CN112476466A

CN112476466A - Mechanical arm

Info

Publication number: CN112476466A
Application number: CN202011424969.3A
Authority: CN
Inventors: 孙权; 何顺德
Original assignee: Robotics Robotics Shenzhen Ltd
Current assignee: Robotics Robotics Shenzhen Ltd
Priority date: 2020-12-09
Filing date: 2020-12-09
Publication date: 2021-03-12

Abstract

The application relates to a manipulator, this manipulator includes: a plurality of drive modules and wires; each drive module includes a motor and a motor housing; the motor comprises a stator and a rotor; the motor is a direct drive motor; the plurality of driving modules are fixedly connected in series and/or in parallel; at least part of the threads are matched and connected with a plurality of driving modules. By adopting the technical scheme of the invention, the control precision of the manipulator is improved; the service life of the manipulator is prolonged; the cost of the manipulator is reduced; the noise in the operation process of the manipulator is reduced; the impact resistance of the manipulator is improved; and/or reduced heating of the robot.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of robots, in particular to a manipulator.

Background

With the rapid development of industrial automation, the manipulator is also rapidly developed and widely applied.

The existing manipulator is complex in structure and heavy in weight, a driving motor on the manipulator comprises a speed reducer, the speed reducer is matched with a transmission mechanism such as a gear to realize torque increasing output of the motor, and the speed reducer is high in cost and easy to damage, and inevitable mechanical errors exist in the speed reducer, so that the manipulator adopting the motor has the problems of high cost, short service life, error in positioning precision and the like.

Disclosure of Invention

In view of this, an embodiment of the present invention provides a manipulator.

A first aspect of the present invention provides a robot hand including: a plurality of drive modules and wires; each of the drive modules includes a motor and a housing; the motor comprises a stator and a rotor; the motor is a direct drive motor;

the plurality of driving modules are fixedly connected in series and/or in parallel;

at least part of the wires are connected with the plurality of driving modules in a matching mode.

In one embodiment, the interior of each of the drive modules forms a communicating channel, and the channels between the plurality of drive modules communicate;

the channel is used for routing the wire so that the wire is routed inside the manipulator.

In one embodiment, the housing includes a housing body and an extension;

the shell body is of a cylindrical structure, is arranged around the outer side wall of the motor and is fixed on the stator or the rotor;

the side wall of the shell body extends outwards to form the extension part; and the port of the extension part is used as a connecting interface of the driving module.

In one embodiment, the motor forms a motor hollow portion extending through the motor in an axial direction;

a channel communicated among the motor hollow part, the shell body and the extension part;

the channels of the plurality of drive modules are in communication; the channel is used for routing the wire so that the wire is routed inside the manipulator.

In one embodiment, a stator adaptor is arranged in the axial direction in the hollow part of the motor;

the stator adaptor is fixedly connected with the stator;

the stator adaptor is of a cylindrical structure, so that the wires are arranged inside the stator adaptor.

In one embodiment, a gap is present between an outer wall of the stator adaptor and an inner wall of the motor hollow, through which gap the thread belonging to a certain drive module is led into and/or out of the certain drive module.

In one embodiment, at least one end of the stator adaptor is provided with a positioning plate, and the stator adaptor is fixed at the end part of the stator through the positioning plate; and/or

At least one end of the stator adaptor is provided with a positioning plate, and the stator adaptor is fixed at the end part of the stator through the positioning plate; the positioning plate is provided with a positioning piece, and the positioning piece is used for positioning the thread; and/or

The stator adaptor is an insulating part or a plastic part.

In one embodiment, the robot further comprises at least one connector;

at least part of two adjacent driving modules are fixedly connected through the connecting piece, so that the manipulator meets the requirement of certain specification parameters.

In one embodiment, the connecting member includes a connecting hollow portion penetrating the connecting member;

a communicated channel is formed inside each driving module;

the connecting hollow part is communicated with the channels of the plurality of driving modules; the connecting hollow part and the channel which are communicated are used for routing the linear object, so that the linear object is routed inside the manipulator.

In one embodiment, the connecting piece is a cylindrical structure matched with the shell, and the connecting piece and the shell jointly enclose to form an outer wall of the manipulator.

In one embodiment, the wire is a full strip; or

The wire is in multiple sections, and the multiple sections of wires are connected through the interfaces.

In one embodiment, at least one end of the housing in the axial direction and the corresponding end of the motor form a containing space;

at least the controller and/or the braking part of the motor are arranged in the accommodating space.

In one embodiment, the robot is a six-axis robot; six manipulator includes six drive module and two connecting pieces, six drive module begin by the base and do in proper order: the driving device comprises a first driving module, a second driving module, a third driving module, a fourth driving module, a fifth driving module and a sixth driving module; the two connecting pieces are a first connecting piece and a second connecting piece; the first connecting piece is in a straight cylinder shape; the second connecting piece is in an L-shaped bent cylinder shape;

the driving module is a first driving module, the stator is a first stator, the rotor is a first rotor, the housing is a first housing, and the connection interface is a first connection interface;

one end of the first stator of the first driving module along the axial direction is fixedly connected with a base; the first shell is fixedly connected with the first rotor, and the first shell is driven to rotate by the first rotor; the first connecting interface is fixedly connected with one end of the second stator of the second driving module along the axial direction;

the driving module is a second driving module, the rotor is a second rotor, the shell is a second shell, and the connecting interface is a second connecting interface;

the second housing of the second driving module is fixedly connected with the second rotor, and the second housing is driven to rotate by the second rotor; the second connecting interface is fixedly connected with the first end of the first connecting piece;

