CN119077712A - A high-rigidity, high-precision, heavy-load robot - Google Patents
A high-rigidity, high-precision, heavy-load robot Download PDFInfo
- Publication number
- CN119077712A CN119077712A CN202411378752.1A CN202411378752A CN119077712A CN 119077712 A CN119077712 A CN 119077712A CN 202411378752 A CN202411378752 A CN 202411378752A CN 119077712 A CN119077712 A CN 119077712A
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- Prior art keywords
- pair
- rigidity
- precision
- heavy
- mechanical arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a high-rigidity high-precision heavy-load robot. The purpose is to provide a high rigidity high accuracy heavy duty robot, and this robot has characteristics such as rigidity height, precision height, bearing capacity are big. The technical scheme is that the high-rigidity high-precision heavy-duty robot is rotatably positioned on a base and driven by a third driving mechanism, and is characterized by further comprising a first mechanism positioned on the base through a first revolute pair, a second mechanism positioned on the first mechanism through a third revolute pair, and a tail end flange plate which can be positioned on the second mechanism through a fourth revolute pair and driven by a joint motor.
Description
Technical Field
The invention relates to a robot, in particular to a high-rigidity high-precision heavy-load robot.
Background
In the field of manufacturing large-scale equipment such as automobiles, ships and airplanes, the application of robots covers a plurality of aspects such as welding, coating, part production and assembly, carrying and material handling. Robots are used to handle heavy components and materials, such as engines, body panels, etc., for example, in automotive production lines. The automatic production line can lighten the labor intensity of workers and improve the automation degree of the production line. Through the integration with equipment such as automatic transfer chain, warehouse system, the automation transport and the storage of material can be realized to the robot, improves production efficiency. In aircraft manufacturing, robots are used to assemble aircraft components, such as wings, fuselage sections, engines, etc., that are capable of performing component positioning and joining operations. The application of the robot not only improves the production efficiency and quality, but also reduces the production cost and risk. With the continuous progress and innovation of the technology, the application prospect of the robot in the fields is wider.
Along with the development trend of large-scale and heavy-duty parts, the manufacturing field has high requirements on rigidity, precision and bearing capacity of the robot. The existing serial robot (CN 219860057U, CN 214446516U) has an integral open-loop structure, so that the rigidity, the precision and the bearing capacity of the existing serial robot are relatively poor, and the application requirements cannot be met. Therefore, it is necessary to provide a high-rigidity high-precision heavy-duty robot.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide the high-rigidity high-precision heavy-load robot which has the characteristics of high rigidity, high precision, large bearing capacity and the like.
The technical scheme provided by the invention is as follows:
The high-rigidity high-precision heavy-load robot is rotatably positioned on a base and driven by a third driving mechanism, and is characterized by further comprising a first mechanism positioned on the base through a first rotating pair, a second mechanism positioned on the first mechanism through a third rotating pair, and a tail end flange plate which can be positioned on the second mechanism through a fourth rotating pair and is driven by a joint motor;
The first mechanism comprises a first mechanism mounting seat which is positioned on the base in a rotatable mode around a vertical axis through a first revolute pair, a first mechanical arm which is positioned on the first mechanism mounting seat in a rotatable mode around a horizontal axis through a second revolute pair, a first movable pair which is horizontally arranged on the first mechanism mounting seat and is connected with a first driving mechanism, and a first connecting rod, wherein one end of the first connecting rod is connected with the first mechanical arm through a fifth revolute pair, and the other end of the first connecting rod is connected with a first sliding block of the first movable pair through a sixth revolute pair;
The second mechanism comprises a second mechanical arm, a second moving pair and a second connecting rod, wherein one end of the second mechanical arm is rotatably positioned on the first mechanical arm through a third revolute pair, the second moving pair is installed on the first mechanical arm and driven by the second driving mechanism, one end of the second connecting rod is connected with the second mechanical arm through a seventh revolute pair, and the other end of the second connecting rod is connected with the second moving pair through an eighth revolute pair.
Two supporting rods are symmetrically fixed on the side walls of the two sides of the middle of the first mechanical arm, the two supporting rods protrude out of the first mechanical arm, the top ends of the two supporting rods are connected with one ends of two first connecting rods through two coaxially arranged fifth revolute pairs, and the other ends of the two first connecting rods are connected with the two sides of the first sliding block through two coaxially arranged sixth revolute pairs respectively.
The rotation axis of the second revolute pair, the rotation axis of the fifth revolute pair and the rotation axis of the sixth revolute pair are mutually parallel and perpendicular to the first sliding rail axis of the first movable pair;
one end of the first mechanical arm in the length direction is connected with the base through the second revolute pair;
the middle parts of the two first connecting rods are connected into a whole through a connecting block.
The first driving mechanism comprises a first motor fixed on a first mechanism mounting seat, a first screw rod with two ends rotatably positioned on the first mechanism mounting seat through brackets respectively, and a first nut connected with the first sliding block and meshed with the first screw rod.
