CN111469164B - Horizontal multi-joint robot - Google Patents
Horizontal multi-joint robot Download PDFInfo
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- CN111469164B CN111469164B CN202010303237.2A CN202010303237A CN111469164B CN 111469164 B CN111469164 B CN 111469164B CN 202010303237 A CN202010303237 A CN 202010303237A CN 111469164 B CN111469164 B CN 111469164B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 209
- 230000001360 synchronised effect Effects 0.000 claims description 60
- 230000009467 reduction Effects 0.000 claims description 48
- 238000001514 detection method Methods 0.000 claims description 45
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000003466 welding Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明涉及机器人设备的技术领域，提供了一种水平多关节机器人，其包括中间臂体和末端臂体；中间臂体包括承载座、关节传动轴、轴驱动电机、法兰座传动轴、法兰座驱动电机，以及能够使法兰座传动轴转动的第一传动组件；末端臂体包括与关节传动轴连接固定的末端臂座、用以连接外部执行器的安装法兰座，以及能够在法兰座传动轴转动时使安装法兰座转动的第二传动组件；法兰座传动轴设置在关节传动轴的内部，且与关节传动轴同轴设置并可相对关节传动轴转动；法兰座传动轴的两端分别与第一传动组件和第二传动组件连接。与现有技术对比，通过采用将轴驱动电机及法兰座驱动电机前移至中间臂体上，从而降低末端臂体的重量，提升末端负载能力。
The present invention relates to the technical field of robot equipment, and provides a horizontal multi-joint robot, which includes an intermediate arm body and a terminal arm body; the intermediate arm body includes a bearing seat, a joint transmission shaft, an axis drive motor, a flange seat transmission shaft, a flange seat drive motor, and a first transmission assembly capable of rotating the flange seat transmission shaft; the terminal arm body includes an end arm seat connected and fixed to the joint transmission shaft, a mounting flange seat for connecting an external actuator, and a second transmission assembly capable of rotating the mounting flange seat when the flange seat transmission shaft rotates; the flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft; the two ends of the flange seat transmission shaft are respectively connected to the first transmission assembly and the second transmission assembly. Compared with the prior art, by moving the axis drive motor and the flange seat drive motor forward to the intermediate arm body, the weight of the terminal arm body is reduced and the terminal load capacity is improved.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a horizontal multi-joint robot.
Background
The horizontal joint robot arm is widely applied at present, plays a very important role in environments such as carrying, processing and assembling, and is widely applied in the education industry, and has the characteristics of flexible action, compact structure, small space requirement, high repeated positioning precision and the like, and can accurately and quickly reach a point of space. Compared with a multi-axis industrial robot, the horizontal joint four-axis robot has the advantages of small volume, flexible action, low overall cost and the like, meanwhile, the mechanical arm with various functions and small structure can be independently applied to an automatic assembly line, can be directly integrated into various middle-high-end automatic equipment, and is inevitably used in a large amount in future industrial assembly lines. The research on the horizontal joint four-axis robot is also very necessary, and the main brands of the horizontal joint multi-axis robot at home and abroad are all foreign brands such as enterprises including epson, yamaha, kuka and the like at present.
At present, the existing horizontal joint four-axis robot in the market mainly comprises an up-down motion device, a fixing seat device and two arm bodies, wherein the two arm bodies are a first arm body and a second arm body respectively, the fixing seat device, the first arm body and the second arm body are sequentially connected, and the second arm body is used for connecting an external actuator, so that different actions of the four-axis robot in space are realized, however, a rotary driving control device of the second arm body and a control device of the external actuator are generally installed in the second arm body, so that the tail end load of the robot is overlarge, in addition, the volume of the second arm body is too large, the space occupation is large, larger avoidance space is also needed in the working range, and the robot is not suitable for working in application occasions with narrow space.
Disclosure of Invention
One of the purposes of the invention is to provide a horizontal multi-joint robot, which solves the technical problems that the end structure in the prior art is large in size, heavy in load and not suitable for working in application occasions with narrow space.
In order to achieve the aim, the invention provides the technical scheme that the horizontal multi-joint robot comprises a middle arm body and a tail end arm body;
The middle arm body comprises a bearing seat, a joint transmission shaft rotatably supported on the bearing seat, a shaft driving motor capable of driving the joint transmission shaft to rotate, a flange seat transmission shaft, a flange seat driving motor and a first transmission assembly capable of enabling the flange seat transmission shaft to rotate when an output shaft of the flange seat driving motor rotates;
The tail end arm body comprises a tail end arm seat which is fixedly connected with the joint transmission shaft, a mounting flange seat which is rotatably supported on the tail end arm seat and used for being connected with an external actuator, and a second transmission assembly which can enable the mounting flange seat to rotate when the flange seat transmission shaft rotates;
The flange seat transmission shaft is arranged in the joint transmission shaft, is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft, two ends of the flange seat transmission shaft extend out of the end part of the joint transmission shaft respectively, one end of the flange seat transmission shaft is connected with the first transmission assembly, and the other end of the flange seat transmission shaft is connected with the second transmission assembly.
