CN106113008B - Multi-joint robot - Google Patents
Multi-joint robot Download PDFInfo
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- CN106113008B CN106113008B CN201610547534.5A CN201610547534A CN106113008B CN 106113008 B CN106113008 B CN 106113008B CN 201610547534 A CN201610547534 A CN 201610547534A CN 106113008 B CN106113008 B CN 106113008B
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- shell
- mechanical arm
- transmission shaft
- transmission
- driving
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- 230000005540 biological transmission Effects 0.000 claims description 184
- 239000003638 chemical reducing agent Substances 0.000 claims description 73
- 230000001360 synchronised effect Effects 0.000 claims description 46
- 230000008878 coupling Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 16
- 238000005859 coupling reaction Methods 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multi-joint robot, which comprises a first mechanical arm; the second mechanical arm is rotationally connected with the first mechanical arm; the third mechanical arm is movably connected to the second mechanical arm and is opposite to the first mechanical arm; the fourth mechanical arm is movably connected to the third mechanical arm and is opposite to the second mechanical arm; the fifth mechanical arm is movably connected to the fourth mechanical arm, and the fifth mechanical arm is opposite to the third mechanical arm; and the tool mounting part is movably connected to the fifth mechanical arm and is opposite to the fourth mechanical arm. The multi-joint robot has the advantages of simple and easily controlled structure, accurate displacement, and multiple joints cooperatively driven, and can work at multiple angles.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-joint robot.
Background
Articulated robots, also known as articulated arm robots or articulated robotic arms, are one of the most common forms of industrial robots in the industry today. The automatic mechanical assembly device is suitable for mechanical automatic operation in various industrial fields, such as automatic assembly, paint spraying, carrying, welding and the like. At present, the displacement of the joint robot is not accurate enough, the production and the assembly are complex and difficult, and the displacement angle is difficult to control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an articulated robot.
In order to solve the above technical problems, the present invention discloses a multi-joint robot, comprising: a first mechanical arm; the second mechanical arm is rotationally connected with the first mechanical arm; the third mechanical arm is movably connected to the second mechanical arm and is opposite to the first mechanical arm; the fourth mechanical arm is movably connected to the third mechanical arm and is opposite to the second mechanical arm; the fifth mechanical arm is movably connected to the fourth mechanical arm, and the fifth mechanical arm is opposite to the third mechanical arm; wherein the fifth robot further comprises: the device comprises a fifth shell, two fifth driving devices, two fifth transmission devices and two fifth synchronization devices, wherein the fifth shell is arranged on a fourth harmonic speed reducer, and the two fifth driving devices are arranged in the fifth shell; the two fifth transmission devices are arranged in the fifth shell and are positioned in the two fifth driving devices; the two fifth synchronous devices are respectively arranged on the two fifth driving devices and the two fifth transmission devices; and the tool mounting part is movably connected to the fifth mechanical arm and is opposite to the fourth mechanical arm.
According to an embodiment of the invention, the first mechanical arm is disposed on a machine table and comprises a base housing, the base housing is disposed on the machine table, and the base housing is provided with a base sealing plate and a base rear cover plate; the first driving device is positioned in the base shell and comprises a first fixing seat, a first driving element and a first electromagnetic power-off brake, wherein the first fixing seat is arranged in the base shell; the first transmission device is arranged in the base shell and is positioned at one side of the first driving device, and comprises a bottom cover plate, a first transmission shaft, a first harmonic reducer, a first coupling block, a first main shaft and a first flange plate, wherein the bottom cover plate is arranged in the base shell and is positioned at one side of the base sealing plate; the first transmission shaft is arranged on the bottom cover plate; the first harmonic reducer is sleeved on the first transmission shaft and is positioned above the bottom cover plate; the first coupling block is sleeved on the first transmission shaft and connected with the first harmonic reducer; the first main shaft is arranged on the first coupling block and is connected with the second mechanical arm; the first flange plate is arranged on the first coupling block and is connected with the base shell; the first synchronous device is connected between the first driving device and the first electromagnetic power-off brake and comprises two first synchronous wheels and a first synchronous belt, the two first synchronous wheels are respectively sleeved on the first electromagnetic power-off brake and the first transmission shaft, and the first synchronous belt is connected between the two first synchronous wheels; the first sliding device is arranged on the first rotary transmission device and comprises two first deep groove ball bearings and a first crossed roller bearing, wherein the two first deep groove ball bearings are sleeved on the first transmission shaft and are respectively arranged on the bottom cover plate and the first coupling block; the first crossed roller bearing is sleeved on the first main shaft and is connected with the first flange plate.
According to an embodiment of the present invention, the second mechanical arm includes a second housing, a second driving device, a second transmission device, a second synchronization device, and a second sliding device, where the second housing is disposed on the first spindle and is further movably connected to the top of the base housing; the second driving device is arranged in the second shell; the second transmission device is arranged in the second shell and is positioned at one side of the second driving device; the second synchronizing device is arranged between the second driving device and the second transmission device; the second sliding device is arranged on the second transmission device; the second shell further comprises a second left shell, a second right shell and two second side covers, wherein the second fixed shell is arranged on the first main shaft and is movably connected with the base shell, the second right shell is arranged on the right side of the second left shell, and the two second side covers are respectively arranged on the second left shell and the second right shell; the second driving device further comprises a second fixing seat, a second driving element and a second electromagnetic power-off brake, wherein the second fixing seat is arranged in the second shell, the second driving element is arranged in the second fixing seat, and the second electromagnetic power-off brake is arranged in the second fixing seat and is connected with the output end of the second driving element; the second transmission device further comprises a second transmission shaft, a second harmonic reducer, a second hollow shaft and a second flange, and the second transmission shaft is arranged on the second left shell; the second harmonic reducer is sleeved on the second transmission shaft and connected to the third mechanical arm; the third hollow shaft is arranged on the second right shell and is connected with a third mechanical arm; the second flange plate is arranged on the second hollow shaft and is connected with the second right shell; the second synchronous device further comprises two second synchronous wheels and a second synchronous belt, the two second synchronous wheels are respectively sleeved on the second electromagnetic power-off brake and the second transmission shaft, and the second synchronous belt is connected between the two second synchronous wheels; and the second sliding device further comprises two second deep groove ball bearings, wherein the two second deep groove ball bearings are sleeved on the second transmission shaft and are respectively positioned on the second left shell and the second harmonic reducer.
