CN219685672U

CN219685672U - Large-arm heavy load spreading industrial robot with hardware safety detection function

Info

Publication number: CN219685672U
Application number: CN202321170522.7U
Authority: CN
Inventors: 王方乾; 王宇; 王方印; 李蓓蓓; 张钦民; 郭溢; 李亚楠
Original assignee: Shandong Weichuang Intelligent Technology Co ltd
Current assignee: Shandong Weichuang Intelligent Technology Co ltd
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2023-09-15
Anticipated expiration: 2033-05-12

Abstract

The utility model relates to the technical field of automatic equipment, in particular to a large-arm heavy load unfolding industrial robot with hardware safety detection, which comprises a base, wherein a speed reducer is connected inside the base, the upper part of the base is connected with a fixed plate, the fixed plate is connected with a crossed roller slewing bearing, the outer ring of the crossed roller slewing bearing is fixedly connected with the fixed plate, the upper part of the fixed plate is provided with a connecting flange, the upper part of the connecting flange is provided with a first motor, the first motor passes through the connecting flange to be connected with the speed reducer, the connecting flange is fixedly connected with the inner ring of the crossed roller slewing bearing, the output end of the speed reducer is connected with the connecting flange and can drive the connecting flange to rotate, and the upper part of the connecting flange is provided with a mechanical arm and other structures. The utility model can bear larger load and moment under the condition of meeting the precision. Under equal load, a larger arm span can be achieved. With equal arm deployment, a greater load can be achieved.

Description

Large-arm heavy load spreading industrial robot with hardware safety detection function

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a large-arm heavy load spreading industrial robot with hardware safety detection.

Background

The existing heavy-load industrial robots with various structures on the market are characterized in that a first rotating shaft directly adopts RV-C hollow series planetary reducers, the planetary reducers are mainly applied to conventional small arm spreading and light and medium load occasions, but in large arm spreading and super-large load application occasions, the reducers of the first shaft are subjected to rotating torque and larger overturning moment, and the borne overturning moment is taken as the most important type selection factor in the type selection design of the reducers, and the overturning moment is generally adapted to the larger-specification reducers.

The RV reducer is used as a precision component, the internal support bearing of the RV reducer is a bearing with a ball structure, the maximum benefit can meet the precision, but the load is greatly limited, and if the internal stress is too complex to generate large deformation, the precision and the reliability of the RV reducer cannot be ensured; meanwhile, as a product which is close to standardization, the RV reducer is limited in existing specification, and particularly large-specification series are very expensive. Therefore, most of the existing industrial robots cannot meet the requirement of large arm exhibition under the condition of meeting heavy load; in the case of satisfying the arm span, a large load cannot be satisfied.

In addition, the long-term work of industrial robot can lead to the fatigue damage phenomenon of the mechanical arm because of many reasons such as material, technology, quality control, etc., in the existing robot fault detection, the state of the mechanical arm can not be well detected in real time, and then can not be well controlled when the fault occurs, especially in high-speed heavy-load occasions, and then serious safety accidents are caused.

Disclosure of Invention

In view of the technical problems described above, the present utility model provides a large-arm heavy-load industrial robot with hardware safety detection, which can bear larger load and moment under the condition of meeting the precision. Under equal load, larger arm expansion can be achieved; with equal arm deployment, a greater load can be achieved. In addition, the utility model can monitor the state of the mechanical movement hardware in real time, and can safely control the current mechanical arm once the hardware fails.

In order to solve the technical problems, the utility model provides the following technical scheme:

the utility model provides a big arm exhibition heavy load industrial robot with hardware safety inspection, the on-line screen storage device comprises a base, base internal connection has the speed reducer, the fixed plate is connected on base upper portion, the fixed plate is connected with crossed roller slewing bearing, crossed roller slewing bearing outer lane and fixed plate fixed connection, fixed plate upper portion is equipped with flange, flange upper portion sets up first motor, first motor passes flange and is connected with the speed reducer, flange and crossed roller slewing bearing inner circle fixed connection, speed reducer output and flange connection, and can drive flange rotation, flange upper portion sets up structures such as arm.