The horizontal multi-joint robot has the advantages that the horizontal multi-joint robot comprises a middle arm body and a tail end arm body, the middle arm body comprises a bearing seat, a joint transmission shaft, a shaft driving motor, a flange seat transmission shaft, a flange seat driving motor and a first transmission assembly capable of enabling the flange seat transmission shaft to rotate when an output shaft of the flange seat driving motor rotates, the tail end arm body comprises a tail end arm seat fixedly connected with the joint transmission shaft, a mounting flange seat and a second transmission assembly capable of enabling the mounting flange seat to rotate when the flange seat transmission shaft rotates, the flange seat transmission shaft is arranged inside the joint transmission shaft and is coaxial with the joint transmission shaft and can rotate relative to the joint transmission shaft, and therefore the flange seat transmission shaft is capable of driving the shaft driving motor capable of driving the tail end arm body to rotate and the flange seat driving motor capable of driving an external actuator to move forwards to the middle arm body, the size of the tail end arm body is reduced, the weight of the tail end arm body is reduced, the tail end load capacity is improved, and the horizontal multi-joint robot is suitable for narrow occasions and further suitable for operation in more occasions.
In one embodiment, the first transmission assembly comprises a first driving synchronous wheel, a first driven synchronous wheel and a first synchronous belt, wherein the first synchronous belt is wrapped between the first driving synchronous wheel and the first driven synchronous wheel;
The second transmission assembly comprises a second driven synchronous wheel and a second synchronous belt, and the second driven synchronous wheel is arranged on the mounting flange seat and can rotate together with the mounting flange seat;
the flange seat transmission shaft is provided with a second driving synchronous wheel which can coaxially rotate with the flange seat transmission shaft and is positioned outside the middle arm body, and the second synchronous belt is wrapped between the second driving synchronous wheel and the second driven synchronous wheel.
In one embodiment, an output shaft position detection assembly is disposed in the bearing seat and is capable of detecting the rotation position of the output shaft of the flange seat driving motor.
In one embodiment, the output shaft position detection assembly comprises an output shaft detection code disc and an output shaft photoelectric detection device, wherein the output shaft detection code disc is fixed with the output shaft of the flange seat driving motor, and the output shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the output shaft detection code disc.
In one embodiment, a first control board and a second control board are arranged in the bearing seat, the first control board is electrically connected with the shaft driving motor, and the second control board is electrically connected with the flange seat driving motor.
In one embodiment, the terminal arm base is provided with an interface board and a third control board for connecting with an external actuator, and the third control board is electrically connected with the interface board.
In one embodiment, a reduction mechanism is disposed in the bearing seat, and the reduction mechanism includes:
A reduction transmission shaft;
A first-stage reduction assembly connected between the reduction drive shaft and the shaft drive motor and capable of rotating the reduction drive shaft when the motor shaft of the shaft drive motor rotates, and
The secondary speed reduction assembly is connected between the speed reduction transmission shaft and the joint transmission shaft and can enable the joint transmission shaft to rotate when the speed reduction transmission shaft rotates.
In one embodiment, the primary speed reduction assembly comprises a primary driving synchronous wheel, a primary driven synchronous wheel and a primary synchronous belt wrapped between the primary driving synchronous wheel and the primary driven synchronous wheel, wherein the primary driving synchronous wheel is arranged on a motor rotating shaft of the shaft driving motor and can rotate together with the motor rotating shaft;
The secondary speed reduction assembly comprises a secondary driving synchronous wheel, a secondary driven synchronous wheel and a secondary synchronous belt which is wrapped between the two synchronous wheels, and the secondary driven synchronous wheel is arranged on the joint transmission shaft and can rotate together with the joint transmission shaft;
the primary driven synchronizing wheel and the secondary driving synchronizing wheel are respectively arranged on the speed reduction transmission shaft and can coaxially rotate.
In one embodiment, a motor shaft position detection assembly is arranged in the bearing seat and can detect the rotation position of the motor rotating shaft, the motor shaft position detection assembly comprises a motor shaft detection code disc and a motor shaft photoelectric detection device, the motor shaft detection code disc is fixed on the motor rotating shaft, and the motor shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the motor shaft detection code disc.
In one embodiment, the horizontal multi-joint robot further comprises an up-and-down movement device and a fixed seat device, wherein the fixed seat device can support the up-and-down movement device in a lifting manner, the up-and-down movement device comprises a lifting driving mechanism capable of driving the fixed seat device to move up and down relative to the up-and-down movement device, the middle arm body is rotatably supported on the fixed seat device, and the fixed seat device comprises a rotating mechanism capable of driving the middle arm body to rotate relative to the fixed seat device.