According to an embodiment of the present invention, the third mechanical arm includes a third housing, a third driving device, a third transmission device and a third synchronization device, the third housing is disposed on the second harmonic reducer, and the third housing is movably connected to the second housing; the third driving device is arranged in the third shell; the third transmission device is arranged in the third shell and is positioned at one side of the third driving device; the third synchronizing device is arranged between the third driving device and the third transmission device; the third shell comprises a third left shell, a third right shell and two third side covers, wherein the third left shell is movably connected to the outer side of the second left shell, the third right shell is movably connected to the outer side of the second right shell and is connected to the third left shell, and the two third side covers are respectively arranged on two sides of the third left shell and the two sides of the third right shell; the third driving device comprises a third fixing seat, a third driving element and a third electromagnetic power-off brake, wherein the third fixing seat is arranged in the third shell, the third driving element is arranged on the third fixing seat, and the third electromagnetic power-off brake is arranged on the third fixing seat and is connected with the output end of the third driving element; the third transmission device comprises a third transmission shaft, a third harmonic reducer, a third hollow shaft and a third flange plate, and the third transmission shaft is arranged on a third left shell; the third harmonic reducer is sleeved on the third transmission shaft and connected with the third left shell and the fourth mechanical arm; the third hollow shaft is arranged on the third right shell and is connected with the fourth mechanical arm; the third flange plate is arranged on the third hollow shaft and is connected with the third right shell; the third synchronous device comprises two third synchronous wheels and a third synchronous belt, wherein the two third synchronous wheels are respectively sleeved on a third electromagnetic power-off brake and a third transmission shaft, and the third synchronous belt is connected between the two third synchronous wheels.
According to an embodiment of the present invention, the fourth mechanical arm includes a fourth housing, a fourth driving device, a fourth transmission device and a fourth synchronization device, the fourth housing is movably connected to the third harmonic reducer and the third hollow shaft, the fourth driving device is disposed in the fourth housing, the fourth transmission device is disposed in the fourth housing and is located at one side of the fourth driving device, and the fourth synchronization device is disposed in the fourth driving device and the fourth transmission device; the fourth shell comprises a fourth fixed shell, a fourth side cover and a fourth bottom cover, wherein two sides of the fourth fixed shell are respectively connected with the third harmonic reducer and the third hollow shaft, the fourth side cover is arranged on the side surface of the fourth fixed shell, and the fourth bottom cover is arranged at the bottom of the fourth fixed shell; the fourth driving device comprises a fourth fixing seat, a fourth driving element and a fourth electromagnetic power-off brake, the fourth fixing seat is arranged in the fourth fixing shell, the fourth driving element is arranged in the fourth fixing seat and is positioned in the fourth fixing shell, and the fourth electromagnetic power-off brake is arranged in the fourth fixing seat and is connected with the output end of the fourth driving element; the fourth transmission device comprises a fourth transmission shaft and a fourth harmonic reducer, wherein the fourth transmission shaft is arranged on the fourth fixed shell and is positioned above the fourth driving device, and the fourth harmonic reducer is sleeved on the fourth transmission shaft and is connected with the fifth mechanical arm; and the fourth synchronizing device comprises two fourth synchronizing wheels and a fourth synchronizing belt, the two fourth synchronizing wheels are respectively sleeved on the fourth electromagnetic power-off brake and the fourth transmission shaft, and the fourth synchronizing belt is connected with the two fourth synchronizing wheels.
According to an embodiment of the present invention, the fifth housing includes: the fifth fixed shell is movably connected to the fourth harmonic reducer, and the two fifth side covers are respectively arranged on two sides of the fifth fixed shell.
According to an embodiment of the present invention, the two fifth driving devices respectively include: the fifth fixing seat, the fifth driving element and the fifth electromagnetic power-off brake are arranged in the fifth fixing shell, the fifth driving element is arranged in the fifth fixing seat and is positioned in the fifth fixing shell, and the fifth electromagnetic power-off brake is arranged in the fifth fixing seat and is connected with the output end of the fifth driving element.
According to an embodiment of the present invention, the two fifth transmissions each have: the fifth transmission shaft and the fifth harmonic reducer are arranged on the fifth fixed shell, are positioned on one side of the two fifth driving devices, are sleeved on the fifth transmission shaft and are connected to the tool mounting part.
According to an embodiment of the present invention, the fifth mechanical arm further includes a fifth sliding device, wherein the fifth sliding device has two fifth deep groove ball bearings, one of the fifth deep groove ball bearings is disposed between the fifth harmonic reducer and the tool mounting portion, and the other of the fifth deep groove ball bearings is disposed between the fifth fixed housing and the tool mounting portion.
According to an embodiment of the present invention, the tool mounting portion includes: the connecting piece, sixth shell, sixth transmission shaft, sixth harmonic reducer, carousel and bevel gear, connecting piece swing joint is in two fifth transmission, the sixth shell sets up in the connecting piece, the sixth transmission shaft sets up in the sixth shell to swing joint in the connecting piece, sixth harmonic reducer cover is located the sixth transmission shaft, and be located the sixth shell, the carousel cover is located the sixth transmission shaft, and connect in the sixth shell, the bevel gear sets up in the top of sixth transmission shaft, and the butt is in the connecting block that two fifth transmission correspond.