The structure forms a first shaft structure of the industrial robot, in the structure, the crossed roller slewing bearing is arranged at the periphery of the speed reducer and has a larger area of supporting surface, and meanwhile, the inner supporting bearing is a bearing with a roller structure, so that the structure has the greatest benefit of bearing larger load and moment under the condition of meeting the precision. Under equal load, a larger arm span can be achieved. With equal arm deployment, a greater load can be achieved. Under the condition of equal load and equal arm extension, a speed reducer and a servo motor with smaller specification can be used, so that the cost is greatly reduced.

The connecting flange is fixedly connected with a first rotary shaft detected part, the first detection switch is fixedly connected to the fixed plate, if the internal rotary structure of the first rotary shaft is damaged or fails in hardware, the first rotary shaft cannot be controlled under the rotation inertia, and the normal working range of the first rotary shaft cannot be exceeded, and the first rotary shaft detected part is detected by the first detection switch. Through the program that sets up, let industrial robot shut down fast, reach the effect of software protection.

The lower surface of the connecting flange is connected with a movable limiting device, and the fixed plate is connected with a fixed limiting block. Due to the rotation inertia, the rotation part can not be stopped rapidly by the software protection measure, and at the moment, the movable limiting device can touch the fixed limiting block, so that the aim of stopping rapidly is fulfilled. The state of the first shaft hardware can be monitored in real time through double protection measures on software and hardware, and once a fault on the hardware occurs, double safety control can be carried out on the current mechanical arm.

The upper part of the connecting flange is respectively provided with a second power mechanism and a third power mechanism, the second power mechanism is connected with a second transmission mechanism, the third power mechanism is connected with a third transmission mechanism, the second transmission mechanism and the third transmission mechanism are respectively connected with a mechanical arm, the mechanical arm is connected with a wrist seat through a flange, a fourth power mechanism is arranged on the wrist seat, the fourth power mechanism is connected with a tail end clamp connecting flange through a speed reducing mechanism, the second power mechanism and the second transmission mechanism drive the wrist seat to horizontally move through the mechanical arm, and the third power mechanism and the third transmission mechanism drive the wrist seat to vertically move through the mechanical arm. The mechanisms are matched to work to form the four-axis industrial robot.

Specifically, the second power mechanism transmits power to the horizontal ball screw, the horizontal movement part comprises a horizontal screw nut and a horizontal linear sliding block, the horizontal ball screw is matched with the horizontal screw nut and can drive the horizontal linear sliding block to horizontally move along the horizontal rail, a second horizontal movement shaft detected part is arranged on the horizontal movement part, and two sets of second detection switches are respectively arranged at two ends of the horizontal sliding rail. If the second horizontal moving shaft transmission system is damaged or fails in hardware, the second horizontal moving shaft system cannot be controlled under the action of motion inertia and exceeds the normal working range, and at the moment, the second horizontal moving shaft is detected by the detection piece through the second detection switch. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The horizontal anti-collision limiting block is arranged on the horizontal linear sliding block, and two ends of the horizontal sliding rail are respectively provided with a horizontal fixing limiting seat. Because of the motion inertia, the turning part can not be stopped rapidly by the software protection measure, and the horizontal anti-collision limiting block can touch the horizontal fixed limiting seat at the moment, so that the aim of stopping rapidly is fulfilled. The state of the second shaft hardware can be monitored in real time through double protection measures on software and hardware, and once the hardware faults occur, double safety control can be carried out on the current mechanical arm.

