CN111469164A - Horizontal articulated robot - Google Patents

Abstract

The invention relates to the technical field of robot equipment, and provides a horizontal multi-joint robot, which includes an intermediate arm body and a terminal arm body; the intermediate arm body includes a bearing seat, a joint drive shaft, a shaft drive motor, a flange seat drive shaft, a A flange seat drive motor, and a first transmission assembly capable of rotating the flange seat drive shaft; the end arm body includes an end arm seat that is connected and fixed with the joint drive shaft, a mounting flange seat used to connect an external actuator, and a When the flange seat drive shaft rotates, the second drive assembly that makes the mounting flange seat rotate; the flange seat drive shaft is arranged inside the joint drive shaft, and is coaxially arranged with the joint drive shaft and can rotate relative to the joint drive shaft; the flange Both ends of the base transmission shaft are respectively connected with the first transmission assembly and the second transmission assembly. Compared with the prior art, by moving the shaft drive motor and the flange seat drive motor forward to the middle arm body, the weight of the end arm body is reduced and the end load capacity is improved.

Description

Horizontal articulated robot

technical field

The invention relates to the technical field of robot equipment, in particular to a horizontal multi-joint robot.

Background technique

The horizontal joint robot arm has been widely used, and it plays a very important role in handling, processing, assembly and other environments, and is also widely used in the education industry; it has the advantages of flexible movement, compact structure, small space requirements, and repeated positioning. It has the characteristics of high precision and can reach a point in space accurately and quickly. Compared with multi-axis industrial robots, the horizontal joint four-axis robot has the advantages of small size, flexible movement, and low overall cost. At the same time, such a versatile and compact mechanical arm can be used alone in automated assembly lines, and can be directly integrated in various Among the middle and high-end automation equipment, it will be an inevitable trend to be widely used in the future industrial assembly line. It is also necessary to increase the research on horizontal joint four-axis robots. At present, the main brands of horizontal joint multi-axis robots at home and abroad are old foreign brands such as Epson, Yamaha, Kuka and other enterprises.

At present, the existing horizontal joint four-axis robot on the market mainly includes an up and down motion device, a fixed seat device and two arm bodies, the two arm bodies are a first arm body and a second arm body respectively. The arm body and the second arm body are connected in turn, and the second arm body is used to connect the external actuator, so as to realize the different actions of the four-axis robot in space. However, the rotation drive control device of the second arm body and the control of the external actuator The devices are generally installed in the second arm body, resulting in excessive load at the end of the robot. In addition, the second arm body will be too bulky and occupy a large space, and a larger avoidance space is also required within its working range. Not suitable for working in applications where space is relatively narrow.

SUMMARY OF THE INVENTION

One of the objectives of the present invention is to provide a horizontal multi-joint robot to solve the technical problems in the prior art that the end structure is bulky, the load is too heavy, and it is not suitable for working in a relatively narrow space.

In order to achieve the above purpose, the present invention provides the following technical solutions: a horizontal multi-joint robot, comprising an intermediate arm body and an end arm body;

The intermediate arm body includes a bearing seat, a joint drive shaft rotatably supported on the bearing seat, a shaft drive motor capable of driving the joint drive shaft to rotate, a flange seat drive shaft, a flange seat drive motor, and a drive motor capable of driving on the flange seat. When the output shaft of the motor rotates, the first transmission component that makes the transmission shaft of the flange seat rotate;

The end arm body includes an end arm seat that is fixedly connected with the joint drive shaft, a mounting flange seat that is rotatably supported on the end arm seat and is used to connect an external actuator, and a mounting method that can make the flange seat drive shaft rotate when the drive shaft rotates. The second transmission component that the blue seat rotates;

The flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can be rotated relative to the joint transmission shaft; the two ends of the flange seat transmission shaft respectively extend beyond the ends of the joint transmission shaft, and One end is connected with the first transmission assembly, and the other end is connected with the second transmission assembly.

The technical solution of the present invention has the following advantages: the horizontal multi-joint robot includes an intermediate arm body and a terminal arm body, and the intermediate arm body includes a bearing seat, a joint transmission shaft, a shaft drive motor, a flange seat transmission shaft, and a flange seat drive motor and a first transmission assembly capable of rotating the flange base drive shaft when the output shaft of the flange base drive motor rotates; the end arm body includes an end arm base that is connected and fixed with the joint drive shaft, a mounting flange base, and a flange base that can be mounted on the flange The second transmission assembly that rotates the mounting flange seat when the seat drive shaft rotates; the flange seat drive shaft is arranged inside the joint drive shaft, and is coaxially arranged with the joint drive shaft and can rotate relative to the joint drive shaft. Move the shaft drive motor that can drive the end arm body to rotate and the flange base drive motor that can drive the rotation of the external actuator to the middle arm body, so as to reduce the volume of the end arm body, reduce the weight of the end arm body, and increase the end load It is more suitable for use in narrow occasions, so it can be used in more occasions.

In one embodiment, the first transmission assembly includes a first driving synchronous wheel, a first driven synchronous wheel, and a first synchronous belt wrapped therebetween, and the first driving synchronous wheel is disposed on the flange seat of the driving motor. on the output shaft and can rotate together with the output shaft, the first driven synchronizing wheel is arranged on the transmission shaft of the flange seat and can rotate coaxially;

The second transmission assembly includes a second driven synchronous wheel and a second synchronous belt, and the second driven synchronous wheel is arranged on the mounting flange seat and can rotate together with the mounting flange seat;

The flange seat transmission shaft is provided with a second driving synchronizing wheel that can rotate coaxially therewith and is located outside the intermediate arm body, and the second synchronizing belt is wrapped between the second driving synchronizing wheel and the second driven synchronizing wheel.