Compared with the prior art, the invention can obtain the following technical effects:
The multi-joint robot has the advantages of simple and easily controlled structure, accurate displacement, and multiple joints cooperatively driven, and can work at multiple angles.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
Fig. 1 is a perspective view of an articulated robot according to an embodiment of the present invention.
Fig. 2 is an exploded view of a fifth robot according to an embodiment of the present invention.
Fig. 3 is an exploded view of a first robot in accordance with an embodiment of the present invention.
Fig. 4 is an exploded view of a second robot arm according to an embodiment of the present invention.
Fig. 5 is an exploded view of a third robot arm according to an embodiment of the present invention.
Fig. 6 is an exploded view of a fourth robot in accordance with an embodiment of the present invention.
Fig. 7 is an exploded view of a tool mounting portion of an embodiment of the present invention.
Detailed Description
Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it should be understood that these practical details are not to be taken as limiting the invention.
Please refer to fig. 1, which is a perspective view of an articulated robot 1 according to an embodiment of the present invention; as shown in the figure, the present invention provides a multi-joint robot 1, and the multi-joint robot 1 is used for mechanical automation equipment in the industrial field. The multi-joint robot 1 of the present invention includes a first robot arm 11, a second robot arm 12, a third robot arm 13, a fourth robot arm 14, a fifth robot arm 15, and a tool mounting portion 16, wherein the second robot arm 12 is rotatably connected to the first robot arm 11 and rotates 360 degrees relative to the first robot arm 11; the third mechanical arm 13 is movably connected to the second mechanical arm 12 and is opposite to the first mechanical arm 11; the fourth mechanical arm 14 is movably connected to the third mechanical arm 13 and is opposite to the second mechanical arm 12; the fifth mechanical arm 15 is movably connected to the fourth mechanical arm 14 and is opposite to the third mechanical arm 13; the tool mounting portion 16 is movably connected to the fifth robot arm 15 and opposite to the fourth robot arm 14. Referring again to fig. 2, an exploded view of a fifth robot 15 according to an embodiment of the present invention is shown; as shown in the figure, the fifth mechanical arm 15 includes a fifth housing 151, two fifth driving devices 152, two fifth transmission devices 153, and two fifth synchronization devices 154, and the fifth housing 151 is movably connected to the fourth mechanical arm 14. Two fifth driving devices 152 are disposed in the fifth housing 151. The two fifth transmission devices 153 are disposed in the fifth housing 151 and above the two fifth driving devices 152. The two fifth synchronizing devices 154 are respectively disposed on the two fifth driving devices 152 and the two fifth transmission devices 153. The two fifth driving devices 152 rotate and drive the two fifth synchronizing devices 154 to rotate respectively. The two fifth synchronizers 154 respectively drive the two fifth gears 153 to rotate. The two fifth gears 153 rotate the tool mounting portion 16.
The first mechanical arm 11 drives the second mechanical arm 12 to rotate, and the second mechanical arm 12 drives the third mechanical arm 13, the fourth mechanical arm 14, the fifth mechanical arm 15 and the tool mounting portion 16 to rotate. The second mechanical arm 12 drives the third mechanical arm 13 to rotate, the third mechanical arm 13 rotates relative to the second mechanical arm 12, and the third mechanical arm 13 drives the fourth mechanical arm 14, the fifth mechanical arm 15 and the tool mounting part 16 to rotate relative to the second mechanical arm 12. The third mechanical arm 13 drives the fourth mechanical arm 14 to rotate, that is, the fourth mechanical arm 14 rotates relative to the third mechanical arm 13, and the fourth mechanical arm 14 drives the fifth mechanical arm 15 and the tool mounting portion 16 to rotate relative to the third mechanical arm 13. The fourth mechanical arm 14 drives the fifth mechanical arm 15 to rotate, that is, the fifth mechanical arm 15 rotates relative to the fourth mechanical arm 14, and the fifth mechanical arm 15 drives the tool mounting portion 16 to rotate relative to the fourth mechanical arm 14. The fifth robot 15 drives the tool mounting part 16 to rotate, i.e. the tool mounting part 16 rotates relative to the fifth robot 15. The control module of the mechanical automation device controls the multi-joint robot 1 to work, and the multi-joint robot 1 controls the first mechanical arm 11, the second mechanical arm 12, the third mechanical arm 13, the fourth mechanical arm 14, the fifth mechanical arm 15 and the tool mounting part 16 to independently drive and position according to related instructions of the control module, so that the multi-joint robot 1 can finish the work of positioning and displacement.
Referring to fig. 3, an exploded view of the first robot 11 according to an embodiment of the present invention is shown; as shown in the figure, the first robot 11 is disposed on a machine of a mechanical automation device, and includes a base housing 111, a first driving device 112, a first transmission device 113, a first synchronization device 114, and a first sliding device 115, where the base housing 111 is disposed on the machine of the mechanical automation device. The first driving device 112, the first transmission device 113, the first synchronization device 114, and the first sliding device 115 are all disposed in the base housing 111. The first transmission 113 is located on one side of the first drive 112. The first synchronization device 114 is connected to the first driving device 112 and the first transmission device 113, and is located at the bottoms of the first driving device 112 and the first transmission device 113. The first sliding device 115 is disposed between the first transmission device 113 and the base housing 111. When the multi-joint robot 1 operates, the first driving device 112 drives the first synchronization device 114 to rotate, and the first synchronization device 114 drives the first transmission device 113 to rotate. The first transmission device 113 drives the second mechanical arm 12 to horizontally rotate.
