CN111390898A - Six-axis light cooperative robot - Google Patents
Six-axis light cooperative robot Download PDFInfo
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- CN111390898A CN111390898A CN202010383310.1A CN202010383310A CN111390898A CN 111390898 A CN111390898 A CN 111390898A CN 202010383310 A CN202010383310 A CN 202010383310A CN 111390898 A CN111390898 A CN 111390898A
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- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims description 51
- 210000003857 wrist joint Anatomy 0.000 claims description 42
- 238000009434 installation Methods 0.000 claims description 9
- 238000003825 pressing Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 238000011031 large-scale manufacturing process Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 210000000245 forearm Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 239000007769 metal material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910052755 nonmetal Inorganic materials 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Classifications
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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
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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Abstract
The invention provides a six-axis light-weight cooperative robot, wherein a middle joint assembly comprises a middle joint shell, and a third driver for driving a third joint of the six-axis light-weight cooperative robot is arranged on the middle joint shell; a fourth driver and a fifth driver which are respectively used for driving a fourth joint and a fifth joint of the six-axis light-duty cooperative robot are arranged on one side of the third driver; a sixth driver for driving a sixth joint of the six-axis light-duty cooperative robot is arranged on the other side of the third driver; the fourth driver, the fifth driver and the sixth driver are positioned in the same plane, and the output shafts are all oriented in the same direction. The six-axis light cooperative robot has a compact structure, is convenient to assemble, and is beneficial to production and processing; the precision is higher, and life is longer. Meanwhile, the six-axis light cooperative robot is simple to manufacture, low in cost and convenient for large-scale production and application.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-axis light-weight cooperative robot.
Background
With the rapid development of modern science and technology, the robot industry develops more and more rapidly and is applied more and more in factory automation production. Meanwhile, enthusiasm of students in universities and colleges in China in the aspects of robot learning, technology mastering and capability culture is greatly stimulated. In addition, due to the popularization of the robot technology, the desktop type robot in the prior art enters the living field for users to use, entertain and develop secondarily. Therefore, there is an increasing demand for robotic devices in various application scenarios.
The existing multi-degree-of-freedom robot is often expensive, large in size, low in degree of freedom and low in precision, cannot meet the requirements of teaching demonstration, and often has a certain safety problem; it is neither economical nor applicable to teaching research. In order to further facilitate the use of users, improve the degree of freedom and precision of the robot, and meet the demands of different users for appearance, and reduce the cost, it is urgently needed to design a multi-degree-of-freedom cooperative robot which is small, simple in structure, safe, reliable, low in cost, and capable of changing the appearance to solve the above technical problems.
Disclosure of Invention
In order to solve at least one of the above problems, an object of the present invention is to provide a six-axis light-weight cooperative robot that is compact, simple in structure, safe, reliable, and changeable in appearance. Meanwhile, the six-axis light cooperative robot is simple to manufacture, low in cost, high in precision, and convenient to produce and apply in a large scale, and a shell can be replaced to form a series of products.
In order to achieve the purpose, the invention adopts the technical scheme that:
the six-axis light-weight cooperative robot comprises a large arm assembly, a middle joint assembly and a small arm assembly, wherein the middle joint assembly connects the large arm assembly and the small arm assembly, the middle joint assembly comprises a middle joint shell, and a third driver for driving a third joint of the six-axis light-weight cooperative robot is arranged on the middle joint shell; a fourth driver and a fifth driver which are respectively used for driving a fourth joint and a fifth joint of the six-axis light-duty cooperative robot are arranged on one side of the third driver; a sixth driver for driving a sixth joint of the six-axis light-weight cooperative robot is arranged on the other side of the third driver; the fourth driver, the fifth driver and the sixth driver are positioned in the same plane, and the output shafts are all oriented in the same direction.
Further, the middle joint shell comprises a first mounting part and a second mounting part; the third driver is arranged on the first mounting part, and an output shaft of the third driver is fixedly connected with the large arm component; the fourth driver and the fifth driver are arranged on the second mounting part in parallel up and down; the third driver is disposed between and perpendicular to the fourth and fifth drivers.
Further, the forearm assembly comprises a forearm; the small arm is connected with the middle joint shell, and the sixth driver is installed on the small arm.