the driving module is a third driving module, the rotor is a third rotor, the stator is a third stator, the housing is a third housing, and the connection interface is a third connection interface;

one end of the third rotor of the third driving module along the axial direction is fixedly connected with the first end of the second connecting piece; the third shell is fixedly connected with the third stator; the third connecting interface is fixedly connected with the second end of the first connecting piece;

the driving module is a fourth driving module, the stator is a fourth stator, the shell is a fourth shell, and the connecting interface is a fourth connecting interface;

one end of the fourth rotor of the fourth driving module in the axial direction is fixedly connected with a fifth connecting interface of the fifth driving module; the fourth shell is fixedly connected with the fourth stator; the fourth connecting interface is fixedly connected with the second end of the second connecting piece;

the driving module is a fifth driving module, the rotor is a fifth rotor, the housing is a fifth housing, and the connecting interface is the fifth connecting interface;

one end of the fifth rotor of the fifth driving module in the axial direction is fixedly connected with a sixth connecting interface of the sixth driving module; the fifth shell is fixedly connected with the fifth stator;

the driving module is a sixth driving module, the rotor is a sixth rotor, the housing is a sixth housing, and the connection interface is the sixth connection interface;

one end of a sixth rotor of the sixth driving module along the axial direction is used as an output end of the manipulator; the sixth shell is fixedly connected with the sixth stator.

In one embodiment, the first driving module is fixed on the base in a vertical direction; the second driving module and the first driving module are arranged at a vertical angle; the third driving module and the second driving module are arranged in parallel; the fourth driving module and the third driving module are arranged in parallel and are positioned on one side of the third driving module, which is closer to the first driving module; the fifth driving module and the fourth driving module are arranged at a vertical angle and are positioned at one end of the fourth driving module, which is closer to the third driving module; the sixth driving module and the fifth driving module are arranged at a vertical angle.

The direct drive motor is used as the driving unit of the manipulator, so that the control precision of the manipulator is improved; the service life of the manipulator is prolonged; the cost of the manipulator is reduced; the noise in the operation process of the manipulator is reduced; the impact resistance of the manipulator is improved; and/or reduced heating of the robot;

in addition, the manipulator is designed in a modularized manner, so that the transportation, assembly and disassembly of the manipulator and the replacement and maintenance of parts are facilitated;

in addition, the linear objects are wired inside the manipulator, so that the manipulator is more attractive; in addition, the risk of damage to the thread can also be reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a first schematic view of an overall structure of a robot provided in an embodiment of the present invention;

fig. 2 is a first schematic view of an explosive structure of a robot provided in an embodiment of the present invention;

fig. 3A is a first schematic view of an overall structure of a first driving module of a robot according to an embodiment of the present invention; fig. 3B is a first schematic diagram of a first driving module of a robot according to an embodiment of the present invention; fig. 3C is a first schematic diagram of a first driving module and a second driving module of a robot provided by the embodiment of the present invention, with partial housings and connectors removed; fig. 3D is a first schematic diagram of an explosive structure of a first driving module of the robot according to the embodiment of the present invention; FIG. 3E is an enlarged schematic view of portion A of FIG. 3D according to an embodiment of the present invention;

fig. 4A is a first schematic view of an overall structure of a second driving module of the robot according to the embodiment of the present invention; fig. 4B is a first schematic diagram of an explosive structure of a second driving module of the robot according to the embodiment of the present invention;

fig. 5A is a first schematic view of an overall structure of a third driving module of the robot according to the embodiment of the present invention; fig. 5B is a first schematic diagram of an explosive structure of a third driving module of the robot according to the embodiment of the present invention;

fig. 6A is a first schematic view of an overall structure of a fourth driving module of the robot according to the embodiment of the present invention; fig. 6B is a first schematic diagram of an explosive structure of a fourth driving module of the robot according to the embodiment of the present invention;

fig. 7A is a first schematic view of an overall structure of a fifth driving module of the robot according to the embodiment of the present invention; fig. 7B is a first schematic diagram of an explosive structure of a fifth driving module of the robot according to the embodiment of the present invention;

fig. 8A is a first schematic view of an overall structure of a sixth driving module of the robot according to the embodiment of the present invention; fig. 8B is a first schematic diagram of an explosive structure of a sixth driving module of the robot according to the embodiment of the present invention;

fig. 9A is a first schematic view of a first stator adapter-based routing manner of a first driving module of a manipulator according to an embodiment of the present invention; fig. 9B is a second schematic view of a first stator adapter-based routing manner of the first driving module of the robot according to the embodiment of the present invention.

Description of the symbols of the drawings: 10 robot, 11 first drive module, 12 second drive module, 13 third drive module, 14 fourth drive module, 15 fifth drive module, 16 sixth drive module, 17 base, 18 wire, 111 first housing, 112 first motor, 121 second housing, 122 second motor, 131 third housing, 132 third motor, 141 fourth housing, 142 fourth motor, 151 fifth housing, 152 fifth motor, 161 sixth housing, 162 sixth motor, 163 first flange, 133 second flange, 181 interface, 182 cable, 183 air tube, 1121 first stator, 1122 first mover, 1123 motor hollow, 1126 controller, 1125 brake, 1125 motor housing, 1111 first housing body, 1112 first end cap, 1113 first extension, 1221 second stator, 1222 second mover, 1211 second housing body, 1212 second end cap, 1213 second extension, 1321 third stator, 1322 third mover, 1311 a third housing body, 1312 a third end cap, 1313 a third extension, 1421 a fourth stator, 1422 a fourth mover, 1411 a fourth housing body, 1412 a fourth end cap, 1413 a fourth extension, 1521 a fifth stator, 1522 a fifth mover, 1511 a fifth housing body, 1512 a fifth end cap, 1513 a fifth extension, 1621 a sixth stator, 1622 a sixth mover, 1611 a sixth housing body, 1612 a sixth end cap, 1613 a sixth extension, 1811 input interface, 1812 output interface, 11111 boss, 11131 a first connection interface, 12131 a second connection interface, 13131 a third connection interface, 31 a fourth connection interface, 15131 a fifth connection interface, 16131 a sixth connection interface, 11231 a void.