More specifically, the base housing 111 includes a base sealing plate 1111 and a base back cover plate 1112, the base sealing plate 1111 is disposed at the bottom of the base housing 111, and the base back cover plate 1112 is disposed on the side surface of the base housing 111. The first driving device 112 includes a first fixing base 1121, a first driving element 1122, and a first electromagnetic power-off brake 1123, where the first fixing base 1121 is disposed in the base housing 111, the first driving element 1122 is disposed on one side of the first fixing base 1121, and the first driving element 1122 is disposed in the base housing 111. The first electromagnetic power-off brake 1123 is disposed on the other side of the first fixing base 1121 and connected to the output end of the first driving element 1122. The first driving element 1122 rotates and drives the first electromagnetic de-energized brake 1123.
The first transmission device 113 includes a bottom cover plate 1131, a first transmission shaft 1132, a first harmonic reducer 1133, a first coupling block 1134, a first main shaft 1135, and a first flange 1136, where the bottom cover plate 1131 is disposed in the base housing 111 and is located on one side of the base sealing plate 1111. The first transmission shaft 1132 is disposed at a central through hole of the bottom cover plate 1131. The first harmonic reducer 1133 is sleeved on the first transmission shaft 1132 and is located above the bottom cover 1131. The first coupling block 1134 is sleeved on the first transmission shaft 1132 and is connected to the first harmonic reducer 1133. The first spindle 1135 is disposed on the first coupling block 1134 and is coupled to the second robot 12. The first flange 1136 is disposed on the base housing 111 and is located on top of the first harmonic reducer 1133. The first synchronization device 114 includes two first synchronization wheels 1141 and a first synchronization belt 1142, the two first synchronization wheels 1141 are respectively sleeved on the first electromagnetic power-off brake 1123 and the first transmission shaft 1132, and the first synchronization belt 1142 is connected to the two first synchronization wheels 1141. The first sliding device 115 includes two first deep groove ball bearings 1151 and a first cross roller bearing 1152, one first deep groove ball bearing sleeve 1151 is sleeved at one end of the first transmission shaft 1132 and is located between the bottom cover plate 1131 and the first transmission shaft 1132, and the other first deep groove ball bearing sleeve 1152 is sleeved at the other end of the first transmission shaft 1132 and is located between the first coupling block 1134 and the first transmission shaft 1132. A first cross roller bearing 1152 is disposed about the first main shaft 1135 and is coupled to the first flange 1136. The first driving element 1122 drives the first electromagnetic brake 1123 to rotate, the first electromagnetic brake 1123 drives the first synchronous wheel 1141 connected thereto to rotate, and the first synchronous belt 1142 drives the first synchronous wheel 1141 connected to the first transmission shaft 1132 to rotate. The first synchronous wheel 1141 connected to the first transmission shaft 1132 drives the first transmission shaft 1132 to rotate, and the first transmission shaft 1132 drives the first harmonic reducer 1133 to rotate. The first harmonic reducer 1133 drives the first coupling block 1134 to rotate, and the first coupling block 1134 drives the first main shaft 1135 to rotate. The first spindle 1135 drives the second robot 12 to horizontally rotate.
Referring again to FIG. 4, an exploded view of the second robot 12 according to one embodiment of the present invention is shown; as shown in the figure, the second mechanical arm 12 includes a second housing 121, a second driving device 122, a second transmission device 123, a second synchronization device 124, and a second sliding device 125, where the second housing 121 is disposed on the first spindle 1135, and the second housing 121 is movably connected to the top of the base housing 111. The second driving device 122 is disposed in the second housing 121. The second transmission device 123 is disposed in the second housing 121 and located at one side of the second driving device 122. The second synchronizing device 124 is connected to the second driving device 122 and the second transmission device 123. The second sliding device 125 is disposed on the second transmission device 123. The second driving device 122 drives the second synchronizing device 124 to rotate, and the second synchronizing device 124 drives the second transmission device 123 to rotate. The second transmission device 123 drives the third mechanical arm 13 to rotate relative to the second mechanical arm 12.
The second housing 121 includes a second left housing 1211, a second right housing 1212, and two second side covers 1213, the second left housing 1211 is disposed on the first main shaft 1135, the second left housing 1211 is movably connected to the base housing 111, and the second left housing 1211 is driven by the first main shaft 1135 to horizontally rotate. The second right housing 1212 is disposed on the right side of the second left housing 1211, and two second side covers 1213 are disposed on the second left housing 1211 and the second right housing 1212, respectively.
The second driving device 122 includes a second fixing base 1221, a second driving element 1222, and a second electromagnetic power-off brake 1223, where the second fixing base 1221 is disposed in the second left casing 1211. The second driving element 1222 is disposed in the second fixing base 1221 and located in the second left casing 1211. The second electromagnetic power-off brake 1223 is disposed on the second fixing base 1221 and connected to the output end of the second driving element 1222. The second drive element 1222 rotates and drives the second electromagnetic de-energized brake 1223.
The second transmission device 123 includes a second transmission shaft 1231, a second harmonic reducer 1232, a second hollow shaft 1233, and a second flange 1234, where the second transmission shaft 1231 is disposed on the second left casing 1211. The second harmonic reducer 1232 is sleeved on the second transmission shaft 1231 and connected to the third mechanical arm 13. The second hollow shaft 1233 is disposed on the second right housing 1212 and connected to the third robot 13. The second flange 1234 is disposed on the second hollow shaft 1233 and is connected to the second right housing 1212. The second synchronizing device 124 includes two second synchronizing wheels 1241 and a second synchronizing belt 1242, the two second synchronizing wheels 1241 are respectively sleeved on the second electromagnetic power-off brake 1223 and the second transmission shaft 1231, and the second synchronizing belt 1242 is connected to the two second synchronizing wheels 1241. The second sliding device 125 further includes two second deep groove ball bearings 1251, where one second deep groove ball bearing 1251 is sleeved on one end of the second transmission shaft 1231 and is connected to the second left housing 1211. The other second deep groove ball bearing 1251 is sleeved on the other end of the second transmission shaft 1231 and is connected with the second harmonic reducer 1232. The second driving element 1222 drives the second electromagnetic power-off brake 1223 to rotate, the second electromagnetic power-off brake 1223 drives the second synchronizing wheel 1241 connected with the second electromagnetic power-off brake 1223 to rotate, and the second synchronizing belt 1242 drives the second synchronizing wheel 1241 connected with the second transmission shaft 1231 to rotate. The second synchronizing wheel 1241 connected to the second transmission shaft 1231 drives the second transmission shaft 1231 to rotate, and the second transmission shaft 1231 drives the second harmonic reducer 1232 to rotate. The second harmonic reducer 1232 drives the third robot arm 13 to rotate.