The wrist joint assembly comprises a wrist joint pipe, a transmission hollow shaft and a wrist joint shell, and the wrist joint shell is rotatably arranged on the outer side of the wrist joint pipe; a second driving long shaft is arranged at the output end of the fourth driver, a second driving wheel is mounted at the tail end of the first driving long shaft, and a second driven wheel is arranged on the wrist joint pipe; and the driven wheel II is in transmission connection with the driving wheel II.
Furthermore, a second driving long shaft is arranged at the output end of the fifth driver, a driving wheel III is arranged at the tail end of the second driving long shaft, and a driven wheel III is arranged at one end of the transmission hollow shaft; the driven wheel III is in transmission connection with the driving wheel III; the other end of the transmission hollow shaft is provided with a first bevel gear; a second bevel gear is further arranged in the wrist joint pipe, and the second bevel gear is fixedly connected with the wrist joint shell through a first connecting shaft; and the second bevel gear is in meshing transmission with the first bevel gear.
Further, a third driving long shaft is arranged at the output end of the sixth driver; the third driving long shaft, the transmission hollow shaft, the wrist joint pipe and the small arm are sequentially coaxially sleeved from inside to outside, and bearings are arranged at two ends between the third driving long shaft, the transmission hollow shaft, the wrist joint pipe and the small arm.
Furthermore, a third bevel gear is arranged at the tail end of the third driving long shaft, and a fourth bevel gear is in meshing transmission with the third bevel gear; the bevel gear four-way joint is fixedly connected with a bevel gear five through a second connecting shaft; a sixth bevel gear is in meshing transmission with the fifth bevel gear, and the sixth bevel gear is fixedly connected with a tail end flange; the second connecting shaft is arranged coaxially with the first connecting shaft.
Furthermore, an end cover connected with the first connecting shaft and the second connecting shaft is further arranged on the outer side of the wrist joint shell, and the end cover adjusts pressing force generated on the first connecting shaft and the second connecting shaft by adjusting height.
The large arm assembly is arranged on the base assembly through the rotary table assembly; the base assembly comprises a base, a flange coil pipe, a first bearing, a first driven wheel and a pressure ring; one end of the flange coil pipe is connected with the base, and the other end of the flange coil pipe is connected with the first driven wheel through threads; the first driven wheel is used for positioning a first bearing arranged on the flange coil pipe through the compression ring; the driven wheel I is positioned on the flange coil pipe through a jackscrew.
Further, the base assembly further comprises a base turntable and a stop ring; one side of base carousel is provided with first bearing mounting hole, first bearing mounting hole is used for the installation first bearing, the backstop ring sets up the one side that is provided with first bearing mounting hole on the base carousel for the spacing of base carousel.
Further, the turntable assembly comprises a turntable, a first driver, a first driving wheel, a second driver and a turntable shell; the turntable is fixedly connected with the base turntable, the first driver is arranged on the turntable, a first driving wheel is arranged on an output shaft of the first driver, and the first driving wheel is in transmission connection with the driven wheel; a second bearing mounting hole is also formed in the base turntable, and a second bearing is arranged in the second bearing mounting hole; the turntable further includes a first support portion on which the second driver is disposed.
Further, the boom assembly includes a boom and a boom housing; the large arm shell is arranged on the large arm, and the large arm is directly connected with the output shafts of the second driver and the third driver in an installing way; bosses are arranged on output shafts of the second driver and the third driver, and the large arm is positioned and installed through the bosses and fixed through screws arranged on the output shafts of the second driver and the third driver.
Furthermore, the tail ends of the output shafts of the second driver and the third driver are provided with driving blocks, and the large arm is provided with driving holes matched with the driving blocks.
Compared with the prior art, the six-axis light cooperative robot provided by the invention has the beneficial effects that: the six-axis light cooperative robot has a compact structure, is beneficial to production and processing, and reduces the production cost; the volume and the weight are smaller, and the disassembly, the movement and the operation are easy. Meanwhile, the six-axis light cooperative robot is simple to manufacture, low in cost and convenient for large-scale production and application.
The driven wheel I and the flange coil pipe in the six-axis light cooperative robot base assembly are in threaded connection, and convenient and reliable installation and connection can be realized through fewer parts.
