CN114227664A

CN114227664A - Novel transmission device and transmission method for cooperative robot

Info

Publication number: CN114227664A
Application number: CN202111677953.8A
Authority: CN
Inventors: 朱荣佳; 王鑫; 凌书浩; 张文欣; 李远良
Original assignee: Zhongminggu Intelligent Robot Guangdong Co Ltd
Current assignee: Zhongminggu Intelligent Robot Guangdong Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-25

Abstract

The invention discloses a novel transmission device and a transmission method of a cooperative robot, which comprise a primary joint transmission assembly and a secondary joint transmission assembly, wherein the primary joint transmission assembly also comprises a primary outer shell, the bottom end inside the primary outer shell is fixedly provided with a J1 speed reducer, the outside of the J1 speed reducer is provided with a J1 joint, the outer surface of the output end of the J1 speed reducer is sleeved with a synchronous belt, and the inside of one side of the primary outer shell is fixedly provided with a J1 motor. Reduce the risk of grinding the line, reduce body cost simultaneously, do benefit to popularization and repayment, simple structure has better market prospect.

Description

Novel transmission device and transmission method for cooperative robot

Technical Field

The invention relates to the technical field of cooperative robots, in particular to a novel transmission device and a transmission method for a cooperative robot.

Background

The cooperative robot, as the name implies, is that the robot and the human can fight in a cooperative way on a production line, and the efficiency of the robot and the intelligence of the human are fully exerted. The robot has high cost performance, is safe and convenient, can greatly promote the development of manufacturing enterprises, is used as a novel industrial robot, eliminates the obstacle of man-machine cooperation, and completely gets rid of the constraint of guardrails or cages, has innovative product performance and wide application field, and opens a new era for the development of the industrial robot;

at present, the development of intelligent factory manufacturing enterprises is greatly promoted by the proposal of a concept of man-machine cooperation. The cooperation type robot is as a neotype industrial robot, and share in the market is more and more, and the wide application is in trades such as 3C, automobile parts, and its characteristics such as modularization production, nimble deployment have reduced equipment, debug time, have reduced the operation cost of enterprise, but the joint module that the robot used involves spare parts such as motor, encoder, speed reducer, and the cost is generally higher, greatly increased body manufacturing cost, be unfavorable for the fine work of modern enterprise, intelligence and flexible production popularization.

Disclosure of Invention

The invention aims to provide a novel transmission device and a transmission method for a cooperative robot, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a novel transmission of cooperative robot, includes one-level joint drive assembly and second grade joint drive assembly, one-level joint drive assembly still includes the one-level shell body, the inside bottom fixed mounting of one-level shell body has J1 speed reducer, J1 speed reducer outside is provided with the J1 joint, the outer surface cover of output of J1 speed reducer is equipped with the hold-in range, the inside fixed mounting in one side of the one-level shell body has J1 motor.

Preferably, a second transmission assembly is fixedly mounted inside the second shaft body outer shell.

Preferably, the J1 motor is in transmission connection with a J1 speed reducer through a driving belt.

Preferably, a J1 central tube is inserted outside one side of the primary outer shell.

Preferably, second grade joint drive assembly includes the second grade shell body, second grade shell body one side fixed mounting has the J4 motor, the output shaft fixed mounting of J4 motor has the gear train, fixed mounting has the J4 speed reducer on the outer wall of gear train one side.

Preferably, the J4 motor is in transmission connection with a J4 speed reducer through a gear set, and a J4 joint is arranged outside the J4 speed reducer.

Preferably, the top end of the J4 speed reducer is fixedly connected with a speed reducer flange, and a J4 central pipe is inserted into the interior of the second-stage outer shell.

