Rotary base for an industrial robot

Abstract

The utility model discloses a kind of rotary base of industrial robot, including base shell and rotating disc, rotating groove is opened on base shell, rotating disc is rotatably installed in rotating groove;Brake disc is fixedly installed on rotating disc bottom surface, electric brake caliper is fixedly installed on base shell inner wall, brake disc is rotatably installed in electric brake caliper, rotary base further includes: double-motor steering mechanism, fixedly installed in base shell, and double-motor steering mechanism is fixedly connected with rotating disc bottom surface;Double-motor is responsible for positive and negative rotation respectively, avoid impact and magnetic field loss generated by frequent steering;Speed reducer is realized to realize deceleration and increase torque, encoder and main control system form closed-loop control, rotate speed is accurately regulated by PWM signal, rotating error is controllable;When clutch separates, power transmission is cut off, there is no passive drag loss, both prolong the service life of motor, gear and other components, and guarantee the precision requirement of industrial robot precision assembly, sorting and other operations.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, specifically a rotating base for an industrial robot. Background Technology

[0002] In industrial robot operation scenarios, the rotating base serves as the core support and steering component of the robot arm, requiring a balance between rotational accuracy, start-stop stability, and long-term operational reliability. Traditional rotating bases often employ a single-motor drive scheme. When the motor frequently switches between forward and reverse directions, it is prone to generating starting inrush current and magnetic field reconstruction losses, leading to shortened motor life and decreased rotational accuracy. Some dual-motor schemes lack effective interlocking and power separation designs, making it easy for the forward and reverse transmission structures to work simultaneously, causing gear jamming and motor overload. Furthermore, the braking system and transmission system have poor compatibility, resulting in unstable static locking and dynamic braking that can interfere with power transmission. These shortcomings make it difficult to meet the "high precision, high stability, and low loss" requirements of rotating bases in scenarios such as automotive manufacturing and precision assembly.

[0003] Limitations of existing rotating bases: single-motor solutions suffer from high losses during steering switching and difficulty in ensuring accuracy; dual-motor solutions lack dual hardware and software interlocking, resulting in a high risk of power conflict; poor coordination between the braking and transmission systems leads to insufficient locking stability, making them unsuitable for the complex operational needs of industrial robots. Therefore, a rotating base for industrial robots is needed to meet these needs. Utility Model Content

[0004] The purpose of this invention is to provide a rotating base for an industrial robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a rotating base for an industrial robot, comprising a base shell and a rotating disk, wherein the base shell has a rotating groove, and the rotating disk is rotatably installed within the rotating groove; a brake disc is fixedly installed on the bottom surface of the rotating disk, and an electric brake caliper is fixedly installed on the inner wall of the base shell, the brake disc being rotatably installed within the electric brake caliper; the rotating base further includes:

[0006] The dual-motor steering mechanism is fixedly installed inside the base housing and is fixedly connected to the bottom surface of the rotating disk. The dual-motor steering mechanism is used to drive the rotating disk to rotate in both directions.

[0007] Preferably, the dual-motor steering mechanism includes an outer ring gear, an inner ring gear, a forward rotation transmission structure, and a reverse rotation transmission structure. The outer ring gear and the inner ring gear are both fixedly mounted on the bottom surface of the rotating disk. The outer ring gear and the inner ring gear are concentrically engaged with the rotating disk. The inner ring gear is mounted on the inner ring of the outer ring gear. The forward rotation transmission structure meshes with the outer ring gear, and the reverse rotation transmission structure meshes with the inner ring gear.

[0008] Preferably, the forward rotation transmission structure includes a first gear, a first connecting shaft, a first clutch, a third connecting shaft, a first motor, and a first right-angle gear reducer. The output shaft of the first motor is fixedly connected to the input end of the first right-angle gear reducer, the third connecting shaft is fixedly connected to the output end of the first right-angle gear reducer, the first connecting shaft is fixedly connected to the first gear, and the first connecting shaft is fixedly installed at the center of the pitch circle of the first gear. The first clutch is installed between the first connecting shaft and the third connecting shaft, and both ends of the first clutch are fixedly connected to the first connecting shaft and the third connecting shaft, respectively.

[0009] Preferably, the first gear is mounted on one side of the outer ring gear and meshes with the outer ring gear, and the upper surface of the first gear does not directly contact the lower surface of the rotating disk.