The six-axis light cooperative robot has the advantages that the distance between the driver and the large arm is reduced, the overall size of the robot is reduced, and the robot is more convenient to mount. The installation positions of the second driver and the third driver are simultaneously positioned on the central line of the whole six-axis light cooperative robot, so that the spatial layout of each part of the robot is more reasonable, the overall balance is improved, the vibration can be reduced, and the precision is improved.
According to the fourth driver in the six-shaft light cooperative robot, the fifth driver and the sixth driver form a power balance structure in a relative layout mode in the same plane by taking the central axis of the third driver as a reference, so that the unbalanced force is reduced, and the output efficiency of the third driver is improved; meanwhile, the three drivers are positioned in the same plane, so that the overall size of the robot can be reduced.
In a word, the invention provides a six-axis light cooperative robot which is small, simple in structure, safe, reliable and capable of changing the appearance, and the six-axis light cooperative robot has a wide application prospect in the field of robots.
Drawings
FIG. 1 is a schematic view of the overall structure of a six-axis lightweight cooperative robot of the present invention;
FIG. 2 is a schematic view of the six-axis lightweight cooperative robot of the present invention with the housing removed;
FIG. 3 is a schematic view of the internal structure of a first joint of the present invention;
FIG. 4 is a schematic structural view of a second joint and a third joint of the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a partial enlarged view at B in FIG. 4;
FIG. 7 is a schematic structural view of a fourth, fifth and sixth joint of the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7 at C;
FIG. 9 is a schematic structural diagram of another perspective view of the fourth, fifth and sixth joints of the present invention;
fig. 10 is a partial enlarged view at D in fig. 9.
Wherein the reference numerals are as follows:
1 base component, 1-1 base, 1-2 flange coil pipe, 1-3 first bearing, 1-4 driven wheel I, 1-5 press ring, 1-6 base turntable, 1-7 stop ring, 2 turntable component, 2-1 turntable, 2-11 first supporting part, 2-2 first driver, 2-3 driving wheel I, 2-4 second driver, 2-41 boss, 2-5 turntable shell, 3 balancing cylinder component, 4 big arm component, 4-1 big arm, 4-2 big arm shell, 5 middle joint component, 5-1 third driver, 5-2 middle joint shell, 5-3 fourth driver, 5-31 first driving long shaft, 5-32 driving wheel II, 5-33 driven wheel II, 5-4 fifth driver, 5-41 second driving long shafts, 5-42 driving wheels III, 5-43 driven wheels III, 6 forearm components, 6-1 forearm, 6-2 sixth drivers, 6-21 third driving long shafts, 6-3 forearm shells, 7 wrist joint components, 7-1 wrist joint pipes, 7-2 transmission hollow shafts, 7-21 bevel gears I, 7-22 bevel gears II, first connecting shafts 7-23, 7-3 wrist joint shells, 7-41 bevel gears III, 7-42 bevel gears IV, 7-43 second connecting shafts, 7-44 bevel gears V, 7-45 bevel gears VI and 8 end flanges.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to specific examples. Note that the following described embodiments are illustrative only for explaining the present invention, and are not to be construed as limiting the present invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Hereinafter, the six-axis light-weight cooperative robot of the present invention will be described in detail by specific embodiments:
in this implementation, as shown in fig. 1, the six-axis light-weight cooperative robot of the present invention includes a transmission mechanism framework and a robot housing, where the robot housing and the transmission mechanism framework are independent from each other and do not interfere with each other; the robot shell is installed on the transmission mechanism framework and is equivalently wrapped outside the transmission mechanism framework. As shown in fig. 2, the structural state of the robot is that only the transmission mechanism skeleton is left after the robot housing is removed. The six-axis light cooperative robot comprises a base assembly 1, a rotary table assembly 2, a balance cylinder assembly 3, a large arm assembly 4, a middle joint assembly 5, a small arm assembly 6, a wrist joint assembly 7, a tail end flange 8 and the like.