In one embodiment, the bearing seat is provided with an output shaft position detection component, which can detect the rotational position of the output shaft of the drive motor of the flange seat.

In one embodiment, the output shaft position detection assembly includes an output shaft detection code disc and an output shaft photoelectric detection device, the output shaft detection code disc is connected and fixed to the output shaft of the drive motor of the flange base, and the output shaft photoelectric detection device is fixed on the bearing base It corresponds to the position of the output shaft detection code disc.

In one embodiment, a first control board and a second control board are disposed in the bearing base, the first control board is electrically connected with the shaft drive motor, and the second control board is electrically connected with the flange seat drive motor.

In one embodiment, the end arm base is provided with an interface board and a third control board for connecting with the external actuator, and the third control board is electrically connected with the interface board.

In one embodiment, the bearing seat is provided with a deceleration mechanism, and the deceleration mechanism includes:

reduction drive shaft;

a primary reduction assembly connected between the reduction drive shaft and the shaft drive motor and capable of rotating the reduction drive shaft when the motor shaft of the shaft drive motor rotates; and,

The secondary deceleration assembly is connected between the deceleration transmission shaft and the joint transmission shaft and can make the joint transmission shaft rotate when the deceleration transmission shaft rotates.

In one embodiment, the first-stage deceleration assembly includes a first-stage driving synchronous wheel, a first-stage driven synchronous wheel, and a first-stage synchronous belt wrapped therebetween, and the first-stage driving synchronous wheel is disposed on the motor shaft of the shaft drive motor and can rotate together with the motor shaft;

The secondary deceleration assembly includes a secondary driving synchronous wheel, a secondary driven synchronous wheel and a secondary synchronous belt wrapped between the two. The secondary driven synchronous wheel is arranged on the joint drive shaft and can be together with the joint drive shaft. turn;

The primary driven synchronous wheel and the secondary driven synchronous wheel are respectively arranged on the reduction transmission shaft and can rotate coaxially.

In one embodiment, a motor shaft position detection assembly is provided in the bearing base, which can detect the rotational position of the motor shaft; the motor shaft position detection assembly includes a motor shaft detection code disc and a motor shaft photoelectric detection device, and the motor shaft detection code disc is fixed on the On the motor shaft, the motor shaft photoelectric detection device is fixed on the bearing base and corresponds to the position of the motor shaft detection code disc.

In one embodiment, the horizontal multi-joint robot further includes an up-down motion device and a fixed seat device, the fixed seat device is supported on the up and down motion device in a liftable manner, and the up and down motion device includes a lift drive capable of driving the up and down motion of the fixed seat device relative to the up and down motion device mechanism; the middle arm body is rotatably supported on the fixed seat device, and the fixed seat device includes a rotating mechanism capable of driving the middle arm body to rotate relative to the fixed seat device.

Description of drawings

1 is a three-dimensional schematic diagram of a horizontal multi-joint robot provided by an embodiment of the present invention;

2 is a schematic perspective view of a vertical motion device provided by an embodiment of the present invention;

3 is a schematic front view of a vertical motion device provided by an embodiment of the present invention;

Fig. 4 is the sectional schematic diagram of A-A surface in Fig. 3;

FIG. 5 is a three-dimensional schematic diagram of a fixing base device provided by an embodiment of the present invention;

6 is a schematic top view of a fixing base device provided by an embodiment of the present invention;

Fig. 7 is the sectional schematic diagram of B-B surface in Fig. 6;

8 is a schematic perspective view of an intermediate arm body provided by an embodiment of the present invention;

9 is an exploded schematic view of an intermediate arm body provided by an embodiment of the present invention;

10 is a schematic top view of an intermediate arm body provided by an embodiment of the present invention;

Figure 11 is a schematic cross-sectional view of plane C-C in Figure 10;

12 is a schematic top view of a terminal arm body provided by an embodiment of the present invention;

FIG. 13 is a schematic cross-sectional view of the D-D plane in FIG. 12 .

Description of main component symbols:

100-horizontal multi-joint robot;

10-up and down movement device; 11-base; 12-shell; 13-lifting drive mechanism; 131-slider; 132-lifting motor;

20-fixed seat device; 21-lifting seat; 22-protective shell; 23-rotating mechanism; 231-rotating drive motor; 232-joint drive shaft; 233-rotating transmission assembly; 2331-rotating driving wheel; 2332-rotating driven wheel ;2333-rotating belt;234-tensioner;

