Industrial robot having planar multi-link mechanism with integrated kinematic pairs

Abstract

An industrial robot having a planar multi-link mechanism with integrated kinematic pairs, the industrial robot comprising a wrist joint (5), a third rotary device (4) having an end connected in series to the wrist joint, a second rotary device (3), a first rotary device (2), a base (1), a first length adjustment device (6) and a second length adjustment device (7), wherein the front end of the first rotary device is connected, by means of a first integrated rotation hinge (10), to the lower part of the second rotary device and to a fixed end of the second length adjustment device; the top of the second rotary device is connected, by means of a second integrated rotation hinge (9), to a motion end of the first length adjustment device and to the rear end of the third rotary device; and the third rotary device is provided with three connecting positions, and the wrist joint is arranged at a front connecting position of the third rotary device. The bearing capacity and overall rigidity of the industrial robot are improved, the number of components is effectively reduced, and manufacturing costs are also lowered.

Description

Industrial robot with integrated kinematic pair planar multi-link mechanism TECHNICAL FIELD

[0001] The present application relates to an industrial robot, in particular to an industrial robot with integrated kinematic pair planar multi-link mechanism. BACKGROUND

[0002] Industrial robots are widely used in various fields such as carrying, welding, cutting, detection, sorting, and assembly due to their high flexibility, large working space, and strong environmental adaptability, and have become indispensable automated intelligent equipment in modern manufacturing industry. With the increasing demand for load capacity of industrial robots in the metallurgical and new energy vehicle industries, the demand for heavy-duty industrial robots is increasing. However, with the increase in load capacity, the weight of the robot also increases significantly, which puts higher requirements on the load capacity and dynamic characteristics of the robot position mechanism.

[0003] The industrial robots disclosed in patents CN116922362A and EP3138670A1 all use rotary hinges, which require large structural dimensions of the robot body when used in heavy load applications, resulting in a large weight of the robot.

[0004] The industrial robots disclosed in patents CN115256356A, CN116038758A, and EP3272470B1 partially use length adjustment devices as driving hinges, and each length adjustment device is connected to the rack or component through a rotary hinge, resulting in a large number of mechanism hinges and components, and a complex structure. SUMMARY

[0005] The technical problem to be solved by the present application is to provide an industrial robot with integrated kinematic pair planar multi-link mechanism that has large load capacity and effectively reduces the number of components.

[0006] The technical solution adopted by the present application is: the industrial robot with integrated kinematic pair planar multi-link mechanism comprises a wrist joint, a third rotary device connected in series with the wrist joint, a second rotary device, a first rotary device, a base, a first length adjustment device, and a second length adjustment device. The front end of the first rotary device is connected to the lower part of the second rotary device and the fixed end of the second length adjustment device through a first integrated rotary hinge.

[0007] The top of the second rotary device is connected to the moving end of the first length adjustment device and the rear end of the third rotary device through a second integrated rotary hinge.

[0008] The third rotating device is provided with three connecting positions, the wrist joint is arranged at the front connecting position of the third rotating device, the moving end of the second length adjusting device is connected with the lower end connecting position of the third rotating device through a rotating hinge a, and the rear end connecting position of the third rotating device is connected through a second integrated rotating hinge.

[0009] The fixed end of the first length adjusting device is connected with the rear end of the first rotating device through a rotating hinge b.

[0010] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the first integrated rotating hinge is fixedly connected with the second rotating device, and the two ends of the first integrated rotating hinge are respectively connected with the first rotating device through rotating hinges and connected with the moving end of the second length adjusting device through a rotating hinge, and the fixed end of the second length adjusting device penetrates through the front end of the first rotating device and is connected with the first rotating device through a rotating hinge.

[0011] The second integrated rotating hinge is fixedly connected with the third rotating device, and the two ends of the second integrated rotating hinge are respectively connected with the second rotating device through rotating hinges and connected with the moving end of the first length adjusting device through a rotating hinge, and the fixed end of the first length adjusting device penetrates through the first rotating device and is connected with the first rotating device through a rotating hinge.

