CN209999186U - Robot - Google Patents

Abstract

The utility model provides an kinds of robots, including waist structure, be provided with drive assembly and the stand that is connected with drive assembly, drive assembly is used for driving the stand and rotates around its self axis, arm structure is provided with the quadrangle truss, driving piece and anchor clamps, the stand is connected to the quadrangle truss slidable, the driving piece is used for driving the quadrangle truss deformation, anchor clamps are used for pressing from both sides tightly or loosen the driving piece, the end of driving piece is connected with the quadrangle truss rotation through anchor clamps, wrist structure is connected with the quadrangle truss, wrist structure is used for being connected with external equipment, connecting portion are connected with waist structure, the robot is connected with external operation platform through connecting portion.

Description

Robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to kinds of robots.

Background

Although the arm structure of the robot in the related art can be extended or shortened within a certain range of , the arm structure still has a stretching limit and a shortening limit, and the requirement of moving within a smaller range cannot be met when the arm structure is not replaced as a whole, or even when the robot is replaced.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to at least for solving the problems of the prior art or related art.

Therefore, the aspect of the utility model provides kinds of robots.

In view of the above, the utility model discloses an aspect provides kinds of robots, including waist structure, be provided with drive assembly and the stand that is connected with drive assembly, drive assembly is used for driving the stand and rotates around its self axis, the arm structure is provided with the quadrangle truss, driving piece and anchor clamps, the stand is connected to the quadrangle truss slidable, the driving piece is used for driving the deformation of quadrangle truss, anchor clamps are used for pressing from both sides tight or loosen the driving piece, the end of driving piece is connected with the quadrangle truss rotation through the anchor clamps, wrist structure is connected with the quadrangle truss, wrist structure is used for being connected with external equipment, connecting portion is connected with waist structure, the robot is connected with external operation platform through connecting.

The utility model provides an kinds of robots include waist structure, arm structure and wrist structure make the arm structure be provided with quadrilateral truss, driving piece and anchor clamps through the structure of reasonable setting robot, wherein, the end of driving piece is connected with the rotation of quadrilateral truss through anchor clamps, driving piece drive quadrilateral truss takes place deformation, the size of corners is wantonly enough to be adjusted promptly to the quadrilateral truss, be favorable to the arm structure to stretch or shorten, also be favorable to balancing the moment of flexure that the terminal load of arm structure brought.

The clamp can be clamped on the driving piece and is close to the edge of the driving piece, so that the fixed length of the driving piece and the extended length of the driving piece can be completely applied to the quadrilateral truss, and when a user needs to move the tail end of the arm structure in a small range, the clamp can be arranged in the middle of the driving piece, so that the occupied length of the fixed length of the driving piece in the quadrilateral truss can be reduced, and the total value of the fixed length of the driving piece and the extended length of the driving piece can be reduced, thereby being beneficial to the movement of the tail end of the arm structure close to the place.

In addition, the waist structure is provided with a driving assembly and an upright post connected with the driving assembly, the quadrangular truss is connected with the upright post, the driving assembly drives the upright post to rotate around the axis of the driving assembly, and further drives the arm structure to rotate, namely the arm structure can rotate relative to the waist structure, and further the wrist structure connected with the arm structure can drive the external equipment to move to any positions along the circumferential direction of the upright post, and the wrist structure is connected with the quadrangular truss step by step , so that the wrist structure connected with the arm structure can drive the external equipment to adjust the position of the external equipment relative to the waist structure along with the stretching or shortening of the arm structure.

Furthermore, the robot further comprises a connecting part, so that the connecting part is connected with the waist structure, the robot is connected with the external operation platform through the connecting part, the stability and the reliability of the robot and the external operation platform are guaranteed, the situation that the robot is inclined or even topples over when the robot works with a load can be avoided, and a stable structure foundation is provided for normal operation of products. Specifically, the attachment is located at the bottom of the lumbar structure and the fastener is locked through the attachment to the external operating platform.

Meanwhile, the quadrangular truss is connected with the upright post in a sliding manner, so that the quadrangular truss can be slid according to specific actual use conditions to adjust the assembly size of the quadrangular truss along the height direction of the upright post, for example, the quadrangular truss can slide upwards along the height direction of the upright post or slide downwards along the height direction of the upright post to meet diversified use requirements, and further the use adaptability and universality of products can be improved.

In addition, according to the utility model provides an among the above-mentioned technical scheme's robot, can also have following additional technical characteristics:

in the above technical solution, preferably, the robot further includes: the wrist structure is connected with the arm structure through the connecting plate; the wrist structure includes: the supporting plate assembly is provided with an installation cavity and is connected with the connecting plate; the gear assembly is arranged in the mounting cavity; the output part is connected with the gear assembly and is used for connecting external equipment; and the motor component is arranged in the mounting cavity and is connected with the gear component and used for driving the gear component to rotate so as to drive the output part to swing.

In the technical scheme, the wrist structure is connected with the arm structure through the connecting plate, wherein the wrist structure comprises a supporting plate assembly, a gear assembly, an output part and a motor assembly, the motor assembly is connected with the gear assembly, the motor assembly drives the gear assembly to rotate and further drives the output part to swing, so that the output part drives external equipment to move through the output part, the wrist structure of the robot is arranged to achieve the function of taking and placing external equipment, the gear assembly is matched with the motor assembly to ensure the stability of the rotating process of the output part, specifically, the connecting plate is connected with the supporting plate assembly and the quadrilateral truss, namely, the wrist structure and the arm structure are connected with through the connecting plate, of course, the quadrilateral truss and the connecting plate can be made according to specific conditions, and the supporting plate assembly and the connecting plate .

In any above technical solution, preferably, the waist structure includes a box, the pillar is disposed on the box, the driving assembly includes a transmission part and a driving device connected to the transmission part, the driving device is disposed on the box, the transmission part is disposed in the box, and the transmission part is connected to the pillar, wherein the transmission part can be driven by the driving device to rotate, so as to drive the pillar to rotate around its own axis.

In this technical scheme, drive assembly is provided with transmission and the drive arrangement who is connected with transmission, drive arrangement sets up on the box, transmission is located the box, and transmission is connected with the stand, so, drive arrangement drive transmission rotates, the stand that drives and is connected with transmission rotates around its self axis, and then realize that the peripheral equipment moves to the purpose of wanting position along the circumference of stand, this structure sets up the rotation angle that has increased the peripheral equipment in the circumferential direction of stand, for follow-up at a plurality of directions, carry on a plurality of angles and a plurality of dimensions, the pile up neatly peripheral equipment has provided the structure basis.

In any above, preferably, the number of the quadrilateral trusses is at least , the number of the driving members is at least , the number of the clamps is at least , any two adjacent rods of the four rods forming each quadrilateral truss are rotatably connected with each other, each driving member is distributed on the diagonal position of quadrilateral trusses, both ends of each driving member are rotatably connected with the quadrilateral trusses, each driving member can be extended or shortened to drive the deformation of the quadrilateral trusses, each clamp is used for clamping or releasing driving members, and the end of each driving member is rotatably connected with the quadrilateral trusses through the clamps.

In the technical scheme, the number of the quadrilateral trusses is at least , the number of the driving pieces is at least , the number of the clamps is at least , and the four rod pieces forming the quadrilateral trusses are connected in a pairwise rotating mode, so that the quadrilateral trusses can deform, namely, the sizes of any corners can be adjusted, the stretching or shortening of the arm structure is facilitated, and the bending moment brought by the tail end load of the arm structure is also facilitated.

Specifically, each quadrilateral truss is a closed chain, and the arm structure of the robot is set to be a mixed chain structure form of mixing open and closed chains, so that the comprehensive rigidity of the robot is improved, and the load capacity of the robot in the operations of carrying, stacking and the like is improved.

Specifically, the both ends of driving piece all with quadrangle trusses rotation connection, the driving piece homoenergetic enough extends or shortens to it takes place to deform to drive the quadrangle truss.

In any above, the clamp preferably includes a clamp rotatably connected to the quadrilateral truss, the clamp defining an accommodating cavity for the driving member to be inserted into, and a fastener connected to the clamp for reducing or enlarging the accommodating cavity.

In this technical scheme, it all includes holder and fastener specifically to have set for anchor clamps, through holder and quadrangle truss rotatable coupling to enclose and become and hold the chamber, make the driving piece stretch into and hold the intracavity, and reduce or enlarge through the fastener and hold the chamber, press from both sides tight driving piece. Wherein, the clamping piece can be selected to be screw or bolt, thereby the reduction of holding chamber is realized to the clamping piece of clamp.

In any technical solution above, preferably, the clamping piece includes a clamping portion and a second clamping portion, the second clamping portion is detachably connected with the clamping portion, the clamping portion and the second clamping portion together enclose a containing cavity, and the clamping portion and the second clamping portion are connected with by a fastener.

In the technical scheme, the clamping piece is divided into two parts, namely a -th clamping part and a second clamping part, an accommodating cavity is defined by the -th clamping part and the second clamping part to clamp the driving piece, the aspect is favorable for firmly clamping the driving piece, and the aspect is favorable for adjusting the position of the driving piece relative to the clamp when the two clamping parts are separated by loosening a fastener.

In any above, preferably, the clip portion has a sunken groove on an outer surface thereof, the fastener is a screw, and the fastener is disposed in the sunken groove and inserted into the second clip portion.

In this technical scheme, through set up heavy groove on the surface of clamping part to set up the fastener for the screw member, such as screw or bolt, set up the fastener in heavy groove, and be connected with second clamping part, the heavy grooved setting in aspect does benefit to and reduces the thickness of clamping part, thereby make things convenient for the fastener to insert simultaneously clamping part and second clamping part, connect with both, the heavy grooved setting in aspect is favorable to hiding the fastener in addition, avoid the fastener evagination to influence the outward appearance, or disturb other parts on every side.

Optionally, the th clamping part has a plurality of sunken grooves and fasteners, and the sunken grooves and the fasteners are distributed correspondingly .

In any above, preferably, the driving members each include a cylinder, the cylinder is in a square column shape, the th clamping portion and the second clamping portion are in a Contraband shape, or the cylinder is in a cylinder shape, and the th clamping portion and the second clamping portion are in a C shape.

In this technical scheme, set for every driving piece all to include the cylinder body, then under the cylinder body is the square column's the condition, set for clamping part and second clamping part and all be Contraband style of calligraphy, the opening butt joint of two Contraband styles of calligraphy encloses into holding the chamber, because the shape that holds the chamber matches with the shape of cylinder body surface, be favorable to fastening the clamp driving piece, and under the cylinder body is cylindric condition, set for clamping part and second clamping part and all be the C style of calligraphy, also be half circular arc, the opening butt joint of two C styles of calligraphy encloses into holding the chamber, because the shape that holds the chamber matches with the shape of cylinder body surface, be favorable to fastening the clamp driving piece.