Detailed Description

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

The manipulator provided by the embodiment of the invention can be applied to the technical field of manipulators, and the control precision of the manipulator is improved by adopting the direct drive motor as the drive unit of the manipulator; the service life of the manipulator is prolonged; the cost of the manipulator is reduced; the noise in the operation process of the manipulator is reduced; the impact resistance of the manipulator is improved; and/or reduced heating of the robot; in addition, the manipulator is designed in a modularized mode, so that the transportation, assembly and disassembly of the manipulator and the replacement and maintenance of parts are facilitated.

An embodiment of the present invention provides a manipulator, including: a plurality of drive modules and wires; each drive module comprises a motor and a housing; the motor comprises a stator and a rotor; the motor is a direct drive motor;

at least part of the threads are matched and connected with a plurality of driving modules.

In one embodiment, the output connection interface of a certain driving module and the input connection interface of one or more next driving modules may be fixedly connected from the driving module directly fixed on the base, so as to realize the serial connection and/or the parallel connection of a plurality of driving modules.

It should be noted that the fixed connection may be directly fixed to the plurality of driving modules, or may be fixed to the plurality of driving modules through an intermediate member (e.g., a connecting member), and the following embodiments will be further described with reference to the connecting member.

It should be noted that the thread may be, but is not limited to: cable 182 and/or air tube 183 (shown in fig. 3C); wherein the cable may be, but is not limited to: the control device comprises a communication cable and/or a power cable, wherein the communication cable can be used for communicating the control device with each drive module, and the power cable can be used for supplying power to a winding or a controller of the motor; the air tube may be used to connect the air supply to a pneumatically driven end effector located at the end of the robot. Different cables need to be correspondingly matched and connected with each driving module, such as: the mating connection is an electrical connection when the cable is a power cord and a communication connection when the cable is a communication cable.

As described in the above embodiments, at least a portion of the wire may be cooperatively coupled to a plurality of drive modules, and a portion of the wire may be cooperatively coupled to an end effector, such as: when the thread is an air pipe, the thread is directly matched and connected with a pneumatic driving end effector at the tail end of the manipulator.

Specifically, the wire may be a whole wire or multiple wires, and this embodiment is not limited, and when the wire is multiple wires, at least one end of each wire is provided with an interface, which may be an input interface and/or an output interface, and the input interface and the output interface of two adjacent wires are switched to connect the multiple wires into a whole. It should be noted that different threads implement different switching via the input interface and the output interface, such as: when the threadlike object is a power cable, the switching is electric connection; when the wire is a trachea, the transition is a sealed connection to ensure that there is no air leak at the connection, thereby delivering air to the end effector.

Illustratively, as shown in fig. 4A, the two ends of the wire 18 of one segment located in the second driving module 12 are respectively provided with an interface 181, and the interfaces 181 at the two ends are respectively an input interface 1811 and an output interface 1812, where the input interface 1811 of the wire 18 is used for switching over with the output interface of the wire of the first segment located in the first driving module, and the output interface 1812 of the wire 18 of the second segment is used for switching over with the input interface of the wire of the third segment located in the third driving module.

It should be noted that the direct drive motor is a motor that omits the transmission of a speed reducer and directly outputs a large torque/force by a mover of the motor. If the application number is: the motors in the patents of the prior applications such as CN201610994572.5 and CN201911179316.0 can directly output large torque, thereby omitting a speed reducer, and therefore, they can be called as direct drive motors.

The speed reducer has inevitable machining errors (so that the positioning precision is influenced); the tooth structure of the reducer is easily damaged during the meshing process, such as: the service life of some harmonic gears is about 10000 hours, while the service life of the bearing of the direct drive motor can reach about one million hours; the cost is high; the noise is large in the meshing process of the tooth structure; the gear is not resistant to impact (the gear is a precise structural component and is easy to damage when the impact occurs), and the like. Therefore, the direct drive motor is used as the drive unit of the manipulator, so that the control precision of the manipulator is improved; the service life of the manipulator is prolonged; the cost of the manipulator is reduced; the noise in the operation process of the manipulator is reduced; the impact resistance of the manipulator is improved; and/or reduced heating of the robot.

In addition, the manipulator is designed in a modularized mode, so that the transportation, assembly and disassembly of the manipulator and the replacement and maintenance of parts are facilitated.

It should be noted that the robot may adopt any number of driving modules according to the needs, and generally, the robot includes several driving modules, which are called several-axis robots, such as: the five-axis manipulator comprises five driving modules, and the six-axis manipulator comprises six driving modules.

It should be noted that, the closer the driving module to the base is, the greater the load is born by the driving module, and therefore, the greater the torque that needs to be output by the motor included in the driving module is, and in the case that the internal structures of the motors are the same, the larger the size of the motor is, the greater the output torque is, the greater the load that can be born by the manipulator is; in addition, a correspondingly sized motor may be selected as the drive module based on the load to be borne by each axis of the manipulator.

Specifically, the stator may be located inside the mover or located outside the mover, and this embodiment is not limited to this embodiment, and for convenience of understanding, this embodiment will be described in further detail with the example where the stator is located inside the mover.