Drawings
Fig. 1 is a schematic perspective view of a horizontal multi-joint robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an up-and-down motion device according to an embodiment of the present invention;
Fig. 3 is a schematic front view of an up-and-down movement device according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of the plane A-A of FIG. 3;
Fig. 5 is a schematic perspective view of a fixing base device according to an embodiment of the present invention;
FIG. 6 is a schematic top view of a fixing base device according to an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of the B-B plane of FIG. 6;
FIG. 8 is a schematic perspective view of an intermediate arm provided in an embodiment of the present invention;
FIG. 9 is an exploded view of an intermediate arm provided in an embodiment of the present invention;
FIG. 10 is a schematic top view of an intermediate arm provided by an embodiment of the present invention;
FIG. 11 is a schematic cross-sectional view of the C-C plane of FIG. 10;
FIG. 12 is a schematic top view of a tip arm according to an embodiment of the present invention;
FIG. 13 is a schematic cross-sectional view of the D-D plane of FIG. 12.
Description of main reference numerals:
100-horizontal multi-joint robot;
10-up-down motion device, 11-base, 12-shell, 13-lifting driving mechanism, 131-slide block and 132-lifting motor;
20-a fixed seat device, 21-a lifting seat, 22-a protective shell, 23-a rotating mechanism, 231-a rotating driving motor, 232-a joint driving shaft, 233-a rotating transmission assembly, 2331-a rotating driving wheel, 2332-a rotating driven wheel, 2333-a rotating transmission belt and 234-a tensioning wheel;
30-middle arm body, 30 a-first inner space, 301-bearing seat, 3011-assembly recess, 3012-connection recess, 301 a-first end, 301 b-second end, 302-joint transmission shaft, 303-shaft driving motor, 3031-motor shaft, 304-flange seat transmission shaft, 305-flange seat driving motor, 306-first transmission assembly, 3061-first driving synchronous wheel, 3062-first driven synchronous wheel, 3063-first synchronous belt, 307-reduction transmission shaft, 308-first speed reducing assembly, 3081-first driving synchronous wheel, 3082-first driven synchronous wheel, 3083-first synchronous belt, 309-second speed reducing assembly, 3091-second driving synchronous wheel, 3092-second driven synchronous wheel, 3093-second synchronous belt, 310-middle arm upper cover, 311-middle arm lower cover, 312-first bearing, 313-bearing end cover, 314-reduction mounting seat, 315-motor shaft detection code disc, 316-detection device, 317-first control board, 318-shaft sleeve member, 319-second bearing end cover, 321-second bearing device, and 324-second driving synchronous wheel detection device;
40-end arm body, 40 a-second inner space, 401-end arm seat, 402-mounting flange seat, 403-second transmission component, 4031-second driven synchronous wheel, 4032-second synchronous belt, 404-end arm upper cover, 405-end arm lower cover and 406-interface board;
50-external actuator.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
In order to enable those skilled in the art to better understand the technical solutions of the present invention, the implementation of the present invention is described in detail below with reference to the specific drawings.
For convenience of description, the terms "left", "right", "upper", "lower" and "upper" are used hereinafter in accordance with the left, right, upper and lower directions of the drawings themselves, but do not limit the structure of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
As shown in fig. 1 to 13, the horizontal multi-joint robot 100 provided in this embodiment includes a middle arm 30 and an end arm 40, the middle arm 30 includes a carrier 301, a joint transmission shaft 302 rotatably supported on the carrier 301, a shaft driving motor 303 capable of driving the joint transmission shaft 302 to rotate, a flange seat transmission shaft 304, a flange seat driving motor 305, and a first transmission assembly 306 capable of rotating the flange seat transmission shaft 304 when an output shaft of the flange seat driving motor 305 rotates, the end arm 40 includes an end arm seat 401 fixedly connected to the joint transmission shaft 302, a mounting flange seat 402 rotatably supported on the end arm seat 401 and connected to the external actuator 50, and a second transmission assembly 403 capable of rotating the mounting flange seat 402 when the flange seat transmission shaft 304 rotates, the flange seat transmission shaft 304 is disposed inside the joint transmission shaft 302 and coaxially disposed with the joint transmission shaft 302 and rotatable with respect to the joint transmission shaft 302, both ends of the flange seat transmission shaft 304 extend respectively beyond the ends of the joint transmission shaft 302, and one end is connected to the first transmission assembly 306, and the other end is connected to the second transmission assembly 403.
The horizontal multi-joint robot 100 comprises a middle arm body 30 and an end arm body 40, wherein the middle arm body 30 comprises a bearing seat 301, a joint transmission shaft 302, a shaft driving motor 303, a flange seat transmission shaft 304, a flange seat driving motor 305 and a first transmission assembly 306 capable of enabling the flange seat transmission shaft 304 to rotate when an output shaft of the flange seat driving motor 305 rotates, the end arm body 40 comprises an end arm seat 401 fixedly connected with the joint transmission shaft 302, an installation flange seat 402 and a second transmission assembly 403 capable of enabling the installation flange seat 402 to rotate when the flange seat transmission shaft 304 rotates, the flange seat transmission shaft 304 is arranged inside the joint transmission shaft 302 and is coaxially arranged with the joint transmission shaft 302 and can rotate relative to the joint transmission shaft 302, and therefore, the volume of the end arm body is reduced, the weight of the end arm body 40 is reduced, the end load capacity is improved, and the horizontal multi-joint robot is more suitable for narrow occasions and can be applied to more inner works by adopting the shaft driving motor 303 capable of driving the end arm body 40 to rotate relative to the joint transmission shaft 302.
