CN112809734A

CN112809734A - Robot joint structure

Info

Publication number: CN112809734A
Application number: CN202110252957.5A
Authority: CN
Inventors: 翟梦莹; 范东平; 潘丽同; 成广一
Original assignee: Shanghai Jiebote Robot Co Ltd
Current assignee: Shanghai Jiebote Robot Co Ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-05-18

Abstract

The application provides a robot joint structure, including first member, second member, drive arrangement and cable. The driving device drives the first rod to rotate relative to the second rod; the driving device comprises a motor, a motor flange and a speed reducer; the motor is fixed on the second rod piece, and the output end of the motor is connected with the input end of the speed reducer; the motor flange is arranged at the joint of the first rod piece and the second rod piece, the central part of the motor flange is fixedly connected with the motor and the speed reducer, and the edge part of the motor flange is fixedly connected with the second rod piece; the motor flange is provided with an arc-shaped groove, and the arc-shaped groove is communicated with the inner spaces of the first rod piece and the second rod piece. And the cable enters the first rod piece from the second rod piece through the circular arc-shaped groove. This application avoids using cavity motor and cavity speed reducer can realize the articulated inside of robot and walks the line, makes the articulated size of whole robot reduce by a wide margin.

Description

Robot joint structure

Technical Field

The application relates to the technical field of robots, in particular to a robot joint structure.

Background

As the degree of mechanical automation has increased, various robots are widely used in various fields, and known industrial robots include horizontal articulated robots that are sequentially connected by a plurality of arms via horizontal joints. The existing horizontal articulated robot has: a base station; a second rod member rotatably mounted on the base by being driven by a second motor and a second reducer; a first rod member rotatably mounted to the second rod member by being driven by a first motor and a first reducer; and the working head is arranged on the first rod piece.

The horizontal articulated robot has two types of wiring, namely external wiring and internal wiring. The internal routing has more advantages than the external routing because the internal routing saves the use space. When designing the internal routing of the robot, there are generally the following two ways. One is to adopt cavity motor and cavity speed reducer at the robot joint, and the cable passes cavity motor and cavity speed reducer centre bore and realizes, however this kind of mode cost is high. And secondly, a structural form of a non-hollow motor offset, a hollow speed reducer and a synchronous belt is adopted, but an intermediate transmission chain is added in the mode, so that the transmission precision is reduced. In addition, the hollow speed reducer is limited by the structure, the axial size and the radial size are large, and when a cable passes through a central hole of the hollow speed reducer, a certain axial size needs to be reserved for movement of the cable so as to prevent the cable from bending excessively, so that the sizes of a robot joint and a robot rod piece are further increased, the weight of the robot is increased, and the appearance is bulky. On the other hand, the hollow speed reducer structure is used, and the adapter flange needs to be added between the rod piece and the speed reducer, so that the weight of the whole joint is further increased, and the additional load is increased.

Disclosure of Invention

The application provides a robot joint mechanism need not to adopt cavity drive mechanism, makes whole joint size reduce by a wide margin, and the structure is more simple compact.

The application provides robot joint structure includes:

a first rod piece is arranged on the first rod piece,

a second bar member;

the driving device drives the first rod to rotate relative to the second rod; the driving device comprises a motor, a motor flange and a speed reducer; the motor is fixed on the second rod piece, and the output end of the motor is connected with the input end of the speed reducer; the motor flange is arranged at the joint of the first rod piece and the second rod piece, the central part of the motor flange is fixedly connected with the motor and the speed reducer, and the edge part of the motor flange is fixedly connected with the second rod piece; the motor flange is provided with an arc-shaped groove which is communicated with the inner spaces of the first rod piece and the second rod piece; and

and the cable enters the first rod piece from the second rod piece through the circular arc-shaped groove.

Optionally, a circular cavity is formed between the first rod piece and the speed reducer, and the cable enters the first rod piece from the [ shanghai jiebert robot 1] through the circular arc-shaped groove and the circular cavity.

Optionally, the speed reducer is directly connected to the first rod.

Optionally, the robot joint structure further includes a bearing, and the motor flange is rotatably connected to the first rod through the bearing.

Optionally, the robot joint structure further includes an oil seal, and the oil seal is disposed between the first rod and the motor flange.

Optionally, the lower end of the first rod is sealed by a detachable cover plate.