It should be noted that the manipulator further includes a control device (omitted in the figure), and each driving module performs corresponding movement based on the instruction of the control device, so as to implement the movement of the manipulator, and the control device may be located inside and/or outside the manipulator, and the related description is omitted in the embodiments of the present invention.

In one embodiment, the end of the robot may be provided with an end effector (omitted from the figures) which may be, but is not limited to: a jaw or a suction cup. Further, in one embodiment, a first flange 163 (shown in fig. 8B) may be provided at the output end of the endmost drive module of the robot, and the end effector may be secured to the first flange 163.

Specifically, the wire may be routed inside the manipulator, outside the manipulator, or partially outside the manipulator and partially inside the manipulator. The wiring is preferably arranged inside the manipulator, so that the manipulator is more attractive; in addition, the risk of damage to the thread can also be reduced.

In one embodiment, the interior of each drive module forms a communicating channel, and the channels between the plurality of drive modules communicate for routing a wire such that the wire is routed inside the robot. Because a communicated channel is formed inside the plurality of driving modules which are fixedly connected together, the linear objects are wired from the channel, and the linear objects can be wired inside the manipulator.

It should be noted that the motor and the housing of each driving module may be of the same structure or different structures, but in a preferred embodiment, the driving modules are of the same or similar structure except for the size of the motor in view of saving processing cost, beauty and control. The structure of one of the driving modules will be described below by taking the same or similar structure as an example.

In one embodiment, the housing includes a housing body and an extension; the side wall of the shell body protrudes outwards to form an extension part; the port of the extension portion serves as a connection interface of the driving module, and specifically, the connection interface may serve as an input connection interface or an output connection interface of the driving module according to actual needs.

The shell is fixedly connected with the stator or the rotor according to actual needs, and when the shell is fixedly connected with the rotor, the shell can be driven to rotate through the rotor.

The shell body is of a cylindrical structure and is arranged around the outer side wall of the motor.

Specifically, the cylindrical structure needs to correspond to the shape of the outer side wall of the motor, such as: the circular motor corresponds to the cylindrical shell body, and the rectangular motor corresponds to the rectangular cylindrical shell body.

In particular, the housing body may or may not include an end cap at the free end, preferably including an end cap, so that the end cap can protect the motor and other components inside the housing body.

Wherein, the free end is the end of the shell body which is not required to be butted with other driving modules or connecting pieces and the like along the axial direction.

In one embodiment, the motor forms a motor hollow portion extending through the motor in the axial direction; a channel for the wire to be routed is formed among the hollow part of the motor, the shell body and the extension part, so that the wire can be routed inside each driving module.

In one embodiment, a stator adaptor is arranged in the motor hollow part of the motor along the axial direction, the stator adaptor is fixedly connected with the stator, and the stator adaptor is of a cylindrical structure, so that the thread is led from the inside of the stator adaptor, and the thread is prevented from directly wearing against the stator or the rotor of the motor, and the performance of the motor is affected.

In one embodiment, the stator transition piece is preferably an insulating piece made of an insulating material, so that when the cable located in the stator transition piece leaks electricity due to abrasion, a certain insulation protection function can be achieved through the insulating piece.

In one embodiment, the stator adaptor is preferably a plastic part. On one hand, the plastic part has insulating property; on the other hand, some plastic parts have a low coefficient of friction, such as: the plastic piece made of Polytetrafluoroethylene (PTFE) and Polyformaldehyde (POM) materials can reduce the abrasion of the thread in the plastic piece; furthermore, the plastic part is generally lighter in weight, so that the weight of the motor and thus the weight of the entire robot can be reduced.

In one embodiment, a gap is formed between the outer wall of the stator adapter and the inner wall of the motor hollow, through which gap the thread belonging to the first drive module is led into and/or out of the drive module.

In one embodiment, the robot further comprises at least one connector; at least part of adjacent driving modules are fixedly connected through a connecting piece, so that the manipulator meets the requirements of certain specification parameters.

Further, in one embodiment, the connecting member includes a connecting hollow portion penetrating the connecting member; according to the above embodiment, the interior of each drive module forms a communicating channel; the channels connecting the hollow part and the plurality of driving modules are communicated; the connecting hollow part and the channel which are communicated are used for routing the linear object, so that the linear object is routed inside the manipulator.

Illustratively, as shown in fig. 1 or 2, the robot 10 includes two connecting members, which are a first connecting member 21 and a second connecting member 22, respectively, wherein the first connecting member 21 has a straight cylinder shape, and the second connecting member has an L-shaped bent cylinder shape.

It should be noted that, based on the flexible space degree of the manipulator, the driving modules of the manipulator and the orientation, distance and the like between the driving modules can be designed in advance, and in some cases, when the specification parameters of the two driving modules after being directly connected cannot meet the design requirements, the connecting piece can be added, so that the manipulator meets the requirements of certain specification parameters.

Specifically, the connecting piece can be in various shapes such as a cylinder, and the protection scope of the invention is only to ensure that a connecting hollow part is formed and the interfaces at the two ends of the connecting piece are matched with the butt joint part; in addition, each connector may be prefabricated as one piece or may be made from multiple pieces.

Further, in one embodiment, as shown in fig. 1 or 2, the connecting

members

21 and 22 are cylindrical structures which are matched with the housings of the driving

modules

11, 12, 13, 14, 15 and 16, so that the connecting members and the housings jointly enclose the outer wall of the manipulator 10, and the whole manipulator is more beautiful; in addition, a manipulator shell does not need to be additionally arranged, so that the number of accessories of the manipulator is reduced, and the load of the manipulator is reduced.