Referring to fig. 1, the horizontal multi-joint robot 100 provided in this embodiment includes an up-and-down motion device 10, a fixing base device 20, a middle arm body 30, and an end arm body 40, wherein the fixing base device 20 is supported on the up-and-down motion device 10, the fixing base device 20, the middle arm body 30, and the end arm body 40 are sequentially connected, the end arm body 40 is used for installing an external actuator 50, and the external actuator 50 may be, but is not limited to, a spray gun, a cleaning tool, a welding gun, a gripper, and the like.
In other embodiments, the horizontal multi-joint robot 100 may include only the up-and-down movement device 10, the middle arm 30, and the end arm 40 connected to the middle arm 30, the middle arm 30 being directly connected to the up-and-down movement device 10.
Referring to fig. 1 to 4, the fixing base device 20 of the present embodiment is supported up and down by the up and down movement device 10, the up and down movement device 10 includes a base 11, a housing 12 supported on the base 11, and an up and down driving mechanism 13 capable of driving the fixing base device 20 to move up and down with respect to the up and down movement device 10, in the present embodiment, the up and down driving mechanism 13 includes a slider 131 provided on the base 11 and a lift motor 132 capable of driving the slider 131 to reciprocate in a direction perpendicular to a surface of the base 11 (i.e., move up and down in the illustrated direction), and the fixing base device 20 is fixedly connected to the slider 131, so that up and down (up and down in the illustrated direction) movement can be realized under control of the lift motor 132.
Referring to fig. 5 to 7, the intermediate arm 30 of the present embodiment is rotatably supported on the fixing base device 20, the fixing base device 20 includes a lifting base 21, a protective housing 22, and a rotation mechanism 23 capable of driving the intermediate arm 30 to rotate relative to the fixing base device 20, the rotation mechanism 23 includes a rotation driving motor 231 and a joint driving shaft 232 provided on the lifting base 21, the joint driving shaft 232 is rotatably supported on the lifting base 21, a rotation transmission assembly 233 is connected between the joint driving shaft 232 and the rotation driving motor 231, the rotation transmission assembly 233 includes a rotation driving wheel 2331 connected to an output shaft of the rotation driving motor 231, a rotation driven wheel 2332 connected to the joint driving shaft 232, and a rotation transmission belt 2333 connected between the rotation driving wheel 2331 and the rotation driven wheel 2332. In addition, the lifting seat 21 is further provided with a tensioning wheel 234 for abutting against the rotary driving belt 2333. It should be noted that the axis of the joint driving shaft 232 is disposed perpendicularly to the surface of the base 11, and the intermediate arm 30 is rotated about the axis of the joint driving shaft 232 relative to the fixing base device 20 by the driving of the rotation driving motor 231, and further, the rotation, which will be described later, is disposed with its rotation center axis perpendicular to the surface of the base 11.
Referring to fig. 8 to 11, the intermediate arm 30 of the present embodiment includes a bearing seat 301.
As can be seen from fig. 8, 9 and 11, the upper and lower sides (upper and lower sides in the drawing) of the carrier 301 are respectively covered with the middle arm upper cover 310 and the middle arm lower cover 311, the middle arm upper cover 310 and the middle arm lower cover 311 enclose the interior of the carrier 301 to form a first inner space 30a, the carrier 301 is provided with a joint transmission shaft 302 in the first inner space 30a, the joint transmission shaft 302 is rotatably supported on the carrier 301, and the lower end (lower end in the drawing) of the joint transmission shaft 302 extends downward beyond the middle arm 30 and is used for connection with the end arm 40. In the present embodiment, the carrier 301 has an assembly recess 3011 formed by recessing a lower surface (lower surface in the drawing) thereof into a first inner space 30a (upper in the drawing), the joint transmission shaft 302 is disposed in the assembly recess 3011, a first bearing 312 is disposed between an outer wall of the joint transmission shaft 302 and an inner wall of the assembly recess 3011, the assembly recess 3011 is fixedly connected to a bearing cap 313 on an outer side of the joint transmission shaft 302, and the first bearing 312 is held on the assembly recess 3011 by the bearing cap 313. It should be noted that, the bearing end cap 313 is fixedly connected to the fitting recess 3011 of the carrier 301 by a fastener (not shown) such as a screw, a bolt, or the like, so that the first bearing 312 can be limited in the up-down direction (up-down direction in the drawing), and the first bearing 312 is fitted over the outside of the joint transmission shaft 302, thereby limiting the joint transmission shaft 302 in the radial direction (left-right direction in the drawing).