The third power mechanism transmits power to the vertical ball screw, the vertical moving part comprises a vertical screw nut and a vertical linear sliding block, the vertical ball screw is matched with the vertical screw nut and can drive the vertical linear sliding block to vertically move along a vertical sliding rail, a third vertical moving shaft detected part is arranged on the vertical moving part, and two sets of third detecting switches are respectively arranged at two ends of the vertical sliding rail. If the third vertical moving shaft transmission system is damaged or fails in hardware, the third vertical moving shaft cannot be controlled under the action of motion inertia and exceeds the normal working range, and at the moment, the third vertical moving shaft is detected by the third detection switch through the detection piece. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The vertical anti-collision limiting block is arranged on the vertical linear sliding block, and two ends of the vertical sliding rail are respectively provided with a vertical fixed limiting seat. Because of the motion inertia, the turning part can not be stopped rapidly by the software protection measure, and the vertical anti-collision limiting block can touch the vertical fixed limiting seat at the moment, so that the aim of stopping rapidly is fulfilled. The state of the third shaft hardware can be monitored in real time through double protection measures on software and hardware, and once the hardware fails, double safety control can be carried out on the current mechanical arm.

And the wrist seat is provided with an inclination sensor. If any part of the fourth shaft fails or has position change, the fourth shaft inclination sensor is triggered. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The first motor, the second power mechanism, the third power mechanism and the fourth power mechanism are all servo motors, and the speed reducing mechanism corresponding to the fourth power mechanism is an RV-E series precise speed reducer.

The RV-C hollow series speed reducer is selected as the speed reducer, and the RV-C speed reducer with the structure only receives the rotation moment, so that the deformation of parts can be reduced, the mechanical abrasion is lightened, the rotation precision is greatly improved, the failure rate is reduced, and the service life is prolonged.

The beneficial effects achieved by the utility model are as follows:

1. the utility model adopts a structure that the speed reducer is matched with the crossed roller slewing bearing, thereby fundamentally solving the problems in the prior art. The crossed roller slewing bearing is arranged on the periphery of the speed reducer and has a larger supporting surface, and meanwhile, the inner supporting bearing is of a roller structure, so that the crossed roller slewing bearing has the greatest benefit of bearing larger load and moment under the condition of meeting the precision. Under equal load, a larger arm span can be achieved. With equal arm deployment, a greater load can be achieved. Under the condition of equal load and equal arm extension, a speed reducer and a servo motor with smaller specification can be used, so that the cost is greatly reduced.

2. According to the utility model, by arranging different types of sensors at the proper positions of the shafts, the state of mechanical movement hardware can be monitored in real time, and once the hardware fails, the current mechanical arm can be safely controlled.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

fig. 1 is a schematic perspective view (first view angle) of the present utility model;

fig. 2 is a schematic perspective view (second view angle) of the present utility model;

FIG. 3 is a front view of the present utility model;

FIG. 4 is a schematic view of the base and first shaft power system configuration of the present utility model;

fig. 5 is a cross-sectional view of fig. 4.

In the figure: 1. a base; 2. a connecting flange; 3. a first motor; 4. a second detection switch; 5. a horizontal anti-collision limiting block; 6. a second horizontal movement axis detected member; 7. a horizontal linear slide; 8. a front support arm; 9. a rear arm; 10. a horizontal ball screw; 11. a support arm; 12. a fourth power mechanism; 13. a wrist seat; 14. a terminal clamp connection flange; 15. an inclination sensor; 16. fixing a limiting block; 17. a horizontal fixed limit seat; 18. a first detection switch; 19. a vertical ball screw; 20. a third power mechanism; 21. a vertical linear slide; 22. a third vertical movement axis detected member; 23. a vertical anti-collision limiting block; 24. a limiting seat is vertically fixed; 25. a third detection switch; 26. the first rotary shaft is detected; 27. a second power mechanism; 28. a movable limiting device; 29. a connecting seat; 30. a fixing plate; 31. RV hollow series speed reducer shell; 32. RV hollow series speed reducer shell; 33. the crossed roller slewing bearing inner ring; 34. the crossed roller slewing bearing outer ring; 35. RV hollow series speed reducer driven gear; 36. a first motor drive gear; 37. front and rear arm connecting seats; 38. a pull-down rod; 39. a pull rod; 40. a triangle arm; 41. wrist support.

Detailed Description

The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.