Optionally, the lateral wall of the first rod piece is provided with a first limiting block, the lateral wall of the motor flange is provided with a second limiting block, and the first limiting block and the second limiting block are matched to limit the rotation angle of the first rod piece.

The application also provides a robot, including foretell robot joint structure, base and operation head, wherein the second member rotationally connect in the base, the operation head set up in on the first member.

According to the technical scheme that this application embodiment provided, need not adopt cavity motor and cavity speed reducer can realize that the articulated inside of robot is walked the line, the circular arc groove on the cable accessible motor flange reachs the inside of first member from motor and speed reducer side, and when first member rotary motion, the cable can freely slide at the circular arc inslot, and the cable still can not receive the dragging when guaranteeing the robot joint action on a large scale. Meanwhile, as the hollow speed reducer is not used, the larger radial and axial sizes of the hollow speed reducer are avoided, the size of the whole robot joint is greatly reduced, and the structure is simpler and more compact.

Drawings

FIG. 1 is a block diagram of one embodiment of a robotic joint of the present application;

FIG. 2 illustrates a top view of one embodiment of a robotic joint of the present application;

FIG. 3 illustrates a cross-sectional view of one embodiment of a robotic joint of the present application;

fig. 4 is an internal structural view showing one embodiment of a robot joint according to the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of the terms "comprising" or "including" in the description and claims of this application is intended to indicate that an element or item listed before "comprising" or "includes" and its equivalents are covered by the element or item listed after "comprising" or "including," and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

Fig. 1 is a schematic structural diagram of a joint structure of a robot according to the present application. As shown in fig. 1, the robot joint structure includes a first lever 1, a second lever 2, a driving device, and a cable 6. The first lever 1 is rotatably mounted on the second lever 2, and the first lever 1 is driven to rotate relative to the second lever 2 by a driving device. In the present embodiment, the first pin 1 includes a horizontal first body portion and a first end portion, and the second pin 2 includes a horizontal second body portion and a second end portion. The first body portion and the second body portion extend in opposite directions, and the first end portion is rotatably mounted on the second end portion. The drive device is disposed in the first end portion and the second end portion. The driving device comprises a motor 3, a motor flange 4 and a speed reducer 5. The motor 3 is fixed on the second rod piece 2, and the output end of the motor 3 is connected with the input end of the speed reducer 5. The motor flange 4 is arranged at the joint of the first rod piece 1 and the second rod piece 2, the central part of the motor flange 4 is fixedly connected with the motor 3 and the speed reducer 5, and the edge part of the motor flange 4 can be fixedly connected with the lower end of the second rod piece 2 through a fastener. As shown in fig. 1 and 2, the motor flange 4 has an arc groove 41, the arc groove 41 communicates the inner spaces of the first rod member 1 and the second rod member 2, and the cable 6 having an input end fixed to the second rod member 2 can enter the first rod member 1 from the second rod member 2 through the arc groove 41 and be fixed to the cable fixing bracket 10. As shown in fig. 2, the arc-shaped slot 41 is closed in this embodiment, thereby forming a routing space between the first bar 1 and the second bar 2 for the cable 6 to pass through. In this embodiment, the central portion of the motor flange 4 is recessed compared to the edge portion, a step portion is formed between the edge portion and the central portion, and the circular arc groove 41 is formed in the step portion on the motor flange side. Preferably, the circular arc groove 41 is formed at a side of the motor flange 4 close to the first body part of the first rod member 1 to save the routing path. When the first lever 1 is rotated, the cable 6 slides in the circular-arc groove 41, thereby preventing the cable from being pulled. In some embodiments, the inner wall of the circular arc groove 41 may be coated with a wear resistant material. In some embodiments, the inner walls of the circular arc groove 41 may be coated with grease. The cable can be protected from abrasion by applying an abrasion resistant material or applying grease.

Use the advantage of above-mentioned scheme to lie in, the robot joint avoids adopting traditional cavity to walk the line mode, and the cable need not wear out on the hollow axis, need not reserve crooked space for the cable in the axial direction between first member 1 and speed reducer 6. Therefore, in this embodiment, the output end of the speed reducer 6 can be directly and fixedly connected with the first rod member 1, and an adapter flange is not connected between the output end of the speed reducer and the first rod member, so that the radial and axial dimensions of the joint are reduced to the greatest extent. In addition, the robot joint does not need to use a hollow speed reducer, but can use a speed reducer with smaller volume, thereby further reducing the size of the joint.

