CN111347404A

CN111347404A - Six-axis cooperative robot capable of being quickly spliced and integrated into high integration

Info

Publication number: CN111347404A
Application number: CN202010276949.XA
Authority: CN
Inventors: 蔡国庆; 周文
Original assignee: Borunte Robot Co Ltd
Current assignee: Borunte Robot Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2020-06-30

Abstract

The invention relates to the technical field of industrial cooperative robots, in particular to a six-axis cooperative robot capable of being quickly spliced and integrated, which comprises: a base located at the bottommost portion; the first shoulder joint is arranged on the base, the second shoulder joint is connected to the left side of the first shoulder joint and can rotate at a certain angle and rotate back and forth along with the first shoulder joint, and the shoulder elbow is connected with the straight cylinder and is fixedly arranged on the second shoulder joint and moves along with the second shoulder joint; the elbow joint is fixedly arranged on the shoulder-elbow connecting straight cylinder and moves along with the shoulder joint II, and the wrist joint I is fixedly arranged on the elbow-wrist connecting straight cylinder and moves along with the elbow-wrist connecting bent cylinder; the wrist joint II is connected to the left side of the wrist joint I and rotates at a certain angle; the wrist joint III is connected above the wrist joint II and can rotate at a certain angle; and the tail end mounting seat is connected to the left side of the wrist joint and can rotate at a certain angle. The invention is light and portable, has simple structure and effectively solves the problem of line abrasion.

Description

Six-axis cooperative robot capable of being quickly spliced and integrated into high integration

Technical Field

The invention relates to the technical field of industrial cooperative robots, in particular to a six-axis cooperative robot capable of being quickly spliced and integrated.

Background

The development of industrial robots is becoming more and more mature, and the demands of various industries in the market can not be met by only relying on the traditional single robot to independently operate, especially on the automatic assembly lines of 3C, medicine, food, logistics and other industries needing man-machine cooperation operation. Therefore, it is necessary to provide a more intelligent and safe cooperative robot capable of human-machine cooperation to solve the problem.

However, in general, many cooperative robots are assembled by using a robot mechanical body joint, a hollow motor, a harmonic reducer, an encoder, and the like as separate parts, and thus, although some advantages are obtained, many disadvantages and disadvantages are also present. Such as: the joints are more complex to assemble, the technical requirements are higher, and the quick assembly in batches is not facilitated; the trial and error cost is increased, one workpiece is damaged in the joint, all parts need to be disassembled and tested again, and the maintenance difficulty is greatly increased.

Disclosure of Invention

The invention aims to provide a six-axis cooperative robot capable of realizing rapid splicing and high integration, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a six-axis cooperative robot capable of realizing rapid splicing and high integration, comprising:

a base located at the bottommost portion;

the first shoulder joint is arranged on the base and can rotate on the base;

the second shoulder joint is connected to the left side of the first shoulder joint and can rotate at a certain angle and rotate back and forth along with the first shoulder joint;

the shoulder elbow is connected with the straight cylinder, is fixedly arranged on the second shoulder joint and moves along with the second shoulder joint;

the elbow joint is fixedly arranged on the shoulder-elbow connecting straight cylinder and also moves along with the shoulder joint II;

the elbow wrist is connected with the bent cylinder and is connected to the right side of the elbow joint to rotate at a certain angle;

the elbow wrist is connected with the straight cylinder, is fixedly arranged on the elbow wrist connecting bent cylinder and moves along with the elbow wrist connecting bent cylinder;

the first wrist joint is fixedly arranged on the elbow-wrist connecting straight cylinder and moves along with the elbow-wrist connecting bent cylinder;

the wrist joint II is connected to the left side of the wrist joint I and rotates at a certain angle;

the wrist joint III is connected above the wrist joint II and can rotate at a certain angle;

and the tail end mounting seat is connected to the left side of the wrist joint and can rotate at a certain angle.

Furthermore, the first shoulder joint and the second shoulder joint both comprise a shoulder joint body, an adapter plate, a module and a shoulder joint cover, wherein the module is installed in the shoulder joint body, one end of the shoulder joint body is sealed through the shoulder joint cover, and the other end of the shoulder joint body is provided with the adapter plate driven by the module.