30-intermediate arm body; 30a-first inner space; 301-bearing seat; 3011-assembling recess; 3012-connecting recess; 301a-first end; 301b-second end; 302-joint transmission shaft; 303- Shaft drive motor; 3031-motor shaft; 304-flange seat drive shaft; 305-flange seat drive motor; 306-first transmission assembly; 3061-first driving synchronizing wheel; 3062-first driven synchronizing wheel;3063 -The first synchronous belt; 307-reduction drive shaft; 308-first-stage reduction assembly; 3081-first-stage driving synchronous wheel; 3082-first-stage driven synchronous wheel; 3083-first-stage timing belt; 309-second-stage reduction assembly; 3091-Secondary drive synchronous wheel; 3092-Secondary driven synchronous wheel; 3093-Secondary synchronous belt; 310-Middle arm upper cover; 311-Middle arm lower cover; 312-First bearing; 313-Bearing end cover; 314-reduction mounting seat; 315-motor shaft detection code disc; 316-motor shaft photoelectric detection device; 317-first control board; 318-shaft sleeve member; 319-second bearing; 320-third bearing; 321-output Shaft photoelectric detection device; 322-second control board; 323-second active synchronizing wheel; 324-output shaft detection code disc;

40 - end arm body; 40a - second inner space; 401 - end arm seat; 402 - mounting flange seat; 403 - second transmission assembly; 4031 - second driven synchronous wheel; 4032 - second synchronous belt; 404 -End Arm Upper Cover; 405-End Arm Lower Cover; 406-Interface Board;

50 - External actuator.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

In order to make those skilled in the art better understand the technical solutions of the present invention, the implementation of the present invention will be described in detail below with reference to the specific drawings.

For the convenience of description, hereinafter referred to as "left", "right", "up" and "down" are consistent with the left, right, upper and lower directions of the drawings themselves, but do not limit the structure of the present invention.

Unless otherwise defined, technical or scientific terms used herein should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first", "second" and similar terms used in the description of the patent application and the claims of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Likewise, "a" or "an" and the like do not denote a quantitative limitation, but rather denote the presence of at least one.

As shown in FIGS. 1 to 13 , the horizontal multi-joint robot 100 provided in this embodiment includes an intermediate arm body 30 and an end arm body 40 ; the intermediate arm body 30 includes a bearing base 301 , and a A joint drive shaft 302, a shaft drive motor 303 capable of driving the joint drive shaft 302 to rotate, a flange seat drive shaft 304, a flange seat drive motor 305, and a flange seat capable of rotating the flange seat when the output shaft of the flange seat drive motor 305 rotates The first transmission assembly 306 for the rotation of the transmission shaft 304; the end arm body 40 includes the end arm base 401 fixedly connected with the joint transmission shaft 302, rotatably supported on the end arm base 401 and used for connecting the installation method of the external actuator 50 A flange seat 402 and a second transmission assembly 403 capable of rotating the mounting flange seat 402 when the flange seat drive shaft 304 rotates; the flange seat drive shaft 304 is arranged inside the joint drive shaft 302 and is connected to the joint drive shaft 302 Coaxially arranged and rotatable relative to the joint drive shaft 302; both ends of the flange seat drive shaft 304 respectively extend beyond the end of the joint drive shaft 302, and one end is connected to the first drive assembly 306, and the other end is connected to the second drive Components 403 are connected.

The above-mentioned horizontal multi-joint robot 100 includes an intermediate arm body 30 and an end arm body 40. The intermediate arm body 30 includes a bearing seat 301, a joint drive shaft 302, a shaft drive motor 303, a flange base drive shaft 304, and a flange base drive motor 305 and the first transmission assembly 306 capable of rotating the flange base drive shaft 304 when the output shaft of the flange base drive motor 305 rotates; The flange seat 402 and the second transmission assembly 403 capable of rotating the mounting flange seat 402 when the flange seat drive shaft 304 rotates; the flange seat drive shaft 304 is arranged inside the joint drive shaft 302 and is the same as the joint drive shaft 302 The shaft is arranged and can be rotated relative to the joint transmission shaft 302. In this way, by using the shaft drive motor 303 that can drive the end arm body 40 to rotate and the flange base drive motor 305 that can drive the external actuator 50 to rotate forward to the middle arm body 30 Therefore, the volume of the end arm body is reduced, the weight of the end arm body 40 is reduced, the end load capacity is improved, and it is more suitable for use in narrow occasions, so it can be applied to more occasions.

Referring to FIG. 1 , the horizontal multi-joint robot 100 provided in this embodiment includes an up and down motion device 10, a fixed seat device 20, an intermediate arm body 30 and an end arm body 40. The fixed seat device 20 is supported on the up and down motion device 10, and is fixed The seat device 20, the middle arm body 30 and the end arm body 40 are connected in sequence, and the end arm body 40 is used to install the external actuator 50. The external actuator 50 can be but not limited to spray guns, cleaning tools, welding guns, grippers and the like.

In other embodiments, the horizontal multi-joint robot 100 may only include the up-down motion device 10 , the middle arm body 30 and the end arm body 40 connected with the middle arm body 30 , and the middle arm body 30 is directly connected with the up-down motion device 10 .

Referring to FIGS. 1 to 4 , the fixed seat device 20 of the present embodiment can be lifted and supported on the up-and-down movement device 10 . The up-and-down movement device 10 includes a base 11 , a housing 12 supported on the base 11 , and can drive the fixed seat device 20 to move relatively up and down. The elevating drive mechanism 13 of the device 10 moves up and down. In this embodiment, the elevating drive mechanism 13 includes a slider 131 arranged on the base 11 and capable of driving the slider 131 to reciprocate in a direction perpendicular to the surface of the base 11 (that is, as shown in the figure). The lift motor 132 that moves in the up and down direction), the fixing base device 20 is connected and fixed with the slider 131, so that the up and down (up and down direction shown in the figure) movement can be realized under the control of the lift motor 132.

