CN107471209B

CN107471209B - Industrial robot with telescopic arm length

Info

Publication number: CN107471209B
Application number: CN201710910333.1A
Authority: CN
Inventors: 赵景山; 罗宏图; 国汝君; 吴荣宗
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2020-07-10
Anticipated expiration: 2037-09-29
Also published as: CN107471209A

Abstract

An industrial robot with a telescopic arm length mainly comprises a base, a rotating table, a large arm, a small arm and a tail end output flange. The rotating platform is arranged on the base, and the large arm is arranged on the rotating platform; the small arm is driven by a link mechanism and comprises a shell, a rotating device and a telescopic device. The telescoping device comprises a motor, a transmission mechanism, a guide rod and a telescoping mechanism. The telescopic mechanism comprises a connecting plate, a driving plate and n groups of scissor fork mechanisms arranged along the circumferential direction. The small arm has two independently controllable degrees of freedom of rotation and extension. The main function of the rotational freedom degree is to adjust the posture of the tail end of the robot, so that the robot has flexible posture adaptability; the telescopic freedom degree along the axial direction of the small arm can expand the motion space of the robot through extension or shortening, and the telescopic robot can be more suitable for different working occasions. In addition, by adopting the technical scheme of the invention, the number of robots of different sizes can be reduced, the later maintenance is convenient, and the maintenance cost can be effectively reduced.

Description

Industrial robot with telescopic arm length

Technical Field

The invention relates to an industrial robot with a telescopic arm length, and belongs to the technical field of industrial robots.

Background

The industrial robot has the advantages of high efficiency, good stability, excellent repeated positioning performance, capability of operating in high-risk environment and the like, and has a very wide application scene in the industrial field. At present, the commonly used industrial robots mainly include series robots and parallel robots, and various robots have different application fields. The tandem robot has large motion space, flexible joints, lower repetition precision and heavy joints, and is widely applied to the fields of welding, spraying, carrying and the like; the parallel robot has the advantages of high speed and high precision, but has small movement space, and is mainly used in the fields of assembly, material picking, packaging and the like.

Generally, the rod length of an industrial robot is fixed, and the motion space that can be achieved by the industrial robot is also fixed. For occasions with different working space requirements, different types of robots need to be installed, and the early investment cost is high. Meanwhile, different types of robots are different in maintenance mode, and great inconvenience is brought to production and later maintenance.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides the industrial robot with the telescopic arm length, so that the industrial robot has good strength and rigidity characteristics and can meet the requirement of the robot on motion precision. Meanwhile, the robot has flexible posture adaptability, so that the robot can better adapt to different working occasions.

The technical scheme of the invention is as follows:

an industrial robot with a telescopic arm length comprises a base, a rotating table, a large arm, a small arm and a tail end output flange; the rotating platform is driven by a first motor to rotate around a first joint; one end of the large arm is connected to the rotating platform through a hinge, the other end of the large arm is connected with the small arm through a hinge, and a third motor drives the small arm to swing around a third joint through a first connecting rod and a second connecting rod; the method is characterized in that: the small arm comprises a small arm shell, a rotating device and a telescopic device; the rotating device comprises a fourth motor, a fourth speed reducer, a fourth joint input shaft, a first gear, a second gear, a hollow shaft, a first bearing and a second bearing; the fourth motor is arranged in the small arm shell and drives a first gear through a fourth speed reducer and a fourth joint input shaft, the first gear and a second gear are in inner meshing transmission, and the second gear is fixedly connected with one end of a hollow shaft; meanwhile, the hollow shaft is installed in the small arm shell through a first bearing and a second bearing; the other end of the hollow shaft is fixedly connected with a telescopic device; the telescopic device comprises a fifth motor, a transmission mechanism, a screw rod, a nut, a guide rod and a telescopic mechanism; the telescopic mechanism comprises a connecting plate, a driving plate and n groups of scissor mechanisms which are arranged along the circumferential direction, wherein n is a positive integer greater than or equal to 3; the n groups of scissor mechanisms are respectively connected with the connecting plate and the driving plate through hinges; the fifth motor is arranged in the small arm shell; the screw rod is connected with a fifth motor through a transmission mechanism and drives the nut; the nut is connected with the driving plate through a fourth bearing; one end of the guide rod is fixedly connected with the small arm shell, and the other end of the guide rod penetrates through a sliding hole in the nut; and the tail end output flange is connected with the telescopic device through the tail end shell.