As shown in FIG. 3, the base assembly 1 comprises a base 1-1, a flange coil pipe 1-2, a first bearing 1-3, a driven wheel 1-4, a pressing ring 1-5, a base turntable 1-6, a stop ring 1-7 and other parts. The base 1-1 provides a fixed support for the whole robot, can be directly and fixedly connected with a desktop as required, and can also be connected with other devices such as an adapter plate, an adapter seat or a mobile platform. A step through hole is formed in the middle of the base 1-1; the flange coil pipe 1-2 is arranged in the stepped through hole. One end of the flange coil pipe 1-2 with a flange is connected with the base 1-1 through a screw; the part provided with the external thread at the other end extends out of the upper end surface of the base 1-1. The flange coil pipe 1-2 is provided with the first bearing 1-3 and is positioned through a shaft shoulder. An internal thread matched with the external thread is arranged in a center hole of the driven wheel I1-4, the driven wheel I1-4 is installed on the flange coil pipe 1-2 through threaded connection, and then the first bearing 1-3 is fixed through the pressing ring 1-5. The driven wheels I1-4 are also positioned on the flange coil pipes 1-2 through jackscrews, and therefore thread loosening caused by frequent forward and reverse rotation can be prevented.
The bearing assembly structure is characterized in that a first bearing mounting hole is formed in one side of the base turntable 1-6 and used for mounting the first bearing 1-3, and the stop ring 1-7 is fixedly connected to one side, provided with the first bearing mounting hole, of the base turntable 1-6 through a screw and used for limiting the base turntable 1-6. Through the mutual matching of the first bearing 1-3, the flange coil pipe 1-2 and the stop ring 1-7, the base turntable 1-6 is rotatably supported on the base 1-1, so that the base assembly 1 is divided into a fixed part fixedly connected with the base 1-1 and a rotating part fixedly connected with the base turntable 1-6.
The turntable assembly 2 comprises a turntable 2-1, a first driver 2-2, a driving wheel I2-3, a second driver 2-4, a turntable shell 2-5 and the like. The rotary table 2-1 is fixedly connected with the base rotary table 1-2 through a screw, the first driver 2-2 is arranged on the rotary table 2-1, a driving wheel I2-3 is installed on an output shaft of the first driver 2-2, and the driving wheel I2-3 is in transmission connection with a driven wheel I1-4. A second bearing mounting hole is further formed in the base turntable 1-6, and a second bearing arranged in the second bearing mounting hole can provide support and positioning for the output shaft of the first driver 2-2. The second bearing can reduce the radial run-out of the output shaft of the first driver 2-2, and improves the transmission precision. The turntable 2-1 further comprises a first support 2-11, said second actuator 2-4 being arranged on said first support 2-11 for actuating the large arm assembly 4.
When the first driver 2-2 drives the first driving wheel 2-3 to rotate, the first driven wheel 1-4 is fixedly connected with the base 1-1, the first driving wheel 2-3 is fixedly connected with the base turntable 1-6, and the first driving wheel 2-3 rotates around the first driven wheel 1-4, so that the turntable assembly 2 fixedly connected with the base turntable 1-6 rotates relative to the base 1-1, and a first joint of the six-axis light cooperative robot is formed.
The connection mode of the first joint can realize convenient and reliable installation and connection through fewer parts; meanwhile, a flange coil pipe with a smaller pipe outer diameter can be selected, so that the sizes of the first bearing and the first driven wheel can be reduced, the small-size bearing has smaller jumping, and the precision of the six-shaft light cooperative robot can be improved. In the embodiment, the first driven wheel and the first driving wheel are preferably synchronous pulleys, and the small-size synchronous pulleys increase the meshing angle of the synchronous belt, so that the transmission reliability is improved; meanwhile, the reduction ratio in synchronous belt transmission is reduced, and the rotating speed of a first joint in the six-axis light cooperative robot is improved; more preferably, the first driven wheel is a synchronous belt wheel with flanges, and the first driving wheel is a synchronous belt wheel without flanges; the driven wheel I with the flange can ensure that the synchronous belt does not generate axial run-out, and the driving wheel I without the flange is convenient to assemble and install.
One end of the balance cylinder assembly 3 is fixed on the rotary table 2-1, and the other end of the balance cylinder assembly is connected with the large arm assembly 4. The balancing cylinder assembly 3 can automatically balance the unbalanced moment generated by the self gravity and the load gravity of the moving parts of the mechanical arm during movement, so that the load of the second driver 2-4 is reduced, and the load capacity of the whole robot is increased.