The rotation axis of the third rotation pair, the rotation axis of the seventh rotation pair and the rotation axis of the eighth rotation pair are parallel to the rotation axis of the second rotation pair.
The second sliding rail of the second moving pair is parallel to the length direction of the first mechanical arm.
The second driving mechanism comprises a second motor fixed on the first mechanical arm, a second screw rod with two ends rotatably positioned on the first mechanical arm through brackets respectively, and a second nut connected with a second sliding block of the second moving pair and meshed with the second screw rod.
The first driving mechanism and the second driving mechanism are arranged on the same side of the robot.
The beneficial effects of the invention are as follows:
the high-rigidity high-precision heavy-load robot provided by the invention has the characteristics of high rigidity, high precision, large bearing capacity and the like, and can be applied to a plurality of fields such as automobile manufacturing, logistics storage, energy industry, aerospace and the like.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a first mechanism according to an embodiment of the invention.
Fig. 3 is a schematic perspective view of a second mechanism according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a first driving mechanism according to an embodiment of the invention.
The reference numerals in the figure are a first revolute pair A1, a second revolute pair A2, a third revolute pair A3 and a fourth revolute pair A4, a fifth revolute pair A5, a sixth revolute pair A6, a seventh revolute pair A7 and an eighth revolute pair A8;
Base 1, first mechanism mount 2, first mechanism 3, second mechanism 4, second motor mount 5, fourth motor 6, third shaft coupling 7, end flange 8, bottom plate 11, third motor mount 12, third motor 13, first gear 14, second gear 16, gear connection mount 18, first mechanical arm 31, support bar 31.1, first connecting rod 33, third auxiliary mount 35, first driving mechanism 36, first slider 36.1, first nut 36.2, first lead screw 36.3, first shaft coupling 36.4, first motor mount 36.5, first motor 36.6, first slide rail 36.7, first kinematic pair 36.8, second mechanical arm 41, second connecting rod 43, fourth auxiliary mount 45, second slide rail 46, second lead screw 47, second driving mechanism 48.
Detailed Description
The invention is further illustrated by the following examples, which are shown in the accompanying drawings.
Fig. 1 is a schematic perspective view of a high-rigidity high-precision heavy-duty robot, wherein a base 1 is fixed on the ground, a first mechanism mounting seat 2 is rotatably positioned at the top end of the base around a vertical axis through a first rotating pair A1 (preferably an end face bearing or a guide rail sliding block assembly), the base bears the gravity of the first mechanism mounting seat 2 and each mechanism carried by the first rotating pair, and a third driving mechanism drives the first mechanism mounting seat to rotate.
In the third driving mechanism (see figure 4), two third motor bases 12 are fixedly connected to a bottom plate 11 of an inner cavity of the base, two third motors 13 are installed in the third motor bases one by one, a first gear 14 is connected with a third motor shaft through a key, the two third motors jointly drive a first gear to rotate around the axis of a first rotating pair A1, and as a second gear 16 is coaxially fixed at the bottom end of a gear connecting base 18 and the gear connecting base is fixedly connected to the bottom end of a first mechanism mounting base, the third motors 13 can drive the first mechanism mounting base to rotate when started.
The above structure is similar to the existing robot structure.
The invention is improved in that the first mechanism 3 is connected with the first mechanism mounting seat 2 through a second revolute pair A2 rotating around a horizontal axis and is driven by a first driving mechanism, and the second mechanism 4 is connected with the first mechanism through a third revolute pair A3 rotating around the horizontal axis and is driven by a second driving mechanism.
As shown in fig. 2, the first mechanism includes a first mechanical arm 31, a fifth revolute pair A5, a first link 33, a sixth revolute pair A6, a third auxiliary mount 35, and a first driving mechanism 36, which are sequentially connected.
One end of the first mechanical arm 31 is connected with a first mechanism mounting seat through a second revolute pair A2, the other end of the first mechanical arm is connected with a second mechanical arm in a second mechanism through a third revolute pair A3, two supporting rods 31.1 are symmetrically fixed on two side walls of the middle of the first mechanical arm, the two supporting rods protrude out of one side of the mechanical arm and are respectively connected with one ends of two first connecting rods 33 through two fifth revolute pairs A5 which are coaxially arranged, the other ends of the two first connecting rods are respectively connected with two sides of the first sliding block through two sixth revolute pairs which are coaxially arranged (in the figure, the two sides of the first sliding block are respectively fixed with a third auxiliary mounting seat 35, and two sixth revolute pairs A6 are respectively arranged between the first connecting rods and the third auxiliary mounting seat). The middle parts of the two first connecting rods are also connected into a whole through a connecting block, so that the synchronous movement is ensured, and meanwhile, a space between the two first connecting rods is formed, so that movement interference with the second mechanism is avoided.
The first driving mechanism is arranged on the first mechanism mounting seat and comprises a first sliding block 36.1, a first nut 36.2, a first screw rod 36.3, a first coupler 36.4, a first motor seat 36.5, a first motor 36.6, a first sliding rail 36.7 and a first moving pair 36.8.