In the above technical solution, the transmission mechanism includes a fifth speed reducer, a third gear, a fourth gear, a fifth joint input shaft, a fifth gear and a sixth gear; the fifth speed reducer drives a third gear, and the third gear and the fourth gear are in external meshing transmission; one end of the fifth joint input shaft is fixedly connected with the fourth gear, and the other end of the fifth joint input shaft is fixedly connected with the fifth gear; the fifth gear and the sixth gear are in external meshing transmission, and the screw rod is fixedly connected with the sixth gear.

Preferably, the n groups of scissors mechanisms are uniformly arranged along the connecting plate and the driving plate.

The invention is also characterized in that: the scissor mechanism is formed by hinging a two-stage V-shaped scissor mechanism and an m-stage X-shaped scissor mechanism, wherein m is an integer larger than or equal to 0. Each stage of the V-shaped scissors mechanism and each stage of the X-shaped scissors mechanism are hinged with a corresponding connecting plate or driving plate. If m is equal to 0, the driving plate is hinged with the second-stage V-shaped scissor mechanism; if m is larger than or equal to 1, the driving plate is hinged with the first-stage X-shaped scissor mechanism.

Compared with the prior art, the invention has the following advantages and prominent technical effects: the telescopic mechanism adopted by the invention consists of n groups of scissor mechanisms, and is connected with 1 driving plate through (m +1) connecting plates. The telescopic mechanism belongs to an over-constrained mechanism, has good strength and rigidity characteristics, is not easy to deform in the motion process, and can meet the motion precision requirement of a robot. Meanwhile, the small arm adopted by the invention has two independently controllable rotating and stretching degrees of freedom. The main function of the rotational freedom degree is to adjust the posture of the tail end of the robot, so that the robot has flexible posture adaptability; the telescopic freedom degree along the axial direction of the small arm can expand the motion space of the robot through extension or shortening, and the telescopic robot can be more suitable for different working occasions. In addition, by adopting the technical scheme of the invention, the number of robots of different sizes can be reduced, the later maintenance is convenient, and the maintenance cost can be effectively reduced.

Drawings

Fig. 1 is a perspective structural view of an industrial robot with a telescopic arm length provided by the invention.

Fig. 2 is a first joint section view of an industrial robot.

Fig. 3 is a second and third sectional view of an industrial robot;

fig. 4 is a fourth, fifth and sixth joint cross-sectional view of an industrial robot with a telescopic arm length according to the present invention;

fig. 5 is a partial sectional view of a forearm housing of an industrial robot with a telescopic arm length according to an embodiment of the invention;

FIG. 6 is a front view of a telescoping mechanism provided by an embodiment of the present invention;

FIG. 7 is a side view of a telescoping mechanism provided by an embodiment of the present invention;

in the figure: 1-a base; 2-rotating table; 3-a first motor; 4-a third motor; 5-a second link; 6-first joint; 7-a first link; 8-a second joint; 9-a second motor; 10-big arm; 11-third joint; 12-forearm; 13-fourth joint; 14-a fourth motor; 15-forearm housing; 16-a fifth motor; 17-a telescopic device; 18-fifth joint; 19-a terminal housing; 20-the sixth joint; 21-terminal output flange; 22-a first reducer; 23-a second reducer; 24-a third reducer; 25-a fourth reducer; 26-a fourth joint input shaft; 27-a first gear; 28-a second gear; 29-a hollow shaft; 30-sixth gear; 31-a second bearing; 32-a third bearing; 33-a rotating device; 34-a guide bar; 35-a feed screw nut; 36-a fourth bearing; 37-a screw rod; 38-fifth gear; 39-a first bearing; 40-a fifth articulation input shaft; 41-fourth gear; 42-a third gear; 43-fifth reducer; 44-a sixth motor; 45-sixth reducer; 46-a sixth joint input shaft; 47-seventh gear; 48-eighth gear; 49-a driver board; 50-a telescoping mechanism; a 51-X type scissor mechanism; a 52-V type scissor mechanism; 53-scissor fork mechanism; 54-connecting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a general view of an industrial robot with a telescopic arm length according to an embodiment of the present invention, which mainly includes a base 1, a rotating table 2, a large arm 10, a small arm 12 and a terminal output flange 21.