As shown in fig. 4-6, the large arm assembly 4 is connected at one end to the turntable assembly 2 and at the other end to the middle joint assembly 5. The large arm assembly 4 comprises a large arm 4-1, a large arm shell 4-2 and other parts. The large arm shell 4-2 is wrapped on the large arm 4-1, and the large arm 4-1 is directly connected with the output shafts of the second driver 2-4 and the third driver 5-1 in an installing mode. Bosses 2-41 are arranged on output shafts of the second driver 2-4 and the third driver 5-1, and the large arm 4-1 is positioned and installed through the bosses and fixed through screws arranged on the output shafts. The tail end of the output shaft of the second driver 2-4 and the tail end of the output shaft of the third driver 5-1 are provided with driving blocks, the large arm is provided with driving holes matched with the driving blocks, and the driving modes of the driving blocks and the driving holes are stable and reliable. The second driver 2-4 can actuate the large arm to rotate, and a second joint of the six-axis light cooperative robot is formed.
The drive mode of big arm and driver lug connection makes the reduction of distance between driver and the big arm, reduces the overall size of robot, and it is more convenient to install. As shown in fig. 4, the mounting positions of the second driver 2-4 and the third driver 5-1 are located at the middle of the drivers; the installation positions are simultaneously positioned on the central line of the whole six-axis light cooperative robot, and the installation mode enables the spatial layout of each part of the robot to be more reasonable and enables the robot to be more attractive; meanwhile, the overall balance is improved, the vibration can be reduced, and the precision is improved.
As shown in fig. 7-10, the middle joint assembly 5 includes a third driver 5-1, a middle joint housing 5-2, a fourth driver 5-3, a fifth driver 5-4, a second driving wheel 5-32, a second driven wheel 5-33, a third driving wheel 5-42, and a third driven wheel 5-43. A first mounting part and a second mounting part are arranged on the shell 5-2, a third driver 5-1 is mounted on the first mounting part, and an output shaft of the third driver 5-1 is fixed on the large arm 3-1; when the third driver 5-1 rotates, the output shaft is fixed to drive the middle joint shell 5-2 fixedly connected with the third driver 5-1 to rotate, so that the rotation of other parts mounted on the middle joint shell is realized, and the third joint of the six-shaft light cooperative robot is formed.
The fourth driver 5-3 and the fifth driver 5-4 are arranged on the second mounting part in parallel up and down. The output end of the fourth driver 5-3 is provided with a first driving long shaft 5-31, the tail end of the first driving long shaft 5-31 is provided with a driving wheel II 5-32, and a driven wheel II 5-33 is fixed on a wrist joint pipe 7-1 in the wrist joint component 7; the driven wheels II 5-33 are in transmission connection with the driving wheels II 5-32. When the fourth driver 5-3 rotates, the wrist joint tube 7-1 can be actuated to rotate through the transmission connection, and a fourth joint of the six-axis light cooperative robot is formed.
The output end of the fifth driver 5-4 is provided with a second driving long shaft 5-41, the tail end of the second driving long shaft 5-41 is provided with a driving wheel III 5-42, and a driven wheel III 5-43 is fixed on a transmission hollow shaft 7-2 in the wrist joint assembly 7; the driven wheels III 5-43 are in transmission connection with the driving wheels III 5-42. When the fifth driver 5-4 rotates, the hollow transmission shaft 7-2 can be actuated to rotate through the transmission connection. The first long drive shaft 5-31 and the second long drive shaft 5-41 are respectively positioned at two sides of the output shaft of the third driver and are arranged in parallel.
The middle joint shell 5-2 is also fitted with a forearm assembly 6. The small arm assembly 6 comprises parts such as a small arm 6-1, a sixth driver 6-2 and a small arm casing 6-3. The small arm shell 6-3 is wrapped at the outer side of the small arm 6-1; the sixth actuator 6-2 is mounted on the arm 6-1 in the same plane as the opposite sides of the fourth actuator 5-3 and the fifth actuator 5-4 with respect to the center axis of the third actuator 5-1. The layout mode of the fourth driver 5-3, the fifth driver 5-4 and the sixth driver 6-2 forms a power balance structure, so that the unbalanced force is reduced, and the output efficiency of the third driver 5-1 is improved; meanwhile, the three drivers are positioned in the same plane, so that the overall size of the robot can be reduced, and the small arm shell 6-3 can be conveniently installed and arranged.