Embodiment one:

as shown in fig. 1, 2 and 5, the large-arm heavy load spreading industrial robot with hardware safety detection comprises a base 1, wherein a speed reducer is connected inside the base 1, the speed reducer is an RV-C hollow series speed reducer, and an RV hollow series speed reducer shell 32 is arranged on an installation seat in the base 1. The fixed plate 30 is connected to the base 1 upper portion, the fixed plate 30 is connected with the crossed roller slewing bearing, crossed roller slewing bearing outer lane 34 and fixed plate 30 fixed connection, fixed plate 30 upper portion is equipped with flange 2, flange 2 upper portion passes through connecting seat 29 and connects first motor 3, first motor 3 passes flange 2 and through first motor driving gear 36 and RV cavity series speed reducer driven gear 35 meshing, flange 2 and crossed roller slewing bearing inner lane 33 fixed connection, RV cavity series speed reducer shell 31 is connected with flange 2, and can drive flange 2 rotation. According to the motion principle of the RV hollow series speed reducer, the RV hollow series speed reducer shell 32 is fixed, when the first motor 3 rotates, the connecting flange 2 at the upper part of the RV hollow series speed reducer shell 31 can independently rotate, and meanwhile, the crossed roller slewing bearing inner ring 33 also rotates along with the rotation. The above is the structure and principle of the first shaft revolution.

As shown in fig. 1 to 5, the detected member 26 of the first rotating shaft is fixedly connected to the connecting flange 2, the first detecting switch 18 is fixedly connected to the fixing plate 30, if the rotating structure inside the first rotating shaft is damaged or failed in hardware, the first rotating shaft cannot be controlled under the rotation inertia, and the normal working range of the first rotating shaft may be exceeded, and at this time, the detected member 26 of the first rotating shaft is detected by the first detecting switch 18. Through the program that sets up, let industrial robot shut down fast, reach the effect of software protection.

The lower surface of the connecting flange 2 is connected with a movable limiting device 28, and the fixed plate is connected with a fixed limiting block 16. Because of the rotation inertia, if the rotation part can not be stopped rapidly by the software protection measure, the movable limiting device can touch the fixed limiting block 16 at the moment, so that the aim of stopping rapidly is fulfilled. The state of the first shaft hardware can be monitored in real time through double protection measures on software and hardware, and once a fault on the hardware occurs, double safety control can be carried out on the current mechanical arm.

The upper part of the connecting flange 2 is respectively provided with a second power mechanism 27 and a third power mechanism 20, the second power mechanism 27 is connected with a second transmission mechanism, the third power mechanism 20 is connected with a third transmission mechanism, the second transmission mechanism and the third transmission mechanism are respectively connected with a mechanical arm, the second transmission mechanism is specifically rotationally connected with a front support arm 8, the third transmission mechanism is rotationally connected with a rear arm 9, a front arm connecting seat 37 and a rear arm connecting seat 37 are arranged between the front support arm 8 and the rear arm 9, the front arm connecting seat 37 is respectively hinged with the front support arm 8 and the rear arm 9, and the front support arm 8 and the rear arm 9 are respectively hinged with a support arm 11. The support arm 11 is hinged with a wrist seat 13, a fourth power mechanism 12 is arranged on the wrist seat 13, the fourth power mechanism 12 is connected with a tail end clamp connecting flange 14 through a speed reducing mechanism, and the tail end clamp connecting flange 14 is used for connecting a grabbing clamp. In addition, the mechanical arm is also provided with a movement structure composed of a lower pull rod 38, an upper pull rod 39, a triangular arm 40, a wrist support 41 and the like, and the axis of the wrist seat 13 is always kept in a vertical relationship with the horizontal plane in the movement process by matching with the mechanical arm. The mechanical arm, the pull rod and other structures belong to the structures in the prior art.

In the above structure, the second power mechanism 27 and the second transmission mechanism drive the wrist seat 13 to move horizontally through a series of mechanical arms, the third power mechanism 20 and the third transmission mechanism drive the wrist seat 13 to move vertically through a series of mechanical arms, and the fourth power mechanism 12 drives the end clamp connecting flange 14 to move rotationally through a speed reducing mechanism. The four-axis industrial robot is formed by matching a first motor 3, a first shaft power system such as RV hollow series speed reducer and the like.