In any , it is preferable that the number of the quadrangular trusses is plural and the plural quadrangular trusses are connected end to end in sequence, and in this embodiment, the number of the quadrangular trusses is plural and the plural quadrangular trusses are connected end to end in sequence, so that the arm structure is extended and the arm structure is provided in a mixed chain structure in which open and close chains are mixed, which is advantageous for improving the overall rigidity of the robot and improving the load capacity of the robot in operations such as carrying and stacking.

Specifically, the number of the quadrangular trusses is two.

In any above, preferably, the quadrilateral truss is a parallelogram truss.

In the technical scheme, the parallelogram truss is set as the parallelogram truss, the structure is regular, the processing is convenient, the arm structure can be accurately controlled to extend in place, the carrying capacity of the arm structure is improved, and the stable operation of the arm structure is ensured. Of course, the quadrilateral truss can also be a non-parallelogram truss, and the corresponding shape can be set according to the requirement. In the case where the number of the quadrangular trusses is plural, the shape of each quadrangular truss may be completely the same, may be different, or may not be completely the same.

In any technical solution, preferably, the driving member includes a cylinder body, a driving motor, a ball screw, a double nut, a push rod end, a push rod end, and a driving motor, wherein the end of the cylinder body is rotatably connected to a corner of the quadrilateral truss, the driving motor is arranged at a end of the cylinder body, the ball screw is connected to the driving motor, the double nut is arranged in the cylinder body and sleeved on the ball screw, and the push rod is rotatably connected to another corner of the quadrilateral truss and is used for driving the quadrilateral truss to deform under the driving of the double nut.

In the technical scheme, the driving piece is arranged at the diagonal position of the quadrilateral truss, the influence of the serial configuration of the arm structure on the driving piece is small, so that a driving motor of the driving piece is not influenced by the serial configuration, the required driving torque is small, and the driving power and the energy consumption of the arm structure are reduced in principle.

Specifically, when the arm structure works, the driving motor drives the ball screw connected with the driving motor to rotate, so that the double nuts sleeved on the ball screw rotate similarly, the end of the push rod is connected with the double nuts, the push rod can be driven by the double nuts to stretch, the other end of the push rod is connected with the corners of the quadrilateral truss, and the stretching of the push rod can force the quadrilateral truss to deform so as to drive the structure connected with the quadrilateral truss.

In any above, the driving member preferably further includes a bearing disposed in the cylinder and sleeved on the end of the ball screw, and an internal threaded shaft sleeve sleeved on the end of the ball screw and configured to abut against an inner ring of the bearing.

In this technical scheme, the driving piece still includes bearing and the internal thread axle sleeve that mutually supports and use. The bearing is sleeved on the ball screw and positioned between the ball screw and the cylinder body, so that friction between the ball screw and the inner wall of the cylinder body is avoided; the internal thread shaft is sleeved on the ball screw and positioned between the ball screw and the bearing, so that the stable installation of the bearing is ensured. The bearing and the internal thread shaft sleeve are matched with each other, so that the high-speed rotation of the ball screw under the action of the driving motor can be effectively ensured, and then the double nuts are driven to move.

In any above technical solution, preferably, the driving member further includes a sealed end cap that is disposed on the internal thread shaft sleeve and abuts against the inner wall of the cylinder body, and a second sealed end cap that covers the end of the cylinder body, and the push rod extends out of the second sealed end cap.

According to the technical scheme, the -th sealing end cover is sleeved on the internal thread shaft sleeve, the -th sealing end cover is guaranteed to be abutted to the inner wall of the cylinder body to achieve a -determined sealing effect, the second sealing end cover is arranged on the end portion cover of the cylinder body, and the push rod can extend out of the second sealing end cover to prevent external dust from entering the cylinder body and guarantee the cleanness degree of the cylinder body.

In any above technical solution, preferably, the driving member further includes a coupler for connecting an output shaft of the driving motor and the ball screw, and the clutch includes a movable plate and a fixed plate, the movable plate is connected with the ball screw, and the fixed plate is connected with the cylinder.

When the robot has an accident, the clutch is electrified to enable the movable disc and the fixed disc to be combined at to form types of emergency braking, so that the transmission of the torque is cut off, and the damage to other elements of the driving motor is avoided.

In any above, preferably, the inner wall of the cylinder body is provided with a guide groove, and the double nut directly or indirectly abuts against the groove wall of the guide groove during the process of the driving motor driving the ball screw to rotate.

In this technical scheme, the inner wall of cylinder body is equipped with the guide way, and guide way and two nut looks adaptations. In the process that the driving motor drives the ball screw to rotate, the double nuts are abutted to the groove walls of the guide grooves, the ball screw is enabled to rotate only under the driving of the driving motor, the ball screw cannot directly move along the radial direction of the cylinder body, and the driving piece is enabled to effectively drive the quadrilateral truss.

In any above technical solution, preferably, the driving member further includes a connector connected to the other end of the push rod, the connector having a mounting hole, and a flange bearing disposed in the mounting hole for rotatably connecting to the quadrilateral truss.

In the technical scheme, a connector is arranged at the end part of the driving piece and is connected with a push rod through the connector; be provided with flange bearing in the mounting hole, flange bearing guarantees that the driving piece is connected with the rotary type of quadrangle truss.

In any above technical solution, preferably, the gear assembly includes at least two gears, each connected to the output part and distributed on at least side of the output part, at least two second gears respectively engaged with gears, and the motor assembly includes at least two motors, each connected to second gears, for driving the at least two gears to rotate, and further driving the output part to swing.

In the technical scheme, the gear assembly comprises at least two th gears and at least two second gears, the motor assembly comprises at least two th motors, 1 second gears are respectively connected with the at least two 0 th motors, the at least two 2 th motors drive the at least two second gears to rotate, the at least two second gears are respectively meshed with th gears, the at least two second gears drive the at least two second gears to rotate when rotating, the at least two th gears are connected with the output part, the output part is driven to rotate when the at least two th gears rotate, so that the external equipment is driven to move through the output part, the robot wrist structure can take and place objects, the at least two second gears have a limiting effect on the at least two th gears in a mode that the at least two second gears are meshed with the at least two th gears at the same time, the at least two th gears are prevented from shaking when rotating, and the stability of the at least two second gears in a rotating process of driving the output part is improved.

Specifically, the at least two second motors drive the at least two second gears to rotate at the same speed, and the at least two second gears drive the at least two second gears to rotate at the same speed, so that the speeds of the gears at both ends of the output part are the same, specifically, in the case that the number of the 1 motors is two, 3 second motors of the two motors provide output torque larger than that of another second motor, so that the torque of second gears of the two motors is larger than that of another second gears, the second gear with larger torque drives second gears of the two 9 gears to rotate, and at the same time, has a pushing tendency towards second gears of the two second gears gears of the two 862 gears, so that the other gears of the two gears have second gears with smaller torque, and because the two second gears drive the output part to rotate simultaneously, the two second gears second gears have a pushing tendency towards the direction of smaller torque, and the two straight gears and the working directions of the two pulleys are both of the straight gears, and the working directions of the two pulleys can be matched with the principle of the robot, so that the motion of the two can be improved, and the working principle of the two pulleys can be applied to the working of the straight gears , and the working of the robot, so that the two pulleys can be beneficial to improve the working of the robot.

In this technical scheme, every gear and every second gear are the spur gear, intermeshing's spur gear carries out the output torque that transmission mode effectively reduced the motor, the less output torque of motor output promptly alright drive output portion with the transmission mode through the spur gear and rotate high-efficiently, the effect that has the energy saving, the transmission mode of spur gear can avoid axial structure to take place to damage, improve the life of two gears and two second gears.

In any of the above, preferably, the pitch circle diameter of the th gear is larger than the pitch circle diameter of the second gear.

In this embodiment, the pitch circle diameter of the th gear is larger than the pitch circle diameter of the second gear, so that when the th gear is driven by the second gear to rotate, the rotation speed of the th gear is lower than that of the second gear, and the rotation speed of the th gear is lower, so that the stability of the rotation of the output part is improved, and the operation precision of the wrist structure is further improved.

In any above technical solution, preferably, the output unit includes a support frame, an output shaft rotatably disposed on the support frame, a third gear sleeved on the output shaft, at least two fourth gears rotatably disposed on the support frame, the at least two fourth gears being engaged with the third gear, and at least two second motors respectively directly or indirectly connected to the fourth gears for driving the at least two fourth gears to rotate relative to the support frame, so as to drive the third gear to rotate, so as to enable the output shaft to rotate.

In this technical scheme, the support frame is to the output shaft, third gear and two at least fourth gears play the effect of bearing, two at least gears drive the support frame and rotate, thereby make the support frame drive the output shaft and rotate, the output shaft drives external device and rotates, two at least second motors drive two at least fourth gear rotations, two at least fourth gears all with the third gear meshing, drive the third gear rotation during two at least fourth gear rotations, the third gear drives the output shaft and rotates, make the output shaft realize the function of rotation.

The at least two second motors drive the at least two fourth gears to rotate, the at least two second motors provide different torques, so that the torques of the at least two fourth gears are different, the fourth gear with the larger torque drives the third gear to rotate and has a pushing trend to the side of the third gear, the other side of the third gear has a trend towards the fourth gear with the smaller torque to move, the third gear is tightly attached to the at least two fourth gears, the at least two fourth gears limit the third gear, the third gear is prevented from shaking during rotation, the rotation precision of the output shaft is improved, and the working precision of the wrist structure is improved by .

In this technical scheme, when the space in the support frame is great, set up third gear and two fourth gears into the straight-teeth gear and avoid third gear and two fourth gears to take place axial wear, improve the life of third gear and two fourth gears, when the space in the support frame is less, third gear and two fourth gears set up to bevel gear and make the structure compacter, improve space utilization, third gear and two fourth gears all can realize the limit function of two fourth gears to the third gear when bevel gear or straight-teeth gear, improve the suitability of wrist structure.

In any above technical solution, preferably, the wrist structure further includes at least two transmission members respectively connected to the second motors and the fourth gears, and the at least two second motors drive the at least two fourth gears to rotate through the at least two transmission members.

In this technical scheme, when the interval of second motor and fourth gear is great, the second motor passes through the driving medium and drives fourth gear rotation to can arrange the relative position of each work piece of wrist structure more rationally, improve the compactness of wrist structure, increase the space utilization of wrist structure.

In any above technical solution, preferably, each transmission member includes a transmission belt and two transmission wheels, of the two transmission wheels are connected to second motors, of the transmission wheels are connected to fourth gears, and the transmission belt is sleeved on the two transmission wheels.

In this technical scheme, drive wheels of second motor drive rotate, drive wheels drive the drive belt and rotate, the drive belt drives drive wheel rotations in addition, drive wheels drive fourth gear revolve in addition, realize second motor drive fourth gear revolve's function, the drive mode that uses drive belt and drive wheel can improve transmission process's stationarity, reduce transmission process's noise, moreover, the steam generator is simple in structure, and the maintenance is convenient for.

In any above technical solution, preferably, the wrist structure further includes at least two planetary gear reducers respectively connected to second motors.