Referring to fig. 8, 9 and 11, a shaft driving motor 303 is provided in the carrier 301 of the present embodiment, and is capable of driving the joint transmission shaft 302 to rotate with respect to the carrier 301 with the axis of the joint transmission shaft 302 as an axis, in the present embodiment, the shaft driving motor 303 has a motor rotation shaft 3031, the axis of the motor rotation shaft 3031 and the axis of the joint transmission shaft 302 are parallel to each other, the carrier 301 has a connection recess 3012 formed by recessing an upper surface (upper surface in the drawing) thereof toward the first inner space 30a (lower in the drawing), the joint driving shaft 232 of the fixing base device 20 is fixedly connected to the connection recess 3012, and the shaft driving motor 303 is located substantially under the connection recess 3012 (lower in the drawing) and is coaxially disposed with the joint driving shaft 232.
Specifically, the carrier 301 has a first end 301a (left end in the drawing) and a second end 301b (right end in the drawing) opposite to the first end 301a, and the coupling recess 3012 and the shaft driving motor 303 connected to the joint driving shaft 232 are located at the first end 301a, and the joint driving shaft 302 is located at the second end 301b.
Referring to fig. 8, 9 and 11, a reduction mechanism is disposed in the bearing seat 301 of the present embodiment, and the reduction mechanism is connected between the motor shaft 3031 of the shaft driving motor 303 and the joint transmission shaft 302, so as to drive the joint transmission shaft 302 to rotate relative to the bearing seat 301 when the motor shaft 3031 rotates. In this embodiment, the speed reducing mechanism is a secondary speed reducing structure, which includes a speed reducing transmission shaft 307, a primary speed reducing assembly 308, and a secondary speed reducing assembly 309, the speed reducing transmission shaft 307 is rotatably disposed in the carrier 301 and located between the shaft driving motor 303 and the joint transmission shaft 302, the primary speed reducing assembly 308 is connected between the speed reducing transmission shaft 307 and the shaft driving motor 303 and is capable of rotating the speed reducing transmission shaft 307 when the motor shaft 3031 rotates, and the secondary speed reducing assembly 309 is connected between the speed reducing transmission shaft 307 and the joint transmission shaft 302 and is capable of rotating the joint transmission shaft 302 when the speed reducing transmission shaft 307 rotates. It will be appreciated that the use of the drive configuration of the reduction drive shaft 307, primary reduction assembly 308, and secondary reduction assembly 309 provides better load capacity and more stable and accurate motion control, while also providing the advantages of lower cost and simplicity of maintenance.
In other embodiments, only one-stage reduction assembly 308 may be used to connect motor shaft 3031 to joint drive shaft 302.
Referring to fig. 8,9 and 11, the primary reduction assembly 308 includes a primary driving synchronizing wheel 3081, a primary driven synchronizing wheel 3082 and a primary synchronizing belt 3083 wrapped therebetween, the primary driving synchronizing wheel 3081 is provided on a motor shaft 3031 of the shaft driving motor 303 and is rotatable together with the motor shaft 3031, the secondary reduction assembly 309 includes a secondary driving synchronizing wheel 3091, a secondary driven synchronizing wheel 3092 and a secondary synchronizing belt 3093 wrapped therebetween, the secondary driven synchronizing wheel 3092 is provided on the joint transmission shaft 302 and is rotatable together with the joint transmission shaft 302, and the primary driven synchronizing wheel 3082 and the secondary driving synchronizing wheel 3091 are provided on the reduction transmission shaft 307 and are rotatable coaxially, respectively. In this embodiment, the primary driving synchronizing wheel 3081 can be sleeved on the motor shaft 3031 in all the existing fixing modes such as a screw and a flat key, and the primary driving synchronizing wheel 3082 and the primary driving synchronizing wheel 3081 are coaxially and relatively non-rotatable, the primary driven synchronizing wheel 3082 and the primary driving synchronizing wheel 3081 are basically located on the same plane, the diameter size of the primary driven synchronizing wheel 3082 is larger than that of the primary driving synchronizing wheel 3081, the primary driven synchronizing wheel 3082 and the reduction transmission shaft 307 can be connected in all the existing fixing modes such as a screw and a flat key, and the primary driven synchronizing wheel 3082 and the reduction transmission shaft 307 can be coaxially and relatively non-rotatable, and when the motor shaft 3031 of the shaft driving motor 303 rotates, the primary driving synchronizing wheel 3081, the primary synchronizing belt 3083 and the primary driven synchronizing wheel 3082 of the primary reduction transmission shaft 307 are driven to rotate. The diameter of the secondary driving synchronizing wheel 3091 is smaller than that of the primary driven synchronizing wheel 3082, the secondary driving synchronizing wheel 3092 and the secondary driving synchronizing wheel 3091 are sleeved on the reduction transmission shaft 307 in a mode of being fixed by screws, flat keys and the like, the two driving synchronizing wheels 3092 and the secondary driving synchronizing wheel 3091 are located on the same plane basically, the diameter of the secondary driven synchronizing wheel 3092 is larger than that of the secondary driving synchronizing wheel 3091, the secondary driven synchronizing wheel 3092 and the joint transmission shaft 302 can be connected in a mode of being fixed by screws, flat keys and the like, the two driving synchronizing wheels 3091, the secondary synchronizing belt 3093 and the secondary driven synchronizing wheel 3092 of the secondary reduction assembly 309 are coaxial and can not rotate relatively, and when the shaft driving motor 303 drives the reduction transmission shaft 307 to rotate, the joint transmission shaft 302 is driven to rotate.
