft 18 is connected to the middle of the fixing ring 19. The frame 10 is connected to a bearing, and the bearing is sleeved with the connecting shaft 18.

[0031] This technical solution uses a combination of rotation and revolution to drive the frame 10 to rotate. During operation, the first motor 17 drives the rotating wheel 20 to rotate. The rotating wheel 20 rotates on its own axis and revolves around the fixed ring 19, while simultaneously driving the first motor 17 and the frame 10 to rotate. In specific settings, the sides of both the rotating wheel 20 and the fixed ring 19 are provided with friction textures or small protrusions to prevent slippage between the rotating wheel 20 and the fixed ring 19. The diameter of the rotating wheel 20 is much smaller than the diameter of the fixed ring 19, resulting in high rotational accuracy.

[0032] Preferably, the rotating wheel 20 has protruding teeth on its side to form a planetary gear, and the fixed ring 19 has protruding teeth on its side to form a sun gear, and the planetary gear meshes with the sun gear.

[0033] The use of planetary gears and sun gears can prevent slippage during rotation, resulting in very stable rotation.

[0034] See Figure 1 , Figure 2The frame 10 includes an arc-shaped base plate 12, which is fixedly connected to the first motor 17. Side plates 11 are provided on the front and rear sides of the arc-shaped base plate 12, and the right sides of the side plates 11 are rotatably connected to the lower end of the main arm 2 via a main connecting shaft 18. Left support shafts 81 extend outward from the lower ends of the first base 8, and are rotatably connected to the left ends of the corresponding side plates 11. A support plate 13 extends upward from the right side of one side plate 11, and a right support shaft 91 extends outward from the lower end of the second base 9, rotatably connecting to the corresponding support plate 13. Preferably, the two left support shafts 81 are combined into a left connecting shaft 18.

[0035] To facilitate the design of the frame 10, the base plate 12 of the frame 10 is designed in an arc shape in this embodiment to facilitate the installation of the left support shaft 81 and the right support shaft 91. When installing the left support shaft 81 and the right support shaft 91, care must be taken to avoid the first base 8 and the second base 9. The side plates 11 are rotatably connected to the left support shaft 81, the right support shaft 91, and the main connecting shaft 18, respectively, making the overall structure compact. For rotatable connections, bearings can be used, or corresponding shaft holes can be directly provided on the side plates 11, through which the left support shaft 81, the right support shaft 91, and the main connecting shaft 18 are rotatably connected. This is existing technology and will not be described in detail.

[0036] To simplify the structure, the first linear module 7 includes a first electric cylinder, and the push rod of the first electric lever is rotatably connected to the main arm 2. The second linear module 6 includes a second electric cylinder, and the push rod of the second electric cylinder is rotatably connected to the rear operating part 31 of the auxiliary arm 3.

[0037] Selecting a first electric cylinder for the first linear module 7 provides relatively high movement accuracy and smooth movement, making it suitable for applications requiring high precision. Similarly, selecting a second electric cylinder for the second linear module 6 helps improve movement accuracy. Of course, the first linear module 7 and the second linear module 6 could also be pneumatic cylinders, hydraulic cylinders, etc.; however, the accuracy would be relatively lower. Electric cylinders are chosen for applications requiring high precision, while pneumatic or hydraulic cylinders can be used for applications requiring lower precision. For rotary connections, a U-shaped lug with a shaft hole can be provided. The end of the push rod is inserted into the U-shaped lug and then connected to it via a connecting shaft 18, which allows relative rotation. Other connection methods can also be used for rotary connections; these are existing technologies and will not be elaborated further.

[0038] See Figures 1 to 3 The left end of the connecting seat 4 extends to the left with a U-shaped block 41, the right end of the auxiliary arm 3 extends into the U-shaped block 41, and a support plate 42 is provided on one side of the connecting seat 4. The support plate 42 is connected to the right connecting rod 21 through a rotating shaft.

