CN210589285U - Industrial robot body - Google Patents

Abstract

The application provides an industrial robot body. The robot body comprises a plurality of transmission mechanisms; wherein, there is at least one among a plurality of drive mechanism and directly links drive mechanism, directly links the output shaft of motor among the drive mechanism and can directly be connected with the transmission input of reduction gear. Compare with the mode of being connected through driving medium such as gears between prior art motor and the reduction gear, the industrial robot body that this application embodiment provided is less in the driving chain, correspondingly, the structure of this industrial robot body is also fairly simple, can effectively reduce the deviation that exists in assembly, processing to can provide transmission precision, also can reduce vibrations and the noise of robot simultaneously, and then can improve the manufacturable type of this industrial robot body.

Description

Industrial robot body

Technical Field

The application relates to the technical field of robots, in particular to an industrial robot body.

Background

The position of the robot in the modern industry is more and more important, and with the development of industrial automation, intellectualization and modernization, the advanced robot gradually enters the modern industry, especially the factory of the advanced manufacturing industry, and plays more and more important roles, for example, the current steel manufacturing industry depends on the robot more and more.

For the application of the robot in the industry, the more the dimension that the robot can freely control is, the better the dimension number of the robot is, the more the axis direction number that the robot can freely rotate or the linear direction number that the robot can freely move, and the more the dimension is, the more the axis direction number that the robot can freely rotate or the linear direction number that the robot can freely move is indicated.

The existing industrial robot can realize six degrees of freedom, and the main machine base (1 shaft), the arms (2 and 3 shafts) and the wrists (4, 5 and 6 shafts) form the robot, and the robot end effector is driven by a driving system through a transmission mechanism to realize the required position and posture of the robot end effector in the space. However, although the existing industrial robot can realize 6 degrees of freedom, the transmission mechanism of each shaft is more, for example, in 1 shaft, the motor generally needs to transmit the motion to the speed reducer through transmission parts such as gears, the structure is complex, the deviation exists in assembly and processing, the problem of low transmission precision is caused by improper control, and meanwhile, the problems of vibration, noise and the like are easily caused.

SUMMERY OF THE UTILITY MODEL

The application provides an industrial robot body can be used to solve industrial robot structure complicacy among prior art, all can have the deviation in assembly, processing, and the improper problem that will cause the transmission precision lower than normal of control also produces the technical problem of vibration and noise etc. easily simultaneously.

The embodiment of the application provides an industrial robot body, which comprises a plurality of transmission mechanisms; the transmission mechanism comprises a motor and a speed reducer; there is at least one among a plurality of drive mechanism and directly links drive mechanism, directly link the drive mechanism in the output shaft of motor and be connected with the transmission input of reduction gear.

Optionally, the robot body includes a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a fifth transmission mechanism and a sixth transmission mechanism; the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the sixth transmission mechanism are the direct connection transmission mechanisms;

the first transmission mechanism comprises a first motor and a first speed reducer; the first speed reducer is provided with a first groove, and an output shaft of the first motor is arranged in the first groove and is connected with a transmission input end of the first speed reducer;

the second transmission mechanism comprises a second motor and a second speed reducer; the second speed reducer is provided with a second groove, and an output shaft of the second motor is arranged in the second groove and is connected with a transmission input end of the second speed reducer;

the third transmission mechanism comprises a third motor and a third speed reducer; the third speed reducer is provided with a third groove, and an output shaft of the third motor is arranged in the third groove and is connected with a transmission input end of the third speed reducer;

the fourth transmission mechanism comprises a fourth motor, a fourth speed reducer, a first synchronous belt wheel and a second synchronous belt wheel; the first synchronous belt wheel is in transmission connection with the second synchronous belt wheel through the first synchronous belt; an output shaft of the fourth motor is connected with the first synchronous belt wheel, and a transmission input end of the fourth speed reducer is connected with the second synchronous belt wheel;

the fifth transmission mechanism comprises a fifth motor, a fifth speed reducer, a second synchronous belt, a third synchronous belt wheel and a fourth synchronous belt wheel; the third synchronous pulley and the fourth synchronous pulley are in transmission connection through the second synchronous belt; an output shaft of the fifth motor is connected with the third synchronous belt pulley, and a transmission input end of the fifth speed reducer is connected with the fourth synchronous belt pulley;

the sixth transmission mechanism comprises a sixth motor and a sixth speed reducer; the sixth speed reducer is provided with a fourth groove, and an output shaft of the sixth motor is arranged in the fourth groove and connected with a transmission input end of the sixth speed reducer.