Referring to FIGS. 5 to 7 , the intermediate arm body 30 of this embodiment is rotatably supported on the fixing base device 20 , and the fixing base device 20 includes a lifting base 21 , a protective shell 22 and can drive the intermediate arm body 30 to rotate relative to the fixing base device 20 The rotation mechanism 23 includes a rotary drive motor 231 and a joint drive shaft 232 arranged on the lift base 21, the joint drive shaft 232 is rotatably supported on the lift base 21, and the joint drive shaft 232 and the rotation drive motor 231 A rotation transmission assembly 233 is connected therebetween, and the rotation transmission assembly 233 includes a rotation driving wheel 2331 connected with the output shaft of the rotation drive motor 231, a rotation driven wheel 2332 connected with the joint drive shaft 232, and a rotation driving wheel 2331 and a rotation driving wheel 2332 Rotation belt 2333 between driven pulleys 2332. In addition, a tensioning pulley 234 is provided on the lift base 21 to counteract the rotating transmission belt 2333 . It should be pointed out that the axis of the joint drive shaft 232 is perpendicular to the surface of the base 11, and under the driving of the rotary drive motor 231, the intermediate arm body 30 is rotated relative to the fixed seat device 20 around the axis of the joint drive shaft 232; When the rotation occurs, the rotation center axis is set perpendicular to the surface of the base 11 .

Referring to FIGS. 8 to 11 , the intermediate arm body 30 of this embodiment includes a bearing seat 301 .

It can be seen from FIGS. 8 , 9 and 11 that the upper and lower sides of the bearing base 301 (the upper and lower sides in the figure) are respectively covered with an upper middle arm cover 310 and a lower middle arm cover 311 , and the upper middle arm cover 310 and the lower middle arm cover 311 and the inside of the bearing seat 301 are enclosed to form a first inner space 30a, the bearing seat 301 is provided with a joint transmission shaft 302 in the first inner space 30a, and the joint transmission shaft 302 is rotatably supported on the bearing seat 301, and the joint The lower end (the lower end shown in the figure) of the transmission shaft 302 extends downward to the outside of the middle arm body 30 and is used for connecting with the end arm body 40 . In the present embodiment, the bearing seat 301 has a mounting recess 3011 formed on its lower surface (lower surface in the figure) which is recessed toward the first inner space 30a (upper in the figure), and the joint transmission shaft 302 is disposed in the mounting recess 3011 , a first bearing 312 is provided between the outer wall of the joint drive shaft 302 and the inner wall of the assembly recess 3011 , and the assembly recess 3011 is fixedly connected to the outside of the joint drive shaft 302 with a bearing end cover 313 , through which the first bearing end cover 313 is used. 312 is held on the fitting recess 3011 . It is worth mentioning that the bearing end cover 313 is connected and fixed with the mounting recess 3011 of the bearing seat 301 by screws such as screws, bolts, bolts and other fasteners (not shown in the figure), so that the upper and lower directions (up and down in the figure) can be fixed. The first bearing 312 is sleeved on the outer side of the joint transmission shaft 302 to limit the position of the joint transmission shaft 302 in the radial direction (left and right direction in the figure).

8, 9 and 11, the bearing seat 301 of this embodiment is provided with a shaft drive motor 303, which can drive the joint transmission shaft 302 to rotate relative to the bearing seat 301 with the axis of the joint transmission shaft 302 as the axis. In this embodiment, The shaft drive motor 303 has a motor rotating shaft 3031, the axis of the motor rotating shaft 3031 and the axis of the joint transmission shaft 302 are parallel to each other, and the bearing seat 301 has an upper surface (the upper surface in the figure) facing the first inner space 30a (the lower part in the figure). ) a concave connection recess 3012, on which the joint drive shaft 232 of the fixing seat device 20 is fixedly connected, and the shaft drive motor 303 is located approximately directly below the connection recess 3012 (below in the figure), and is connected with the joint drive shaft 232 coaxial setup.

In particular, the bearing base 301 has a first end 301a (the left end in the figure) and a second end 301b (the right end in the figure) opposite to the first end 301a, and a connecting recess 3012 connected to the joint drive shaft 232 And the shaft drive motor 303 is located at the first end 301a, and the joint transmission shaft 302 is located at the second end 301b.

8, 9 and 11, the bearing base 301 of this embodiment is provided with a deceleration mechanism, which is connected between the motor shaft 3031 of the shaft drive motor 303 and the joint transmission shaft 302, and can be rotated when the motor shaft 3031 rotates. The joint transmission shaft 302 is driven to rotate relative to the bearing base 301 . In this embodiment, the deceleration mechanism is a secondary deceleration structure, which includes a deceleration transmission shaft 307 , a primary deceleration assembly 308 and a secondary deceleration assembly 309 . Between the drive motor 303 and the joint drive shaft 302, the first-stage deceleration assembly 308 is connected between the deceleration drive shaft 307 and the shaft drive motor 303 and can rotate the deceleration drive shaft 307 when the motor shaft 3031 rotates, and the second-stage deceleration assembly 309 is connected Between the reduction transmission shaft 307 and the joint transmission shaft 302 and can rotate the joint transmission shaft 302 when the reduction transmission shaft 307 rotates. It can be understood that the use of the transmission structure of the reduction transmission shaft 307, the primary reduction assembly 308 and the secondary reduction assembly 309 can better improve the load capacity and achieve more stable and precise motion control, and also has the advantages of lower cost, The advantage of simple maintenance.