The output end of the sixth driver 6-2 is provided with a third driving long shaft 6-21. The third driving long shaft 6-21, the transmission hollow shaft 7-2, the wrist joint pipe 7-1 and the small arm 6-1 are coaxially sleeved from inside to outside in sequence, and bearings are arranged at two ends between any two of the three for rotary support.
A bevel gear I7-21 is fixedly arranged on the part of the transmission hollow shaft 7-2 positioned in the wrist joint pipe 7-1; a second bevel gear 7-22 is also arranged in the wrist joint tube 7-1, and the second bevel gear 7-22 is fixedly connected with the wrist joint shell 7-3 through a first connecting shaft 7-23 in an interference fit manner. The second bevel gear 7-22 is in meshing transmission with the first bevel gear 7-21, and when the hollow transmission shaft 7-2 rotates, the hollow transmission shaft drives the wrist joint shell 7-3 to rotate, so that a fifth joint of the six-axis light cooperative robot is formed. The interference fit connection mode of the first connecting shaft 7-23 and the wrist joint shell 7-3 can eliminate the radial run-out of the first connecting shaft 7-23 and improve the precision of the fifth joint.
The end of the third driving long shaft 6-21 is provided with a bevel gear three 7-41, and a bevel gear four 7-42 is in meshing transmission with the bevel gear three 7-41. The bevel gear IV 7-42 is fixedly connected with the bevel gear V7-44 through a second connecting shaft 7-43; the bevel gears six 7-45 are in meshing transmission with the bevel gears five 7-44, and the bevel gears six 7-45 are fixedly connected with the end flange 8. Through the transmission mode, the sixth driver 6-2 can drive the end flange 8 to rotate, and a sixth joint of the six-axis light-weight cooperative robot is formed. The second connecting shaft 7-43 is supported on the wrist joint pipe 7-1 through a double bearing, and the structure of the double bearing improves the stability of the second connecting shaft 7-43, reduces the radial run-out of the bevel gear and improves the precision of the sixth joint.
An end cover connected with the first connecting shaft 7-23 and the second connecting shaft 7-43 is further arranged on the outer side of the wrist joint shell 7-3, and the end cover can adjust pressing force generated on the first connecting shaft 7-23 and the second connecting shaft 7-43 through adjusting height, so that meshing gaps of bevel gears fixedly connected on the first connecting shaft 7-23 and the second connecting shaft 7-43 are realized, and transmission accuracy of a fifth joint and a sixth joint is improved.
The transmission mechanism framework of the six-axis light cooperative robot provided by the embodiment can realize six-degree-of-freedom movement, and can execute relatively complex actions and tasks. Meanwhile, the robot shell provided by the embodiment can be correspondingly designed according to the appearance design requirement. The robot shell can be designed into any shape, and different styles of robot shells can be provided according to different requirements of application occasions, such as entertainment versions, education versions or industrial versions, and the like, so that the robot can be presented with various appearances. The replaceable shell of the six-axis light-duty cooperative robot provided by the embodiment forms a serialized product, can meet the requirements of different users and different application scenes on appearance, and reduces the manufacturing cost of the serialized product.
All drivers in the six-axis light cooperative robot are in communication connection with the controller, and the controller controls all the drivers to realize that the mechanical arm completes complex actions and motions. Each drive is preferably a stepper motor with a harmonic reducer.
The materials of all parts in the six-axis light cooperative robot can be metal materials or non-metal materials, and specific parts can be machined and manufactured through machining, die casting, injection molding or 3D printing and the like; to control costs, important parts of the movement portion may be made of a metal material, while parts of the housing portion may be made of a non-metal material.