As shown in fig. 3, in some embodiments, a 360 ° circular cavity 11 is formed between the first rod 1 and the reducer 6, and the cable 6 can enter the end portion and the body portion of the first rod 1 from the second rod 2 through the motor circular arc groove and the circular cavity 11 to be fixed on the cable fixing frame. When the first rod member 1 rotates, the cable 6 rotates along with the first rod member 1, and if the movement range exceeds the arc-shaped groove 41 of the motor flange 4, the cable 6 can enter the circular cavity 11 between the first rod member 1 and the speed reducer 6, so that the cable 6 has enough movement space, and the bending and fatigue of the cable are further relieved.

Referring again to fig. 1, in some embodiments, the robot joint further comprises a bearing 7 and an oil seal 8. A bearing 7 is arranged between the first lever 1 and the motor flange 4, by means of which bearing 7 the first lever 1 is rotatably supported on the motor flange 4. In addition, the bearing 7 and the speed reducer 6 form double supports, and the rigidity of the robot joint is greatly improved. The oil seal 8 is also arranged between the first rod piece 1 and the motor flange 4, particularly arranged at the lower end of the bearing 6, and is used for isolating the whole robot joint from the external environment, so that the reliable operation of an internal cable is ensured.

In some embodiments, the lower end of the first rod 1 is fixedly connected to the output end of the speed reducer 6, and the lower end of the first body of the first rod 1 is of an open structure and is sealed by a detachable cover plate. Therefore, the maintenance of the cable is more convenient by detaching the cover plate.

Referring to fig. 4, in some embodiments, a first limit block 12 is disposed on a side wall of the first rod member 1, a second limit block 42 is disposed on a side wall of the motor flange 4, and the first limit block 12 and the second limit block 42 are matched with each other to limit a rotation angle of the first rod member 1, so as to prevent the cable from being damaged due to out-of-control rotation during a movement process. Specifically, as shown in fig. 4, a first stopper 12 extending from an edge toward a central portion is formed on a sidewall of the first end portion of the first lever 1, and a second stopper 42 extending from the central portion toward the edge portion is formed on a sidewall of the motor flange 4. When the first rod piece 1 rotates relative to the second rod piece 2 until the first limit block 12 contacts with the second limit block 42, the movement of the first rod piece 1 is limited, and the continuous rotation is stopped, so that the damage to the excessive pulling of the cable caused by the out-of-control rotation in the movement process is avoided.

According to another aspect of the present application, there is also provided a robot including the above joint structure, such as a horizontal articulated robot. In some embodiments, the robot further comprises a base and a work head. The second rod piece is rotatably connected to the base, and the second rod piece can be driven to horizontally rotate relative to the base through a driving device comprising a motor and a speed reducer. The operation head is arranged at the lower part of the front end of the first rod piece. Thus, by combining the rotation of the first rod and the rotation of the second rod, the horizontal positions of the work head held at the tip of the first rod in the X-axis and Y-axis directions can be changed two-dimensionally. In addition, a driving device can be arranged in the first rod piece to drive the working head to rotate around the R axis and lift on the Z axis, and finally, the working head can carry out various operations on the object to be processed.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A robot joint structure, comprising:

a first rod piece is arranged on the first rod piece,

a second bar member;

2. The robot joint structure according to claim 1, wherein a circular cavity is provided between the first rod and the reducer, and the cable is led from the second rod into the first rod through the circular arc groove and the circular cavity.

3. The robot joint structure according to claim 1, wherein the speed reducer is directly connected to the first rod.

4. The robot joint structure according to claim 1, further comprising a bearing through which the motor flange is rotatably connected to the first lever member.

5. The robot joint structure of claim 1, further comprising an oil seal disposed between the first rod and the motor flange.

6. The robot joint structure according to claim 1, wherein the lower end of the first rod is sealed by a detachable cover plate.

7. The robot joint structure of claim 1, wherein a first stopper is disposed on a sidewall of the first rod, a second stopper is disposed on a sidewall of the motor flange, and the first stopper and the second stopper cooperate to limit a rotation angle of the first rod.

8. A robot, comprising:

the robot joint structure according to any one of claims 1 to 7;

a base, wherein the second lever is rotatably connected to the base; and

and the operation head is arranged on the first rod piece.