[0010] Preferably, the reversing transmission structure includes a second gear, a second connecting shaft, a second clutch, a fourth connecting shaft, a second motor, and a second right-angle gear reducer. The output shaft of the second motor is fixedly connected to the input end of the second right-angle gear reducer, the fourth connecting shaft is fixedly connected to the output end of the second right-angle gear reducer, the second connecting shaft is fixedly connected to the second gear, and the second connecting shaft is fixedly installed at the center of the pitch circle of the second gear. The second clutch is installed between the second connecting shaft and the fourth connecting shaft, and both ends of the second clutch are fixedly connected to the second connecting shaft and the fourth connecting shaft, respectively.

[0011] Preferably, the second gear is installed inside the inner ring gear and meshes with the inner ring gear, and the upper surface of the second gear does not directly contact the lower surface of the rotating disk.

[0012] Preferably, the first clutch and the second clutch are locked in opposite directions after installation.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] (1) The two motors are responsible for forward and reverse rotation respectively, avoiding the impact and magnetic field loss caused by frequent turning; the reducer is matched to achieve speed reduction and torque increase, the encoder and the main control system form a closed loop control, and the speed is precisely adjusted by PWM signal, and the rotation error is controllable; when the clutch is disengaged, the power transmission is cut off, there is no passive drag loss, which not only extends the life of motors, gears and other components, but also ensures the precision requirements of industrial robots for precision assembly, sorting and other operations.

[0015] (2) The dual interlocking mechanism of hardware and software completely avoids gear jamming and motor overload caused by the simultaneous operation of forward and reverse transmission structures; the braking system and transmission system work together, and when stopping, the power is cut off first, the clutch is disengaged and the brake disc is clamped, the locking is stable and there is no power conflict, and the subsequent rotation is not affected after unlocking. It can be adapted to the stable operation of industrial robots under frequent start and stop and external interference, reducing the risk of failure. Attached Figure Description

[0016] Figure 1 This is a half-sectional view of the rotating base of an industrial robot proposed in this utility model.

[0017] Figure 2 This is a three-dimensional structural diagram of a rotating base for an industrial robot proposed in this utility model;

[0018] Figure 3 This is a three-dimensional structural diagram of a dual-motor steering mechanism for a rotating base of an industrial robot proposed in this utility model.

[0019] Figure 4 This is a three-dimensional structural diagram of the outer ring gear and inner ring gear of the rotating base of an industrial robot proposed in this utility model.

[0020] In the diagram: 1. Base shell; 2. Dual-motor steering mechanism; 3. Rotating disc; 4. Brake disc; 5. Electric brake caliper; 6. Rotating groove; 200. Outer ring gear; 201. Inner ring gear; 202. First gear; 203. First connecting shaft; 204. First clutch; 205. Third connecting shaft; 206. First motor; 207. First right-angle gear reducer; 208. Second gear; 209. Second connecting shaft; 210. Second clutch; 211. Fourth connecting shaft; 212. Second motor; 213. Second right-angle gear reducer; 214. Forward rotation transmission structure; 215. Reverse rotation transmission structure. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example: Please refer to Figure 1-4 This utility model provides a technical solution: a rotating base for an industrial robot, comprising a base shell 1 and a rotating disk 3. The base shell 1 has a rotating groove 6, and the rotating disk 3 is rotatably mounted within the rotating groove 6. A brake disc 4 is fixedly mounted on the bottom surface of the rotating disk 3, and an electric brake caliper 5 is fixedly mounted on the inner wall of the base shell 1. The brake disc 4 is rotatably mounted within the electric brake caliper 5. The rotating base also includes:

[0023] The dual-motor steering mechanism 2 is fixedly installed inside the base housing 1, and the dual-motor steering mechanism 2 is fixedly connected to the bottom surface of the rotating disk 3. The dual-motor steering mechanism 2 is used to drive the rotating disk 3 to rotate in both directions.

[0024] The dual-motor steering mechanism 2 includes an outer ring gear 200, an inner ring gear 201, a forward rotation transmission structure 214, and a reverse rotation transmission structure 215. The outer ring gear 200 and the inner ring gear 201 are both fixedly mounted on the lower surface of the rotating disk 3. The outer ring gear 200 and the inner ring gear 201 are concentrically engaged with the rotating disk 3. The inner ring gear 201 is mounted on the inner ring of the outer ring gear 200. The forward rotation transmission structure 214 meshes with the outer ring gear 200, and the reverse rotation transmission structure 215 meshes with the inner ring gear 201.