Furthermore, the first shoulder joint and the second shoulder joint further comprise a line passing device, a line fixing device and a supporting column, the shoulder joint cover and the shoulder joint body are fixed through the supporting column, a sealing ring is arranged between the shoulder joint cover and the shoulder joint body, the line passing device is installed on the side face of the shoulder joint body, and the line fixing device is installed on the module.

Furthermore, the first shoulder joint is installed on the base through the adapter plate of the first shoulder joint, the second shoulder joint is installed on the side face of the joint body of the first shoulder joint through the adapter plate of the second shoulder joint, and the joint body of the second shoulder joint is fixedly installed with the shoulder-elbow connecting straight cylinder.

Further, the elbow joint includes elbow joint body, keysets, module and elbow joint lid, wherein the module is installed at the elbow joint originally internally, the elbow joint lid is installed through the pillar to the one end of elbow joint body, has the sealing washer between the two thereof, the other end of joint body have with module driven keysets, this keysets and elbow wrist connection bows installation fixed, the side of elbow joint body is equipped with the line device, install the solidus device on the module.

Furthermore, wrist joint one, wrist joint two and wrist joint three all include wrist joint body, keysets, module and wrist joint lid, wherein the module is installed at wrist joint body internally, the one end of joint body is sealed through wrist joint lid, the other end have with module driven keysets.

Furthermore, the first wrist joint, the second wrist joint and the third wrist joint further comprise a wire passing device, a wire fixing device and a support column, the wrist joint cover and the wrist joint body are fixed through the support column, a sealing ring is arranged between the wrist joint cover and the wrist joint body, the wire passing device is installed on the side face of the wrist joint body, and the wire fixing device is installed on the module.

Furthermore, the wrist joint body of the first wrist joint is fixedly installed with the elbow wrist connecting straight cylinder, the adapter plate of the first wrist joint is connected with the wrist joint body of the second wrist joint, the adapter plate of the second wrist joint is connected with the wrist joint body of the third wrist joint, and the terminal installation seat is fixedly installed with the adapter plate of the third wrist joint.

Furthermore, the module comprises harmonic speed reducer, hollow motor and encoder.

Further, the mechanical body of base, shoulder joint one, shoulder joint two, shoulder elbow connection straight section of thick bamboo, elbow joint, elbow wrist connection curved section of thick bamboo, elbow wrist connection straight section of thick bamboo, wrist joint one, wrist joint two, wrist joint three and terminal mount pad adopts high-strength aluminium alloy material.

Compared with the prior art, the invention has the beneficial effects that:

light and handy portable, simple structure: adopt lightweight structural design, the complete machine dead weight is less than 21KG, and the design of built-in high integrated module has simplified body inner structure greatly, makes the structure compacter simple, and the part still less makes things convenient for dismouting and after-sales maintenance.

A wire passing path: the whole machine adopts series connection internal wiring. Through a power supply and data interface a, the circuit sequentially passes through the interiors of a wrist joint III, a wrist joint II, a wrist joint I, an elbow-wrist connecting straight cylinder, an elbow-wrist connecting bent cylinder, an elbow joint, a shoulder-elbow connecting straight cylinder, a shoulder joint II, a shoulder joint I and a base from top to bottom, is discharged from the base and is connected with an external power supply control cabinet. Wherein, the thread passing and fixing modes of all joints are similar, thereby effectively solving the problem of line abrasion.

Drawings

Fig. 1 is an overall structural view of the present invention.

Fig. 2 is an overall exploded view of the present invention.

FIG. 3 is a schematic view of a base structure according to the present invention.

Fig. 4 is a schematic structural diagram of the shoulder joint of the present invention.

Figure 5 is an exploded view of the shoulder joint or wrist joint or elbow joint of the present invention.

FIG. 6 is a schematic view of the shoulder-elbow joint cylinder of the present invention.

Figure 7 is a cross-sectional view of the elbow joint of the present invention.

FIG. 8 is a schematic view of the elbow-wrist joint elbow of the present invention.

FIG. 9 is a schematic view of the wrist joint of the present invention.