In this technical scheme, the second motor is connected with planetary reducer to improve the stability of second motor drive fourth gear rotation process, planetary reducer can provide bigger moment simultaneously, and then improves the spacing precision of fourth gear to the third gear, thereby improves the work precision of wrist structure.

In any above, preferably, the supporting plate assembly includes two supporting plates disposed opposite to each other, the two supporting plates enclose a mounting cavity, the supporting frame, the at least two gears, the at least two second gears, the at least two fourth gears are disposed in the mounting cavity, the at least two transmission members are disposed outside the two supporting plates, and the connecting plate is connected to at least of the two supporting plates.

In this technical scheme, two at least driving medium settings are in the outside of two backup pads and avoid the part between driving medium and two backup pads to take place to interfere, guarantee driving medium transmission process's stability, rationally carry out the overall arrangement to wrist structure and make wrist structure's structure compacter, improve space utilization.

In any above, it is preferable that the th gears are two and symmetrically distributed on both sides of the output portion, and the fourth gears are two and symmetrically distributed on both sides of the output shaft.

According to the technical scheme, the number of the th gears is two, and the th gears are symmetrically distributed on two sides of the output part, and the th gears are set to be two and symmetrically distributed on two sides of the output part, so that the structure is compact, the layout is reasonable, and stable movement of the output part is facilitated.

In addition, the number of the fourth gears is two, and the fourth gears are symmetrically distributed on two sides of the output shaft. The number of the fourth gears is two, and the fourth gears are symmetrically distributed on two sides of the output shaft, so that the structure is compact, the layout is reasonable, and the output shaft can rotate stably while the cost is saved.

In any above technical solution, preferably, the transmission part includes a worm wheel disposed in the box, two worms disposed in the box, the two worms being symmetrically distributed along a radial direction of the worm wheel and respectively engaged with the worm wheel, a driving device respectively connected to the two worms, the worms being capable of driving the worm wheel to rotate under the driving of the driving device, and an upright post connected to the worm wheel and capable of rotating under the driving of the worm wheel, and further driving the upright post to rotate around its own axis.

According to the technical scheme, the transmission part comprises a worm wheel and two worms, worm wheels and two worms meshed with the worm wheel are arranged in a box body of a waist structure, the two worms are symmetrically distributed along the radial direction of the worm wheel and are simultaneously meshed with the worm wheel from two positions, a driving device is arranged on the box body and is respectively meshed with the two worms, the driving device drives the worms to rotate so as to drive the worm wheel to rotate, the end part of the worm wheel is connected with a stand column, the stand column is used as an output end of the waist structure and can rotate under the driving of the worm wheel so as to drive other structures connected with the stand column to rotate, and specifically, the two driving devices are also arranged, and each worms are respectively driven to rotate by the two driving devices.

The dual-motor driven clearance elimination technology is introduced into a waist structure of the robot, and worm gears are driven to rotate by two worms simultaneously, the structural form of cooperative driving of a dual-driving device is adopted, the two worms are symmetrically distributed on two sides of the worm gears simultaneously, the transmission clearance of a joint part can be effectively eliminated, and further the working precision of the waist structure is improved, in addition, the transmission ratio of the worm gears and the worms can be adjusted reasonably, so that the worm gears can be reduced and increased in torque in transmission, the effect similar to that of a speed reducer is achieved, no additional speed reducer is needed, and particularly, the transmission ratio is determined by the performance of the driving device and the load parameters of the robot.

In any above technical solution, preferably, the waist structure further includes an end cap disposed on the box, the end of the worm is connected to the driving device, and the end is connected to the box through the end cap.

According to the technical scheme, the end covers are arranged on the side wall of the box body, the end covers and the driving device are located on two opposite sides of the box body, the end of the worm is connected with the driving device, and the other end of the worm is installed on the side wall of the box body through the end covers, so that stable installation of the worm is guaranteed, and the worm is prevented from falling off in the process of meshing the worm and the worm wheel.

In any above, the lumbar structure preferably further includes a sealing cover disposed on the box for sealing a position where the driving device is connected to the box.

In the technical scheme, the side wall of the box body is provided with the sealing cover, and the sealing cover is arranged at the position where the driving device is connected with the box body. The output shaft of the driving device penetrates through the sealing cover, the sealing cover seals the position where the driving device is connected with the box body, and dust, impurities and the like are prevented from entering the box body.

In any above, the lumbar structure preferably further includes a pivot shaft disposed on the box, wherein two ends of the pivot shaft are respectively connected to the worm gear and the upright post, and the pivot shaft is driven by the worm gear to rotate, thereby driving the upright post to rotate.

In the technical scheme, a rotating shaft is arranged on the box body, specifically, the rotating shaft penetrates through the box body, the end of the rotating shaft is connected with a worm wheel, the end of the rotating shaft is connected with the upright post through a fastening piece, the requirement of the space structure of the waist structure is met, in the working process of the waist structure, the worm wheel is driven by a worm to rotate to drive the rotating shaft to rotate, and the rotating shaft drives the upright post to rotate so as to realize the rotating motion of the arm structure.

In any of the above solutions, preferably, the lumbar structure further includes a bearing, the rotation shaft is disposed through the bearing, a bearing flange is disposed on the box, and the bearing is disposed in the bearing flange.

According to the technical scheme, the th bearing flange plate is arranged on the box body, the th bearing flange plate is located at the top of the box body, the th bearing is arranged in the th bearing flange plate, the rotary shaft penetrates through the th bearing and extends into the box body to be connected with the worm wheel, and the th bearing flange plate and the th bearing are arranged, so that the installation of the rotary shaft in the box body is effectively guaranteed, and the rotary shaft can be driven by the worm wheel to stably rotate.

In any of the above, preferably, the lumbar structure further includes a second bearing, an end of the pivot shaft passing through the worm gear and contacting the second bearing, and a second bearing flange disposed on the housing, the second bearing being disposed within the second bearing flange.

According to the technical scheme, the second bearing flange is arranged on the box body and located at the bottom of the box body, the second bearing is arranged in the second bearing flange and sleeved on the end portion of the rotating shaft and located below the worm wheel, the second bearing is matched with the th shaft, the rotating shaft is radially located from two positions, and stable installation of the rotating shaft is guaranteed.

In any of the above solutions, preferably, the waist structure further includes a thrust flange sleeved on the rotation shaft and located between the second bearing and the worm wheel, and a thrust bearing sleeved on the rotation shaft and contacting the thrust flange and the worm wheel.

In the technical scheme, a thrust flange and a thrust bearing are arranged on a box body, wherein the thrust flange and the thrust bearing are both sleeved on a rotating shaft and are positioned below a worm wheel, the thrust flange is positioned between the thrust bearing and a second bearing and used for separating the thrust bearing from the second bearing, the thrust bearing is positioned between the thrust flange and a stop worm wheel, and the thrust flange and the thrust bearing are matched with each other to position axial directions of the rotating shaft so as to ensure the stable installation of the rotating shaft.

In any above technical solution, preferably, the waist structure further includes a box body flange cover disposed on the box body, the th bearing flange plate is disposed on the box body flange cover, and the distribution box is disposed on the box body and connected to the driving device.

In the technical scheme, a box body flange cover is arranged on the box body to cover an opening of the box body so as to ensure the stable installation of the bearing flange plate, and a distribution box is arranged on the box body and connected with a driving device so as to ensure the effective work of the driving device.

In any of the above, the drive member is preferably a double nut ball screw.

In the technical scheme, each driving piece is a double-nut ball screw, and the double nuts are favorable for eliminating reverse gaps, so that the robot can realize gapless transmission.

Of course, the driving unit may be an air cylinder, a hydraulic cylinder, or the like instead of the double nut ball screw, and is not illustrated here as .

In any above, preferably, the end of each rod is formed with two protrusions spaced apart from each other, and any rod extends between and is rotatably connected to two protrusions on its neighboring rod.

In the technical scheme, two bulges distributed at intervals are formed at the end of each rod piece, when the two rod pieces are connected, rod pieces stretch into the space between the two bulges on the rod pieces adjacent to the ends of the two rod pieces, so that the two rod pieces are hinged to ensure rotatable connection, and in addition, the ends of rod pieces stretch into the space between the two bulges, so that the connection between the two adjacent rod pieces is more stable, and dislocation and deflection are avoided.

In any of the embodiments described above, preferably, the end of the cylinder extends between two protrusions on the rod.

In the technical scheme, the cylinder body is arranged along the diagonal line of the quadrangular truss, the end of the cylinder body extends into the space between two bulges at the end part of the rod piece and is rotatably connected with the rod piece through the bulges, and the end of the cylinder body is connected with the corner opposite to the quadrangular truss, so that the stable installation of the cylinder body is ensured, and meanwhile, the telescopic cylinder body can ensure that the quadrangular truss can be driven to deform to drive a structure connected with the quadrangular truss.

In any of the above, the clamp is preferably rotatably disposed between two protrusions on the rod .

In the technical scheme, the clamp is rotatably arranged between the two bulges on the rod piece, the existence of the two bulges which are distributed at intervals in aspect provides an installation space for the clamp, the clamp can be prevented from being exposed, the structure is compact, in addition, the clamp is rotatably connected between the two bulges in aspect, and the driving piece can be ensured to be distributed along the diagonal line of the quadrangular truss because the two adjacent rod pieces are also rotatably connected through the two bulges.

In particular, bar pieces of quadrilateral trusses are integrally formed with bar pieces of another quadrilateral trusses in any two adjacent quadrilateral trusses to realize the connection of any two adjacent quadrilateral trusses, and the two adjacent quadrilateral trusses share bar pieces.