[0025] The forward rotation transmission structure 214 includes a first gear 202, a first connecting shaft 203, a first clutch 204, a third connecting shaft 205, a first motor 206, and a first right-angle gear reducer 207. The output shaft of the first motor 206 is fixedly connected to the input end of the first right-angle gear reducer 207, and the third connecting shaft 205 is fixedly connected to the output end of the first right-angle gear reducer 207. The first connecting shaft 203 is fixedly connected to the first gear 202, and the first connecting shaft 203 is fixedly installed at the center of the pitch circle of the first gear 202. The first clutch 204 is installed between the first connecting shaft 203 and the third connecting shaft 205, and both ends of the first clutch 204 are fixedly connected to the first connecting shaft 203 and the third connecting shaft 205, respectively. The first gear 202 is installed on one side of the outer ring gear 200 and meshes with the outer ring gear 200. The upper surface of the first gear 202 does not directly contact the lower surface of the rotating disk 3.

[0026] The reverse transmission structure 215 includes a second gear 208, a second connecting shaft 209, a second clutch 210, a fourth connecting shaft 211, a second motor 212, and a second right-angle gear reducer 213. The output shaft of the second motor 212 is fixedly connected to the input end of the second right-angle gear reducer 213, and the fourth connecting shaft 211 is fixedly connected to the output end of the second right-angle gear reducer 213. The second connecting shaft 209 is fixedly connected to the second gear 208, and the second connecting shaft 209 is fixedly installed at the center of the pitch circle of the second gear 208. The second clutch 210 is installed between the second connecting shaft 209 and the fourth connecting shaft 211, and both ends of the second clutch 210 are fixedly connected to the second connecting shaft 209 and the fourth connecting shaft 211, respectively. The second gear 208 is installed inside the inner ring gear 201 and meshes with the inner ring gear 201. The upper surface of the second gear 208 does not directly contact the lower surface of the rotating disk 3.

[0027] After the first clutch 204 and the second clutch 210 are installed, they are locked in opposite directions.

[0028] The base shell 1 serves as the overall support structure. The robot arm is mounted on the rotating disk 3. The rotating groove 6 on the base shell 1 provides a rotation track for the rotating disk 3, ensuring that the rotating disk 3 can rotate stably around the central axis. If the load on the rotating disk 3 is large, a slewing bearing can be set between the rotating groove 6 and the rotating disk 3 and lubricated to protect the balls, so as to convert dry contact friction into mixed rolling friction. The electrical system of this base is based on an STM32 series microcontroller or PLC main control system. The various electrical components are connected by wires to realize signal interaction and power control: the main control system needs to connect the first motor 206, the second motor 212, the first clutch 204, the second clutch 210, the electric brake caliper 5, and the encoder integrated in the two motors for precise feedback of speed and angle. Two motors are connected to the main control system via corresponding drivers. The main control system adjusts the motor speed via PWM signals. The drivers are connected to an external power source to power the motors. The encoder transmits real-time data back to the main control system via A and B phase pulse lines, forming a closed-loop control. The first and second clutches are electromagnetic, with their coil pins connected to the digital output port of the main control system via relays. Their engagement or disengagement is controlled by high and low level signals. The electromagnetic drive part of the electric brake caliper is also connected to the main control system via relays, receiving commands to control the caliper to clamp or release the brake disc.

[0029] When the rotating disk 3 needs to be driven to rotate forward, the main control system receives the instruction from the host computer, first confirms the current status through the encoder feedback, and then outputs a signal to keep the second clutch 210 disengaged. At the same time, it controls the relay of the first clutch 204 to be energized, and the clutch engages after the coil is energized. Then the first motor 206 starts, and the output power is reduced and increased in torque by the first right-angle gear reducer 207. It is transmitted to the first gear 202 through the third connecting shaft 205, the first clutch 204, and the first connecting shaft 203. The first gear 202 meshes with the outer ring gear 200 fixed on the bottom surface of the rotating disk 3. The gear meshing drives the outer ring gear 200 to drive the rotating disk 3 to rotate in the positive direction. The encoder provides real-time feedback of the speed, and the main control system dynamically adjusts the motor output through the PWM signal to ensure precise and stable rotation.