[0012] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the first rotating device is integrally formed and is provided with an axis-parallel front positioning hole for mounting the first integrated rotating hinge and a rear positioning hole for mounting the fixed end rotating hinge a of the first length adjusting device,

[0013] The fixed ends of the first length adjusting device and the second length adjusting device are provided with through holes, the through hole of the second length adjusting device and the front positioning hole of the first rotating device are used for mounting the first integrated rotating hinge, and the through hole of the first length adjusting device and the rear positioning hole of the first rotating device are used for mounting the rotating hinge a.

[0014] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the second rotating device is an integrally formed structure and comprises an axis-parallel lower positioning hole for mounting the first integrated rotating hinge and an upper positioning hole for mounting the second integrated rotating hinge.

[0015] The third rotating device is an integrally formed structure and comprises an axis-parallel rear connecting positioning hole for mounting the second integrated rotating hinge, a lower connecting positioning hole for mounting the upper end rotating hinge of the second length adjusting device, and a front connecting positioning hole capable of mounting a serial wrist joint.

[0016] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the axis of the rotary hinge of the fixed end of the first length adjusting device, the axis of the rotary hinge of the fixed end of the second length adjusting device, the first integrated rotary hinge axis, and the second integrated rotary hinge axis are parallel to each other.

[0017] The first length adjusting device and the second length adjusting device are arranged on the front and back sides of the second rotary device, and the motion planes of the first length adjusting device, the second length adjusting device, the second rotary device, and the third rotary device are the same plane.

[0018] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the second rotary device, the first rotary device, and the second length adjusting device are connected through the first integrated rotary hinge, and the second rotary device, the third rotary device, and the first length adjusting device are connected through the second integrated rotary hinge.

[0019] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the first length adjusting device, the first rotary device, and the second rotary device constitute a plane motion chain for adjusting the angle of the second rotary device, and the second length adjusting device, the second rotary device, and the third rotary device constitute a plane motion chain for adjusting the angle of the third rotary device.

[0020] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the first length adjusting device and the second length adjusting device are the same in structure and comprise an outer tube, a servo motor, a servo motor seat, a lead screw, and a telescopic rod, the servo motor is connected with the servo motor seat, the servo motor seat is connected to one end of the outer tube, one end of the telescopic rod is inserted into the other end of the outer tube, the servo motor is connected with the lead screw, the lead screw is connected with the telescopic rod, and one end of the second telescopic rod is provided with a rotary hinge.

[0021] According to the industrial robot with the integrated kinematic pair plane multi-link mechanism, the first length adjusting device and the second length adjusting device adopt a hydraulic or pneumatic driving structure.

[0022] The industrial robot with the integrated kinematic pair plane multi-link mechanism has the following advantages and positive effects:

[0023] 1. The first and second length adjusting devices are used to drive the second rotary device and the third rotary device to rotate, compared with the industrial robots disclosed in patents CN116922362A and EP3138670A1, the carrying capacity and the overall rigidity of the industrial robot are improved.

[0024] 2. The first length adjusting device and the second length adjusting device are arranged on both sides of the second rotating device, the movement planes of the first length adjusting device, the second length adjusting device, the second rotating device and the third rotating device are the same plane, so that the forward and inverse kinematics solutions have analytical solutions, and real-time control is facilitated.

[0025] 3. The second rotating device, the first rotating device and the second length adjusting device are connected through the first integrated rotating hinge, and the second rotating device, the third rotating device and the first length adjusting device are connected through the second integrated rotating hinge, so that the number of components is effectively reduced, and the manufacturing cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0027] Fig. 2 is a top view of Fig. 1;

[0028] Fig. 3 is a schematic diagram of the integrated kinematic pair planar multi-link mechanism of the present application;

[0029] Fig. 4 is a schematic diagram of the installation of the length adjusting device in Fig. 3;

[0030] Fig. 5 is a schematic diagram of the structure of the first length adjusting device and the second length adjusting device of the present application;

[0031] Fig. 1, 2, 3, 4 and 5, wherein: 1 is a base, 2 is a first rotating device, 3 is a second rotating device, 4 is a third rotating device, 5 is a wrist joint, 6 is a first length adjusting device, 7 is a second length adjusting device, 8 is a rotating hinge b, 9 is a second integrated rotating hinge, 10 is a first integrated rotating hinge, 11 is a rotating hinge a, 12 is a servo motor, 13 is a servo motor base, 14 is a lead screw, 15 is an outer tube, 16 is an extension rod. DETAILED DESCRIPTION

[0032] The present application is an industrial robot with an integrated kinematic pair planar multi-link mechanism, which will be described in detail below in conjunction with the embodiments and the accompanying drawings.