The second power mechanism 27 selects a servo motor, the second power mechanism 27 transmits power to the horizontal ball screw 10 through a synchronous belt, the horizontal moving part comprises a horizontal screw nut and a horizontal linear slide block 7, the horizontal ball screw 10 is matched with the horizontal screw nut and can drive the horizontal linear slide block 7 to do horizontal movement along a horizontal rail, the second horizontal moving shaft detected piece 6 is arranged on the horizontal linear slide block 7, two sets of second detection switches 4 are distributed at two ends of the horizontal linear slide block 7 and are arranged on the horizontal sliding rail. If the second horizontal movement axis transmission system is damaged or fails in hardware, the second horizontal movement axis system cannot be controlled under the motion inertia and exceeds the normal working range, and at this time, the second horizontal movement axis is detected by the detecting member 6 by the second detecting switch 7. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The two ends of the horizontal linear slide block 7 are respectively provided with a horizontal anti-collision limiting block 5, and two ends of the horizontal slide rail are respectively provided with a horizontal fixed limiting seat 17. Because of the motion inertia, the turning part can not be stopped rapidly by the software protection measures, and the horizontal anti-collision limiting block 5 can touch the horizontal fixed limiting seat 17 at the moment, so that the aim of stopping rapidly is fulfilled. The state of the second shaft hardware can be monitored in real time through double protection measures on software and hardware, and once the hardware faults occur, double safety control can be carried out on the current mechanical arm.

The third power mechanism 20 selects a servo motor, the third power mechanism 20 transmits power to the vertical ball screw 19 through a synchronous belt, the vertical moving part comprises a vertical screw nut and a vertical linear slide block 21, the vertical ball screw 19 is matched with the vertical screw nut and can drive the vertical linear slide block 21 to vertically move along a vertical sliding rail, a third vertical moving shaft detected piece 22 is arranged on the vertical linear slide block 21, and two sets of third detecting switches 25 are respectively arranged at two ends of the vertical linear slide block and are arranged on the vertical sliding rail. If the third vertical movement axis transmission system is damaged or fails in hardware, the third vertical movement axis cannot be controlled under the motion inertia, and the third vertical movement axis is beyond the normal working range, and the third vertical movement axis is detected by the detecting member 22 and the third detecting switch 25. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The two ends of the vertical linear slide block 21 are respectively provided with a vertical anti-collision limiting block 23, and the two ends of the vertical slide rail are respectively provided with a vertical fixed limiting seat 24. Because of the motion inertia, the turning part can not be stopped rapidly by the software protection measures, and at the moment, the vertical anti-collision limiting block 23 can touch the vertical fixed limiting seat 24, so that the aim of stopping rapidly is fulfilled. The state of the third shaft hardware can be monitored in real time through double protection measures on software and hardware, and once the hardware fails, double safety control can be carried out on the current mechanical arm.

The wrist seat 13 is provided with an inclination sensor 15. If any of the fourth axis parts fails or changes in position, the fourth axis tilt sensor 15 is triggered. Through the program that sets up, let industrial robot shut down fast, reach soft protection's effect.

The first motor 3, the second power mechanism 27, the third power mechanism 20 and the fourth power mechanism 12 are all servo motors, and the speed reducing mechanism corresponding to the fourth power mechanism 12 is an RV-E series precise speed reducer.

The first motor 3, the second power mechanism 27, the third power mechanism 20, the fourth power mechanism 12, the first detection switch 18, the second detection switch 4, the third detection switch 25, the inclination sensor 15, etc. are all electrically connected with the control system.