[0039] Since the connecting seat 4 needs to be rotatably connected to the auxiliary arm 3 and the right connecting rod 21, the connecting seat 4 needs to be set with two connection positions. In this embodiment, the connecting seat 4 is provided with a U-shaped block 41 and a support plate 42, which are respectively connected to the auxiliary arm 3 and the right connecting rod 21.

[0040] Example 2: An industrial robot includes the robot moving body described above, and also includes an actuator, which is connected to the connecting seat 4.

[0041] Secondly, it should be noted that in this technical solution, the rotating connections can all be achieved by connecting the two components via connecting shaft 18, allowing both components to rotate relative to connecting shaft 18. Other methods are also possible. This is existing technology. The two components in the rotating connection can rotate freely relative to each other around the connection point.

[0042] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robotic mobile body, characterized in that: include: A base, on which a frame is rotatably connected, and the frame is connected to a rotary drive device for driving the frame to rotate; The right side of the frame is rotatably connected to the main boom, and the left side of the frame is rotatably connected to the first base. The first base is connected to the first linear module, which is connected to the main boom and drives the main boom to rotate relative to the frame. The upper end of the main arm is rotatably connected to the auxiliary arm, and the right end of the auxiliary arm is rotatably connected to the connecting seat for connecting with the actuator. The left end of the auxiliary arm extends to the left to form a rear operating part. The right side of the frame is rotatably connected to a second base. The second base is connected to a second linear module. The second linear module is connected to the rear operating part and drives the rear operating part to move up and down. A rotating frame is rotatably connected to one side of the main boom. A right connecting rod is connected between the right end of the rotating frame and the connecting seat. The two ends of the right connecting rod are rotatably connected to the rotating frame and the connecting seat, respectively. A left connecting rod is connected between the rotating frame and the frame body. The two ends of the left connecting rod are rotatably connected to the rotating frame and the frame body, respectively.

2. The robot mobile body according to claim 1, characterized in that: The connecting seat is connected to a rotating mechanism, which is connected to a fixed platform and drives the fixed platform to rotate. The fixed platform is used to connect the actuator.

3. The robot mobile body according to claim 1, characterized in that: The rotary drive device includes a first motor, which is fixedly connected to the frame. The first motor drives a rotating wheel. The base is fixedly connected to a fixed ring. The rotating wheel abuts against the side of the fixed ring and rotates around the fixed ring. A connecting shaft is connected to the middle of the fixed ring. A bearing is connected to the frame and the bearing is sleeved with the connecting shaft.

4. The robot mobile body according to claim 3, characterized in that: The rotating wheel has protruding teeth on its side to form a planetary gear, and the fixed ring has protruding teeth on its side to form a sun gear. The planetary gear meshes with the sun gear.

5. The robot mobile body according to claim 1, characterized in that: The frame includes an arc-shaped base plate, which is fixedly connected to the first motor. Side plates are provided on the front and rear sides of the arc-shaped base plate. The right side of each side plate is rotatably connected to the lower end of the main arm via a main connecting shaft. Left support shafts extend outward from the lower ends of the first base, and the left support shafts are rotatably connected to the left ends of the corresponding side plates. A support plate extends upward from the right side of one of the side plates. A right support shaft extends outward from the lower end of the second base, and the right support shafts are rotatably connected to the corresponding support plates.

6. The robot mobile body according to claim 5, characterized in that: The two left support shafts are merged into a left connecting shaft.

7. The robot mobile body according to claim 1, characterized in that: The first linear module includes a first electric cylinder, and the push rod of the first electric rod is rotatably connected to the main arm.

8. The robot mobile body according to claim 1, characterized in that: The second linear module includes a second electric cylinder, and the push rod of the second electric cylinder is rotatably connected to the rear operating part of the auxiliary arm.

9. The robot mobile body according to claim 1, characterized in that: The left end of the connecting seat has a U-shaped block extending to the left, the right end of the auxiliary arm extends into the U-shaped block, and a support plate is provided on one side of the connecting seat. The support plate is connected to the right connecting rod through a rotating shaft.

10. An industrial robot, characterized in that: The robot mobile body includes any one of claims 1 to 9, and further includes an actuator connected to the connecting seat.

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