The driving wheels two 5-32, the driven wheels two 5-33, the driving wheels three 5-42 and the driven wheels three 5-43 in the six-axis light-weight cooperative robot of the present invention are preferably gears. According to the six-axis light cooperative robot, the wrist joint shell 7-3 is arranged to be a U-shaped integrated piece, and the U-shaped integrated piece can improve the rigidity of a wrist joint and improve the precision of the robot; meanwhile, the wrist joint shell 7-3 is arranged on the periphery of the wrist joint pipe, so that the motion range of the fifth joint can be enlarged.
Compared with the prior art, the six-axis light cooperative robot provided by the invention has the beneficial effects that: the six-axis light cooperative robot has a compact structure, is beneficial to production and processing, and reduces the production cost; the volume and the weight are smaller, and the disassembly, the movement and the operation are easy. Meanwhile, the six-axis light cooperative robot is simple to manufacture, low in cost and convenient for large-scale production and application.
The driven wheel I and the flange coil pipe in the six-axis light cooperative robot base assembly are in threaded connection, and convenient and reliable installation and connection can be realized through fewer parts.
The six-axis light cooperative robot has the advantages that the distance between the driver and the large arm is reduced, the overall size of the robot is reduced, and the robot is more convenient to mount. The installation positions of the second driver and the third driver are simultaneously positioned on the central line of the whole six-axis light cooperative robot, so that the spatial layout of each part of the robot is more reasonable, the overall balance is improved, the vibration can be reduced, and the precision is improved.
According to the fourth driver in the six-shaft light cooperative robot, the fifth driver and the sixth driver form a power balance structure in a relative layout mode in the same plane by taking the central axis of the third driver as a reference, so that the unbalanced force is reduced, and the output efficiency of the third driver is improved; meanwhile, the three drivers are positioned in the same plane, so that the overall size of the robot can be reduced.
The output of the fifth joint and the output of the sixth joint provided by the fifth driver and the sixth driver in the six-axis light-weight cooperative robot are finally realized through the transmission of three pairs of bevel gears, and compared with the traditional complex synchronous belt transmission mechanism, the six-axis light-weight cooperative robot has the advantages that the structure is simplified, the volume of the transmission mechanism can be greatly reduced, and the six-axis light-weight cooperative robot is favorably designed and controlled. In addition, the beautiful design and the industrial design of the six-axis light cooperative robot are facilitated.
In a word, the invention provides a six-axis light cooperative robot which is small, simple in structure, safe, reliable and capable of changing the appearance, and the six-axis light cooperative robot has a wide application prospect in the field of robots.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (13)
1. A six-axis light-weight cooperative robot comprising a large arm assembly, a middle joint assembly and a small arm assembly, the middle joint assembly connecting the large arm assembly and the small arm assembly, characterized in that: the middle joint assembly comprises a middle joint shell, and a third driver used for driving a third joint of the six-axis light-duty cooperative robot is arranged on the middle joint shell; a fourth driver and a fifth driver which are respectively used for driving a fourth joint and a fifth joint of the six-axis light-duty cooperative robot are arranged on one side of the third driver; a sixth driver for driving a sixth joint of the six-axis light-weight cooperative robot is arranged on the other side of the third driver; the fourth driver, the fifth driver and the sixth driver are positioned in the same plane, and the output shafts are all oriented in the same direction.
2. The six-axis light-weight cooperative robot according to claim 1, wherein: the middle joint shell comprises a first mounting part and a second mounting part; the third driver is arranged on the first mounting part, and an output shaft of the third driver is fixedly connected with the large arm component; the fourth driver and the fifth driver are arranged on the second mounting part in parallel up and down; the third driver is disposed between and perpendicular to the fourth and fifth drivers.
3. The six-axis light-weight cooperative robot according to claim 2, wherein: the small arm assembly comprises a small arm; the small arm is connected with the middle joint shell, and the sixth driver is installed on the small arm.
4. The six-axis light-weight cooperative robot according to claim 1, wherein: the wrist joint assembly comprises a wrist joint pipe, a transmission hollow shaft and a wrist joint shell, and the wrist joint shell is rotatably arranged on the outer side of the wrist joint pipe; a second driving long shaft is arranged at the output end of the fourth driver, a second driving wheel is mounted at the tail end of the first driving long shaft, and a second driven wheel is arranged on the wrist joint pipe; and the driven wheel II is in transmission connection with the driving wheel II.