Referring to fig. 5, an exploded view of a third robot 13 according to an embodiment of the present invention is shown; as shown in the figure, the third mechanical arm 13 includes a third housing 131, a third driving device 132, a third transmission device 133, and a third synchronization device 134, where the third housing 131 is disposed on the second harmonic reducer 1232, and the third housing 131 is movably connected to the second housing 121. The third driving device 132 is disposed in the third housing 131. The third transmission device 133 is disposed in the third housing 131 and located at one side of the third driving device 132. The third synchronizing device 134 is connected to the third driving device 132 and the third transmission device 133. The third driving device 132 drives the third synchronizing device 134 to rotate, the third synchronizing device 134 drives the third transmission device 133 to rotate, and the third transmission device 133 drives the fourth mechanical arm 14 to rotate.
The third housing 131 includes a third left housing 1311, a third right housing 1312, and two third side covers 1313, where the third left housing 1311 is movably connected to a side wall of the second left housing 1211. The third right housing 1312 is movably coupled to the outside of the second right housing 1212 and coupled to the top of the third left housing 1311. Two third side covers 1313 are provided to the third left housing 1311 and the third right housing 1312, respectively.
The third driving device 132 includes a third fixing base 1321, a third driving element 1322 and a third electromagnetic power-off brake 1323, and the third fixing base 1321 is disposed in the third housing 131. The third driving element 1322 is disposed in the third fixing seat 1321 and located in the third housing 131. The third electromagnetic power-off brake 1323 is disposed on the third fixing seat 1321 and connected to an output end of the third driving element 1322. The third driving element 1322 rotates and drives the third electromagnetic power-off brake 1323 to rotate.
The third transmission device 133 includes a third transmission shaft 1331, a third harmonic reducer 1332, a third hollow shaft 1333, and a third flange 1334, and the third transmission shaft 1331 is disposed on the third left housing 1311. The third harmonic reducer 1332 is sleeved on the third transmission shaft 1331 and connected to the third left housing 1311 and the fourth mechanical arm 14. The third hollow shaft 1333 is disposed on the third right housing 1312 and is coupled to the fourth robot 14. The third flange 1334 is disposed on the third hollow shaft 1333 and is connected to the third right housing 1312. The third synchronizing device 134 includes two third synchronizing wheels 1341 and a third synchronizing belt 1342, the two third synchronizing wheels 1341 are respectively sleeved on the third electromagnetic power-off brake 1323 and the third transmission shaft 1331, and the third synchronizing belt 1342 is connected to the two third synchronizing wheels 1341. The third electromagnetic power-off brake 1323 drives the third synchronizing wheel 1341 connected with the third electromagnetic power-off brake to rotate, the third synchronizing belt 1342 drives the third synchronizing wheel 1341 connected with the third transmission shaft 1331 to rotate, and the third synchronizing wheel 1341 connected with the third transmission shaft 1331 drives the third transmission shaft 1331 to rotate. The third transmission shaft 1331 drives the third harmonic reducer 1332 to rotate, and the third harmonic reducer 1332 drives the fourth mechanical arm 14 to rotate.
Referring again to fig. 6, an exploded view of the fourth robot 14 according to an embodiment of the present invention is shown; as shown in the figure, the fourth mechanical arm 14 includes a fourth housing 141, a fourth driving device 142, a fourth transmission device 143, and a fourth synchronization device 144, and the fourth housing 141 is movably connected to a third harmonic reducer 1332 and a third hollow shaft 1333. The fourth driving device 142 is disposed in the fourth housing 141. The fourth transmission device 143 is disposed in the fourth housing 141 and located at one side of the fourth driving device 142. The fourth synchronizing device 144 is disposed on the fourth driving device 142 and the fourth transmission device 143. The fourth driving device 142 drives the fourth synchronizing device 144 to rotate, the fourth synchronizing device 144 drives the fourth transmission device 143 to rotate, and the fourth transmission device 143 drives the fifth mechanical arm 15 to rotate.
The fourth casing 141 includes a fourth fixing case 1411, a fourth side cover 1412 and a fourth bottom cover 1413, and two sides of the fourth fixing case 1411 are movably connected to the third harmonic reducer 1332 and the third hollow shaft 1333, respectively. The fourth side cover 1412 is provided at a side of the fourth fixed case 1411, and the fourth bottom cover 1413 is provided at a bottom of the fourth fixed case 1411.
The fourth driving device 142 includes a fourth fixing base 1421, a fourth driving element 1422, and a fourth electromagnetic power-off brake 1423, where the fourth fixing base 1421 is disposed in the fourth fixing housing 1411. The fourth driving element 1422 is disposed on the fourth fixing base 1421 and located in the fourth fixing housing 141. The fourth electromagnetic power-off brake 1423 is disposed on the fourth fixing seat 1421 and connected to the output end of the fourth driving element 1422. The fourth driving member 1422 rotates and drives the fourth electromagnetic brake 1423 to rotate.