In other embodiments, the speed reducing mechanism may also include a bevel gear pair, a planetary gear pair, a worm gear pair, and the like.
Referring to fig. 8, 9 and 11, the primary driven synchronizing wheel 3082 of the present embodiment is located above the secondary driving synchronizing wheel 3091 with a space therebetween. In this embodiment, a reduction mount 314 is disposed in the carrier 301, and the reduction drive shaft 307 is rotatably supported on the reduction mount 314. The primary driven synchronizing wheel 3082 is covered on the end of the reduction transmission shaft 307, and is fixedly connected with the reduction transmission shaft 307 through fasteners (not shown) such as screws, bolts and the like, and the secondary driving synchronizing wheel 3091 is sleeved on the middle of the reduction transmission shaft 307.
In other embodiments, the primary driven synchronizing wheel 3082 may also be sleeved on the reduction transmission shaft 307, and the primary driven synchronizing wheel and the reduction transmission shaft are coaxial and can not rotate relatively.
In other embodiments, the primary driven synchronizing wheel 3082 may be provided below the secondary driving synchronizing wheel 3091.
Referring to fig. 8,9 and 11, in the present embodiment, a secondary driven synchronizing wheel 3092 is provided on an end of the joint transmission shaft 302, and the two are fixedly connected by a fastener (not shown) such as a screw, a bolt, or the like. It should be noted that the lower end of the inner edge of the secondary driven synchronizing wheel 3092 abuts against the first bearing 312, so that the joint transmission shaft 302 is limited in the axial direction (up-down direction in the drawing) by the first bearing 312 and the secondary driven synchronizing wheel 3092, so that the joint transmission shaft 302 is rotatably held on the carrier 301.
In other embodiments, the secondary driven synchronizing wheel 3092 may also be sleeved on the joint transmission shaft 302, and the two are coaxial and can not rotate relatively.
Referring to fig. 8, 9 and 11, the bearing 301 of the present embodiment is provided therein with a motor shaft position detecting assembly capable of detecting the rotational position of the motor shaft 3031. In this embodiment, the motor shaft position detecting assembly includes a motor shaft detecting code disc 315 and a motor shaft photoelectric detecting device 316, the motor shaft detecting code disc 315 is fixedly mounted on the motor shaft 3031 and can rotate together with the motor shaft 3031, and the motor shaft photoelectric detecting device 316 is fixed on the bearing base 301 and corresponds to the position of the motor shaft detecting code disc 315. The motor shaft photoelectric detection device 316 is fixed on the carrier 301 by screws, welding, etc. in any existing fixing manner, the motor shaft photoelectric detection device 316 is located above (above in the drawing) the motor shaft detection code wheel 315, and the motor shaft photoelectric detection device 316 can read the rotation position of the motor shaft detection code wheel 315, so as to detect the position information of the motor shaft 3031.
Referring to fig. 8, 9 and 11, a first control board 317 capable of controlling the shaft driving motor 303 to work is disposed in the bearing seat 301, the first control board 317 is electrically connected with the shaft driving motor 303, and the first control board 317 is located between the shaft driving motor 303 and the reduction transmission shaft 307 and is sleeved on the bearing seat 301 by means of screws, welding and other existing fixing modes. In the present embodiment, the first control board 317 is electrically connected to the shaft driving motor 303 and the motor shaft position detecting assembly, respectively. The first control board 317 controls the shaft driving motor 303 to work to drive the joint transmission shaft 302 to rotate, the motor shaft position detecting assembly can detect the rotation position of the motor shaft 3031, and real-time feedback of the position can be realized to form a closed loop control circuit, and the first control board 317 is all the existing first control boards 317 in the prior art capable of realizing the control.
Referring to fig. 8, 9 and 11, in the middle arm body 30 of the present embodiment, the bearing seat 301 is provided with a flange seat transmission shaft 304, a flange seat driving motor 305, and a first transmission assembly 306 connected between the flange seat driving motor 305 and the flange seat transmission shaft 304 and capable of rotating the flange seat transmission shaft 304 when the output shaft of the flange seat driving motor 305 rotates, where the flange seat transmission shaft 304 is used to drive the external actuator 50 to rotate. The flange seat transmission shaft 304 is disposed inside the joint transmission shaft 302 and coaxially disposed with the joint transmission shaft 302 and rotatable relative to the joint transmission shaft 302, and two ends of the flange seat transmission shaft 304 extend beyond the end of the joint transmission shaft 302, respectively, and an upper end (an upper end as shown) is connected to the first transmission assembly 306. In the present embodiment, the first transmission assembly 306 includes a first driving synchronizing wheel 3061, a first driven synchronizing wheel 3062, and a first synchronizing belt 3063 wrapped therebetween, the first driving synchronizing wheel 3061 is disposed on and rotatable with an output shaft of the flange mount driving motor 305, and the first driven synchronizing wheel 3062 is disposed on and rotatable coaxially with the flange mount driving shaft 304. The first driving synchronizing wheel 3061 can be sleeved on the output shaft of the flange seat driving motor 305 in all existing fixing modes such as a screw, a flat key and the like, the first driving synchronizing wheel 3062 and the first driving synchronizing wheel 3061 are coaxially and relatively non-rotatable, the first driven synchronizing wheel 3062 and the first driving synchronizing wheel 3061 are basically located on the same plane, the diameter size of the first driven synchronizing wheel 3062 is larger than that of the first driving synchronizing wheel 3061, the first driven synchronizing wheel 3062 and the subtracting flange seat transmission shaft 304 can be connected in all existing fixing modes such as a screw, a flat key and the like, the first driving synchronizing wheel 3061, the first synchronous belt 3063 and the first driven synchronizing wheel 3062 of the first transmission assembly 306 are coaxially and relatively non-rotatable, and when the output shaft of the flange seat driving motor 305 rotates, the flange seat transmission shaft 304 is driven.