By adopting one or more driving modules described in the embodiments of the present invention, the one or more driving modules are fixedly connected in series and/or in parallel directly or through a connecting member or the like, and can be combined to form any manipulator.

For convenience of understanding, the structure of the driving module is further described in detail below by way of example.

As shown in fig. 3A-3E, which are related schematic views of a first driving module 11 of a robot, the driving module is fixedly connected to the base 17, and thus may be referred to as the first driving module 11. According to the above embodiment, each of the driving modules includes the motor and the housing, the motor includes the stator and the mover, and then the first driving module 11 includes the first motor 112 and the first housing 111; the first motor 112 includes a first stator 1121 and a first mover 1122.

The first housing 111 includes a first housing body 1111 and a first extension 1113; the side wall of the first case body 1111 protrudes outward to form a first extension 1113; the port 11131 of the first extension 1113 serves as the first connection interface 11131 of the first drive module 11.

Specifically, the first housing body 1111 and the first extension 1113 may be prefabricated as a single body or fixedly connected.

The first housing body 1111 has a cylindrical structure and is disposed around an outer sidewall of the first motor 112.

Further, in one embodiment, the first housing body 1111 includes a first end cap 1112 disposed at a free end, and the first motor and the like located in the first housing body 1111 may be protected by the first end cap 1112.

Specifically, the first end cap 1112 and the first case body 1111 may be fixedly connected by a rivet or the like; besides, the connecting rods can also be fixedly connected or prefabricated into a whole in other ways.

The first housing 111 is fixedly connected to the first mover 1122, and the first housing 111 is driven to rotate by the first mover 1122.

Specifically, at least one end of the first mover 1122 in the axial direction may be fixedly connected to a corresponding portion of the first case body 1111, for example: as shown in fig. 3C, a boss 11111 corresponding to an end of the first mover is formed on an inner wall of the first case body 1111, and the boss 11111 is fixedly connected to an end of the first mover 1122, and further, in an embodiment, as shown in fig. 3B, a motor housing 1126 may be further provided outside the first mover, the motor housing 1126 may be fixedly connected to an end of the first mover 1122 as a center, and the boss may be fixedly connected to an end of the first mover 1122 by being fixedly connected to an end of the motor housing; or when the first mover 1122 is located outside the first stator 1121, the outer sidewall of the first motor 112 is fixedly connected to the inner sidewall of the first housing body 1111, which is not limited in this embodiment.

In one embodiment, a receiving space is formed between the first housing 111 and the end of the corresponding first motor 112, and a controller, a brake, and the like of the first motor 112 may be disposed in the receiving space, and in addition, when the thread has multiple segments, the input interface and the input interface of two adjacent segments of thread may be switched in the receiving space.

As shown in fig. 3B, for example, the stopper 1125 may be fixed to an end of the first stator 1121 corresponding to the base, and the controller 1124 may be fixed to the other end of the first stator 1121 through a supporting pillar, for example, the controller 1124 may be formed on one or more circuit boards, and the one or more circuit boards are fixed to the stator through a bracket and are accommodated in the accommodating space. It should be noted that, the above controller may refer to a controller, a driver, or a driving controller (i.e., a driver and a controller) of the motor, and is generally referred to as a controller for easy understanding; the braking part is used for braking control of the motor.

In one embodiment, the first motor 112 forms a motor hollow 1123 axially through the first motor 112; for example, as shown in fig. 3B, a motor hollow portion 1123 may be formed in the axial direction at the center of the first stator.

A channel for routing the wire 18 is formed among the motor hollow portion 1123, the first housing body 1111 and the first extension portion 1113, and the channel is communicated with the channel of the adjacent driving module and/or the connecting hollow portion of the connecting member, so that an integrally communicated channel is formed to route the wire 18 inside the manipulator. Further, in one embodiment, to form the channel, the first housing body 1111 and the first extension 1113 may be a preformed three-way 1113 (as shown in fig. 3D), and an end cap 1112 may be disposed at a free end of the three-way 1113 corresponding to the motor.

Illustratively, as shown in fig. 3C, in the first driving module 11, the wire 18 runs from one end of the first housing body 1111 to the other end of the first housing body 1111 through the hollow portion of the motor, and then enters the second driving module 12 through the extension 1113, so as to implement the routing of the wire 18 inside the first driving module 11.

As further shown in fig. 3C-3E, in an embodiment, a first stator adaptor 11211 is axially disposed in the hollow portion of the first motor 112, the first stator adaptor 11211 is fixedly connected to the first stator 1121, and the first stator adaptor 11211 is in a cylindrical structure, so that the wire 18 is routed from the inside of the first stator adaptor 11211.

Illustratively, as shown in fig. 9A, after the cable 182 is led into the first driving module 11 from the base, it is connected to the input interface of the controller 1124 in a matching manner, and then the cable 182 connected to the output interface of the controller 1124 in a matching manner is routed from the inside of the first stator adapter 11211 together with the other wires 18, and then led out to the next module through the other end of the motor housing body and the connecting member.

As further shown in fig. 3E, in one embodiment, a gap 11231 exists between the outer wall of the first stator adaptor 11211 and the inner wall of the motor hollow 1123, and the wire 18 belonging to the first drive module is led into the first drive module 11 and/or out of the first drive module 11 through the gap 11231.

Illustratively, as shown in fig. 9B, when the wire 18 is introduced into the first driving module 11 from the base, the cable 182 belonging to the first driving module 11 is connected to the input interface of the controller 1124 through the gap 11231 between the outer wall of the first stator adapter 11211 and the inner wall of the motor hollow portion 1123, and then the cable 182 connected to the output interface of the controller 1124 is returned to the inside of the first stator adapter 11211 through the gap 11231, and is routed from the inside of the first stator adapter 11211 together with the other wires 18.