The fourth transmission device 143 includes a fourth transmission shaft 1431 and a fourth harmonic reducer 1432, and the fourth transmission shaft 1431 is disposed on the fourth fixed housing 1411 and above the fourth driving device 142. The fourth harmonic reducer 1432 is sleeved on the fourth transmission shaft 1431 and connected to the fifth mechanical arm 15. The fourth synchronizer 144 has two fourth synchronizing wheels 1441 and a fourth synchronizing belt 1442, the two fourth synchronizing wheels 1441 are respectively sleeved on the fourth electromagnetic power-off brake 1423 and the fourth transmission shaft 1431, and the fourth synchronizing belt 1442 is connected to the two fourth synchronizing wheels 1441. The fourth electromagnetic power-off brake 1423 drives the fourth synchronizing wheel 1441 connected with the fourth electromagnetic power-off brake to rotate, the fourth synchronizing belt 1442 drives the fourth synchronizing wheel 1441 connected with the fourth transmission shaft 1431 to rotate, the fourth synchronizing wheel 1441 connected with the fourth transmission shaft 1431 drives the fourth transmission shaft 1431 to rotate, the fourth transmission shaft 1431 drives the fourth harmonic reducer 1432 to rotate, and the fourth harmonic reducer 1432 drives the fifth mechanical arm 15 to rotate.
Referring back to fig. 2; the fifth housing 151 includes a fifth fixed shell 1511 and two fifth side covers 1512, the fifth fixed shell 1511 is movably connected to the fourth harmonic reducer 1432, and the two fifth side covers 1512 are respectively disposed on two sides of the fifth fixed shell 1511.
The two fifth driving devices 152 respectively have a fifth fixed base 1521, a fifth driving element 1522 and a fifth electromagnetic power-off brake 1523, wherein the fifth fixed base 1521 is disposed in the fifth fixed housing 1511. The fifth driving element 1522 is disposed on the fifth fixed base 1521 and disposed in the fifth fixed housing 1511. The fifth electromagnetic power-off brake 1523 is disposed on the fifth fixed seat 1521 and connected to the output terminal of the fifth driving element 1522. The two fifth transmission devices 153 respectively have a fifth transmission shaft 1531 and a fifth harmonic reducer 1532, the fifth transmission shaft 1531 is disposed on the fifth fixed housing 1511, and the fifth transmission shaft 1531 is disposed on one side of the two fifth driving devices 152. The fifth harmonic reducer 1532 is sleeved on the fifth transmission shaft 1531 and connected to the tool mounting part 16. One fifth gear 153 of the two fifth gears 153 also has a connection block 1533, the connection block 1533 being disposed at the rear end of the fifth transmission shaft 1531 and connected to the tool mounting part 16. The two fifth synchronous devices 154 respectively have two fifth synchronous wheels 1541 and a fifth synchronous belt 1542, the two fifth synchronous wheels 1541 are respectively sleeved on the fifth electromagnetic power-off brake 1523 and the fifth transmission shaft 1531, and the fifth synchronous belt 1542 is connected to the two fifth synchronous wheels 1541. The two fifth driving elements 1522 respectively drive the two fifth electromagnetic power-off brakes 1523 to rotate, and the two fifth electromagnetic power-off brakes 1523 respectively drive the two fifth synchronous wheels 1541 connected thereto to rotate. The two fifth synchronous belts 1542 respectively drive the two fifth synchronous wheels 1541 connected with the two fifth transmission shafts 1531 to rotate, and the two fifth synchronous wheels 1541 connected with the two fifth transmission shafts 1531 respectively drive the two fifth transmission shafts 1531 to rotate. One fifth transmission shaft 1531 drives one fifth harmonic reducer 1532 to rotate, one fifth harmonic reducer 1532 drives the tool mounting part 16 to rotate, and the other fifth transmission shaft 1531 drives the connection block 1533 to rotate, the connection block 1533 drives the tool mounting part 16 to rotate.
In more detail, the fifth robot 15 of the present invention further includes a fifth sliding device 155, wherein the fifth sliding device 155 has two fifth deep groove ball bearings 1551, and one fifth deep groove ball bearing 1551 is sleeved on one fifth transmission shaft 1531 and located between one fifth harmonic reducer 1532 and the tool mounting part 16. The other fifth deep groove ball bearing 1551 is sleeved on the other fifth rotating shaft 1532 and is located between the fifth fixing case 1511 and the tool mounting part 16.
Referring again to FIG. 7, an exploded view of the tool mounting portion 16 according to one embodiment of the present invention is shown; as shown, the tool mounting portion 16 includes a connecting member 161, a sixth housing 162, a sixth transmission shaft 163, a sixth harmonic reducer 164, a turntable 165, and a bevel gear 166, and the connecting member 161 is movably connected to the two fifth transmissions 153. The sixth housing 162 is provided to the connector 161. The sixth transmission shaft 163 is disposed on the sixth housing 162 and is movably connected to the connecting member 161. The sixth harmonic reducer 164 is sleeved on the sixth transmission shaft 163 and is located in the sixth housing 162. The turntable 165 is sleeved on the sixth transmission shaft 163 and is connected to the sixth housing 162. The bevel gear 166 is disposed on top of the sixth transmission shaft 163 and abuts against the corresponding connection block 1533 of the two fifth transmission devices 153. A fifth transmission 153 drives the connecting member 161 to rotate, and the connecting member 161 drives the sixth housing 162, the sixth transmission shaft 163, the sixth harmonic reducer 164 and the turntable 165 to rotate. The corresponding connection block 1533 of the other fifth transmission device 153 drives the bevel gear 166 to rotate, and the bevel gear 166 drives the sixth transmission shaft 163 to rotate. The sixth drive shaft 163 drives the sixth harmonic reducer 164 and the turntable 165 to rotate.