In other embodiments, only the first-stage deceleration assembly 308 may be used to connect the motor rotating shaft 3031 and the joint transmission shaft 302 .

8, 9 and 11, the primary speed reduction assembly 308 includes a primary driving synchronizing wheel 3081, a primary driven synchronizing wheel 3082, and a primary synchronizing belt 3083 wrapped therebetween, and the primary driving synchronizing wheel 3081 is provided On the motor shaft 3031 of the shaft drive motor 303 and can rotate together with the motor shaft 3031; the secondary reduction assembly 309 includes a secondary driving synchronizing wheel 3091, a secondary driven synchronizing wheel 3092, and a secondary synchronizing wheel wrapped therebetween. The synchronous belt 3093, the secondary driven synchronous wheel 3092 is arranged on the joint transmission shaft 302 and can rotate together with the joint transmission shaft 302; the primary driven synchronous wheel 3082 and the secondary active synchronous wheel 3091 are respectively arranged on the reduction transmission shaft 307 and can rotate coaxially. In this embodiment, the first-level driving synchronizing wheel 3081 can be sleeved on the motor shaft 3031 by any existing fixing methods such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other; the first-level driven synchronizing wheel 3082 and The first-stage driving synchronous wheel 3081 is basically located on the same plane, and the diameter of the first-stage driven synchronous wheel 3082 is larger than that of the first-stage driving synchronous wheel 3081. They are connected by all existing fixed methods such as flat keys, and the two are coaxial and cannot rotate relative to each other. When the motor shaft 3031 of the shaft drive motor 303 rotates, the first-stage driving synchronous wheel 3081 and the first-stage synchronous belt of the first-stage deceleration assembly 308 pass through. 3083 and a first-stage driven synchronous wheel 3082 to drive the reduction transmission shaft 307 to rotate. The diameter size of the secondary driving synchronizing wheel 3091 is smaller than that of the primary driven synchronizing wheel 3082, and can be sleeved on the reduction drive shaft 307 by any existing fixing methods such as screws and flat keys, and the two cannot be coaxial. Relative rotation; the secondary driven synchronous wheel 3092 and the secondary active synchronous wheel 3091 are basically located on the same plane, and the diameter of the secondary driven synchronous wheel 3092 is larger than the diameter of the secondary driven synchronous wheel 3091, and the secondary driven synchronous wheel is synchronous The wheel 3092 and the joint drive shaft 302 can be connected by any existing fixing methods such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other. The secondary active synchronous wheel 3091, the secondary synchronous belt 3093 and the secondary driven synchronous wheel 3092 are used to drive the joint transmission shaft 302 to rotate.

In other embodiments, the reduction mechanism may also include a helical gear pair, a planetary gear pair, a worm gear pair, and other structures.

8 , 9 and 11 , the primary driven synchronizing wheel 3082 of this embodiment is located above the secondary driving synchronizing wheel 3091 , and the two are spaced apart. In this embodiment, a deceleration mounting seat 314 is provided in the bearing base 301 , and the deceleration transmission shaft 307 is rotatably supported on the deceleration mounting seat 314 . The primary driven synchronizing wheel 3082 is covered on the end of the deceleration drive shaft 307, and is connected and fixed with the deceleration drive shaft 307 through fasteners such as screws and bolts (not shown), and the secondary active synchronizing wheel 3091 is sleeved on the deceleration drive shaft on the middle of the transmission shaft 307.

In other embodiments, the primary driven synchronizing wheel 3082 can also be sleeved on the reduction transmission shaft 307, and the two are coaxial and cannot rotate relative to each other.

In other embodiments, the primary driven synchronous wheel 3082 may be disposed below the secondary driven synchronous wheel 3091 .

8, 9 and 11, in this embodiment, the secondary driven synchronizing wheel 3092 is covered on the end of the joint transmission shaft 302, and the two are connected and fixed by fasteners (not shown) such as screws and bolts. . It should be pointed out that the lower end of the inner edge of the secondary driven synchronous wheel 3092 is in contact with the first bearing 312, so that through the first bearing 312 and the secondary driven synchronous wheel 3092, the axial ) to limit the joint transmission shaft 302 , so that the joint transmission shaft 302 is rotatably held on the bearing base 301 .

In other embodiments, the secondary driven synchronizing wheel 3092 can also be sleeved on the joint transmission shaft 302, and the two are coaxial and cannot rotate relative to each other.

Referring to FIGS. 8 , 9 and 11 , the bearing base 301 of this embodiment is provided with a motor shaft position detection component, which can detect the rotational position of the motor shaft 3031 . In this embodiment, the motor shaft position detection component includes a motor shaft detection code disc 315 and a motor shaft photoelectric detection device 316. The motor shaft detection code disc 315 is fixedly installed on the motor shaft 3031 and can rotate together with the motor shaft 3031. The shaft photodetection device 316 is fixed on the bearing base 301 and corresponds to the position of the motor shaft detection code disc 315 . The photoelectric detection device 316 of the motor shaft is fixed on the bearing base 301 by any existing fixing methods such as screws, welding, etc. The photoelectric detection device 316 of the motor shaft is located above the detection code disc 315 of the motor shaft (above in the figure). The detection device 316 can read the rotation position of the motor shaft detection code disc 315 , so as to detect the position information of the motor rotation shaft 3031 .