[0033] As shown in Figs. 1 and 2, the industrial robot with an integrated kinematic pair planar multi-link mechanism of the present application comprises a wrist joint 5, a third rotating device 4 connected in series with the wrist joint 5, a second rotating device 3, a first rotating device 2, a base 1, a first length adjusting device 6, a second length adjusting device 7, a first integrated rotating hinge 10 and a second integrated rotating hinge 9.

[0034] In the device, the first rotating device 2 is provided with two connection positions, which are the low-end connection position at the front end and the high-end connection position at the rear end. The low-end connection position at the front end is connected with the lower part of the second rotating device 3 and the fixed end of the second length adjusting device 7 through the first integrated rotating hinge 10. The fixed end of the first length adjusting device 6 is connected with the high-end connection position at the rear end of the first rotating device 2 through the rotating hinge b8.

[0035] The first length adjusting device 6, the first rotating device 2 and the second rotating device 3 constitute a planar motion chain for adjusting the angle of the second rotating device 3.

[0036] The top of the second rotating device 3 is connected with the moving end of the first length adjusting device 6 and the rear end of the third rotating device 4 through the second integrated rotating hinge 9. The third rotating device 4 is provided with three connection positions. The wrist joint 5 is arranged at the front end connection position of the third rotating device 4. The moving end of the second length adjusting device 7 is connected with the lower end connection position of the third rotating device 4 through the rotating hinge a. The rear end connection position of the third rotating device 4 is connected through the second integrated rotating hinge 9.

[0037] The second length adjusting device 7, the second rotating device 3 and the third rotating device 4 constitute a planar motion chain for adjusting the angle of the third rotating device 4.

[0038] Specifically, the first integrated rotating hinge 10 is fixedly connected with the second rotating device 3, and the two ends of the first integrated rotating hinge 10 are respectively connected with the first rotating device 2 through the rotating hinge, connected with the moving end of the second length adjusting device 7 through the rotating hinge, and the fixed end of the second length adjusting device 7 penetrates the front end of the first rotating device 2 and is connected with the first rotating device 2 through the rotating hinge. The second integrated rotating hinge 9 is fixedly connected with the third rotating device 4, and the two ends of the second integrated rotating hinge 9 are respectively connected with the second rotating device 3 through the rotating hinge, connected with the moving end of the first length adjusting device 6 through the rotating hinge, and the fixed end of the first length adjusting device 6 penetrates the first rotating device 2 and is connected with the first rotating device 2 through the rotating hinge.

[0039] The first rotating device 2 of the device is an integral structure. The front end connection position is provided with front positioning holes for installing the first integrated rotating hinge 10, and the rear end connection position is provided with rear positioning holes for installing the rotating hinge b8 of the fixed end of the first length adjusting device 6.

[0040] The fixed end of the first length adjusting device 6 and the fixed end of the second length adjusting device 7 are provided with through holes. The through hole of the second length adjusting device 7 and the front positioning hole of the first rotating device 2 are used for installing the first integrated rotating hinge. The through hole of the first length adjusting device 6 and the rear positioning hole of the first rotating device 2 are used for installing the rotating hinge b8.

[0041] The second rotating device 3 of the device is an integrated structure, including lower positioning holes for installing the first integrated rotating hinge 10 and upper positioning holes for installing the second integrated rotating hinge 9, with parallel axes; the third rotating device 4 is an integrated structure, including rear connecting positioning holes for installing the second integrated rotating hinge 9, upper end rotating hinge 11 for installing the second length adjusting device 7, and front connecting positioning holes for installing the serial wrist joint 5, with parallel axes.