In fig. 2, the rotating platform 2 is placed on the base 1 and driven by the first motor 3 to rotate around the base 1;

in fig. 1 or 3, a second motor 9 is mounted on the rotary table 2, the second motor 9 is connected with one end of the large arm 10 through a second speed reducer 23, and the other end of the large arm 10 is connected with one end of the small arm 12 through a hinge; the other end of the small arm 12 is connected to a third speed reducer 24 through a first connecting rod 7 and a second connecting rod 5, and is driven by a third motor 4 to swing around a third joint 11;

in fig. 1, 4 or 5, the arm 12 includes an arm housing 15, a rotation device 33, and a telescoping device 17.

The rotating device 33 comprises a fourth motor 14, a fourth speed reducer 25, a fourth joint input shaft 26, a first gear 27, a second gear 28, a hollow shaft 29, a first bearing 39 and a second bearing 31; the fourth motor 14 is installed in the small arm shell 15, and drives a first gear 27 through a fourth speed reducer 25 and a fourth joint input shaft 26, the first gear 27 and a second gear 28 are in internal meshing transmission, and the second gear 28 is fixedly connected with one end of a hollow shaft 29; meanwhile, the hollow shaft 29 is mounted in the forearm housing 15 through the first bearing 39 and the second bearing 31; the other end of the hollow shaft 29 is fixedly connected with the telescopic device 17;

the telescoping device 17 comprises a fifth motor 16, a transmission mechanism, a screw rod 37, a nut 35, a guide rod 34 and a telescoping mechanism 50. The transmission mechanism comprises a fifth speed reducer 43, a third gear 42, a fourth gear 41, a fifth joint input shaft 40, a fifth gear 38 and a sixth gear 30; the fifth speed reducer 43 drives the third gear 42, and the third gear 42 and the fourth gear 41 are in external meshing transmission; one end of the fifth joint input shaft 40 is fixedly connected with the fourth gear 41, and the other end of the fifth joint input shaft is fixedly connected with the fifth gear 38; the fifth gear 38 and the sixth gear 30 are in external engagement transmission, and the screw rod 37 is fixedly connected with the sixth gear 30.

The fifth motor 16 is installed on the small arm shell 15 and drives a third gear 42 through a fifth speed reducer 43, and the third gear 42 and the fourth gear 41 are in external meshing transmission; one end of the fifth joint input shaft 40 is fixedly connected with the fourth gear 41, and the other end of the fifth joint input shaft is fixedly connected with the fifth gear 38; the fifth gear 38 and the sixth gear 30 are in external meshing transmission, the sixth gear 30 is fixedly connected to one end of the screw rod 37, and the other end of the screw rod 37 drives the nut 35 to move linearly; the nut 35 is mounted on the drive plate 49 through a fourth bearing 36; one end of the guide rod 34 is fixedly connected with the small arm shell 15, and the other end of the guide rod passes through a sliding hole in the nut 35.

The end housing 19 is fixedly mounted to the telescopic means 17 by means of a connecting plate 53; the sixth motor 44 is fixedly installed in the end housing 19, and drives a seventh gear 47 through a sixth speed reducer 45 and a sixth joint input shaft 46, the seventh gear and an eighth gear 48 are in external meshing transmission, and the end output flange 21 is fixedly connected with the eighth gear 48.

Fig. 6 and 7 are a front view and a side view, respectively, of an embodiment of the telescopic mechanism provided by the present invention, wherein the telescopic mechanism 50 comprises a connecting plate 53, a driving plate 49 and n sets of circumferentially arranged scissors mechanisms 54, wherein n is a positive integer greater than or equal to 3;

the n groups of scissors mechanisms 54 are connected with the connecting plate 53 and the driving plate 49 through hinges; preferably, the scissors mechanism 54 is formed by hinging a two-stage V-shaped scissor mechanism 52 and an m-stage X-shaped scissor mechanism 51, wherein m is an integer greater than or equal to 0. Each of the V-shaped scissor mechanism 52 and the X-shaped scissor mechanism 51 is articulated to a corresponding link plate 53 or drive plate 49. If m is equal to 0, the driving plate 49 is hinged with the second-stage V-shaped scissor mechanism 52; if m is greater than or equal to 1, the drive plate 49 is articulated to the first stage X-scissor mechanism 51.