Figure 10 is a three-sectional view of the wrist joint of the present invention.

Fig. 11 is a schematic view of the end mount of the present invention.

In the figure: 1-base, 2-shoulder joint I, 3-shoulder joint II, 31-shoulder joint body, 32-line passing device, 33-adapter plate, 34-module, 35-line fixing device, 36-support, 37-sealing ring, 38-shoulder joint cover, 4-shoulder-elbow connecting straight cylinder, 5-elbow joint, 51-elbow joint body, 52-elbow joint cover, 6-elbow-wrist connecting bent cylinder, 7-elbow-wrist connecting straight cylinder, 8-wrist joint I, 81-wrist joint body, 82-wrist joint cover, 9-wrist joint II, 10-wrist joint III, 11-tail end mounting base and 12-line fixing sheet.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper/lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed/sleeved," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-11, the present invention provides a technical solution:

a six-axis cooperative robot capable of realizing rapid splicing and high integration is characterized in that a base 1 is located at the bottommost part of the robot as shown in figure 1, and a shoulder joint I2 is placed on the base 1 to rotate. The shoulder joint II 3 is connected to the left side of the shoulder joint I2 to rotate at a certain angle and rotates back and forth along with the shoulder joint I2, and the shoulder-elbow connecting straight cylinder 4 is fixedly arranged on the shoulder joint II 3 and moves along with the shoulder joint II 3. The elbow joint 5 is fixedly arranged on the shoulder-elbow connecting straight cylinder 4 and also moves along with the shoulder joint II 3. The elbow wrist is connected elbow section of thick bamboo 6 and is connected the rotation that carries out certain angle in elbow joint 5 right side, and elbow wrist is connected straight section of thick bamboo 7 fixed mounting on elbow wrist connects elbow section of thick bamboo 6, along with elbow wrist connects the motion of elbow section of thick bamboo 6, and a wrist joint 8 fixed mounting is on elbow wrist connects straight section of thick bamboo 7, also along with the motion of elbow wrist connection elbow section of thick bamboo 6. The second wrist joint 9 is connected to the left side of the first wrist joint 8 to rotate at a certain angle, the third wrist joint 10 is connected to the upper side of the second wrist joint 9 to rotate at a certain angle, and the tail end mounting base 11 is connected to the left side of the third wrist joint 10 to rotate at a certain angle.

The structure is as follows: in the scheme, the internal structures of the shoulder joint, the elbow joint and the wrist joint are basically the same, and the structures can be understood as the same and different in size. As shown in fig. 2-11, each joint: shoulder joint body 31, elbow joint body 51, and wrist joint body 81 and each connecting cylinder: the shoulder-elbow connecting straight cylinder 4, the elbow-wrist connecting bent cylinder 6 and the elbow-wrist connecting straight cylinder 7 are integrally molded by adopting a cylindrical structure, and the key connecting parts are matched with staggered reinforcing rib structural designs, so that the joint strength and the fatigue life are improved, the wall thickness is correspondingly reduced, and the weight of the whole machine is reduced.

The wire-passing paths are shown in figures 1, 2 and 5, and the whole machine adopts series-connection internal wiring. Through a power supply and data interface a, the circuit sequentially passes through the three wrist joints 10, the two wrist joints 9, the one wrist joint 8, the elbow-wrist connecting straight cylinder 7, the elbow-wrist connecting bent cylinder 6, the elbow joint 5, the shoulder-elbow connecting straight cylinder 4, the two shoulder joints 3, the one shoulder joint 2 and the interior of the base 1 from top to bottom, is discharged from the base 1 and is connected with an external power supply control cabinet. The line passing and fixing modes of all joints are similar, the line abrasion is effectively solved, and a shoulder joint II 3 is taken as an example. The line firstly passes through the line passing device 32 and enters the inner cavity of the shoulder joint body 31, then the line is fixed on the shoulder joint body 31 by the line fixing sheet 12, then the line is fixed by the line fixing device 35 on the module 34, the line passes through the module 34, and finally the line is connected with the next joint through the adapter plate 33.