Specifically, a sleeve member 318 is sleeved on the outer side of the flange seat transmission shaft 304, the sleeve member 318 abuts against the upper surface (the upper surface in the drawing) of the secondary driven synchronous wheel 3092 and is fixedly connected by fasteners (not shown) such as screws, bolts, etc., a second bearing 319 is disposed between the inner wall of the sleeve member 318 and the outer wall of the flange seat transmission shaft 304, and a third bearing 320 is disposed between the inner wall of the joint transmission shaft 302 and the outer wall of the flange seat transmission shaft 304, so that the flange seat transmission shaft 304 can rotate relative to the joint transmission shaft 302. Specifically, the lower surface (lower surface in the drawing) of the inner edge of the first driven synchronizing wheel 3062 abuts against the upper surface (upper surface in the drawing) of the second bearing 319, the position of the second bearing 319 is maintained by the boss member 318 and the first driven synchronizing wheel 3062, the flange mount transmission shaft 304 is restrained in the radial direction (left-right direction in the drawing) by the second bearing 319 and the third bearing 320, and the flange mount transmission shaft 304 is restrained in the axial direction (up-down direction in the drawing) by the first driven synchronizing wheel 3062 and the third bearing 320.
Referring to fig. 8, 9 and 11, an output shaft position detecting assembly is provided in the carrier 301 of the present embodiment, and is capable of detecting the rotational position of the output shaft of the flange seat driving motor 305. In this embodiment, the output shaft position detecting assembly includes an output shaft detecting code disc 324 and an output shaft photoelectric detecting device 321, where the output shaft detecting code disc 324 is fixed to the output shaft of the flange seat driving motor 305, and the output shaft photoelectric detecting device 321 is fixed to the bearing seat 301 and corresponds to the position of the output shaft detecting code disc 324. The output shaft detection code disc 324 is fixedly installed on the output shaft of the flange seat driving motor 305 and can rotate along with the output shaft of the flange seat driving motor 305, and the output shaft photoelectric detection device 321 is fixed on the bearing seat 301 and corresponds to the position of the output shaft detection code disc 324. The output shaft photoelectric detection device 321 is fixed on the bearing seat 301 by screws, welding and other existing fixing modes, the output shaft photoelectric detection device 321 is located below the output shaft detection code disc 324 (below the illustration), and the output shaft photoelectric detection device 321 can read the rotation position of the output shaft detection code disc 324, so that the position information of the output shaft of the flange seat driving motor 305 is detected.
Referring to fig. 8, 9 and 11, a second control board 322 capable of controlling the operation of the flange seat driving motor 305 is disposed in the carrier 301, and the second control board 322 is electrically connected to the flange seat driving motor 305, and in this embodiment, the second control board 322 is electrically connected to the flange seat driving motor 305 and the output shaft position detecting component, respectively. The second control board 322 controls the flange seat driving motor 305 to work, drives the flange seat transmission shaft 304 to rotate, and the output shaft position detection assembly can detect the rotation position of the output shaft of the flange seat driving motor 305, so that real-time feedback of the position can be realized, and a closed loop control circuit is formed, and the second control board 322 is all the existing second control boards 322 in the prior art, which can realize the control.
Specifically, the flange seat driving motor 305 is located between the reduction driving shaft 307 and the joint driving shaft 302, and the second control board 322 is located between the flange seat driving motor 305 and the shaft driving motor 303, and is located approximately above the reduction driving shaft 307, and is sleeved on the carrier 301 by means of screws, welding, and other conventional fixing methods. It should be noted that, the shaft driving motor 303 is disposed at the first end 301a (the left end in the drawing, i.e. the front end) of the carrier 301, the joint transmission shaft 302 and the flange seat transmission shaft 304 are disposed at the second end 301b (the left end in the drawing, i.e. the tail end) of the carrier 301, the joint transmission shaft 302 is sleeved on the outer side of the flange seat transmission shaft 304, the flange seat driving motor 305 is located approximately in the middle of the carrier 301, the second control board 322 is located at the upper portion of the carrier 301, and the first control board 317 is located at the lower portion of the carrier 301 and corresponds to the position of the second control board 322, so that the structure of the middle arm 30 is more compact, the space occupation rate is reduced, and the middle arm is more suitable for narrow occasions, thereby improving the application occasions.