By implementing the technical scheme of the invention, the telescopic mechanism of the robot can be extended or shortened in the direction of the small arm, and the occasions with different motion space requirements can be met. Meanwhile, the telescopic mechanism adopts a plurality of groups of scissor mechanisms, each group of scissor mechanisms is simultaneously extended or shortened, the over-constrained telescopic mechanism has good rigidity characteristic, large-amplitude deflection deformation cannot occur in the moving process of the robot, and the moving precision of the robot is ensured to the maximum extent. By adopting the embodiment of the invention, the advantages of large motion space, simple structure, low cost, simple control and the like of the series robot can be fully exerted, and the invention has wide application prospect and great market value.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An industrial robot with a telescopic arm length comprises a base (1), a rotating table (2), a large arm (10), a small arm (12) and a tail end output flange (21);

the rotating platform (2) is driven by a first motor (3) to rotate around a first joint (6); one end of the large arm (10) is connected to the rotating platform (2) through a hinge, the other end of the large arm is connected with the small arm (12) through a hinge, and the third motor (4) drives the small arm (12) to swing around a third joint (11) through a first connecting rod (7) and a second connecting rod (5);

the method is characterized in that: the small arm (12) comprises a small arm shell (15), a rotating device (33) and a telescopic device (17);

the rotating device (33) comprises a fourth motor (14), a fourth speed reducer (25), a fourth joint input shaft (26), a first gear (27), a second gear (28), a hollow shaft (29), a first bearing (39) and a second bearing (31); the fourth motor (14) is installed in the small arm shell (15), and drives a first gear (27) through a fourth speed reducer (25) and a fourth joint input shaft (26), the first gear (27) and a second gear (28) are in inner meshing transmission, and the second gear (28) is fixedly connected with one end of a hollow shaft (29); meanwhile, the hollow shaft (29) is installed in the small arm shell (15) through a first bearing (39) and a second bearing (31); the other end of the hollow shaft (29) is fixedly connected with a telescopic device (17);

the telescopic device (17) comprises a fifth motor (16), a transmission mechanism, a screw rod (37), a nut (35), a guide rod (34) and a telescopic mechanism (50);

the telescopic mechanism (50) comprises a connecting plate (53), a driving plate (49) and n groups of shearing fork mechanisms (54) which are arranged along the circumferential direction, wherein n is a positive integer which is more than or equal to 3;

the n groups of scissors mechanisms (54) are respectively connected with the connecting plate (53) and the driving plate (49) through hinges;

the fifth motor (16) is arranged in the small arm shell (15); the screw rod (37) is connected with the fifth motor (16) through a transmission mechanism and drives the nut (35); the nut (35) is connected with the driving plate (49) through a fourth bearing (36); one end of the guide rod (34) is fixedly connected with the small arm shell (15), and the other end of the guide rod penetrates through a sliding hole in the nut (35); the tail end output flange (21) is connected with the telescopic device (17) through a tail end shell (19).

2. An industrial robot having a telescopic arm length according to claim 1, wherein: the transmission mechanism comprises a fifth speed reducer (43), a third gear (42), a fourth gear (41), a fifth joint input shaft (40), a fifth gear (38) and a sixth gear (30); the fifth speed reducer (43) drives a third gear (42), and the third gear (42) and the fourth gear (41) are in external meshing transmission; one end of the fifth joint input shaft (40) is fixedly connected with the fourth gear (41), and the other end of the fifth joint input shaft is fixedly connected with the fifth gear (38); the fifth gear (38) and the sixth gear (30) are in external meshing transmission, and the screw rod (37) is fixedly connected with the sixth gear (30).

3. An industrial robot having a telescopic arm length according to claim 1, characterized in that: the n groups of scissor mechanisms (54) are uniformly arranged along the connecting plate (53) and the driving plate (49).

4. An industrial robot having a telescopic arm length according to claim 1, 2 or 3, characterized in that: the scissors mechanism (54) is formed by hinging a two-stage V-shaped scissors mechanism (52) and an m-stage X-shaped scissors mechanism (51), wherein m is an integer which is more than or equal to 0.

5. An industrial robot having a telescopic arm length according to claim 4, characterized in that: each stage of the V-shaped scissors (52) and each stage of the X-shaped scissors (51) are hinged with a corresponding connecting plate (53) or driving plate (49).

6. An industrial robot having a telescopic arm length according to claim 5, characterized in that: if m is equal to 0, the driving plate (49) is hinged with a second-stage V-shaped scissor mechanism (52); if m is greater than or equal to 1, the driving plate (49) is hinged with the first-stage X-shaped scissor mechanism (51).