8, 9 and 11, a first control board 317 capable of controlling the operation of the shaft drive motor 303 is provided in the bearing base 301, the first control board 317 is electrically connected with the shaft drive motor 303, and the first control board 317 is located in the shaft drive motor 303. The motor 303 and the deceleration transmission shaft 307 are sleeved on the bearing base 301 by any existing fixing methods such as screws and welding. In this embodiment, the first control board 317 is electrically connected to the shaft drive motor 303 and the motor shaft position detection component, respectively. The first control board 317 controls the shaft drive motor 303 to work, and drives the joint drive shaft 302 to rotate. The motor shaft position detection component can detect the rotational position of the motor shaft 3031, and can realize real-time feedback of the position to form a closed-loop control loop. The first control The board 317 is any existing first control board 317 capable of realizing the above control in the prior art.

8, 9 and 11, in the middle arm body 30 of this embodiment, the bearing base 301 is provided with a flange base drive shaft 304, a flange base drive motor 305, and is connected to the flange base drive motor 305 and the flange A first transmission assembly 306 between the base drive shafts 304 and capable of rotating the flange base drive shaft 304 when the output shaft of the flange base drive motor 305 rotates. The flange base drive shaft 304 is used to drive the external actuator 50 to rotate. The flange seat transmission shaft 304 is arranged inside the joint transmission shaft 302, and is coaxially arranged with the joint transmission shaft 302 and can be rotated relative to the joint transmission shaft 302; the two ends of the flange seat transmission shaft 304 respectively extend to the joint transmission shaft 302 Outside the end, and the upper end (the upper end shown in the figure) is connected with the first transmission assembly 306 . In this embodiment, the first transmission assembly 306 includes a first driving synchronous wheel 3061, a first driven synchronous wheel 3062, and a first synchronous belt 3063 wrapped therebetween, and the first driving synchronous wheel 3061 is arranged in the French The output shaft of the flange drive motor 305 can rotate together with the output shaft, and the first driven synchronizing wheel 3062 is arranged on the flange drive shaft 304 and can rotate coaxially. The first driving synchronizing wheel 3061 can be sleeved on the output shaft of the flange seat drive motor 305 by any existing fixing methods such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other; the first driven synchronizing wheel 3062 and The first driving synchronizing wheel 3061 is basically located on the same plane, and the diameter size of the first driven synchronizing wheel 3062 is larger than that of the first driving synchronizing wheel 3061, and the first driven synchronizing wheel 3062 and the reduction flange seat transmission shaft 304 can pass through Screws, flat keys and other existing fixing methods are connected, and the two are coaxial and cannot rotate relative to each other. When the output shaft of the flange base drive motor 305 rotates, the first drive synchronizing A synchronous belt 3063 and a first driven synchronous pulley 3062 drive the flange seat drive shaft 304 to rotate.

Specifically, a shaft sleeve member 318 is sleeved on the outer side of the flange seat transmission shaft 304, and the shaft sleeve member 318 is in contact with the upper surface (the upper surface shown in the figure) of the secondary driven synchronizing wheel 3092, and is passed through screws, bolts, etc. Fasteners (not shown) are connected and fixed, a second bearing 319 is provided between the inner wall of the shaft sleeve member 318 and the outer wall of the flange seat drive shaft 304 , the inner wall of the joint drive shaft 302 and the outer wall of the flange seat drive shaft 304 A third bearing 320 is arranged therebetween, so that the flange seat drive shaft 304 can rotate relative to the joint drive shaft 302 . In particular, the lower surface of the inner edge (lower surface shown in the figure) of the first driven synchronizing wheel 3062 is in contact with the upper surface (the upper surface shown in the figure) of the second bearing 319, and the first driven shaft is connected to the shaft sleeve member 318 through the shaft sleeve member 318. The synchronizing wheel 3062 can maintain the position of the second bearing 319; the second bearing 319 and the third bearing 320 limit the flange seat drive shaft 304 in the radial direction (the left and right directions in the figure), and the first The driven synchronizing wheel 3062 and the third bearing 320 can limit the position of the flange seat transmission shaft 304 in the axial direction (the up and down direction in the figure).

8 , 9 and 11 , the bearing base 301 of this embodiment is provided with an output shaft position detection component, which can detect the rotational position of the output shaft of the flange base drive motor 305 . In this embodiment, the output shaft position detection assembly includes an output shaft detection code disc 324 and an output shaft photoelectric detection device 321. The output shaft detection code disc 324 is fixedly connected to the output shaft of the flange base drive motor 305, and the output shaft photoelectric detection device 321 is fixed on the bearing base 301 and corresponds to the position of the output shaft detection code disc 324 . The output shaft detection code disc 324 is fixedly installed on the output shaft of the flange base drive motor 305, and can rotate together with the output shaft of the flange base drive motor 305. The output shaft photoelectric detection device 321 is fixed on the bearing base 301 and is connected with the output shaft. The position of the shaft detection code wheel 324 corresponds. The output shaft photoelectric detection device 321 is fixed on the bearing base 301 by any existing fixing methods such as screws and welding. The detection device 321 can read the rotational position of the output shaft detection code disc 324 , so as to detect and detect the position information of the output shaft of the flange seat driving motor 305 .