In particular, by adopting a mode that the power piece (i.e. the shaft driving motor 303) capable of driving the tail end arm body 40 to rotate and the power piece (i.e. the flange seat driving motor 305) capable of driving the external actuator 50 to rotate are arranged on the bearing seat 301 of the middle arm body 30, the installation positions of the power piece with larger weight and the driving control are moved forward to the middle arm body 30, and the weight of the tail end arm body 40 is reduced on the premise of not increasing the control difficulty and the structure cost, so that the structural inertia and the mass are reduced, the tail end load capacity is improved, and the external actuator 50 positioned at the tail end has larger control space.
Referring to fig. 12 and 13, the tip arm body 40 of the present embodiment includes a tip arm seat 401.
As can be seen from fig. 11 and 13, the upper and lower sides (upper and lower sides in the drawing) of the end arm holder 401 are respectively covered with an end arm upper cover 404 and an end arm lower cover 405, the end arm upper cover 404, the end arm lower cover 405 and the inside of the end arm holder 401 enclose a second inner space 40a, the end arm holder 401 is provided with a mounting flange holder 402 and a second transmission assembly 403 in the second inner space 40a, the mounting flange holder 402 is rotatably supported on the end arm holder 401, and the lower end (lower end in the drawing) of the mounting flange holder 402 extends downward beyond the end arm body 40 and is used for connection with the external actuator 50, the other end of the flange holder transmission shaft 304 opposite to the end where the first transmission assembly 306 is connected extends into the second inner space 40a, and the second transmission assembly 403 is connected between the mounting flange holder 402 and the flange holder transmission shaft 304 and is capable of rotating the mounting flange holder 402 when the flange holder transmission shaft 304 rotates. In this embodiment, the mounting flange base 402 is located at the right end (right end in the drawing) of the end arm 40, the left end (left end in the drawing) of the end arm 40 is fixedly connected with the joint transmission shaft 302, the second transmission assembly 403 includes a second driven synchronizing wheel 4031 and a second synchronizing belt 4032, the second driven synchronizing wheel 4031 is disposed on the mounting flange base 402 and can rotate together with the mounting flange base 402, the bottom of the flange base transmission shaft 304 is provided with a second driving synchronizing wheel 323 which can rotate coaxially therewith and is located outside the middle arm 30, and the second synchronizing belt 4032 is wrapped between the second driving synchronizing wheel 323 and the second driven synchronizing wheel 4031. Thus, under the driving of the flange seat driving motor 305, the output shaft of the flange seat driving motor 305 rotates to drive the flange seat transmission shaft 304 and the second driving synchronizing wheel 323 to rotate through the first driving synchronizing wheel 3061, the first synchronizing belt 3063 and the first driven synchronizing wheel 3062 of the first transmission assembly 306, and the second driving synchronizing wheel 323 rotates to drive the second driven synchronizing wheel 4031 and the mounting flange seat 402 connected with the second driven synchronizing wheel 4031 through the second synchronizing belt 4032 of the second transmission assembly 403, so as to realize the rotation of the external actuator 50 fixed on the mounting flange seat 402.
In yet another embodiment, the second driving synchronizing wheel 323 is integrally formed with the flange base transmission shaft 304, i.e. teeth matching with the teeth of the second synchronizing belt 4032 are formed on the outer wall of the flange base transmission shaft 304.
In yet another embodiment, a second active synchronizing wheel 323 may be mounted on the end arm mount 401.
With continued reference to fig. 13, the end arm seat 401 is provided with an interface board 406 and a third control board 407 for connecting with the external actuator 50, the third control board 407 is electrically connected with the interface board 406, and the interface board 406 is provided with an interface for connecting with the external actuator 50, so that the external actuator 50 can be controlled to perform corresponding actions by the third control board 407, and the third control board 407 is any existing third control board 407 capable of realizing the control in the prior art.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (7)
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| CN202010303237.2A CN111469164B (en) | 2020-04-17 | 2020-04-17 | Horizontal multi-joint robot |
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| CN113276132A (en) * | 2021-06-07 | 2021-08-20 | 杭州萤石软件有限公司 | Service robot |
| CN114147689A (en) * | 2021-12-03 | 2022-03-08 | 无锡微茗智能科技有限公司 | Industrial robot |
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| JP4836872B2 (en) * | 2007-05-31 | 2011-12-14 | 株式会社東芝 | Control device, control method, program, and robot |
| CN107471250A (en) * | 2017-09-11 | 2017-12-15 | 慧灵科技（深圳）有限公司 | A kind of flapping articulation machinery arm configuration using flat external rotor electric machine |
| CN207534805U (en) * | 2017-12-12 | 2018-06-26 | 慧灵科技（深圳）有限公司 | A kind of four axis robot of high performance level joint |
| CN107803829B (en) * | 2017-12-12 | 2020-11-17 | 慧灵科技（深圳）有限公司 | Multifunctional direct-drive horizontal joint mechanical arm |
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