A novel transmission method of a cooperative robot comprises the following steps:

s1, a step of transmission connection of the primary joint transmission assembly;

a. locking a synchronous shaft of a J1 motor and one end of a synchronous belt, and meanwhile, installing a J1 motor on a motor seat plate;

b. the other end of the synchronous belt is locked with a J1 speed reducer, and a first speed reducer is arranged on a J1 joint of the primary outer shell;

c. installing a J1 motor and a synchronous belt on a J1 joint, adjusting the initial tension of the synchronous belt, and completing the transmission connection of a primary joint transmission assembly;

s2, performing transmission connection of the secondary joint transmission assembly;

a. an output shaft of the J4 motor is locked and fixed with a driving gear of the gear set;

b. the driven gear and a J4 speed reducer are locked and fixed, and are simultaneously arranged on a J4 joint in the secondary outer shell;

c. and (3) mounting a J4 motor on a J4 joint in the secondary outer shell, and simultaneously mounting a J4 central pipe and a speed reducer adapter flange to finish the connection step of the secondary joint transmission assembly.

Preferably, the J1 speed reducer and the J2 speed reducer are both large-aperture harmonic speed reducers.

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

the invention provides a novel transmission device and a transmission method for a cooperative robot, which adopt a transmission mode of a J1 servo motor, a J4 servo motor, a large-aperture harmonic speed reducer and a gear or a synchronous belt to replace a joint module of the conventional cooperative robot, have advantages in overall size, cost and large inner hole of the speed reducer compared with the joint module, and are beneficial to enterprise cost reduction treatment.

Drawings

FIG. 1 is a schematic view of the overall internal cutaway structure of the transmission of the present invention;

FIG. 2 is a schematic view of the external structure of the primary outer shell of the present invention;

fig. 3 is a schematic top view of the two-stage outer casing according to the present invention.

In the figure: 1. a primary articulation transmission assembly; 101. a first-stage outer shell; 102. j1 speed reducer; 103. j1 joint; 104. a synchronous belt; 105. a J1 motor; 106. j1 center tube; 2. a secondary articulation transmission assembly; 201. a secondary outer shell; 202. a J4 motor; 203. j4 joint; 204. j4 speed reducer; 205. a reducer flange; 206. j4 center tube; 207. a gear set.

Detailed Description

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

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a novel transmission of cooperative robot, includes one-level joint drive assembly 1 and second grade joint drive assembly 2, and one-level joint drive assembly 1 still includes one-level shell body 101, and the inside bottom fixed mounting of one-level shell body 101 has J1 speed reducer 102, and J1 speed reducer 102 outside is provided with J1 joint 103, and the outer surface cover of output of J1 speed reducer 102 is equipped with hold-in range 104, and the inside fixed mounting in one-level shell body 101 one side has J1 motor 105.

As an optimized technical scheme of the invention, the J1 motor 105 is in transmission connection with the J1 speed reducer 102 through a driving belt.

As an optimized technical scheme of the invention, a J1 central tube 106 is inserted outside one side of the primary outer shell 101.

As an optimized technical scheme of the invention, the secondary joint transmission assembly 2 comprises a secondary outer shell 201, a J4 motor 202 is fixedly installed on one side of the secondary outer shell 201, a gear set 207 is fixedly installed on an output shaft of the J4 motor 202, and a J4 speed reducer 204 is fixedly installed on the outer wall of one side of the gear set 207.

As an optimized technical scheme of the invention, a J4 motor 202 is in transmission connection with a J4 speed reducer 204 through a gear set 207, and a J4 joint 203 is arranged outside the J4 speed reducer 204.

As an optimized technical scheme of the invention, the top end of a J4 speed reducer 204 is fixedly connected with a speed reducer flange 205, and a J4 central pipe 206 is inserted inside a secondary outer shell 201.

As an optimized technical scheme of the invention, the gear set 207 comprises a driving gear and a driven gear, the driving gear and the driven gear are in meshed connection, the driving gear is fixedly connected with an output shaft of the J4 motor 202, and the driven gear is fixedly connected with an input end of the J4 speed reducer 204.