The first sliding pair formed by matching the first sliding rail and the first sliding block is horizontally arranged at the upper end of the first mechanism mounting seat, the length direction of the first sliding rail is perpendicular to the second revolute pair A2, the first lead screw 36.3 is rotatably positioned at the upper end of the first mechanism mounting seat through brackets at two ends and is parallel to the first sliding rail (the first lead screw is positioned between the two first sliding rails in the drawing), the first motor is arranged on the first mechanism mounting seat through a first motor seat, a first motor shaft is connected with the first lead screw through a first coupler, a first nut meshed with the first lead screw is fixed on the first sliding block in sliding fit with the first sliding rail, and when the first mechanical arm is driven to move around the axis of the rotation shaft of the second revolute pair through a first connecting rod by the first lead screw, and the first sliding block fixedly connected with the first nut is driven by the first motor.
As shown in fig. 3, the second mechanism includes a second mechanical arm 41, a seventh revolute pair A7, a second link 43, an eighth revolute pair A8, a fourth auxiliary mount 45, and a second driving mechanism 48, which are sequentially connected.
The bottom end of the second mechanical arm 41 is connected with the top end of the first mechanical arm through a third revolute pair A3, the top end of the second mechanical arm is connected with one end of a second connecting rod 43 through a seventh revolute pair A7, the other end of the second connecting rod 43 is connected with a fourth auxiliary mounting seat 45 fixed on a second sliding block through an eighth revolute pair A8, the second sliding block is matched with a second sliding rail 46 to form a second movable pair, the second sliding rail is fixed on the first mechanical arm, and the length direction of the second sliding rail is perpendicular to the third revolute pair.
The structure and connection relation of the second driving mechanism 48 are the same as those of the first driving device, namely, the second screw rod 47 is rotatably positioned on the second mechanical arm through brackets at two ends and is parallel to the second sliding rail, a second motor is installed on the second mechanical arm through a second motor seat and is connected with the second screw rod through a second coupler, a second nut meshed with the second screw rod is also fixed on a second sliding block in sliding fit with the second sliding rail, and when the second driving mechanism works, the second motor drives the second screw rod, the second sliding block fixedly connected with the second nut is driven by the second screw rod, and the second sliding block drives the second mechanical arm to move around the axis of the third revolute pair rotating shaft through a second connecting rod.
In order to reduce the weight, the second connecting rod is hollowed.
The first driving mechanism and the second driving mechanism are arranged on the same side of the first mechanical arm and the second mechanical arm.
The rotation axis of the fifth revolute pair, the rotation axis of the sixth revolute pair and the rotation axis of the second revolute pair in the first mechanism are parallel to each other and are perpendicular to the first sliding rail axis of the first movable pair.
The rotation axis of the third revolute pair, the rotation axis of the seventh revolute pair and the rotation axis of the eighth revolute pair in the second mechanism are parallel to each other and are perpendicular to the second sliding rail axis of the second movable pair.
The rotation axes of the second rotation pair and the third rotation pair are parallel to each other and horizontally arranged, and are perpendicular to the rotation axis of the first rotation pair. The rotation axis of the fourth revolute pair is perpendicular to the rotation axis of the third revolute pair. The rotation axis of the first rotation pair is arranged vertically.
In addition, the second motor base 5 is installed on the second mechanism, the fourth motor 6 (namely, the joint motor) is installed in the inner cavity of the second motor base, the fourth motor shaft extends out of the inner cavity of the second motor base and is connected with the tail end flange 8 through the third coupler 7, and the tail end flange can be driven to rotate after the fourth motor is started (the fourth motor is also a fourth revolute pair at the same time, and the axis of the fourth motor is the rotation axis of the fourth revolute pair). Obviously, the joint motor driving structure is of a conventional structure.
The high-rigidity high-precision heavy-load robot has four groups of drives. In the first driving mechanism, a first motor drives a first sliding block fixedly connected with a first nut to move through a first screw rod, the first sliding block drives a first mechanical arm to move around the rotation axis of a second revolute pair through a first connecting rod, in the second driving mechanism, a second motor drives a second sliding block fixedly connected with a second nut to move through a second screw rod, and the second sliding block drives a second mechanical arm to move around the rotation axis of a third revolute pair through a second connecting rod. In the third driving mechanism, the third motor drives the first mechanism mounting seat to rotate around the rotation axis of the first rotating pair through the gear set, and the tail end flange plate is driven by the joint motor to realize movement around the rotation axis of the fourth rotating pair.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411378752.1A CN119077712A (en) | 2024-09-30 | 2024-09-30 | A high-rigidity, high-precision, heavy-load robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411378752.1A CN119077712A (en) | 2024-09-30 | 2024-09-30 | A high-rigidity, high-precision, heavy-load robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119077712A true CN119077712A (en) | 2024-12-06 |
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ID=93701999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411378752.1A Pending CN119077712A (en) | 2024-09-30 | 2024-09-30 | A high-rigidity, high-precision, heavy-load robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119077712A (en) |
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2024
- 2024-09-30 CN CN202411378752.1A patent/CN119077712A/en active Pending
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