8, 9 and 11, the bearing base 301 is provided with a second control board 322 capable of controlling the operation of the flange base drive motor 305, and the second control board 322 is electrically connected to the flange base drive motor 305. In this embodiment In the middle, the second control board 322 is electrically connected to the flange base drive motor 305 and the output shaft position detection component, respectively. The second control board 322 controls the flange seat drive motor 305 to work, and drives the flange seat drive shaft 304 to rotate. The output shaft position detection component can detect the rotational position of the output shaft of the flange seat drive motor 305, and can realize real-time feedback of the position. To form a closed-loop control loop, the second control board 322 is any existing second control board 322 capable of realizing the above control in the prior art.

Specifically, the flange base drive motor 305 is located between the reduction drive shaft 307 and the joint drive shaft 302 , and the second control board 322 is located between the flange base drive motor 305 and the shaft drive motor 303 , and is located approximately at the speed reduction drive shaft 307 . above, and is sleeved on the bearing base 301 by any existing fixing methods such as screws and welding. It should be noted that the shaft drive motor 303 is arranged on the first end 301a (the left end in the figure, that is, the front end) of the bearing seat 301, and the joint transmission shaft 302 and the flange seat transmission shaft 304 are arranged on the bearing seat. On the second end 301b (the left end in the figure, that is, the end) of the 301, and the joint drive shaft 302 is sleeved on the outside of the flange seat drive shaft 304, the flange seat drive motor 305 is roughly located in the middle of the bearing seat 301, The second control board 322 is located at the upper part of the bearing base 301, and the first control board 317 is located at the lower part of the bearing base 301 and corresponds to the position of the second control board 322. In this way, the structure of the intermediate arm body 30 is more compact, and the lowering of the Its space occupancy rate is more suitable for use in narrow occasions, which can improve the application occasions.

In particular, by using the power member (ie the shaft drive motor 303 ) capable of driving the rotation of the end arm body 40 and the power member (ie the flange seat drive motor 305 ) capable of driving the rotation of the external actuator 50 , both are provided in the middle arm body 30 on the bearing seat 301, the installation positions of the heavier power components and the drive control are moved forward to the middle arm body 30, and the end arm body 40 is reduced on the premise of not increasing the control difficulty and structural cost. weight, thereby reducing structural inertia and mass, improving end-loading capacity, and allowing greater control space for the external actuator 50 at the end.

Referring to FIGS. 12 and 13 , the end arm body 40 of this embodiment includes an end arm base 401 .

It can be seen from FIGS. 11 and 13 that the upper and lower sides of the end arm base 401 (the upper and lower sides in the figure) are respectively covered with the upper end arm cover 404 and the lower end arm cover 405 , the upper end arm cover 404 and the lower end arm cover 405 A second inner space 40a is formed by enclosing with the inside of the end arm seat 401. The end arm seat 401 is provided with a mounting flange seat 402 and a second transmission assembly 403 in the second inner space 40a. The mounting flange seat 402 is rotatable It is supported on the end arm base 401, and the lower end (the lower end shown in the figure) of the mounting flange base 402 extends downward to the outside of the end arm body 40, and is used to connect with the external actuator 50; the flange base drive shaft 304 is connected to the The opposite end of the first transmission assembly 306 is connected to one end and extends into the second inner space 40a. The second transmission assembly 403 is connected between the mounting flange seat 402 and the flange seat transmission shaft 304 and can be connected to the flange seat transmission shaft 304. When rotated, the mounting flange seat 402 is rotated. In this embodiment, the mounting flange seat 402 is located at the right end (the right end in the figure) of the end arm body 40 , the left end (the left end in the figure) of the end arm body 40 is connected and fixed with the joint transmission shaft 302 , and the second transmission assembly 403 Including a second driven synchronous wheel 4031 and a second synchronous belt 4032, the second driven synchronous wheel 4031 is arranged on the mounting flange seat 402 and can rotate together with the mounting flange seat 402; the bottom of the flange seat transmission shaft 304 is provided There is a second driving synchronizing wheel 323 which can rotate coaxially therewith and is located outside the intermediate arm body 30 , and a second synchronizing belt 4032 is wrapped between the second driving synchronizing wheel 323 and the second driven synchronizing wheel 4031 . In this way, under the driving of the flange base drive motor 305, the output shaft of the flange base drive motor 305 rotates through the first driving synchronous wheel 3061, the first synchronous belt 3063 and the first driven synchronous wheel 3062 of the first transmission assembly 306 Drive the flange seat transmission shaft 304 and the second driving synchronous wheel 323 to rotate, and the second driving synchronous wheel 323 then passes through the second synchronous belt 4032 of the second transmission assembly 403 to make the second driven synchronous wheel 4031 and the second driven synchronous wheel 4031. The mounting flange base 402 connected to the synchronizing wheel 4031 rotates, thereby realizing the rotation of the external actuator 50 fixed on the mounting flange base 402 .

In yet another embodiment, the second driving synchronizing wheel 323 is integrally formed and supported with the flange seat drive shaft 304 , that is, teeth matching the teeth of the second synchronous belt 4032 are formed on the outer wall of the flange seat drive shaft 304 . department.

In yet another embodiment, the second driving synchronizing wheel 323 may be mounted on the end arm base 401 .