[0030] When reversal is required, the main control system first confirms that the first clutch 204 is in the disengaged state, and then controls the second clutch 210 to engage. After the second motor 212 starts, the power is transmitted to the second gear 208 through the second right-angle gear reducer 213, the fourth connecting shaft 211, the second clutch 210, and the second connecting shaft 209. The second gear 208 meshes with the inner ring gear 201, driving the rotating disk 3 to rotate in the opposite direction. Similarly, precise rotation is achieved through encoder closed-loop control.

[0031] To prevent gear jamming or motor overload caused by simultaneous operation of forward and reverse transmission structures, the system is designed with a dual interlocking mechanism: In terms of hardware, the normally closed contacts of the relay coils of the first and second clutches are connected in series in the power supply circuits of the other's relays. When one set of clutches is engaged, the power supply circuit of the other set is mechanically cut off. In terms of software, the main control system implements instruction mutual exclusion through logic programming. When the forward rotation command is triggered, the reverse rotation signal is automatically shielded. A 50-100ms delay is set during the switching process to ensure that the other set of transmission structures is completely disengaged before the first set is started.

[0032] When it is necessary to stop and lock, the main control system first cuts off the power to the dual motors, controls the first and second clutches to disengage, and then outputs a signal to activate the relay of the electric brake caliper 5. The caliper is energized and clamps the brake disc 4 fixed to the bottom of the rotating disc 3. The friction prevents the rotating disc from rotating due to inertia or external force, thus achieving stable locking. When unlocking, the main control system controls the brake caliper to de-energize and release, waiting for the next action command.

[0033] The working principle is as follows: The base shell 1 serves as the overall support structure, and the robot arm is mounted on the rotating disk 3. The rotating groove 6 on the base shell 1 provides a rotation track for the rotating disk 3, ensuring that the rotating disk 3 can rotate stably around the central axis. If the load on the rotating disk 3 is large, a slewing bearing can be set between the rotating groove 6 and the rotating disk 3 and lubricated to protect the balls, so as to convert dry contact friction into mixed rolling friction. The electrical system of this base is based on an STM32 series microcontroller or PLC main control system. The various electrical components are connected by wires to realize signal interaction and power control: the main control system needs to connect the first motor 206, the second motor 212, the first clutch 204, the second clutch 210, the electric brake caliper 5, and the encoder integrated in the two motors for precise feedback of speed and angle. Two motors are connected to the main control system via corresponding drivers. The main control system adjusts the motor speed via PWM signals. The drivers are connected to an external power source to power the motors. The encoder transmits real-time data back to the main control system via A and B phase pulse lines, forming a closed-loop control. The first and second clutches are electromagnetic, with their coil pins connected to the digital output port of the main control system via relays. Their engagement or disengagement is controlled by high and low level signals. The electromagnetic drive part of the electric brake caliper is also connected to the main control system via relays, receiving commands to control the caliper to clamp or release the brake disc.

[0034] When the rotating disk 3 needs to be driven to rotate forward, the main control system receives the instruction from the host computer, first confirms the current status through the encoder feedback, and then outputs a signal to keep the second clutch 210 disengaged. At the same time, it controls the relay of the first clutch 204 to be energized, and the clutch engages after the coil is energized. Then the first motor 206 starts, and the output power is reduced and increased in torque by the first right-angle gear reducer 207. It is transmitted to the first gear 202 through the third connecting shaft 205, the first clutch 204, and the first connecting shaft 203. The first gear 202 meshes with the outer ring gear 200 fixed on the bottom surface of the rotating disk 3. The gear meshing drives the outer ring gear 200 to drive the rotating disk 3 to rotate in the positive direction. The encoder provides real-time feedback of the speed, and the main control system dynamically adjusts the motor output through the PWM signal to ensure precise and stable rotation.

[0035] When reversal is required, the main control system first confirms that the first clutch 204 is in the disengaged state, and then controls the second clutch 210 to engage. After the second motor 212 starts, the power is transmitted to the second gear 208 through the second right-angle gear reducer 213, the fourth connecting shaft 211, the second clutch 210, and the second connecting shaft 209. The second gear 208 meshes with the inner ring gear 201, driving the rotating disk 3 to rotate in the opposite direction. Similarly, precise rotation is achieved through encoder closed-loop control.

[0036] To prevent gear jamming or motor overload caused by simultaneous operation of forward and reverse transmission structures, the system is designed with a dual interlocking mechanism: In terms of hardware, the normally closed contacts of the relay coils of the first and second clutches are connected in series in the power supply circuits of the other's relays. When one set of clutches is engaged, the power supply circuit of the other set is mechanically cut off. In terms of software, the main control system implements instruction mutual exclusion through logic programming. When the forward rotation command is triggered, the reverse rotation signal is automatically shielded. A 50-100ms delay is set during the switching process to ensure that the other set of transmission structures is completely disengaged before the first set is started.