As further shown in fig. 3E, in an embodiment, at least one end of the first stator adaptor 11211 may be provided with a positioning plate F1, a positioning member F1 is provided with a positioning member F11, and the positioning member F11 is used for positioning the wire 18 to prevent the wire 18 from being displaced during the movement of the manipulator, so as to cause abrasion of the wire, specifically, the positioning member F11 may be a wire clamp F11, one end of the wire clamp F11 is fixed to the positioning plate F1, and the wire 18 passes through a central through hole of the wire clamp F11, so as to complete the fixing of the wire 18.

Further, in one embodiment, the first stator adapter 11211 can be directly fixed to the end of the first stator 1121 through the positioning plate F1, or the positioning plate F1 can be fixed to the first stator 1121 through a centering member, such as: as shown in fig. 9A or 9B, the positioning plate F1 can be fixedly connected to the first stator 1121 via a stopper 1125.

By adopting the first stator adapter, the main line part of the linear object is arranged inside the first stator adapter, and the linear object corresponding to each driving module is shunted through the outer wall of the first stator adapter, so that the linear object is arranged more orderly, beautiful and clear.

As shown in fig. 1 or 2, for convenience of understanding, the present embodiment further takes a six-axis serial robot as an example to further describe the above robot in detail, and then the six-axis robot includes six driving modules, the six driving modules are connected together in a serial manner, and the six driving modules sequentially include, in a direction gradually away from the base 17 of the robot 10: a first driving module 11, a second driving module 12, a third driving module 13, a fourth driving module 14, a fifth driving module 15 and a sixth driving module 16; in addition, the manipulator further comprises two connecting pieces, namely a first connecting piece 21 and a second connecting piece 22, wherein the first connecting piece 21 is in a straight cylinder shape, and the second connecting piece 22 is in an L-shaped bent cylinder shape.

It should be noted that the above-mentioned driving modules may be designed into any structural arrangement according to the requirement of flexible space degree, as shown in fig. 1 or 2, in an embodiment, the first driving module 11 is fixed on the base 17 along the vertical direction; the second driving module 12 is arranged at a vertical angle with the first driving module 11; the third driving module 13 is arranged in parallel with the second driving module 12; the fourth driving module 14 is arranged in parallel with the third driving module 13 and is located on one side of the third driving module 13 closer to the first driving module 11; the fifth driving module 15 is disposed at a vertical angle to the fourth driving module 14, and is located at one end of the fourth driving module 14 closer to the third driving module 13; the sixth drive module 16 is arranged at a perpendicular angle to the fifth drive module 15.

Fig. 3A-3D are related schematic diagrams of the first driving module. The first drive module 11 includes a first motor 112 and a first housing 111; the first motor 112 includes a first stator 1121 and a first mover 1122.

As shown in fig. 2, the first connection port 11131 serves as an output port of the first driving module 11 and is fixedly connected to one end of the second stator of the second driving module 12.

In one embodiment, the first housing body 1111 includes a first end cap 1112 disposed along a free end of the axial direction.

In one embodiment, the first motor forms a motor hollow 1123 axially through the motor; the motor hollow portion 1123, the first housing body 1111 and the first extension portion 1113 form a channel for routing the wire 18.

In one embodiment, a first stator adapter 11211 is axially disposed within the motor hollow of the first motor 112.

Further, in one embodiment, there is a gap between the outer wall of the first stator adaptor 11211 and the inner wall of the motor hollow 1123, through which the wire belonging to the first drive module 11 is led into the first drive module 11 and/or out of the first drive module 11.

Fig. 4A or 4B is a related schematic diagram of the second driving module 12. According to the above embodiment, each of the driving modules includes the motor and the housing, the motor includes the stator and the mover, and the second driving module 12 includes the second motor 122 and the second housing 121; the second motor 122 includes a second stator (not shown) and a second mover 1222.

In one embodiment, the second housing 121 includes a second housing body 1211 and a second extension portion 1213; the side wall of the second case body protrudes outward to form a second extension portion 1213; the port of the second extension serves as a second connection interface 12131 for the second drive module 12.

The second case body 1211 is a cylindrical structure and is disposed around an outer sidewall of the second motor 122.

The second housing 121 is fixedly connected to the second mover 1222, and the second housing 121 is driven to rotate by the second mover 1222.

As shown in fig. 2, one end of the second stator in the axial direction serves as an input end of the second driving module 12, and is fixedly connected to the first connection port 11131 of the first driving module 11; the second connection interface 12131 serves as an output end of the second driving module 12 and is fixedly connected to the first end of the first connection member 21.

In one embodiment, the second housing body 1211 includes a second end cap 1212 disposed along the axial free end.

In one embodiment, the second motor 122 forms a motor hollow that extends through the second motor 122 in the axial direction; a passage for the wire 18 to run is formed between the motor hollow portion, the second casing body 1211 and the second extension portion 1213.

In one embodiment, a second stator adaptor 12211 is axially disposed within the motor hollow of the second motor 122.

In one embodiment, there is a gap between the outer wall of the second stator adaptor 12211 and the inner wall of the motor hollow, through which the wire belonging to the second drive module 12 is led into the second drive module 12 and/or out of the second drive module 12.

Fig. 5A or 5B is a related schematic diagram of the third driving module 13. According to the above embodiment, each of the driving modules includes the motor including the stator and the mover and the housing, the third driving module 13 includes the third motor 132 and the third housing 131; the third motor 132 includes a third stator 1321 and a third mover 1322.