The th bearing is the deep groove ball bearing which is simple in structure, low in manufacturing cost, small in friction coefficient, high in limit rotating speed and capable of bearing enough radial load and quantitative axial load, the second bearing is the angular contact ball bearing which can simultaneously bear the radial load and the axial load, and the driving device is the servo motor and can achieve accurate control over a waist structure.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows a schematic structural diagram of a robot of embodiments of the present invention;

figure 2 shows a schematic front view of a robot of embodiments of the present invention;

figure 3 shows a schematic top view of a robot of embodiments of the present invention;

FIG. 4 is an enlarged partial schematic view at F of FIG. 1;

fig. 5 shows another schematic partial structures of robots of the present invention;

fig. 6 shows another schematic partial structures of robots of the present invention;

fig. 7 shows a schematic view of the driving member of embodiments of the present invention in a retracted state;

FIG. 8 is a schematic cross-sectional view taken along line B-B of FIG. 7;

fig. 9 shows a schematic view of the driving member of embodiments of the present invention in its deployed state;

FIG. 10 is a schematic cross-sectional view taken along line C-C of FIG. 9;

FIG. 11 is an enlarged view of a portion of FIG. 8 at A;

fig. 12 shows a schematic representation of a wrist structure in embodiments according to the present invention;

figure 13 shows an exploded schematic view of a wrist structure in embodiments according to the present invention;

fig. 14 shows a schematic structural view of a wrist structure in another embodiments according to the present invention;

fig. 15 is a schematic view showing the connection relationship between the third gear and the fourth gear in embodiments according to the present invention;

fig. 16 is a schematic view showing the connection relationship between the third gear and the fourth gear in another embodiments according to the present invention;

fig. 17a to 17d show schematic views of the third and fourth gear rotation processes;

figure 18 shows a schematic view of a waist structure in embodiments according to the present invention;

FIG. 19 is a cross-sectional view along D-D of the waist feature of the embodiment of FIG. 18;

figure 20 is a cross-sectional view along E-E of the waist feature of the embodiment of figure 18.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 20 is:

1 robot, 10 lumbar structure, 102 housing, 104 worm gear, 106 worm gear, 108 drive unit, 110 upright post, 112 end cap, 114 sealing cap, 116 rotating shaft, 118 bearing, 120 bearing flange, 122 second bearing, 124 second bearing flange, 126 thrust flange, 128 thrust bearing, 130 housing flange cap, 132 electrical box, 20 arm structure, 202 quadrilateral truss, 204 drive, 206 clamp, 208 rod, 210 fastener, 212 grip, 214 second grip, 216 sink, 218 cylinder, 220 drive motor, 222 ball screw, 224 double nut, 226 push rod, 228 bearing, 230 internal thread bushing, 232 sealing end cap, 234 second sealing end cap, 236 cam plate, 238 fixed plate, 240 guide slot, 242 connector, 244 flange bearing, 246 bump, 248 coupling, 30 wrist structure, 302 st gear, 304 th gear, 306 th motor, 308 support frame, 310 output shaft, 312 third gear, 314 fourth gear, 318 second motor, 320, 322 transmission wheel, 324 transmission belt, 326 planetary reducer support plate.

Detailed Description

So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings, which are not intended to limit the scope of the invention, but which are illustrated in the appended drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The robot according to embodiments of the present invention is described below with reference to fig. 1-20.

As shown in fig. 1 to 6, the embodiment of the present invention provides kinds of robots 1, including a waist structure 10 having a driving assembly and a column 110 connected to the driving assembly, the driving assembly being configured to drive the column 110 to rotate around its own axis, an arm structure 20, the arm structure 20 having a quadrilateral truss 202, a driving member 204 and a clamp 206, the quadrilateral truss 202 being slidably connected to the column 110, the driving member 204 being configured to drive the quadrilateral truss 202 to deform, the clamp 206 being configured to clamp or release the driving member 204, an end of the driving member 204 being rotatably connected to the quadrilateral truss 202 through the clamp 206, a wrist structure 30 connected to the quadrilateral truss 202, the wrist structure 30 being configured to be connected to an external device, and a connecting portion connected to the waist structure 10, and the robot 1 being connected to an external operating platform through the connecting portion.

The utility model provides an kinds of robots 1 include waist structure 10, arm structure 20 and wrist structure 30 make arm structure 20 be provided with quadrangle truss 202, driving piece 204 and anchor clamps 206 through the structure of reasonable setting robot 1, wherein, end of driving piece 204 is connected with quadrangle truss 202 through anchor clamps 206 rotation, driving piece 204 drive quadrangle truss 202 and take place deformation, the size of corner is wantonly can be adjusted to quadrangle truss 202 promptly, be favorable to arm structure 20 to stretch or shorten, also be favorable to balancing the moment of flexure that the terminal load of arm structure 20 brought.

The clamp 206 can be clamped on the driving member 204 at a position close to the edge of the driving member 204, so that the fixed length of the driving member 204 and the elongation length thereof can be completely applied to the quadrilateral truss, and when the user needs to move the tail end of the arm structure 20 in a smaller range, the clamp 206 can be clamped at a middle position of the driving member 204, so that the fixed length of the driving member 204 in the driving member 204 can be reduced, and the total elongation length of the quadrilateral truss can be reduced, thereby being beneficial to the reduction of the total elongation length of the quadrilateral truss 20 in the tail end of the quadrilateral truss.

In addition, the waist structure 10 is provided with a driving component and the upright post 110 connected with the driving component, the driving component is used for driving the upright post 110 to rotate around the axis thereof so as to drive the arm structure 20 to rotate, namely, the arm structure 20 can rotate relative to the waist structure 10, so that the wrist structure 30 connected with the arm structure 20 can drive the external equipment to move to any positions along the circumferential direction, and the step is further performed, so that the wrist structure 30 connected with the arm structure 20 can drive the external equipment to adjust the position of the external equipment relative to the waist structure 10 along with the stretching or shortening of the arm structure 20, in other words, the waist structure 10, the arm structure 20 and the wrist structure 30 are matched to achieve the purposes of carrying and palletizing the external equipment of the robot 1 in multiple directions, multiple angles and multiple degrees of freedom, and the use flexibility and strain performance of the robot 1 are improved.

Furthermore, robot 1 still includes connecting portion for connecting portion are connected with waist structure 10, and robot 1 is connected with outside operation platform through connecting portion, guarantees the steadiness and the reliability of robot 1 and outside operation platform assembly, and then can avoid the condition emergence that takes place crooked or even topple over when robot 1 area load work, provides stable structural basis for the normal operating of product. Specifically, the attachment is located at the bottom of the lumbar structure 10 and the fasteners pass through the attachment to lock onto the external operating platform.

Meanwhile, the quadrangular truss 202 is slidably connected with the upright post 110, so that the quadrangular truss 202 can be slid according to specific actual use conditions to adjust the assembly size of the quadrangular truss 202 along the height direction of the upright post 110, for example, the quadrangular truss 202 can slide upwards along the height direction of the upright post 110 or slide downwards along the height direction of the upright post 110 to meet diversified use requirements, and further, the use adaptability and universality of products can be improved.

In this embodiment, the wrist structure 30 is connected to the arm structure 20 through a connecting plate, wherein the wrist structure 30 includes a supporting plate assembly, a gear assembly, an output portion and a motor assembly, the motor assembly is connected to the gear assembly, the motor assembly drives the gear assembly to rotate, and further drives the output portion to swing, so as to drive the external device to move through the output portion.

In the embodiments of the present invention, preferably, as shown in fig. 18 to 20, the waist structure 10 includes a box 102, a column 110 disposed on the box 102, a driving assembly having a driving portion and a driving device 108 connected to the driving portion, the driving device 108 disposed on the box 102, the driving portion located in the box 102 and connected to the column 110, wherein the driving portion can be driven by the driving device 108 to rotate, and the column 110 is driven to rotate around its own axis.

In this embodiment, the driving assembly is provided with a transmission part and a driving device 108 connected with the transmission part, the driving device 108 is arranged on the box body 102, the transmission part is located in the box body 102 and is connected with the upright column 110, therefore, the driving device 108 drives the transmission part to rotate, the upright column 110 connected with the transmission part is driven to rotate around the axis of the driving device, and further, the purpose that the external equipment moves to any position along the circumferential direction of the upright column 110 is achieved.

In the embodiments of the present invention, preferably, as shown in fig. 1 to 6, the number of the quadrangular truss 202 is at least , the number of the driving members 204 is at least , and the number of the clamps 206 is at least , any two adjacent rods 208 of the four rods 208 constituting each quadrangular truss are rotatably connected to each other, each driving member 204 is distributed at a diagonal position of the quadrangular truss, both ends of each driving member 204 are rotatably connected to the quadrangular truss, each driving member 204 can be extended or shortened to drive the quadrangular truss 202 to deform, each clamp 206 is used for clamping or releasing the driving member 204, and the end of each driving member 204 is rotatably connected to the quadrangular truss through the clamp 206.

In this embodiment, the number of the quadrangular girders 202 is at least , the number of the driving members 204 is at least , and the number of the clamps 206 is at least , and the four rods 208 constituting the quadrangular girders 202 are connected in pairs so that the quadrangular girders 202 can be deformed, i.e., the size of any corner can be adjusted, which is beneficial for stretching or shortening the arm structure 20 and balancing the bending moment caused by the end load of the arm structure 20.

Specifically, each quadrilateral truss 202 is a closed chain, and the arm structure 20 of the robot 1 is set to be in a mixed chain structure form of open and closed chains, so that the comprehensive rigidity of the robot 1 is improved, and the load capacity of the robot 1 in the operations of carrying, stacking and the like is improved.

Specifically, both ends of the driving member 204 are rotatably connected to quadrangular girders 202, and the driving member 204 can be extended or shortened to deform the quadrangular girders 202.

In the embodiments of the present invention, the clamping members 206 each preferably include a clamping member rotatably connected to the quadrilateral truss, the clamping member defining a receiving cavity into which the driving member 204 is inserted, and a fastening member 210 connected to the clamping member for reducing or enlarging the receiving cavity.

In this embodiment, it is specifically contemplated that the clamps 206 each include a clamp member and a fastener 210, the clamp member is rotatably connected to the quadrilateral truss and defines an accommodating cavity, the driving member 204 extends into the accommodating cavity, and the fastener 210 narrows or enlarges the accommodating cavity to clamp the driving member 204. Wherein, the clamping piece can be selected to be screw or bolt, thereby the reduction of holding chamber is realized to the clamping piece of clamp.

In embodiments of the present invention, preferably, as shown in fig. 4 to 6, the clamping member includes a clamping portion 212 and a second clamping portion 214, the second clamping portion 214 is detachably connected to the clamping portion 212, the clamping portion 212 and the second clamping portion 214 together enclose a containing cavity, and the clamping portion 212 and the second clamping portion 214 are connected to through a fastener 210.

In this embodiment, the driving member 204 is clamped firmly in by enclosing the clamping members in two parts, th clamping portion 212 and 214 second clamping portion 214, through th clamping portion 212 and 214 second clamping portion 214 to form a receiving cavity, and the position of the driving member 204 relative to the clamp 206 is adjusted in aspects when the two clamping portions are separated by loosening the fastener 210. in particular, th clamping portion 212 and second clamping portion 214 are both rotatably connected to the quadrilateral truss and are pulled close to or loosened from by the fastener 210. the th clamping portion 212 can also be rotatably connected to the quadrilateral truss, and the second clamping portion 214 can be rotatably connected to the th clamping portion 212 by the fastener 210 and then rotate relative to the quadrilateral truss under the drive of the th clamping portion 212.

In the embodiments of the present invention, preferably, as shown in fig. 4 to 6, a sunken groove 216 is formed on the outer surface of the th clamping portion 212, the fastening member 210 is a screw member, and the fastening member 210 is disposed in the sunken groove 216 and inserted into the second clamping portion 214.

In this embodiment, by providing the depression 216 on the outer surface of the -th clamping portion 212 and setting the fastening member 210 to be a threaded member, such as a screw or bolt, the fastening member 210 is disposed in the depression 216 and connected to the second clamping portion 214. the disposition of the depression 216 on the side facilitates reducing the thickness of the -th clamping portion 212, thereby facilitating the simultaneous insertion of the fastening member 210 into the -th and second clamping portions 212, 214, both of which are connected to , and the disposition of the depression 216 on the side facilitates hiding the fastening member 210, preventing the fastening member 210 from protruding outward to affect the appearance, or interfering with other surrounding components.