s1, a step of transmission connection of the primary joint transmission assembly 1;

a. locking a synchronous shaft of a J1 motor 105 with one end of a synchronous belt 104, and simultaneously installing the J1 motor 105 on a motor seat plate;

b. the other end of the synchronous belt 104 is locked with a J1 speed reducer 102, and the first speed reducer 102 is installed on a J1 joint 103 of the primary outer shell 101;

c. installing a J1 motor 105 and a synchronous belt 104 on a J1 joint 103, adjusting the initial tension of the synchronous belt 104, and completing the transmission connection of a primary joint transmission assembly 1;

s2, a step of transmission connection of the secondary joint transmission assembly 2;

a. an output shaft of a J4 motor 202 and a driving gear of a gear set 207 are locked and fixed;

b. the driven gear and the J4 speed reducer 204 are locked and fixed, and are arranged on a J4 joint 203 in the secondary outer shell 301;

c. the J4 motor 202 is installed on a J4 joint 203 in the secondary outer shell 301, and a J4 central pipe 206 and a reducer adapter flange 205 are installed at the same time, so that the connecting step of the secondary joint transmission assembly 2 is completed.

As an optimized technical scheme of the invention, the J1 speed reducer 102 and the J2 speed reducer 204 are both large-aperture harmonic speed reducers.

The first embodiment is as follows:

the utility model provides a novel transmission of robot, includes one-level joint drive assembly 1 and second grade joint drive assembly 2, and one-level joint drive assembly 1 still includes one-level shell body 101, and the inside bottom fixed mounting of one-level shell body 101 has J1 speed reducer 102, and J1 speed reducer 102 outside is provided with J1 joint 103, and the outer surface cover of output of J1 speed reducer 102 is equipped with hold-in range 104, and the inside fixed mounting in one-level shell body 101 one side has J1 motor 105.

In the embodiment, the J1 motor 105 is in transmission connection with the J1 reducer 102 through a driving belt.

In the present embodiment, a J1 center pipe 106 is inserted outside the primary outer case 101.

In this embodiment, the secondary joint transmission assembly 2 includes a secondary outer casing 201, a J4 motor 202 is fixedly mounted on one side of the secondary outer casing 201, a gear set 207 is fixedly mounted on an output shaft of the J4 motor 202, and a J4 speed reducer 204 is fixedly mounted on an outer wall of one side of the gear set 207.

In the embodiment, a J4 motor 202 is in transmission connection with a J4 speed reducer 204 through a gear set 207, and a J4 joint 203 is arranged outside the J4 speed reducer 204.

In this embodiment, a reducer flange 205 is fixedly connected to the top end of the J4 reducer 204, and a J4 center tube 206 is inserted into the secondary outer casing 201.

In this embodiment, the gear set 207 includes a driving gear and a driven gear, the driving gear and the driven gear are engaged with each other, the driving gear is fixedly connected to an output shaft of the J4 motor 202, and the driven gear is fixedly connected to an input end of the J4 speed reducer 204.

In the present embodiment, the J1 speed reducer 102 and the J2 speed reducer 204 are both large-aperture harmonic speed reducers.

Example two:

novel transmission of robot, including one-level joint drive assembly 1 and second grade joint drive assembly 2, one-level joint drive assembly 1 still includes one-level shell body 101, and the inside bottom fixed mounting of one-level shell body 101 has J1 speed reducer 102, and J1 speed reducer 102 outside is provided with J1 joint 103, and J1 speed reducer 102's output surface cover is equipped with hold-in range 104, and the inside fixed mounting in one-level shell body 101 one side has J1 motor 105.

Specifically, when the device is used, a synchronous shaft of a J1 motor 105 is locked with one end of a synchronous belt 104, the J1 motor 105 is installed on a motor seat plate, the other end of the synchronous belt 104 is locked with a J1 speed reducer 102, the first speed reducer 102 is installed on a J1 joint 103 of a primary outer shell 101, the J1 motor 105 and the synchronous belt 104 are installed on a J1 joint 103, the initial tension of the synchronous belt 104 is adjusted, and transmission connection of the primary joint transmission assembly 1 is completed;

an output shaft of a J4 motor 202 and a driving gear of a gear set 207 are locked and fixed, a driven gear and a J4 speed reducer 204 are locked and fixed, and are simultaneously installed on a J4 joint 203 in the secondary outer shell 301, a J4 motor 202 is installed on a J4 joint 203 in the secondary outer shell 301, and a J4 central pipe 206 and a speed reducer adapter flange 205 are installed at the same time, so that the connecting step of the secondary joint transmission assembly 2 is completed.