In summary, in one or more embodiments of the present invention, the multi-joint robot has a simple structure, is easy to control, has accurate displacement, and can work at multiple angles by cooperatively driving multiple joints.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.
Claims (6)
1. A multi-joint robot, comprising:
A first mechanical arm;
the second mechanical arm is rotationally connected with the first mechanical arm;
The third mechanical arm is movably connected to the second mechanical arm and is opposite to the first mechanical arm;
The fourth mechanical arm is movably connected to the third mechanical arm and is opposite to the second mechanical arm;
The fifth mechanical arm is movably connected to the fourth mechanical arm, and the fifth mechanical arm is opposite to the third mechanical arm; wherein the fifth robot arm further comprises: the mechanical arm comprises a fifth shell, two fifth driving devices, two fifth transmission devices and two fifth synchronization devices, wherein the fifth shell is arranged in the fourth mechanical arm, and the two fifth driving devices are arranged in the fifth shell; the two fifth transmission devices are arranged in the fifth shell and are positioned in the two fifth driving devices; the two fifth synchronous devices are respectively arranged on the two fifth driving devices and the two fifth transmission devices; and
The tool mounting part is movably connected to the fifth mechanical arm and is opposite to the fourth mechanical arm;
Wherein first robotic arm sets up in the board, and it includes:
The base shell is arranged on the machine table and is provided with a base sealing plate and a base rear cover plate;
The first driving device is positioned in the base shell and comprises a first fixing seat, a first driving element and a first electromagnetic power-off brake, wherein the first fixing seat is arranged in the base shell, the first driving element is arranged in the first fixing seat and is positioned in the base shell, and the first electromagnetic power-off brake is arranged in the first fixing seat and is connected with the output end of the first driving element;
The first transmission device is arranged in the base shell and is positioned at one side of the first driving device, and comprises a bottom cover plate, a first transmission shaft, a first harmonic reducer, a first coupling block, a first main shaft and a first flange plate, wherein the bottom cover plate is arranged in the base shell and is positioned at one side of the base sealing plate; the first transmission shaft is arranged on the bottom cover plate; the first harmonic reducer is sleeved on the first transmission shaft and is positioned above the bottom cover plate; the first coupling block is sleeved on the first transmission shaft and connected with the first harmonic reducer; the first main shaft is arranged on the first coupling block and connected with the second mechanical arm; the first flange plate is arranged on the first coupling block and is connected with the base shell;
the first synchronous device is connected between the first driving device and the first electromagnetic power-off brake and comprises two first synchronous wheels and a first synchronous belt, the two first synchronous wheels are respectively sleeved on the first electromagnetic power-off brake and the first transmission shaft, and the first synchronous belt is connected between the two first synchronous wheels; and
The first sliding device is arranged on the first transmission device and comprises two first deep groove ball bearings and a first crossed roller bearing, wherein the two first deep groove ball bearings are sleeved on the first transmission shaft and are respectively arranged on the bottom cover plate and the first coupling block; the first crossed roller bearing is sleeved on the first main shaft and connected with the first flange plate;
The fifth shell comprises a fifth fixed shell, and the fifth fixed shell is movably connected to the fourth mechanical arm;
The two fifth transmissions each have: the fifth transmission shaft is arranged on the fifth fixed shell and is positioned on one side of the two fifth driving devices, and the fifth harmonic reducer is sleeved on the fifth transmission shaft and is connected to the tool mounting part;
The fifth mechanical arm further comprises a fifth sliding device, wherein the fifth sliding device is provided with two fifth deep groove ball bearings, one fifth deep groove ball bearing is arranged between the fifth harmonic reducer and the tool mounting part, and the other fifth deep groove ball bearing is arranged between the fifth fixed shell and the tool mounting part;
The tool mounting portion includes: the device comprises a connecting piece, a sixth shell, a sixth transmission shaft, a sixth harmonic reducer, a turntable and bevel gears, wherein the connecting piece is movably connected with two fifth transmission devices, the sixth shell is arranged on the connecting piece, the sixth transmission shaft is arranged on the sixth shell and is movably connected with the connecting piece, the sixth harmonic reducer is sleeved on the sixth transmission shaft and is positioned in the sixth shell, the turntable is sleeved on the sixth transmission shaft and is connected with the sixth shell, and the bevel gears are arranged on the top of the sixth transmission shaft and are abutted to connecting blocks corresponding to the two fifth transmission devices.
2. The multi-joint robot of claim 1, wherein the second manipulator arm comprises: the second shell is arranged on the first main shaft and is movably connected to the top of the base shell; the second driving device is arranged in the second shell; the second transmission device is arranged in the second shell and is positioned at one side of the second driving device; the second synchronizing device is arranged between the second driving device and the second transmission device; the second sliding device is arranged on the second transmission device;
Wherein the second housing further comprises: the second left shell is arranged on the first main shaft and is movably connected with the base shell, the second right shell is arranged on the right side of the second left shell, and the two second side covers are respectively arranged on the second left shell and the second right shell;
Wherein the second driving device further comprises: the second fixing seat, the second driving element and the second electromagnetic power-off brake are arranged in the second shell, the second driving element is arranged in the second fixing seat, and the second electromagnetic power-off brake is arranged in the second fixing seat and is connected with the output end of the second driving element;
Wherein the second transmission further comprises: the second transmission shaft, the second harmonic reducer, the second hollow shaft and the second flange plate are arranged on the second left shell; the second harmonic reducer is sleeved on the second transmission shaft and connected to the third mechanical arm; the second hollow shaft is arranged on the second right shell and is connected with the third mechanical arm; the second flange plate is arranged on the second hollow shaft and is connected with the second right shell;
wherein the second synchronization device further comprises: the second synchronous wheels are respectively sleeved on the second electromagnetic power-off brake and the second transmission shaft, and the second synchronous belts are connected between the two second synchronous wheels; and
Wherein the second sliding device further comprises: the two second deep groove ball bearings are sleeved on the second transmission shaft and are respectively positioned on the second left shell and the second harmonic reducer.