Optionally, there are a plurality of sunken grooves 216 on the -th clamping portion 212, and a plurality of fasteners 210, which are distributed corresponding to .

In the embodiments of the present invention, preferably, as shown in fig. 4 to 6, the driving member 204 includes a cylinder 218, the cylinder 218 is in a square column shape, the clamping portion 212 and the second clamping portion 214 are in Contraband shape, or the cylinder 218 is in a cylinder shape, and the clamping portion 212 and the second clamping portion 214 are in C shape.

In this embodiment, each of the driving members 204 is configured to include a cylinder 218, and in the case where the cylinder 218 has a square column shape, the th clamping portion 212 and the second clamping portion 214 are configured to have a Contraband shape, and the two Contraband-shaped openings are formed to be abutted and enclosed to form a receiving cavity, which facilitates fastening of the clamping driving member 204, since the receiving cavity has a shape matching the shape of the outer surface of the cylinder 218, whereas in the case where the cylinder 218 has a cylinder shape, the th clamping portion 212 and the second clamping portion 214 are configured to have a C shape, that is, a semi-circular arc shape, and the two C-shaped openings are abutted and enclosed to form a receiving cavity, which facilitates fastening of the clamping driving member 204, since the receiving cavity has a shape matching the shape of the outer.

In the embodiments of the present invention, preferably, the number of the quadrangular girders 202 is plural, and the plural quadrangular girders 202 are connected end to end in sequence.

In this embodiment, by setting the number of the quadrangular trusses 202 to be plural and connecting the quadrangular trusses end to end in sequence, the arm structure 20 is extended and the arm structure 20 is set to be a mixed chain structure in which open and close chains are mixed, which is advantageous for improving the overall rigidity of the robot 1 and improving the load capacity of the robot 1 in operations such as transportation and palletizing.

Specifically, the number of the quadrangular girders 202 is two.

In embodiments of the present invention, preferably, the quadrilateral truss is a parallelogram truss.

In this embodiment, the quadrilateral truss 202 is a parallelogram truss, which has a regular structure and is convenient to process, and is beneficial to accurately controlling the extension of the arm structure 20 in place, so as to improve the carrying capacity of the arm structure 20, and ensure the stable operation of the arm structure 20. of course, the quadrilateral truss 202 may be a non-parallelogram truss, and may be set to have a corresponding shape as required. it should be noted that, in the case where the number of the quadrilateral trusses 202 is plural, the shape of each quadrilateral truss 202 may be completely the same, different, or not completely the same.

In this embodiment, since the driving member 204 is less affected by the serial configuration of the arm structures 20 by disposing the driving member 204 at the diagonal position of the quadrilateral truss, the driving motor 220 of the driving member 204 is not affected by the serial configuration, the required driving torque is small, and the driving power and the energy consumption of the arm structures 20 are reduced in principle, , the driving member 204 is pre-tightened by the double nuts 224 to eliminate the reverse clearance, so that the robot 1 realizes the zero clearance transmission as a whole, and the motion precision is improved.

Specifically, when the arm structure 20 works, the driving motor 220 drives the ball screw 222 connected with the driving motor to rotate, so that the double nuts 224 sleeved on the ball screw 222 also rotate, the end of the push rod 226 is connected with the double nuts 224, the push rod 226 can extend and retract under the driving of the double nuts 224, the other end of the push rod 226 is connected with the corner of the quadrilateral truss, and the extension and retraction of the push rod 226 can force the quadrilateral truss to deform so as to drive the structure connected with the quadrilateral truss.

In the embodiments of the present invention, preferably, as shown in fig. 7-11, the driving member 204 further includes a bearing 228 disposed in the cylinder 218 and sleeved on the end of the ball screw 222, and an inner threaded bushing 230 sleeved on the end of the ball screw 222 for abutting against the inner ring of the bearing 228.

In this embodiment, the drive member 204 further includes a bearing 228 and an internally threaded bushing 230 that cooperate with each other. The bearing 228 is sleeved on the ball screw 222 and located between the ball screw 222 and the cylinder 218, so as to avoid friction between the ball screw 222 and the inner wall of the cylinder 218; the internally threaded bushing 230 is disposed on the ball screw 222 between the ball screw 222 and the bearing 228 to ensure stable mounting of the bearing 228. The bearing 228 and the internal thread bushing 230 cooperate with each other to effectively ensure that the ball screw 222 rotates at a high speed under the action of the driving motor 220, thereby driving the double nuts 224 to move.

In the embodiments of the present invention, preferably, as shown in fig. 8 and 11, the driving member 204 further includes a sealing end cap 232 covering the internal thread shaft sleeve 230 and abutting against the inner wall of the cylinder 218, and a second sealing end cap 234 covering the end of the cylinder 218, wherein the push rod 226 extends out of the second sealing end cap 234.

In this embodiment, the -th sealing cover 232 is sleeved on the internal thread bushing 230, and the -th sealing cover 232 is ensured to abut against the inner wall of the cylinder 218 to achieve -determined sealing effect, the second sealing cover 234 is arranged on the end cover of the cylinder 218, and the push rod 226 can extend out of the second sealing cover 234 to prevent external dust from entering and ensure the cleanness degree in the cylinder 218.

In the embodiments of the present invention, preferably, as shown in fig. 7-11, the driving member 204 further includes a coupling 248 for connecting the output shaft 310 of the driving motor 220 and the ball screw 222, and a clutch including a movable plate 236 and a fixed plate 238, wherein the movable plate 236 is connected with the ball screw 222, and the fixed plate 238 is connected with the cylinder 218.

In this embodiment, the driving member 204 further comprises a coupling 248 and a clutch, the coupling 248 is respectively connected with the output shaft 310 of the driving motor 220 and the ball screw 222 to ensure the transmission of the torque, the clutch comprises a movable plate 236 and a fixed plate 238 which are used in cooperation, the movable plate 236 is connected with the ball screw 222, and the fixed plate 238 is connected with the cylinder 218. when the robot 1 is in an accident situation, the clutch is electrified to enable the movable plate 236 and the fixed plate 238 to be combined at to form kinds of emergency brakes, so that the transmission of the torque is disconnected to avoid causing damage to other elements of the driving motor 220.

Specifically, the driving member 204 is provided with a coupling 248 and an internal thread bushing 230, the coupling 248 is used for connecting an output shaft 310 of the driving motor 220 with the ball screw 222, the internal thread bushing 230 is used for positioning an inner ring of the bearing 228, the internal thread bushing 230 is connected to an end of the ball screw 222 through threads, the electromagnetic clutch driving disc 236 and the ball screw 222 are connected to the cylinder through set screws, the electromagnetic clutch fixing disc 238 is fixed to the cylinder 218 of the driving member 204 through screws, and after the electromagnetic clutch is powered on, the electromagnetic clutch fixing disc and the cylinder are connected to in a combined mode for emergency braking, so that safety is improved.

In the embodiments of the present invention, preferably, as shown in fig. 7 to 11, the inner wall of the cylinder 218 is provided with a guide groove 240, and during the rotation of the ball screw 222 driven by the driving motor 220, the double nut 224 directly or indirectly abuts against the groove wall of the guide groove 240.

In this embodiment, the inner wall of the cylinder 218 is provided with guide slots 240, and the guide slots 240 are adapted to the double nuts 224. In the process that the driving motor 220 drives the ball screw 222 to rotate, the double nuts 224 are abutted against the groove walls of the guide grooves 240, so that the ball screw 222 can only rotate under the driving of the driving motor 220 and cannot directly move along the radial direction of the cylinder 218, and the driving part 204 can effectively drive the quadrilateral truss.

In the embodiments of the present invention, preferably, as shown in fig. 9, the driving member 204 further includes a connecting head 242, the connecting head 242 is connected to the other end of the push rod 226, the connecting head 242 is provided with a mounting hole, and a flange bearing 244 is disposed in the mounting hole for rotatably connecting with the quadrilateral truss.

In this embodiment, the end of the driving member 204 is provided with a connector 242, and the push rod 226 is connected through the connector 242; a flange bearing 244 is arranged in the mounting hole, and the flange bearing 244 ensures the rotary connection of the driving element 204 and the quadrilateral truss.

In embodiments of the present invention, preferably, the gear assembly includes at least two gears 302, which are connected to the output portion and distributed on at least 0 side of the output portion, and at least two second gears 304, which are respectively engaged with 1 gears 302, and the motor assembly includes at least two 3 motors 306, which are respectively connected to second gears 304, for driving at least two second gears 302 to rotate and further drive the output portion to swing, in this embodiment, the gear assembly includes at least two gears 302 and at least two second gears 304, the motor assembly includes at least two motors 306, at least two motors 306 are respectively connected to second gears 304, at least two motors 306 drive at least two second gears 304 to rotate, at least two second gears 304 are respectively engaged with gears 302, at least two second gears 304 drive at least two gears 302 to rotate when at least two second gears 304 rotate, at least two second gears 302 and at least two second gears 302 are connected to the second gears 304, at least two output gears 302 are connected to the second gears 302 to rotate, at least two output gears 302, and at least two limiting gears 302 are connected to a rotating mechanism 4630, thereby preventing the output gear 302 from rotating when the robot 302 from rotating, and the second gear 302 from rotating, the second gear rotating, thereby preventing the robot from rotating, and the robot 4614 from rotating, and the robot outputting the robot 302 from rotating, and the robot moving the robot.

Specifically, when the number of the th motors 306 is two, 3 th th motors 306 in the th motors 306 provide a larger output torque than another 365 th th motors 306, so that the torque of the second gear 304 in the two second gears 304 is larger than that of another 8 second gear 304, and the second gear 304 with the larger torque drives the th th gear 302 in the th gears 302 to rotate, the th gear 302 in the th gears 302 has a tendency to push the robot according to the principle that the two th gears 302 simultaneously drive the output to rotate, so that the second gear 302 in the two second gears 302 has a smaller torque output torque, and therefore, when the robot works in the same direction as the second gear 304, the robot works with the two second gears 304, the same high precision as the first gear 302, the robot can avoid the two second gears 302 from swinging, and the robot works with the same torque, i.e., when the robot works with two second gears 302 and the second gears 304 are operated with high precision, the same principle that the robot can achieve the same accuracy of the motion of the robot without swinging motion of the robot through the two th gears 304, the motion of the two second gears 302, and the robot can be achieved by using the principle that the robot, and the robot can be achieved by the motion of the robot according to the robot, and the principle that the motion of the robot can be achieved by the motion of the robot with the motion of the.

In order to achieve high motion accuracy of the robot 1, a high-accuracy speed reducer such as a harmonic speed reducer is selected as the speed reducer, but the harmonic speed reducer has the advantages of small transmission return difference, large rigidity, compact structure and the like, but the processing technology is complex, and the research and development investment is huge, and the wrist structure 30 in the embodiment does not need the speed reducer, realizes the zero-clearance transmission of the wrist structure 30 by limiting the two gears 302 through the two second gears 304, and improves the motion accuracy of the wrist structure 30.