In conclusion, the novel transmission device and the transmission method for the cooperative robot replace a joint module of the conventional cooperative robot by adopting a transmission mode of a J1 servo motor, a J4 servo motor, a large-aperture harmonic speed reducer and a gear or a synchronous belt, have advantages in overall size, cost and large inner hole of the speed reducer compared with the joint module, and are beneficial to enterprise cost reduction treatment.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

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

Claims

1. The utility model provides a novel transmission of cooperative robot, its characterized in that, includes one-level joint drive assembly (1) and second grade joint drive assembly (2), one-level joint drive assembly (1) still includes one-level shell body (101), the inside bottom fixed mounting of one-level shell body (101) has J1 speed reducer (102), J1 speed reducer (102) outside is provided with J1 joint (103), the outer surface cover of output of J1 speed reducer (102) is equipped with hold-in range (104), the inside fixed mounting in one side of one-level shell body (101) has J1 motor (105).

2. The novel transmission of cooperative robot of claim 1, wherein: the J1 motor (105) is in transmission connection with the J1 speed reducer (102) through a driving belt.

3. The novel transmission of cooperative robot of claim 1, wherein: a J1 central tube (106) is inserted outside one side of the primary outer shell (101).

4. The novel transmission of cooperative robot of claim 1, wherein: second grade joint drive assembly (2) include second grade shell body (201), second grade shell body (201) one side fixed mounting has J4 motor (202), the output shaft fixed mounting of J4 motor (202) has gear train (207), fixed mounting has J4 speed reducer (204) on the outer wall of gear train (207) one side.

5. The novel transmission of cooperative robot of claim 2, wherein: the J4 motor (202) is in transmission connection with a J4 speed reducer (204) through a gear set (207), and a J4 joint (203) is arranged outside the J4 speed reducer (204).

6. The novel transmission of cooperative robot of claim 5, wherein: the top end of the J4 speed reducer (204) is fixedly connected with a speed reducer flange (205), and a J4 central pipe (206) is inserted into the interior of the secondary outer shell (201).

7. The novel transmission of cooperative robot of claim 5, wherein: the gear set (207) comprises a driving gear and a driven gear, the driving gear is meshed with the driven gear, the driving gear is fixedly connected with an output shaft of a J4 motor (202), and the driven gear is fixedly connected with an input end of a J4 speed reducer (204).

8. The novel transmission method of the cooperative robot according to any one of claims 1 to 7, characterized in that: the transmission method comprises the following steps:

s1, a step of transmission connection of the primary joint transmission assembly (1);

a. locking a synchronous shaft of a J1 motor (105) with one end of a synchronous belt (104), and simultaneously installing the J1 motor (105) on a motor seat plate;

b. the other end of the synchronous belt (104) is locked with a J1 speed reducer (102), and the first speed reducer (102) is arranged on a J1 joint (103) of the primary outer shell (101);

c. installing a J1 motor (105) and a synchronous belt (104) on a J1 joint (103), adjusting the initial tension of the synchronous belt (104), and completing the transmission connection of a primary joint transmission assembly (1);

s2, a step of transmission connection of the secondary joint transmission assembly (2);

a. an output shaft of a J4 motor (202) and a driving gear of a gear set (207) are locked and fixed;

b. the driven gear and a J4 speed reducer (204) are locked and fixed, and are simultaneously arranged on a J4 joint (203) in a secondary outer shell (301);

c. a J4 motor (202) is arranged on a J4 joint (203) in a secondary outer shell (301), and a J4 central pipe (206) and a speed reducer adapter flange (205) are simultaneously installed to complete the connecting step of a secondary joint transmission assembly (2).

9. The novel transmission device and the transmission method for the cooperative robot as claimed in claim 8, wherein: the J1 speed reducer (102) and the J2 speed reducer (204) are both large-aperture harmonic speed reducers.