[0042] As shown in FIG. 3 and FIG. 4, the axis of the lower end fixed end rotating hinge b8 of the first length adjusting device 6, the axis of the upper end moving end rotating hinge a11 of the second length adjusting device 7, the axis of the first integrated rotating hinge 10, and the axis of the second integrated rotating hinge 9 are parallel to each other, and the first length adjusting device 6 and the second length adjusting device 7 are arranged on the rear side and the front side of the second rotating device 3. The moving planes of the first length adjusting device 6, the second length adjusting device 7, the second rotating device 3, and the third rotating device 4 are the same plane; the second rotating device 3, the first rotating device 2, and the second length adjusting device 7 are connected through the first integrated rotating hinge 10, and the second rotating device 3, the third rotating device 4, and the first length adjusting device 6 are connected through the second integrated rotating hinge 9.

[0043] As shown in FIG. 5, the first length adjusting device 6 and the second length adjusting device 7 have the same structure, both including an outer tube 15, a servo motor 12, a servo motor seat 13, a lead screw 14, and a second telescopic rod 16, the servo motor 12 is connected with the servo motor seat 13, the servo motor seat 13 is connected at one end of the outer tube 15, one end of the second telescopic rod 16 is inserted into the other end of the outer tube 15, the servo motor 12 is connected with the lead screw 14, the lead screw is connected with the second telescopic rod 16 / 22, and one end of the second telescopic rod 16 is installed with a rotating hinge.

[0044] The first length adjusting device 6 and the second length adjusting device 7 of the device can also use a hydraulic or pneumatic driving structure to replace the servo motor 12.

[0045] The wrist joint 5 is the execution end mechanism of the device, which can perform rotation or other forms of movement at the front end connecting position of the third rotating device.

[0046] The working process of the device is described as follows:

[0047] The swinging movement of the second rotating device 3 changes the length of the moving end and the fixed end of the first length adjusting device 6, and the top of the second rotating device 3 performs a swinging movement with the length of the second rotating device 3 as the radius with the upper moving end of the first length adjusting device.

[0048] The wrist joint 5 rotates around the rear end connecting point of the third rotating device 4, the top moving end of the second length adjusting device 7 pushes the lower end connecting point of the third rotating device 4 to swing around the rear end connecting point of the third rotating device 4, and the wrist joint 5 swings with the radius of the distance between the wrist joint 5 and the rear end connecting point of the third rotating device 4.

[0049] The device improves the carrying capacity and the overall rigidity of the industrial robot by the rear variable triangle composed of the first length adjusting device 6, the first rotating device 2 and the second rotating device 3 and the front variable triangle composed of the second length adjusting device 7, the second rotating device 3 and the third rotating device 4, effectively reduces the number of parts of the speed reduction mechanism and lowers the manufacturing cost.

[0050] Although the preferred embodiments of the present application are described above in combination with the drawings, the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and these all belong to the protection scope of the present application.

Claims

1. An industrial robot comprising an integrated kinematic pair planar multi-link mechanism, comprising a wrist joint (5) and a third rotary device (4) connected in series with the wrist joint (5), and a second rotary device (3), a first rotary device (2), a base (1), a first length adjusting device (6), and a second length adjusting device (7), characterized in that, a front end of the first rotary device (2) is connected to a lower part of the second rotary device (3) and a fixed end of the second length adjusting device (7) through a first integrated rotary hinge (10); a top part of the second rotary device (3) is connected to a moving end of the first length adjusting device (6) and a rear end of the third rotary device (4) through a second integrated rotary hinge (9); the third rotary device (4) is provided with three connection positions, the wrist joint (5) is arranged at a front end connection position of the third rotary device (4), a moving end of the second length adjusting device (7) is connected to a lower end connection position of the third rotary device (4) through a rotary hinge a (11), and a rear end connection position of the third rotary device (4) is connected through the second integrated rotary hinge (9); a fixed end of the first length adjusting device (6) is connected to a rear end of the first rotary device (2) through a rotary hinge b (8).