In the embodiments of the present invention, it is preferable that the gear 302 and the second gear 304 are both spur gears.

In this embodiment, each gear 302 and each second gear 304 are spur gears, and the output torque of the motor 306 is effectively reduced by the transmission mode of the mutually meshed spur gears, that is, the smaller output torque output by the motor 306 can drive the output part to rotate efficiently by the transmission mode of the spur gears, so that the energy is saved, the transmission mode of the spur gears can avoid the damage of the axial structure, and the service lives of the two gears 302 and the two second gears 304 are prolonged.

In the embodiments of the present invention, it is preferable that the pitch circle diameter of the th gear 302 is larger than the pitch circle diameter of the second gear 304.

In this embodiment, the pitch circle diameter of the th gear 302 is larger than that of the second gear 304, so that when the th gear 302 is rotated by the second gear 304, the rotation speed of the th gear 302 is lower than that of the second gear 304, and the rotation speed of the th gear 302 is lower, so that the stability of the rotation of the output part is improved, and the working accuracy of the wrist structure 30 is further improved.

In embodiments of the present invention, preferably, as shown in fig. 12 to 14, the output portion includes a support frame 308, an output shaft 310 rotatably disposed on the support frame 308, a third gear 312 sleeved on the output shaft 310, at least two fourth gears 314 rotatably disposed on the support frame 308, at least two fourth gears 314 all engaged with the third gear 312, and at least two second motors 316 respectively directly or indirectly connected to fourth gears 314 for driving the at least two fourth gears 314 to rotate relative to the support frame 308, so as to drive the third gear 312 to rotate, so as to rotate the output shaft 310.

In this embodiment, the supporting frame 308 supports the output shaft 310, the third gear 312 and at least two fourth gears 314, the at least two th gears 302 drive the supporting frame 308 to rotate, so that the supporting frame 308 drives the output shaft 310 to rotate, the output shaft 310 drives the external device to rotate, the at least two second motors 316 drive the at least two fourth gears 314 to rotate, the at least two fourth gears 314 are both engaged with the third gear 312, the at least two fourth gears 314 drive the third gear 312 to rotate when rotating, the third gear 312 drives the output shaft 310 to rotate, so that the output shaft 310 performs a rotation function, wherein the supporting frame 308 is provided with a rotating shaft 328 for the two fourth gears 314 to rotate.

Specifically, as shown in fig. 12, 15, and 16, the at least two second motors 316 drive the at least two fourth gears 314 to rotate at the same speed, the at least two second motors 316 provide different torques, so that the torques of the at least two fourth gears 314 are different, the fourth gear 314 with a larger torque drives the third gear 312 to rotate while having a tendency to push the side of the third gear 312, so that the other side of the third gear 312 has a tendency to move toward the fourth gear 314 with a smaller torque, the third gear 312 is tightly attached to the at least two fourth gears 314, and the at least two fourth gears 314 limit the third gear 312, thereby preventing the third gear 312 from shaking during rotation, further improving the rotation accuracy of the output shaft 310, and further improving the working accuracy of the wrist structure 30 in step .

The two fourth gears 314 move the third gear 312 as follows:

process 1: as shown in fig. 17a, the upper gear is a third gear 312, and the lower left gear and the lower right gear are fourth gears 314. The torque T1 transmitted from the lower left fourth gear 314 is equal in magnitude and opposite in direction to the torque T2 transmitted from the lower right fourth gear 314. So that the lower left fourth gear 314 and the lower right fourth gear 314 are respectively engaged with the opposite side tooth surfaces of the third gear 312. Therefore, the third gear 312 is in a stationary state by the equal and opposite tension torque, and does not oscillate back and forth between the tooth spaces, and ω is the angular velocity of the third gear 312.

And 2, as shown in FIG. 17b, the torque T1 transmitted by the lower left fourth gear 314 is greater than the torque T2 transmitted by the lower right fourth gear 314, and the directions of the two torques are opposite, synthesized by T1 and T2 have the same direction as T1 and are equal to the driving torque T of | T1| - | T2|, at the moment, the third gear 312 is meshed and rotated in the rotating direction of the lower left fourth gear 314 under the action of the driving torque T, and the third gear 312 is always tightly attached to the lower left fourth gear 314 and the lower right fourth gear 314 during the rotation process and does not shake.

And 3, process: as shown in fig. 17c, the torque T2 transmitted by the lower right fourth gear 314 drops to zero. The fourth gear 314 at the lower right is now out of contact with the third gear 312. The driving torque T of the third gear 312 is equal to T1.

And 4, process: as shown in fig. 17d, at this time, T1 is in the same direction as T2, and the lower left fourth gear 314 and the lower right fourth gear 314 are in side-tooth engagement with the third gear 312. The driving torque T of the third gear 312 is equal to T1+ T2. The double motors are driven to rotate in the same direction in the movement process, so that the double-motor structure can be fully utilized, and the energy consumption is reduced.

When the reverse rotation is required, the lower left fourth gear 314 still keeps the original direction, and the lower right fourth gear 314 is rotated to reach the state shown in fig. 17 a. Then, the two fourth gears 314 interchange the state output torques of process 1 to process 4.

In the embodiments of the present invention, it is preferable that the third gear 312 and the two fourth gears 314 are both bevel gears, or that the third gear 312 and the two fourth gears 314 are both spur gears.

In this embodiment, when the space in the support frame 308 is large, the third gear 312 and the two fourth gears 314 are set as spur gears, so that axial abrasion of the third gear 312 and the two fourth gears 314 is avoided, the service lives of the third gear 312 and the two fourth gears 314 are prolonged, when the space in the support frame 308 is small, the third gear 312 and the two fourth gears 314 are set as bevel gears, so that the structure is more compact, the space utilization rate is improved, when the third gear 312 and the two fourth gears 314 are bevel gears or spur gears, the function of limiting the third gear 312 by the two fourth gears 314 can be realized, and the applicability of the wrist structure 30 is improved.

In the embodiments of the present invention, preferably, as shown in fig. 12 and 13, the wrist structure 30 further includes at least two transmission members 318 respectively connected to the second motors 316 and to the fourth gears 314, and the at least two second motors 316 drive the at least two fourth gears 314 to rotate through the at least two transmission members 318.

In this embodiment, when the distance between the second motor 316 and the fourth gear 314 is relatively large, the second motor 316 drives the fourth gear 314 to rotate through the transmission member 318, so as to more reasonably arrange the relative positions of the workpieces of the wrist structure 30, improve the tightness of the wrist structure 30, and increase the space utilization rate of the wrist structure 30.

In the embodiments of the present invention, each driving member 318 preferably includes a driving belt 320 and two driving wheels 322, driving wheels 322 of the two driving wheels 322 are connected to second motors 316, another driving wheels 322 are connected to fourth gears 314, and the driving belt 320 is sleeved on the two driving wheels 322.

In this embodiment, the second motor 316 drives driving wheels 322 to rotate, driving wheels 322 drive the driving belt 320 to rotate, the driving belt 320 drives another driving wheels 322 to rotate, and another driving wheels 322 drive the fourth gear 314 to rotate, so as to realize the function of the second motor 316 driving the fourth gear 314 to rotate.

In the embodiments of the present invention, preferably, as shown in fig. 12, the wrist structure 30 further includes at least two planetary gear reducers 324 respectively connected to the second motors 316.

In this embodiment, the second motor 316 is connected to the planetary reducer 324, so as to improve the stability of the rotation process of the fourth gear 314 driven by the second motor 316, and at the same time, the planetary reducer 324 can provide a larger torque, so as to improve the accuracy of the position limitation of the third gear 312 by the fourth gear 314, thereby improving the working accuracy of the wrist structure 30.

In the embodiments of the present invention, preferably, as shown in fig. 12, the supporting plate assembly includes two supporting plates 326, the two supporting plates 326 are disposed opposite to each other, the two supporting plates 326 surround the installation cavity, the supporting frame 308, the at least two gears 302, the at least two second gears 304, the third gear 312, and the at least two fourth gears 314 are disposed in the installation cavity, the at least two transmission members 318 are disposed outside the two supporting plates 326, wherein the connecting plate is connected to at least of the two supporting plates 326.

In this embodiment, at least two transmission members 318 are disposed outside the two support plates 326 to avoid interference between the transmission members 318 and the two support plates 326, so as to ensure stability of the transmission process of the transmission members 318, and to rationally arrange the wrist structure 30 so as to make the structure of the wrist structure 30 more compact and improve space utilization.

Arm structure 20 is connected to both support plates 326 or arm structure 20 is connected to of both support plates 326 for the purpose of assembling arm structure 20 to wrist structure 30 at wherein the relationship of arm structure 20 to both support plates 326 may be set according to the particular application, e.g., arm structure 20 is connected to both support plates 326 or arm structure 20 is connected to support plates 326.

In the embodiments of the present invention, it is preferable that the gears 302 are two and symmetrically distributed on both sides of the output portion, and the fourth gears 314 are two and symmetrically distributed on both sides of the output shaft 310.

By setting the number of the gears 302 to be two and symmetrically distributed on both sides of the output part, the structure is compact, the layout is reasonable, and the stable movement of the output part is facilitated.

In addition, the number of the fourth gears 314 is two, and the fourth gears are symmetrically distributed on both sides of the output shaft 310. By setting the number of the fourth gears 314 to be two, and symmetrically distributing the fourth gears on two sides of the output shaft 310, the structure is compact, the layout is reasonable, and the cost is saved while the stable rotation of the output shaft 310 is facilitated.

In the embodiments of the present invention, preferably, as shown in fig. 18 to 20, the transmission portion includes a worm wheel 104 disposed in the box 102, two worms 106 disposed in the box 102, the two worms 106 being symmetrically distributed along the radial direction of the worm wheel 104 and respectively engaged with the worm wheel 104, a driving device 108 respectively connected to the two worms 106, the worm 106 being driven by the driving device 108 to drive the worm wheel 104 to rotate, and a column 110 connected to the worm wheel 104 and being driven by the worm wheel 104 to rotate, thereby driving the column 110 to rotate around its own axis.

In this embodiment, the transmission portion includes a worm wheel 104 and two worms 106, worm wheels 104 and two worms 106 engaged with the worm wheel 104 are disposed in a box 102 of the waist structure 10, the two worms 106 are symmetrically distributed along a radial direction of the worm wheel 104 and are simultaneously engaged with the worm wheel 104 from two positions, a driving device 108 is disposed on the box 102, the driving device 108 is respectively engaged with the two worms 106, the driving device 108 drives the worms 106 to rotate and further drives the worm wheel 104 to rotate, an end of the worm wheel 104 is connected with a column 110, the column 110 is an output end of the waist structure 10 and can be driven by the worm wheel 104 to rotate and further drive other structures connected with the column to perform a rotary motion, specifically, two driving devices 108 are also disposed, and each worms 106 are respectively driven to rotate by the two driving devices 108.