Claims

1. The utility model provides a big arm exhibition heavy load industrial robot with hardware safety inspection, including base (1), a serial communication port, base (1) internally connected with the speed reducer, fixed plate (30) are connected to base (1) upper portion, fixed plate (30) are connected with cross roller slewing bearing, cross roller slewing bearing outer lane (34) and fixed plate (30) fixed connection, fixed plate (30) upper portion is equipped with flange (2), flange (2) upper portion sets up first motor (3), flange (2) are passed to first motor (3) are connected with the speed reducer, flange (2) are connected with cross roller slewing bearing inner circle (33) fixed connection, the speed reducer output is connected with flange (2), and can drive flange (2) rotation.

2. The large-arm heavy-load spreading industrial robot with hardware safety detection according to claim 1, wherein a first rotary shaft detected piece (26) is fixedly connected to the connecting flange (2), the first detection switch (18) is fixedly connected to the fixed plate (30), a movable limiting device (28) is connected to the lower surface of the connecting flange (2), and a fixed limiting block (16) is connected to the fixed plate (30).

3. The large-arm heavy-load spreading industrial robot with hardware safety detection according to claim 1 or 2, wherein the upper part of the connecting flange (2) is respectively provided with a second power mechanism (27) and a third power mechanism (20), the second power mechanism (27) is connected with a second transmission mechanism, the third power mechanism (20) is connected with a third transmission mechanism, the second transmission mechanism and the third transmission mechanism are respectively connected with a mechanical arm, the mechanical arm is connected with a wrist seat (13) through a flange, a fourth power mechanism (12) is arranged on the wrist seat (13), the fourth power mechanism (12) is connected with a tail end clamp connecting flange (14) through a speed reducing mechanism, the second power mechanism (27) and the second transmission mechanism drive the wrist seat (13) to horizontally move through the mechanical arm, and the third power mechanism (20) and the third transmission mechanism drive the wrist seat (13) to vertically move through the mechanical arm.

4. The large-arm heavy load spreading industrial robot with hardware safety detection according to claim 3, wherein the second power mechanism (27) transmits power to the horizontal ball screw (10), the horizontal moving part comprises a horizontal screw nut and a horizontal linear sliding block (7), the horizontal ball screw (10) is matched with the horizontal screw nut to drive the horizontal linear sliding block (7) to horizontally move along the horizontal rail, the horizontal moving part is provided with a second horizontal moving shaft detected piece (6), and two sets of second detection switches (4) are respectively arranged at two ends of the horizontal rail.

5. The large-arm heavy load spreading industrial robot with hardware safety detection according to claim 4, wherein a horizontal anti-collision limiting block (5) is installed on the horizontal linear sliding block (7), and two ends of the horizontal sliding rail are respectively provided with a horizontal fixed limiting seat (17).

6. The large-arm heavy load spreading industrial robot with hardware safety detection according to claim 3, wherein the third power mechanism (20) transmits power to the vertical ball screw (19), the vertical moving part comprises a vertical screw nut and a vertical linear sliding block (21), the vertical ball screw (19) is matched with the vertical screw nut and can drive the vertical linear sliding block (21) to vertically move along a vertical sliding rail, a third vertical moving shaft detected piece (22) is mounted on the vertical moving part, and two sets of third detection switches (25) are respectively arranged at two ends of the vertical sliding rail.

7. The large-arm heavy load spreading industrial robot with hardware safety detection according to claim 6, wherein a vertical anti-collision limiting block (23) is installed on the vertical linear sliding block (21), and two ends of the vertical sliding rail are respectively provided with a vertical fixed limiting seat (24).

8. A large arm spanned heavy duty industrial robot with hardware safety detection according to claim 3, characterized in that the wrist mount (13) is mounted with a tilt sensor (15).

9. The large-arm heavy load spreading industrial robot with hardware safety detection according to claim 3, wherein the first motor (3), the second power mechanism (27), the third power mechanism (20) and the fourth power mechanism (12) are all servo motors, and the speed reducing mechanism corresponding to the fourth power mechanism (12) is an RV-E series precise speed reducer.

10. The large-arm heavy-load-spreading industrial robot with hardware safety detection according to claim 1 or 2, wherein the speed reducer is an RV-C hollow series speed reducer.