3. The multi-joint robot of claim 2, wherein the third manipulator arm comprises: the third shell is arranged on the second harmonic speed reducer and is movably connected with the second shell; the third driving device is arranged in the third shell; the third transmission device is arranged in the third shell and is positioned at one side of the third driving device; the third synchronizing device is arranged between the third driving device and the third transmission device;
Wherein the third housing comprises: the device comprises a third left shell, a third right shell and two third side covers, wherein the third left shell is movably connected with the second left shell, the third right shell is movably connected with the second right shell and is connected with the third left shell, and the two third side covers are respectively arranged on two sides of the third left shell and the third right shell;
Wherein the third driving means includes: the third fixing seat, the third driving element and the third electromagnetic power-off brake are arranged in the third shell, the third driving element is arranged in the third fixing seat, and the third electromagnetic power-off brake is arranged in the third fixing seat and is connected with the output end of the third driving element;
wherein the third transmission comprises: the third transmission shaft, the third harmonic reducer, the third hollow shaft and the third flange plate are arranged on the third left shell; the third harmonic reducer is sleeved on the third transmission shaft and connected with the third left shell and the fourth mechanical arm; the third hollow shaft is arranged on the third right shell and is connected with the fourth mechanical arm; the third flange plate is arranged on the third hollow shaft and is connected with the third right shell;
The third synchronizing device comprises two third synchronizing wheels and a third synchronizing belt, wherein the two third synchronizing wheels are respectively sleeved on the third electromagnetic power-off brake and the third transmission shaft, and the third synchronizing belt is connected between the two third synchronizing wheels.
4. The multi-joint robot of claim 3, wherein the fourth manipulator arm comprises: the device comprises a fourth shell, a fourth driving device, a fourth transmission device and a fourth synchronization device, wherein the fourth shell is connected with the third harmonic speed reducer and the third hollow shaft, the fourth driving device is arranged in the fourth shell, the fourth transmission device is arranged in the fourth shell and is positioned at one side of the fourth driving device, and the fourth synchronization device is arranged in the fourth driving device and the fourth transmission device;
Wherein the fourth housing comprises: the two sides of the fourth fixed shell are respectively and movably connected with the third harmonic reducer and the third hollow shaft, the fourth side cover is arranged on the side surface of the fourth fixed shell, and the fourth bottom cover is arranged at the bottom of the fourth fixed shell;
Wherein the fourth driving means includes: the device comprises a fourth fixed seat, a fourth driving element and a fourth electromagnetic power-off brake, wherein the fourth fixed seat is arranged in a fourth fixed shell, the fourth driving element is arranged in the fourth fixed seat and is positioned in the fourth fixed shell, and the fourth electromagnetic power-off brake is arranged in the fourth fixed seat and is connected with the output end of the fourth driving element;
the fourth transmission device comprises a fourth transmission shaft and a fourth harmonic reducer, wherein the fourth transmission shaft is arranged on the fourth fixed shell and is positioned above the fourth driving device, and the fourth harmonic reducer is sleeved on the fourth transmission shaft and is connected with the fifth mechanical arm; and
Wherein the fourth synchronization means comprises: the two fourth synchronous wheels are respectively sleeved on the fourth electromagnetic power-off brake and the fourth transmission shaft, and the fourth synchronous belt is connected with the two fourth synchronous wheels.
5. The multi-joint robot of claim 4, wherein the fifth housing further comprises: the second harmonic reducer comprises a second harmonic reducer, a third harmonic reducer, a fourth harmonic reducer, a fifth fixed shell and a second harmonic reducer.
6. The multi-joint robot of claim 5, wherein the two fifth driving devices each include: the electromagnetic braking device comprises a fifth fixed seat, a fifth driving element and a fifth electromagnetic braking device, wherein the fifth fixed seat is arranged in a fifth fixed shell, the fifth driving element is arranged in the fifth fixed seat and is positioned in the fifth fixed shell, and the fifth electromagnetic braking device is arranged in the fifth fixed seat and is connected to the output end of the fifth driving element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547534.5A CN106113008B (en) | 2016-07-11 | 2016-07-11 | Multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610547534.5A CN106113008B (en) | 2016-07-11 | 2016-07-11 | Multi-joint robot |
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| Publication Number | Publication Date |
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| CN106113008A CN106113008A (en) | 2016-11-16 |
| CN106113008B true CN106113008B (en) | 2024-04-19 |
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| CN201610547534.5A Active CN106113008B (en) | 2016-07-11 | 2016-07-11 | Multi-joint robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514606A (en) * | 2016-12-18 | 2017-03-22 | 徐州乐泰机电科技有限公司 | Wheel-legged double-arm robot |
| CN106585759A (en) * | 2016-12-26 | 2017-04-26 | 徐州乐泰机电科技有限公司 | Novel mobile type double-arm robot |
| CN106493709B (en) * | 2016-12-26 | 2018-11-13 | 深圳供电局有限公司 | Wheel-leg type electric power overhaul robot with liftable and rotatable vehicle body |
| CN106625564B (en) * | 2016-12-26 | 2019-03-15 | 衡昇科技有限公司 | A kind of both arms electric power overhaul robot of liftable rotation |
| CN109606736B (en) * | 2018-12-06 | 2020-11-06 | 哈尔滨工业大学 | Single-motor double-swing-rod slewing mechanism, planet vehicle and moving method |
| CN109955236A (en) * | 2019-04-15 | 2019-07-02 | 五邑大学 | A kind of three joint Manipulators |
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