The double-motor driving clearance eliminating technology is introduced into the waist structure 10 of the robot 1, worm wheels 104 are driven to rotate simultaneously by two worms 106, a structural form that the double-driving device 108 is cooperatively driven is adopted, and the two worms 106 are symmetrically distributed on two sides of the worm wheels 104, so that the transmission clearance of joint parts can be effectively eliminated, the working precision of the waist structure 10 is further improved, in addition, the transmission ratio of the worm wheels 104 and 106 can be reasonably adjusted, so that the worm wheels 104 and 106 can reduce speed and increase torque in transmission, the effect similar to that of the speed reducer is achieved, no additional speed reducer is needed, and particularly, the transmission ratio is determined by the performance of the driving device 108 and the load parameters of the robot 1.

In the embodiments of the present invention, preferably, as shown in fig. 20, the waist structure 10 further includes an end cap 112 disposed on the box 102, the end of the worm 106 is connected to the driving device 108, and the end is connected to the box 102 through the end cap 112.

In this embodiment, the side wall of the housing 102 is provided with the end cap 112, and the end cap 112 and the driving device 108 are located at two opposite sides of the housing 102. the end of the worm 106 is connected with the driving device 108, and the other end is mounted on the side wall of the housing 102 through the end cap 112, so as to ensure the stable mounting of the worm 106 and prevent the worm 106 from falling off during the meshing process of the worm 106 and the worm wheel 104.

In the embodiments of the present invention, preferably, as shown in fig. 20, the waist structure 10 further includes a sealing cover 114 disposed on the box 102 for sealing the position where the driving device 108 is connected to the box 102.

In this embodiment, a sealing cover 114 is provided on a side wall of the case 102, and the sealing cover 114 is provided at a position where the driving device 108 is connected to the case 102. The output shaft 310 of the driving device 108 is disposed through the sealing cover 114, and the sealing cover 114 seals a position where the driving device 108 is connected to the case 102, thereby preventing dust, impurities, and the like from entering the case 102.

In the embodiments of the present invention, preferably, as shown in fig. 18 and 19, the lumbar structure 10 further includes a rotation shaft 116 disposed on the box 102, both ends of the rotation shaft 116 are respectively connected to the worm wheel 104 and the upright 110, and the rotation shaft 116 can be driven by the worm wheel 104 to rotate, thereby driving the upright 110 to rotate.

In this embodiment, the pivot shaft 116 is disposed on the housing 102. specifically, the pivot shaft 116 is disposed through the housing 102, the end of the pivot shaft 116 is connected to the worm gear 104, and the end is connected to the upright 110 via the fastener 210 to satisfy the space requirement of the lumbar structure 10. during the operation of the lumbar structure 10, the worm gear 104 is driven by the worm 106 to rotate the pivot shaft 116, and the pivot shaft 116 drives the upright 110 to rotate, thereby realizing the pivoting motion of the arm structure 20.

In the embodiment, the upright 110 is fixed to the pivot shaft 116 at by eight screws and is positioned by a positioning pin.

In the embodiments of the present invention, preferably, as shown in fig. 19, the lumbar structure 10 further includes a bearing 118, the pivot shaft 116 is disposed through the bearing 118, a bearing flange 120 is disposed on the housing 102, and a bearing 118 is disposed in the bearing flange 120.

In this embodiment, the th bearing flange 120 is disposed on the housing 102, the th bearing flange 120 is disposed on the top of the housing 102, the th bearing 118 is disposed in the th bearing flange 120, and the rotating shaft 116 extends into the housing 102 through the th bearing 118 to be connected with the worm wheel 104. the disposition of the th bearing flange 120 and the th bearing 118 effectively ensures the installation of the rotating shaft 116 in the housing 102, and ensures that the rotating shaft 116 can rotate stably under the driving of the worm wheel 104.

In the embodiments of the present invention, the lumbar structure 10 further preferably includes a second bearing 122, as shown in fig. 19, the end of the pivot shaft 116 passing through the worm gear 104 and contacting the second bearing 122, a second bearing flange 124 disposed on the housing 102, the second bearing 122 disposed within the second bearing flange 124.

In this embodiment, the housing 102 is provided with a second bearing flange 124, the second bearing flange 124 is located at the bottom of the housing 102, the second bearing 122 is located in the second bearing flange 124, and the second bearing 122 is sleeved on the end of the rotating shaft 116 and located below the worm wheel 104. the second bearing 122 and the shaft cooperate to radially position the rotating shaft 116 from two positions to ensure stable installation of the rotating shaft 116.

In the embodiments of the present invention, preferably, as shown in fig. 19, the lumbar structure 10 further includes a thrust flange 126 sleeved on the rotation shaft 116 and located between the second bearing 122 and the worm wheel 104, and a thrust bearing 128 sleeved on the rotation shaft 116 and contacting the thrust flange 126 and the worm wheel 104.

In this embodiment, the housing 102 is provided with a thrust flange 126 and a thrust bearing 128, wherein the thrust flange 126 and the thrust bearing 128 are both sleeved on the revolving shaft 116 and are located below the worm wheel 104, the thrust flange 126 is located between the thrust bearing 128 and the second bearing 122 and is used for separating the thrust bearing 128 from the second bearing 122, the thrust bearing 128 is located between the thrust flange 126 and the worm stopping wheel 104, and the thrust flange 126 and the thrust bearing 128 are matched with each other to provide 116 axial positions for the revolving shaft 116 and ensure the stable installation of the revolving shaft 116.

In the embodiments of the present invention, preferably, as shown in fig. 18 and 19, the waist structure 10 further includes a box cover 130 disposed on the box body 102, a bearing flange 120 disposed on the box cover 130, and a distribution box 132 disposed on the box body 102 and connected to the driving device 108.

In this embodiment, a housing flange cover 130 is disposed on the housing 102 to cover the opening of the housing 102 to ensure the stable mounting of the bearing flange 120, and a distribution box 132 is disposed on the housing 102, wherein the distribution box 132 is connected to the driving device 108 to ensure the effective operation of the driving device 108.

In the embodiments of the present invention, the driving member 204 is preferably a double nut 224 ball screw 222.

In this embodiment, the double nut 224 facilitates elimination of backlash by providing a double nut 224 ball screw 222 for each drive member 204, thereby facilitating a backlash free drive for the robot 1.

Of course, the driving unit may be an air cylinder, a hydraulic cylinder, or the like instead of the double nut 224 and the ball screw 222, and is not illustrated in here.

In the embodiments of the present invention, it is preferable that, as shown in fig. 1-4, the end of each rod 208 is formed with two protrusions 246 spaced apart from each other, and any rod 208 extends between the two protrusions 246 of the adjacent rod 208 and is rotatably connected to the two protrusions 246.

In this embodiment, the end of each rod 208 is formed with two protrusions 246 spaced apart from each other, and when two rods 208 are connected, rods 208 extend between the two protrusions 246 of the adjacent rods 208, so that the two rods 208 are hinged to ensure rotatable connection, and furthermore, by extending ends of rods 208 between the two protrusions 246, the connection between the two adjacent rods 208 is more stable, and misalignment and skew are avoided.

In the embodiments of the present invention, it is preferable that the end of the cylinder 218 extends between two protrusions 246 on the rod 208.

In this embodiment, cylinders 218 are positioned along the diagonal of the quadrilateral truss 202, the end of the cylinder 218 extends between two protrusions 246 at the end of the rod 208 and is rotatably connected to the rod 208 via the protrusions 246, and the end is connected to the corner opposite the quadrilateral truss 202 to ensure stable installation of the cylinder 218, and the extension and retraction of the cylinder 218 can drive the quadrilateral truss 202 to deform and drive the structure connected thereto.

In the embodiments of the present invention, the clamp 206 is preferably rotatably disposed between two protrusions 246 on the lever 208.

In this embodiment, the clamp 206 is prevented from being exposed and compact by rotatably disposing the clamp 206 between two protrusions 246 on the lever member 208 , the presence of two protrusions 246 spaced apart from each other in provides a space for the clamp 206 to be installed, and the clamp 206 is rotatably connected between two protrusions 246 in , so that the driving member 204 is disposed along the diagonal of the quadrilateral truss since two adjacent lever members 208 are also rotatably connected by two protrusions 246.

In a specific embodiment, rod pieces 208 of quadrilateral trusses are integrally formed with rod pieces 208 of another quadrilateral trusses in any two adjacent quadrilateral trusses to realize the connection of any two adjacent quadrilateral trusses, the two adjacent quadrilateral trusses share rod pieces 208, namely, the same rod pieces 208 are arranged at the connection part of the two connected quadrilateral trusses, and the rod pieces 208 are connected with the rest rod pieces 208 of the two quadrilateral trusses, so that any two adjacent quadrilateral trusses are connected into bodies, the structure is compact, and the two adjacent quadrilateral trusses are ensured to be stably connected.

In the specific embodiment, the th bearing 118 is a deep groove ball bearing, the second bearing 122 is an angular contact ball bearing, and the driving device 108 is a servo motor, the th bearing 118 is a deep groove ball bearing, the deep groove ball bearing has a simple structure, low manufacturing cost, small friction coefficient, high limit rotation speed, and can bear enough radial load and quantitative axial load, the second bearing 122 is an angular contact ball bearing which can simultaneously bear the radial load and the axial load, and the driving device 108 is a servo motor, so that the accurate control of the waist structure 10 can be realized.

In the embodiment, the arm structure 20 is connected to the waist structure 10, the waist structure 10 provides a swiveling motion to drive the arm structure 20 to rotate around the waist structure 10, the wrist structure 30 is connected to the end of the arm structure 20, and the wrist structure 30 can swing and rotate relative to the arm structure 20 to realize the robot 1 with five degrees of freedom.

In the specific embodiment, the arm structure 20 adopts a truss structure form ( mixed chain structure form of open and close chains) of diagonally driving a double-quadrilateral truss and a driving piece 204 in series, the overall rigidity of the robot 1 can be improved, the ball screw 222 pair in the driving piece 204 adopts double-nut pre-tightening to eliminate reverse clearance, and the overall robot 1 realizes zero-clearance transmission, so that the motion precision is improved

steps are further carried out, the arm structure 20 of the robot 1 is arranged on the waist structure 10, the arm frame structure comprises a large arm and a small arm, the large arm and the small arm adopt a serial connection double-quadrilateral frame and diagonal line driving structure form, and two degrees of freedom are totally achieved, linkage of the arm structure 20 in the horizontal direction and the vertical direction can be achieved by controlling telescopic motion of the driving piece 204 on the quadrilateral diagonal line, the driving piece 204 drives the ball screw 222 to rotate through the safety clutch by the servo motor, the ball screw 222 converts the rotation motion into linear motion of the double nut 224 and the push rod 226 through the double nut 224, the rotation degree of freedom of the double nut 224 is limited through the guide groove 240 processed on the inner wall of the cylinder body 218, the ball screw 222 in the driving piece 204 is in transmission pair, a double nut 224 preloading mode is adopted to eliminate reverse transmission gaps and improve rigidity of the ball screw 222, compared with the industrial robot 1, the driving mode does not need to use a high-precision speed reducer, and can reduce cost of the robot 1 to.