Third shell 131 includes third shell body 1311 and third extension 1313; the sidewall of the third case body protrudes outward to form a third extension 1313; the port of the third extension serves as a third connection interface 13131 of the third drive module 13.

The third case body 1311 is a cylindrical structure, and is disposed around an outer sidewall of the third motor 132.

The third housing 131 is fixedly coupled to the third stator 1321. For example, since one end of the third stator 1312 is fixedly connected to the stopper, the stopper may be fixedly connected to the third housing through the stopper, in an embodiment, a boss may also be formed at a corresponding end of the third housing body and the stopper, and the boss is fixedly connected to the stopper and further fixedly connected to the third stator, specifically, the fixing connection manner between the first housing 111 and the first mover 1122 may be referred to, and details are not repeated herein.

As shown in fig. 2, the third connection interface 13131 serves as an input end of the third driving module 13, and is fixedly connected to the second end of the first connection member 21; one end of the third mover 1322 in the axial direction serves as an output end of the third driving module 13, and is fixedly connected to a first end of the second connector 22. Illustratively, as shown in fig. 5A or 5B, one end of the third mover 1322 in the axial direction may be fixedly coupled to the first end of the second connector 22 via the second flange 133.

In one embodiment, third housing body 1311 includes a third endcap 1312 disposed along an axial free end.

In one embodiment, the third motor 132 forms a motor hollow axially through the third motor; a passage for the wire 18 to run is formed between the hollow part of the motor, the third casing body 1311 and the third extension 1313.

In one embodiment, a third stator adaptor 13211 is axially disposed within the motor hollow of the third motor 132.

Further, in one embodiment, there is a gap between the outer wall of the third stator adaptor 13211 and the inner wall of the motor hollow, and the wire belonging to the third drive module 13 is led into the third drive module 13 and/or out of the third drive module 13 through the gap.

Fig. 6A or 6B is a schematic diagram of the fourth driving module 14. According to the above embodiment, each of the driving modules includes the motor and the housing, the motor includes the stator and the mover, and the fourth driving module 14 includes the fourth motor 142 and the fourth housing 141; the fourth motor 142 includes a fourth stator 1421 and a fourth mover 1422.

The fourth casing 141 includes a fourth casing body 1411 and a fourth extension 1413; the side wall of the fourth shell body protrudes outwards to form a fourth extending part; a port of the fourth extension 1413 serves as a fourth connection interface 14131 of the fourth driving module 14.

The fourth case body 1411 is a cylindrical structure, and is disposed around an outer sidewall of the fourth motor 142.

The fourth housing 141 is fixedly coupled to the fourth stator 1421.

As shown in fig. 2, the fourth connection interface 14131 serves as an input end of the fourth driving module 14, and is fixedly connected to the second end of the second connection element 22; one end of the fourth mover 1422 in the axial direction serves as an output end of the fourth driving module 14, and is fixedly connected to a fifth connection interface of the fifth driving module 15.

In one embodiment, fourth housing body 1411 includes a fourth endcap 1412 disposed at an axial free end.

In one embodiment, the fourth motor 142 forms a motor hollow axially through the fourth motor; a channel for routing the wire 18 is formed among the hollow part of the motor, the fourth housing body 1411 and the fourth extending part 1413.

In one embodiment, a fourth stator adaptor 14211 is axially disposed within the motor hollow of the fourth motor 142.

Further, in one embodiment, there is a gap between the outer wall of the fourth stator adaptor 14211 and the inner wall of the motor hollow, and the wire belonging to the fourth driving module 14 is led into the fourth driving module 14 and/or out of the fourth driving module 14 through the gap.

Fig. 7A or 7B is a related schematic diagram of the fifth driving module 15. According to the above embodiment, each of the driving modules includes the motor including the stator and the mover and the housing, the fifth driving module 15 includes the fifth motor 152 and the fifth housing 151; the fifth motor 152 includes a fifth stator 1521 and a fifth mover 1522.

The fifth casing 151 includes a fifth casing body 1511 and a fifth extension 1513; a sidewall of the fifth case body 1511 protrudes outward to form a fifth extension 1513; a port of the fifth extension 1513 serves as a fifth connection interface 15131 of the fifth driving module 15.

The fifth case body 1511 is a cylindrical structure, and is disposed around an outer sidewall of the fifth motor 152.

The fifth housing 152 is fixedly connected to the fifth stator 1521.

As shown in fig. 2, the fifth connection interface 15131 is used as an input end of the fifth driving module 15 and fixedly connected to one end of the fourth mover of the fourth driving module 14; one end of the fifth mover 1522 along the axial direction is used as an output end of the fifth driving module 15, and is fixedly connected to a sixth connection interface of the sixth driving module 16.

In one embodiment, the fifth housing body 1511 includes a sixth end cap 1512 disposed along the free end of the axial direction.

In one embodiment, the fifth motor 152 forms a motor hollow that extends through the fifth motor in the axial direction; a passage for the wire 18 to run is formed between the hollow part of the motor, the third case body 1511 and the fifth extending part 1513.

In one embodiment, a fifth stator adaptor 15211 is disposed axially within the motor hollow of the fifth motor 152.

Further, in one embodiment, there is a gap between the outer wall of the fifth stator adaptor 15211 and the inner wall of the motor hollow, and the wire belonging to the fifth drive module 15 is led into the fifth drive module 15 and/or out of the fifth drive module 15 through the gap.