2. The industrial robot comprising an integrated kinematic pair planar multi-link mechanism according to claim 1, characterized in that, the first integrated rotary hinge (10) is fixedly connected to the second rotary device (3), and both ends of the first integrated rotary hinge (10) are connected to the first rotary device (2) through rotary hinges, and the moving end of the second length adjusting device (7) is connected through a rotary hinge, and the fixed end of the second length adjusting device (7) penetrates through the front end of the first rotary device (2) and is connected to the first rotary device (2) through a rotary hinge; the second integrated rotary hinge (9) is fixedly connected to the third rotary device (4), and both ends of the second integrated rotary hinge (9) are connected to the second rotary device (3) through rotary hinges, and the moving end of the first length adjusting device (6) is connected through a rotary hinge, and the fixed end of the first length adjusting device (6) penetrates through the first rotary device (2) and is connected to the first rotary device (2) through a rotary hinge.

3. The industrial robot with integrated kinematically pairs planar multi- link mechanism according to claim 1, characterized in that, the first rotary device (2) is integrally formed and is provided with a front positioning hole for mounting the first integrated rotary hinge (10) and a rear positioning hole for mounting the fixed end rotary hinge b (8) of the first length adjusting device (6), the fixed ends of the first length adjusting device (6) and the second length adjusting device (7) are provided with through holes, the through hole of the second length adjusting device (7) and the front positioning hole of the first rotary device (2) are used for mounting the first integrated rotary hinge (10), and the through hole of the first length adjusting device (6) and the rear positioning hole of the first rotary device (2) are used for mounting the rotary hinge b (8).

4. The industrial robot comprising an integrated kinematic pair planar multi-link mechanism according to claim 1, characterized in that, ​ The second rotating device (3) is an integrated structure, comprising lower positioning holes for mounting the first integrated rotating hinge (10) and upper positioning holes for mounting the second integrated rotating hinge (9) with parallel axes; The third rotating device (4) is an integrated structure, comprising rear connecting positioning holes for mounting the second integrated rotating hinge (9) and lower connecting positioning holes for mounting the upper end rotating hinge (11) of the second length adjusting device (7) with parallel axes, and front connecting positioning holes capable of mounting the serial wrist joint (5).

5. An industrial robot comprising an integrated planar parallel mechanism according to claim 1, characterized in that, The axis of the rotating hinge (8) of the fixed end of the first length adjusting device (6), the axis of the rotating hinge (11) of the fixed end of the second length adjusting device (7), the axis of the first integrated rotating hinge (10), and the axis of the second integrated rotating hinge (9) are parallel to each other; The first length adjusting device (6) and the second length adjusting device (7) are arranged on the front and rear sides of the second rotating device (3), and the movement planes of the first length adjusting device (6), the second length adjusting device (7), the second rotating device (3), and the third rotating device (4) are the same plane.

6. An industrial robot comprising an integrated planar multi-bar linkage according to claim 1, characterized in that, The second rotating device (3), the first rotating device (2), and the second length adjusting device (7) are connected through the first integrated rotating hinge (10), and the second rotating device (3), the third rotating device (4), and the first length adjusting device (6) are connected through the second integrated rotating hinge (9).

7. An industrial robot comprising an integrated planar multi-bar linkage according to claim 1, characterized in that, The first length adjusting device (6), the first rotating device (2), and the second rotating device (3) constitute a planar motion chain for adjusting the angle of the second rotating device (3), and the second length adjusting device (7), the second rotating device (3), and the third rotating device (4) constitute a planar motion chain for adjusting the angle of the third rotating device (4).

8. An industrial robot comprising an integrated planar multi-bar linkage according to claim 1, characterized in that, The first length adjusting device (6) and the second length adjusting device (7) are the same in structure, comprising an outer tube (1), a servo motor (12), a servo motor seat (13), a lead screw (14), and an extension rod (16), the servo motor (12) is connected with the servo motor seat (13), the servo motor seat (13) is connected to one end of the outer tube (15), one end of the extension rod (16) is inserted into the other end of the outer tube (15), the servo motor (12) is connected with the lead screw (14), the lead screw is connected with the extension rod (16), and one end of the second extension rod (16) is mounted with a rotating hinge.

9. An industrial robot comprising an integrated planar multi-bar linkage according to claim 1, characterized in that, The first length adjusting device (6) and the second length adjusting device (7) adopt a hydraulic or pneumatic driving structure.

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