The driving member 204 is fixedly mounted on the arm structure 20 of the robot 1 through the fixture 206 at a position close to the driving motor 220, and the robot 1 can adjust the mounting position of the mounting fixture 206 relative to the driving member 204 according to different application requirements, so that the limit position is changed, the overall movement is free, and the flexibility is good. Specifically, the driver 204 is a linear actuator.

In particular embodiments, to ensure ball screw 222 backdrive accuracy and axial stiffness, axial play must be eliminated from the ball screw 222 nut. The utility model discloses a two nut 224 structures utilize two nut 224's relative axial displacement, make the ball in two nuts 224 paste respectively tightly on the spiral rolls and suffer two opposite sides for the whole zero clearance transmission that realizes of robot 1, thereby improve the motion accuracy. When the method is used for pre-tightening to eliminate the axial clearance, attention should be paid to the fact that the pre-tightening force is not too large, and the non-load moment is increased due to the fact that the pre-tightening force is too large, so that the transmission efficiency is reduced, and the service life is shortened.

The arm structure 20 is a double-quadrilateral truss structure connected in series, is driven by a diagonal line of a linear actuator, is integrally in a structural form of mixing open and closed chains, can greatly improve the integral rigidity of the arm structure, improves the bearing characteristic of the robot 1, is not influenced by external bending moment, reduces the requirement on the output torque of a shoulder joint and an elbow joint driving motor 220 of the robot 1 in principle, is directly driven by the driving motor 220 without a speed reducer, and achieves the effect of mechanical backlash elimination by pre-tightening a ball screw arranged in the applied linear actuator through double nuts 224.

In particular embodiment, the utility model discloses in introducing robot 1's waist structure 10 with two motor drive elimination clearance technique for waist structure 10 provides the slewing motion of degrees of freedom, specifically, two servo motor and worm 106 difference symmetrical arrangement are in the both sides of worm wheel 104, drive worm wheel 104 jointly and rotate, accomplish slewing motion with the stand 110 that realizes robot 1, worm wheel 106 has the drive ratio that satisfies the condition, adopt the mode of directly driving to play the effect of reduction gear, robot 1 wholly need not the reduction gear, and reduce the requirement to the motor driving force, reduction in manufacturing cost and work energy consumption.

Specifically, worm wheel 104 worm 106 compact structure, drive ratio is big, is like in power transmission, and it is between 10 to 80 to get drive ratio I, in indexing mechanism, I can reach 1000 such big transmission for example with gear drive, then need take multistage transmission to go, so worm 106 transmission compact structure, small, light in weight so the utility model discloses a worm wheel 104 worm 106 transmission chooses suitable reduction ratio alright satisfy the power demand for use, need not extra reduction gear, and the drive ratio is decided by servo motor's performance and robot 1 load parameter, can not influence the control accuracy that the clearance was eliminated in the two motor drive.

In a specific embodiment, the robot 1 comprises a waist structure 10, an arm structure 20 (two degrees of freedom including a large arm and a small arm) and a wrist structure 30 (two degrees of freedom), a dual-motor-driven backlash elimination technology is introduced into the waist structure 10 and the wrist structure 30 of the robot 1, the waist structure 10 provides a rotary motion with degrees of freedom, two servo motors and a worm 106 are respectively and symmetrically arranged on two sides of a worm wheel 104 and jointly drive the worm wheel 104 to rotate, a dual-degree-of-freedom composite rotary joint module of the wrist structure 30 has four groups of transmission systems, similar to the motions of a 15-axis joint and a 6-axis joint of a traditional industrial robot, the rotary motion and a pitching motion are coupled, namely induced motion, the arm structure 20 of the robot 1 adopts a truss structure form ( mixed chain structure form of open and closed chains) driven by a series double-quadrilateral truss and a linear diagonal actuator, the overall rigidity of the robot 1 can be improved, a ball screw 222 of the robot 1 adopts a double nut 224 to pre-tighten to eliminate a reverse backlash, the robot 1 integrally realizes gapless transmission, the motion precision is improved, the robot 1 can adjust the relative position according to different application requirements, the mounting requirements of a driving part, the mounting position of a clamp can be further, the mounting cost of the robot 1 is reduced, and the cost of.

In the specific embodiment, the arm structure 20 is a double-quadrilateral truss structure connected in series, is driven by a driving part 204, is integrally in a structural form of mixing open and closed chains, can greatly improve the rigidity of the whole, improves the bearing characteristic of the robot 1, is not influenced by external bending moment, and theoretically reduces the requirement on the driving output torque of a shoulder joint and an elbow joint motor of the robot 1, the arm structure 20 adopts a motor direct-drive structure without a speed reducer, a ball screw is arranged in the driving part 204 to achieve a mechanical backlash elimination effect through a double nut 224, the robot 1 adopts a structural form of a double-motor cooperative drive structure for the waist structure 10 and the wrist structure 30, two servo motors of the waist structure 10 are symmetrically arranged on two sides of a turbine, and the motion precision is improved through electrical backlash elimination, in addition, the turbine worm 106 has a transmission ratio meeting the condition, a direct-drive mode can be used without a wrist speed reducer, the rigidity and the servo performance of the robot 1 system are improved while the cost is reduced, and the load precision of each group of the double-freedom composite rotary joint module of the robot 1 is greatly reduced by matching with a common planetary speed reducer 324.

The terms "mounted," "connected," "fixed," and the like are intended to be , e.g., "connected" can be a fixed connection or a removable connection, or physically connected, "connected" can be either directly connected or indirectly connected through intervening media.

In the description herein, the descriptions of the terms " embodiments," " embodiments," "specific embodiments," etc. are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least embodiments or examples of the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. Robot (1) of the kind , characterized by:

   a waist structure (10) provided with a driving assembly and a column (110) connected with the driving assembly, the driving assembly being used for driving the column (110) to rotate around the axis of the column;

   the arm structure (20), the arm structure (20) is provided with a quadrangular truss (202), a driving piece (204) and a clamp (206), the quadrangular truss (202) is connected with the upright post (110) in a sliding mode, the driving piece (204) is used for driving the quadrangular truss (202) to deform, the clamp (206) is used for clamping or loosening the driving piece (204), and the end of the driving piece (204) is connected with the quadrangular truss (202) in a rotating mode through the clamp (206);

   a wrist structure (30) connected with the quadrilateral truss (202), wherein the wrist structure (30) is used for connecting with external equipment;

   the connecting portion is connected with the waist structure (10), and the robot (1) is connected with an external operation platform through the connecting portion.
2. 2. Robot (1) according to claim 1, characterized by further comprising:

   a connection plate by which the wrist structure (30) connects the quadrilateral truss (202);

   the wrist structure (30) comprises:

   the supporting plate assembly is provided with an installation cavity and is connected with the connecting plate;

   the gear assembly is arranged in the mounting cavity;

   the output part is connected with the gear assembly and is used for connecting external equipment;

   and the motor component is arranged in the mounting cavity, is connected with the gear component and is used for driving the gear component to rotate so as to drive the output part to swing.
3. 3. Robot (1) according to claim 2, characterized by further comprising:

   the output section includes:

   a support frame (308);

   an output shaft (310) rotatably disposed on the support frame (308);

   a third gear (312) sleeved on the output shaft (310);

   at least two fourth gears (314) rotatably disposed on the support frame (308), wherein each of the at least two fourth gears (314) is engaged with the third gear (312);

   at least two second motors (316) which are respectively directly or indirectly connected with fourth gears (314) and are used for driving the at least two fourth gears (314) to rotate relative to the supporting frame (308), so that the third gears (312) are driven to rotate, and the output shaft (310) is enabled to rotate.
4. 4. Robot (1) according to , characterized in that,

   the waist structure (10) comprises:

   a box body (102), wherein the upright post (110) is arranged on the box body (102);

   the driving assembly is provided with a transmission part and a driving device (108) connected with the transmission part, the driving device (108) is arranged on the box body (102), the transmission part is positioned in the box body (102), and the transmission part is connected with the upright post (110);

   the transmission part can be driven by the driving device (108) to rotate so as to drive the upright post (110) to rotate around the axis of the upright post.
5. 5. Robot (1) according to claim 4, characterized by further comprising:

   the transmission portion includes:

   a worm gear (104) disposed within the case (102);

   the two worms (106) are arranged in the box body (102), and the two worms (106) are symmetrically distributed along the radial direction of the worm wheel (104) and are respectively meshed with the worm wheel (104);

   the driving device (108) is respectively connected with the two worms (106), and the worms (106) can drive the worm wheel (104) to rotate under the driving of the driving device (108), so as to drive the upright post (110) to rotate around the axis of the upright post.
6. 6. Robot (1) according to , characterized in that,

   the number of the quadrilateral trusses (202) is at least , the number of the driving pieces (204) is at least , and the number of the clamps (206) is at least ;

   any two adjacent rod pieces (208) in the four rod pieces (208) forming each quadrilateral truss are mutually and rotatably connected;

   each driving piece (204) is distributed at the diagonal position of quadrangular trusses (202), both ends of each driving piece (204) are rotatably connected with the quadrangular trusses (202), and each driving piece (204) can be extended or shortened to drive the quadrangular trusses (202) to deform;

   each clamp (206) is used for clamping or loosening driving pieces (204), and the end of each driving piece (204) is rotatably connected with the quadrilateral truss through the clamp (206).
7. 7. Robot (1) according to , characterized in that,

   the clamps (206) each comprise:

   the clamping piece is rotatably connected with the quadrilateral truss and surrounds a containing cavity for inserting the driving piece (204);

   a fastener (210) connected with the clamping piece for reducing or enlarging the accommodating cavity.
8. 8. Robot (1) according to claim 7, characterized by further comprising:

   the clamp comprises an th clamp part (212) and a second clamp part (214);

   the second clamping part (214) is detachably connected with the th clamping part (212), the th clamping part (212) and the second clamping part (214) jointly enclose the accommodating cavity, and the th clamping part (212) and the second clamping part (214) are connected with through the fastener (210).
9. 9. Robot (1) according to , characterized in that,

   the driver (204) comprises:

   a cylinder (218) with ends rotatably connected to the corners of the quadrilateral truss;

   a drive motor (220) disposed at the end of the cylinder (218);

   a ball screw (222) connected to the drive motor (220);

   the double nuts (224) are arranged in the cylinder body (218) and sleeved on the ball screw (222);

   and the end of the push rod (226) is connected with the double nut (224), and the other end of the push rod (226) is rotatably connected at the corner of the other of the quadrilateral truss and is used for driving the quadrilateral truss to deform under the driving of the double nut (224).
10. 10. Robot (1) according to , characterized in that,

    the quadrilateral truss (202) is a parallelogram truss.

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