[0037] When it is necessary to stop and lock, the main control system first cuts off the power to the dual motors, controls the first and second clutches to disengage, and then outputs a signal to activate the relay of the electric brake caliper 5. The caliper is energized and clamps the brake disc 4 fixed to the bottom of the rotating disc 3. The friction prevents the rotating disc from rotating due to inertia or external force, thus achieving stable locking. When unlocking, the main control system controls the brake caliper to de-energize and release, waiting for the next action command.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotating base for an industrial robot, comprising a base shell (1) and a rotating disk (3), wherein the base shell (1) has a rotating groove (6), and the rotating disk (3) is rotatably mounted within the rotating groove (6); characterized in that: A brake disc (4) is fixedly installed on the bottom surface of the rotating disk (3), and an electric brake caliper (5) is fixedly installed on the inner wall of the base shell (1). The brake disc (4) is rotatably installed inside the electric brake caliper (5). The rotating base also includes: The dual-motor steering mechanism (2) is fixedly installed inside the base shell (1), and the dual-motor steering mechanism (2) is fixedly connected to the bottom surface of the rotating disk (3). The dual-motor steering mechanism (2) is used to drive the rotating disk (3) to rotate in both directions.

2. The rotating base of an industrial robot according to claim 1, characterized in that: The dual-motor steering mechanism (2) includes an outer ring gear (200), an inner ring gear (201), a forward rotation transmission structure (214), and a reverse rotation transmission structure (215). The outer ring gear (200) and the inner ring gear (201) are both fixedly installed on the bottom surface of the rotating disk (3). The outer ring gear (200) and the inner ring gear (201) are concentrically engaged with the rotating disk (3). The inner ring gear (201) is installed on the inner ring of the outer ring gear (200). The forward rotation transmission structure (214) meshes with the outer ring gear (200), and the reverse rotation transmission structure (215) meshes with the inner ring gear (201).

3. The rotating base of an industrial robot according to claim 2, characterized in that: The forward rotation transmission structure (214) includes a first gear (202), a first connecting shaft (203), a first clutch (204), a third connecting shaft (205), a first motor (206), and a first right-angle gear reducer (207). The output shaft of the first motor (206) is fixedly connected to the input end of the first right-angle gear reducer (207). The third connecting shaft (205) is fixedly connected to the output end of the first right-angle gear reducer (207). The first connecting shaft (203) is fixedly connected to the first gear (202), and the first connecting shaft (203) is fixedly installed at the center of the pitch circle of the first gear (202). The first clutch (204) is installed between the first connecting shaft (203) and the third connecting shaft (205), and both ends of the first clutch (204) are fixedly connected to the first connecting shaft (203) and the third connecting shaft (205) respectively.

4. The rotating base of an industrial robot according to claim 3, characterized in that: The first gear (202) is mounted on one side of the outer ring gear (200) and meshes with the outer ring gear (200). The upper surface of the first gear (202) does not directly contact the lower surface of the rotating disk (3).

5. The rotating base of an industrial robot according to claim 3, characterized in that: The reverse transmission structure (215) includes a second gear (208), a second connecting shaft (209), a second clutch (210), a fourth connecting shaft (211), a second motor (212), and a second right-angle gear reducer (213). The output shaft of the second motor (212) is fixedly connected to the input end of the second right-angle gear reducer (213). The fourth connecting shaft (211) is fixedly connected to the output end of the second right-angle gear reducer (213). The second connecting shaft (209) is fixedly connected to the second gear (208), and the second connecting shaft (209) is fixedly installed at the center of the pitch circle of the second gear (208). The second clutch (210) is installed between the second connecting shaft (209) and the fourth connecting shaft (211), and both ends of the second clutch (210) are fixedly connected to the second connecting shaft (209) and the fourth connecting shaft (211), respectively.

6. The rotating base of an industrial robot according to claim 5, characterized in that: The second gear (208) is installed inside the inner ring gear (201) and meshes with the inner ring gear (201). The upper surface of the second gear (208) does not directly contact the lower surface of the rotating disk (3).

7. The rotating base of an industrial robot according to claim 5, characterized in that: After installation, the first clutch (204) and the second clutch (210) are locked in opposite directions.

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