5. The six-axis light-weight cooperative robot according to claim 4, wherein: a second driving long shaft is arranged at the output end of the fifth driver, a driving wheel III is arranged at the tail end of the second driving long shaft, and a driven wheel III is arranged at one end of the transmission hollow shaft; the driven wheel III is in transmission connection with the driving wheel III; the other end of the transmission hollow shaft is provided with a first bevel gear; a second bevel gear is further arranged in the wrist joint pipe, and the second bevel gear is fixedly connected with the wrist joint shell through a first connecting shaft; and the second bevel gear is in meshing transmission with the first bevel gear.
6. The six-axis light-weight cooperative robot according to claim 5, wherein: the output end of the sixth driver is provided with a third driving long shaft; the third driving long shaft, the transmission hollow shaft, the wrist joint pipe and the small arm are sequentially coaxially sleeved from inside to outside, and bearings are arranged at two ends between the third driving long shaft, the transmission hollow shaft, the wrist joint pipe and the small arm.
7. The six-axis light-weight cooperative robot according to claim 6, wherein: the tail end of the third driving long shaft is provided with a third bevel gear, and a fourth bevel gear is in meshing transmission with the third bevel gear; the bevel gear four-way joint is fixedly connected with a bevel gear five through a second connecting shaft; a sixth bevel gear is in meshing transmission with the fifth bevel gear, and the sixth bevel gear is fixedly connected with a tail end flange; the second connecting shaft is arranged coaxially with the first connecting shaft.
8. The six-axis light-weight cooperative robot according to claim 6, wherein: and an end cover connected with the first connecting shaft and the second connecting shaft is further arranged on the outer side of the wrist joint shell, and the end cover adjusts pressing force generated on the first connecting shaft and the second connecting shaft by adjusting the height.
9. The six-axis light-weight cooperative robot according to claim 8, wherein: the large arm assembly is arranged on the base assembly through the rotary table assembly; the base assembly comprises a base, a flange coil pipe, a first bearing, a first driven wheel and a pressure ring; one end of the flange coil pipe is connected with the base, and the other end of the flange coil pipe is connected with the first driven wheel through threads; the first driven wheel is used for positioning a first bearing arranged on the flange coil pipe through the compression ring; the driven wheel I is positioned on the flange coil pipe through a jackscrew.
10. The six-axis light-weight cooperative robot according to claim 9, wherein: the base assembly further comprises a base turntable and a stop ring; one side of base carousel is provided with first bearing mounting hole, first bearing mounting hole is used for the installation first bearing, the backstop ring sets up the one side that is provided with first bearing mounting hole on the base carousel for the spacing of base carousel.
11. The six-axis light-weight cooperative robot according to claim 10, wherein: the rotary table assembly comprises a rotary table, a first driver, a first driving wheel, a second driver and a rotary table shell; the turntable is fixedly connected with the base turntable, the first driver is arranged on the turntable, a first driving wheel is arranged on an output shaft of the first driver, and the first driving wheel is in transmission connection with the driven wheel; a second bearing mounting hole is also formed in the base turntable, and a second bearing is arranged in the second bearing mounting hole; the turntable further includes a first support portion on which the second driver is disposed.
12. The six-axis light-weight cooperative robot of claim 11, wherein: the big arm assembly comprises a big arm and a big arm shell; the large arm shell is arranged on the large arm, and the large arm is directly connected with the output shafts of the second driver and the third driver in an installing way; bosses are arranged on output shafts of the second driver and the third driver, and the large arm is positioned and installed through the bosses and fixed through screws arranged on the output shafts of the second driver and the third driver.
13. The six-axis light-weight cooperative robot of claim 12, wherein: the tail ends of the output shafts of the second driver and the third driver are provided with driving blocks, and the large arm is provided with driving holes matched with the driving blocks.
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| CN202010383310.1A CN111390898A (en) | 2020-05-08 | 2020-05-08 | Six-axis light cooperative robot |
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| CN202010383310.1A CN111390898A (en) | 2020-05-08 | 2020-05-08 | Six-axis light cooperative robot |
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| CN113733150A (en) * | 2021-08-05 | 2021-12-03 | 中国科学院自动化研究所 | Light-weight cooperative mechanical arm |
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