Please continue to refer to FIG. 13, the end arm base 401 is provided with an interface board 406 and a third control board 407 for connecting with the external actuator 50, the third control board 407 is electrically connected with the interface board 406, and the interface board 406 is provided with The interface to which the external actuator 50 is connected, so that the external actuator 50 can be controlled to perform corresponding actions through the third control board 407. Control board 407.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements or improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. A horizontal multi-joint robot is characterized by comprising a middle arm body and a tail end arm body;

the middle arm body comprises a bearing seat, a joint transmission shaft which is rotatably supported on the bearing seat, a shaft driving motor which can drive the joint transmission shaft to rotate, a flange seat transmission shaft, a flange seat driving motor and a first transmission assembly which can enable the flange seat transmission shaft to rotate when an output shaft of the flange seat driving motor rotates;

the tail end arm body comprises a tail end arm seat connected and fixed with the joint transmission shaft, an installation flange seat rotatably supported on the tail end arm seat and used for connecting an external actuator, and a second transmission assembly capable of enabling the installation flange seat to rotate when the flange seat transmission shaft rotates;

the flange seat transmission shaft is arranged inside the joint transmission shaft, is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft; the two ends of the flange seat transmission shaft extend out of the end part of the joint transmission shaft respectively, one end of the flange seat transmission shaft is connected with the first transmission assembly, and the other end of the flange seat transmission shaft is connected with the second transmission assembly.

2. The horizontal multi-joint robot according to claim 1, wherein the first transmission assembly comprises a first driving synchronizing wheel provided on an output shaft of the flange seat driving motor and rotatable therewith, a first driven synchronizing wheel provided on the flange seat transmission shaft and rotatable coaxially, and a first synchronizing belt wound therebetween;

the second transmission assembly comprises a second driven synchronous wheel and a second synchronous belt, and the second driven synchronous wheel is arranged on the mounting flange seat and can rotate together with the mounting flange seat;

the flange seat transmission shaft is provided with a second driving synchronous wheel which can coaxially rotate with the flange seat transmission shaft and is positioned outside the middle arm body, and the second synchronous belt is wound between the second driving synchronous wheel and the second driven synchronous wheel.

3. The horizontal multi-joint robot as claimed in claim 1, wherein an output shaft position detecting assembly is provided in the carrying seat, and is capable of detecting a rotational position of an output shaft of the flange seat driving motor.

4. The horizontal multi-joint robot as claimed in claim 3, wherein the output shaft position detecting assembly comprises an output shaft detecting code wheel and an output shaft photoelectric detecting device, the output shaft detecting code wheel is fixedly connected with the output shaft of the flange seat driving motor, and the output shaft photoelectric detecting device is fixed on the bearing seat and corresponds to the position of the output shaft detecting code wheel.

5. The horizontal multi-joint robot as claimed in claim 1, wherein a first control board and a second control board are provided in the carrying seat, the first control board is electrically connected to the shaft driving motor, and the second control board is electrically connected to the flange seat driving motor.

6. The horizontal multi-joint robot as claimed in claim 1, wherein the end arm base is provided with an interface board for connecting with an external actuator and a third control board electrically connected with the interface board.

7. The horizontal multi-joint robot according to any one of claims 1 to 6, wherein a speed reduction mechanism is provided in the carriage, the speed reduction mechanism comprising:

a reduction drive shaft;

the primary speed reducing assembly is connected between the speed reducing transmission shaft and the shaft driving motor and can enable the speed reducing transmission shaft to rotate when a motor rotating shaft of the shaft driving motor rotates; and the number of the first and second groups,

and the secondary speed reducing assembly is connected between the speed reducing transmission shaft and the joint transmission shaft and can enable the joint transmission shaft to rotate when the speed reducing transmission shaft rotates.

8. The horizontal multi-joint robot as claimed in claim 7, wherein the primary deceleration assembly comprises a primary driving synchronizing wheel, a primary driven synchronizing wheel and a primary synchronous belt wound therebetween, the primary driving synchronizing wheel being provided on a motor shaft of the shaft driving motor and being rotatable together with the motor shaft;

the secondary speed reduction assembly comprises a secondary driving synchronous wheel, a secondary driven synchronous wheel and a secondary synchronous belt wound between the two wheels, and the secondary driven synchronous wheel is arranged on the joint transmission shaft and can rotate together with the joint transmission shaft;

the primary driven synchronizing wheel and the secondary driving synchronizing wheel are respectively arranged on the speed reduction transmission shaft and can coaxially rotate.

9. The horizontal multi-joint robot as claimed in claim 7, wherein a motor shaft position detecting assembly is provided in the carrying seat, and is capable of detecting a rotational position of the motor shaft; the motor shaft position detection assembly comprises a motor shaft detection coded disc and a motor shaft photoelectric detection device, the motor shaft detection coded disc is fixed on the motor rotating shaft, and the motor shaft photoelectric detection device is fixed on the bearing seat and corresponds to the motor shaft detection coded disc in position.

10. The horizontal multi-joint robot according to any one of claims 1 to 6, further comprising an up-and-down moving device and a holder device, wherein the holder device is elevatably supported by the up-and-down moving device, and the up-and-down moving device comprises an elevation driving mechanism capable of driving the holder device to move up and down relative to the up-and-down moving device; the middle arm body is rotatably supported on the fixing seat device, and the fixing seat device comprises a rotating mechanism capable of driving the middle arm body to rotate relative to the fixing seat device.

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