The material is as follows: in order to reduce the weight of the machine body to the maximum extent and ensure the strength and rigidity of the machine, the machine bodies of the base 1, the shoulder joint I2, the shoulder joint II 3, the shoulder-elbow connecting straight cylinder 4, the elbow joint 5, the elbow-wrist connecting bent cylinder 6, the elbow-wrist connecting straight cylinder 7, the wrist joint I8, the wrist joint II 9, the wrist joint III 10 and the tail end mounting seat 11 are made of high-strength aluminum alloy materials, and the sealing covers of all joints are made of high-strength synthetic plastic materials.

In this scheme, the module is for rotating and rotatory power that provides, and its inside contains harmonic speed reducer machine and hollow motor to and the encoder. The homodyne cloud control technology Limited, which is purchased from Shenzhen, is a prior art and is not detailed here.

The six-axis cooperative robot capable of being quickly spliced and highly integrated has the functions of collision detection, 3D visual recognition, track reproduction and the like. Compared with the traditional six-axis robot, the robot has the following advantages:

1. man-machine cooperation, safer: the built-in torque sensor (in control connection with an external control system and not shown in the figure) monitors the running stress condition of the machine in real time, has a collision detection function, is high in reliability, can efficiently ensure the safety of man-machine cooperation, does not need fence isolation, and greatly saves space;

2. easy to control, draggable teaching: programming can be realized by dragging the track or carrying a 3D visually sensitive recording target track, the method is simple and easy to control, the use threshold is greatly reduced, and the method is more intelligent and easy to use;

3. light and handy portable, simple structure: the light weight structure design is adopted, the dead weight of the whole machine is less than 21KG, and the high integration module design is arranged in the machine, so that the internal structure of the body is greatly simplified, the structure is more compact and simpler, the number of parts is less, and the disassembly, assembly and after-sale maintenance are convenient;

4. economic and beautiful, and high efficiency: the whole machine has the advantages of industrial streamline design, concave-convex shape, aesthetic feeling, low cost, less early investment, high cost performance, flexible and smooth action, high speed and high-efficiency operation;

5. environmental protection and energy saving, precision are high: the body is powered by direct current in series, so that the power consumption is low, the positioning is accurate, and the performance is excellent;

6. the application range is wide: the high sensitivity and the quick response of the flexible packaging material are suitable for a high-density flexible production line, meet the operation requirements of product detection, packaging, injection molding, loading and unloading, assembly and the like, and are particularly suitable for the application scene of man-machine cooperative operation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A six-axis cooperative robot capable of quickly splicing high integration, which is characterized by comprising:

a base (1) located at the bottommost portion;

the first shoulder joint (2) is arranged on the base (1) and can rotate on the base (1);

the second shoulder joint (3) is connected to the left side of the first shoulder joint (2) and can rotate at a certain angle and rotate back and forth along with the first shoulder joint (2);

the shoulder-elbow connecting straight cylinder (4) is fixedly arranged on the second shoulder joint (3) and moves along with the second shoulder joint (3);

the elbow joint (5) is fixedly arranged on the shoulder-elbow connecting straight cylinder (4) and also moves along with the shoulder joint II (3);

the elbow wrist is connected with a bent cylinder (6) which is connected to the right side of the elbow joint (5) and can rotate at a certain angle;

the elbow wrist connecting straight cylinder (7) is fixedly arranged on the elbow wrist connecting bent cylinder (6) and moves along with the elbow wrist connecting bent cylinder (6);

the wrist joint I (8) is fixedly arranged on the elbow-wrist connecting straight cylinder (7) and moves along with the elbow-wrist connecting bent cylinder (6);

the second wrist joint (9) is connected to the left side of the first wrist joint (8) and rotates at a certain angle;

a wrist joint III (10) which is connected above the wrist joint II (9) and can rotate at a certain angle;

and the tail end mounting seat (11) is connected to the left side of the wrist joint III (10) and can rotate at a certain angle.

2. The six-axis cooperative robot capable of realizing rapid splicing and high integration according to claim 1, wherein each of the first shoulder joint (2) and the second shoulder joint (3) comprises a shoulder joint body (31), an adapter plate (33), a module (34) and a shoulder joint cover (38), wherein the module (34) is installed in the joint body (31), one end of the joint body (31) is sealed by the shoulder joint cover (38), and the other end of the joint body is provided with the adapter plate (33) driven by the module (34).