Fig. 8A or 8B is a related schematic diagram of the sixth driving module 16. According to the above embodiment, each of the driving modules includes the motor and the housing, the motor includes the stator and the mover, and the sixth driving module 16 includes the sixth motor 162 and the sixth housing 161; the sixth motor 162 includes a sixth stator 1621 and a sixth mover 1622.

The sixth casing 161 includes a sixth casing body 1611 and a sixth extension 1613; a side wall of the sixth case body 1611 protrudes outward to form a sixth extending portion 1613; a port of the sixth extension 1613 serves as a sixth connection interface 16131 of the sixth drive module 16.

The sixth housing body 1611 has a cylindrical structure and is disposed around an outer sidewall of the sixth motor 162.

The sixth housing 161 is fixedly connected to the sixth stator 1621.

As shown in fig. 2, the sixth connection interface 16131 serves as an input end of the sixth driving module 16, and is fixedly connected to one end of the fifth mover of the fifth driving module 15.

One end of the sixth mover 1622 in the axial direction serves as an output end of the manipulator. In one embodiment, a first flange 163 may be provided at one end of the sixth mover, and the end effector may be fixed by the first flange 163.

In one embodiment, sixth housing body 1611 includes a sixth end cover 1612 disposed along the free end of the axial direction.

In one embodiment, the sixth motor 162 forms a motor hollow that extends through the sixth motor in the axial direction; a channel for routing the wire 18 is formed between the hollow part of the motor, the sixth housing body 1611 and the sixth extending part 1613.

In one embodiment, a sixth stator adaptor 16211 is axially disposed within the motor hollow.

Further, in one embodiment, there is a gap between the outer wall of the sixth stator adaptor 16211 and the inner wall of the motor hollow, through which the wire belonging to the sixth drive module 16 is led into the sixth drive module 16 and/or out of the sixth drive module 16.

For other relevant descriptions of the first driving module 11, the second driving module 12, the third driving module 13, the fourth driving module 14, the fifth driving module 15, the sixth driving module 16, the first connecting member 21 and the second connecting member 22 of the six-axis manipulator in this embodiment, reference may be made to the detailed description of the connecting member of the first driving module 11 in the foregoing embodiment, and no further description is provided herein.

When an element is referred to as being "disposed on" another element, it can be secured to the other element or movably coupled to the other element. When an element is referred to as being "secured to" or "fixedly coupled to" another element, it can be directly secured to the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

It will be understood by those skilled in the art that the configurations shown in the drawings are merely schematic representations of portions of configurations relevant to the present application and are not intended to limit the robots, drive modules, etc. to which the present application may be applied, and that a particular robot, drive module, etc. may include more or less components than shown, or may combine certain components, or have a different arrangement of components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or apparatus.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.

The robot provided by the embodiment of the present invention is described in detail above, but the above description of the embodiment is only for assisting understanding of the method of the present invention and the core idea thereof, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that various modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. A robot hand, characterized by comprising: a plurality of drive modules and wires; each of the drive modules includes a motor and a housing; the motor comprises a stator and a rotor; the motor is a direct drive motor;

2. The robot hand of claim 1, wherein the interior of each of the drive modules forms a communicating channel, and the channels between the plurality of drive modules communicate;

3. The manipulator according to claim 1, wherein the housing includes a shell body and an extension;

4. The robot hand according to claim 3, wherein the motor is formed with a motor hollow portion penetrating the motor in an axial direction;

5. The manipulator according to claim 4, wherein a stator adaptor is disposed in the motor hollow portion in the axial direction;

the stator adaptor is fixedly connected with the stator;

6. The manipulator according to claim 5, wherein a gap is present between an outer wall of the stator adaptor and an inner wall of the motor hollow, and the wire belonging to a certain drive module is introduced into and/or withdrawn from the certain drive module through the gap.

7. The manipulator according to claim 5 or 6, wherein a positioning plate is arranged at least one end of the stator adaptor, and the stator adaptor is fixed at the end part of the stator through the positioning plate; and/or

The stator adaptor is an insulating part or a plastic part.

8. The robot of any of claims 1-6, further comprising at least one connector;

9. The robot hand according to claim 8, wherein the connecting member includes a connecting hollow portion penetrating the connecting member;

a communicated channel is formed inside each driving module;

10. The manipulator according to claim 8, wherein the connecting member is a cylindrical structure matched with the housing, and the connecting member and the housing together enclose an outer wall of the manipulator.

11. The manipulator according to any one of claims 1 to 6, wherein the thread is a whole thread; or the wire is in multiple sections, and the multiple sections of wires are connected through the interfaces.

12. The manipulator according to any one of claims 1 to 6, wherein a housing space is formed between at least one end of the housing in the axial direction and an end of the corresponding motor;

13. The robot hand according to any one of claims 3 to 6, wherein the robot hand is a six-axis robot hand; six manipulator includes six drive module and two connecting pieces, six drive module begin by the base and do in proper order: the driving device comprises a first driving module, a second driving module, a third driving module, a fourth driving module, a fifth driving module and a sixth driving module; the two connecting pieces are a first connecting piece and a second connecting piece; the first connecting piece is in a straight cylinder shape; the second connecting piece is in an L-shaped bent cylinder shape;

14. The robot hand of claim 13, wherein the first driving module is fixed on the base in a vertical direction; the second driving module and the first driving module are arranged at a vertical angle; the third driving module and the second driving module are arranged in parallel; the fourth driving module and the third driving module are arranged in parallel and are positioned on one side of the third driving module, which is closer to the first driving module; the fifth driving module and the fourth driving module are arranged at a vertical angle and are positioned at one end of the fourth driving module, which is closer to the third driving module; the sixth driving module and the fifth driving module are arranged at a vertical angle.