3. The six-axis cooperative robot capable of realizing rapid splicing and high integration as claimed in claim 2, wherein the first shoulder joint (2) and the second shoulder joint (3) further comprise a line passing device (32), a line fixing device (35) and a strut (36), the shoulder joint cover (38) and the shoulder joint body (31) are fixed through the strut (36) and a sealing ring (37) is arranged between the shoulder joint cover and the shoulder joint body, the line passing device (32) is installed on the side surface of the shoulder joint body (31), and the line fixing device (35) is installed on the module (34).

4. The six-axis cooperative robot capable of realizing the rapid splicing and the high integration as a whole according to claim 3, wherein the first shoulder joint (2) is mounted on the base (1) through an adapter plate (33) of the first shoulder joint, the second shoulder joint (3) is mounted on the side surface of a joint body (31) of the first shoulder joint (2) through an adapter plate (33) of the second shoulder joint, and the joint body (31) of the second shoulder joint (3) is fixedly mounted with the shoulder-elbow connecting straight cylinder (4).

5. The six-axis cooperative robot capable of achieving the high-integration fast splicing function as claimed in claim 1, wherein the elbow joint (5) comprises an elbow joint body (51), an adapter plate (33), a module (34) and an elbow joint cover (52), the module (34) is installed in the elbow joint body (51), the elbow joint cover (52) is installed at one end of the elbow joint body (51) through a support column (36), a sealing ring (37) is arranged between the elbow joint body and the elbow joint cover, the adapter plate (33) driven by the module (34) is arranged at the other end of the joint body (51), the adapter plate (33) is fixedly installed on an elbow wrist connecting bent cylinder (6), a line passing device (32) is arranged on the side face of the elbow joint body (51), and a line fixing device (35) is installed on the module (34).

6. The six-axis cooperative robot capable of realizing rapid splicing and high integration according to claim 1, wherein the first wrist joint (8), the second wrist joint (9) and the third wrist joint (10) comprise a first wrist joint body (81), an adapter plate (33), a module (34) and a wrist joint cover (82), wherein the module (34) is installed in the wrist joint body (81), one end of the joint body (31) is sealed through the wrist joint cover (82), and the other end of the joint body is provided with the adapter plate (33) driven by the module (34).

7. The six-axis cooperative robot capable of realizing rapid splicing and high integration as claimed in claim 6, wherein the first wrist joint (8), the second wrist joint (9) and the third wrist joint (10) further comprise a wire passing device (32), a wire fixing device (35) and a strut (36), the wrist joint cover (82) and the wrist joint body (81) are fixed through the strut (36) and provided with a sealing ring (37) therebetween, the wire passing device (32) is installed on the side surface of the wrist joint body (31), and the wire fixing device (35) is installed on the module (34).

8. The six-axis cooperative robot capable of realizing rapid splicing and high integration as claimed in claim 7, wherein the wrist joint body (81) of the first wrist joint (8) is fixedly mounted with the elbow-wrist connection straight cylinder (7), the adapter plate (33) of the first wrist joint (8) is connected with the wrist joint body (81) of the second wrist joint (9), the adapter plate (33) of the second wrist joint (9) is connected with the wrist joint body (81) of the third wrist joint (10), and the end mounting base (11) is fixedly mounted with the adapter plate (33) of the third wrist joint (10).

9. The six-axis cooperative robot capable of realizing rapid splicing and high integration according to any one of claims 2 to 8, wherein the module (34) is composed of a harmonic reducer, a hollow motor and an encoder.

10. The six-axis cooperative robot capable of being rapidly spliced and highly integrated as claimed in any one of claims 1 to 8, wherein the mechanical bodies of the base (1), the first shoulder joint (2), the second shoulder joint (3), the first shoulder-elbow joint (4), the elbow joint (5), the elbow-wrist joint elbow (6), the elbow-wrist joint straight cylinder (7), the first wrist joint (8), the second wrist joint (9), the third wrist joint (10) and the end mounting seat (11) are made of high-strength aluminum alloy materials.