Optionally, the first transmission mechanism further comprises a base, a first mounting seat and a first output flange; the first motor and the first speed reducer are arranged on the first mounting seat; the transmission output end of the first speed reducer is connected with the first output flange, and the first output flange is connected with the base;

the second transmission mechanism further comprises a second mounting seat and a large arm; the second motor and the second speed reducer are arranged on the second mounting seat; the transmission output end of the second speed reducer is connected with one end of the large arm;

the third transmission mechanism further comprises a third mounting seat; the third motor and the third speed reducer are mounted on the third mounting seat; the transmission output end of the third speed reducer is connected with the other end of the large arm;

the fourth transmission mechanism further comprises a fourth mounting seat and a small arm; the fourth motor is arranged on the fourth mounting seat; the transmission output end of the fourth speed reducer is connected with one end of the small arm;

the fifth transmission mechanism further comprises a fifth mounting seat; the fifth motor is arranged on the fifth mounting seat;

the sixth transmission mechanism further comprises a sixth mounting seat and a second output flange; the sixth motor and the sixth speed reducer are mounted on the sixth mounting seat, and the sixth mounting seat is connected with the transmission output end of the fifth speed reducer; and the transmission output end of the sixth speed reducer is connected with the second output flange.

Optionally, when the robot body operates, under the action of the first motor, the first mounting seat rotates relative to the base about a first axis as a rotating axis, under the action of the second motor, the large arm rotates relative to the first mounting seat about a second axis as a rotating axis, under the action of the third motor, the third mounting seat rotates relative to the large arm about a third axis as a rotating axis, under the action of the fourth motor, the small arm rotates relative to the fourth mounting seat about a fourth axis as a rotating axis, under the action of the fifth motor, the sixth mounting seat rotates relative to the small arm about a fifth axis as a rotating axis, and under the action of the sixth motor, the second output flange rotates relative to the sixth mounting seat about a sixth axis as a rotating axis; the second shaft is perpendicular to the first shaft, the third shaft is parallel to the second shaft, the fourth shaft is perpendicular to the third shaft, the fifth shaft is perpendicular to the fourth shaft, and the sixth shaft is perpendicular to the fifth shaft.

Optionally, the base, the first output flange, the first speed reducer, the first mounting seat and the first motor are sequentially mounted from bottom to top in a direction perpendicular to a horizontal plane;

the first speed reducer is installed below the first installation seat, and the first motor is installed above the first installation seat.

Optionally, the fourth speed reducer is a hollow annular structure, and comprises a first annular speed reducer body and a first hollow structure formed by connecting the first annular speed reducer body end to end; the first hollow structure is used for placing a cable;

the fifth speed reducer is of a hollow annular structure and comprises a second annular speed reducer body and a second hollow structure formed by connecting the second annular speed reducer body end to end; the second hollow structure is used for placing cables.

Optionally, the first groove is a circular groove and is arranged at the center of the first speed reducer;

the second groove is a circular groove and is arranged at the center of the second speed reducer;

the third groove is a circular groove and is arranged at the center of the third speed reducer;

the fourth groove is a circular groove and is arranged at the center of the sixth speed reducer.

Optionally, the first transmission mechanism further comprises a first input flange, and the output shaft of the first motor is connected with the transmission input end of the first speed reducer through the first input flange;

the second transmission mechanism further comprises a second input flange, and an output shaft of the second motor is connected with a transmission input end of the second speed reducer through the second input flange;

the third transmission mechanism further comprises a third input flange, and an output shaft of the third motor is connected with a transmission input end of the third speed reducer through the third input flange;

the sixth transmission mechanism further comprises a fourth input flange, and an output shaft of the sixth motor is connected with the transmission input end of the sixth speed reducer through the fourth input flange.

Optionally, an output shaft of the fourth motor is connected with the first synchronous pulley through a bolt, and a transmission input end of the fourth speed reducer is connected with the second synchronous pulley through a bolt;

when the fourth motor operates, an output shaft of the fourth motor drives the first synchronous belt pulley to rotate, and the second synchronous belt pulley is driven to rotate by the first synchronous belt;

an output shaft of the fifth motor is connected with the third synchronous belt pulley through a bolt, and a transmission input end of the fifth speed reducer is connected with the fourth synchronous belt pulley through a bolt;

when the fifth motor operates, an output shaft of the fifth motor drives the third synchronous belt pulley to rotate, and the fourth synchronous belt pulley is driven to rotate through the second synchronous belt.

Optionally, the second output flange is used for connecting an external tool;

the external tool comprises any one of a clamp, a manipulator, a laser knife, an electric saw and an electric drill.

With the industrial robot provided by the embodiment of the application, the robot can comprise a plurality of transmission mechanisms; wherein, there is at least one among a plurality of drive mechanism and directly links drive mechanism, the output shaft of motor can be directly connected with the transmission input of reduction gear among the direct drive mechanism, compare with the mode of being connected through driving medium such as gear between motor and the reduction gear among the prior art, the driving chain of industrial robot body that this application embodiment provided is less, correspondingly, the structure of this industrial robot body is also fairly simple, can effectively reduce the deviation that exists in the assembly, processing, thereby can provide the transmission precision, also can reduce the vibrations and the noise of robot body simultaneously, and then can improve the manufacturable type of this industrial robot body.

Drawings

Fig. 1 is a schematic structural diagram of an industrial robot body according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a first transmission mechanism according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a second transmission mechanism according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a third transmission mechanism according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a fourth transmission mechanism according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a fifth transmission mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a sixth transmission mechanism according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an integrated industrial robot body according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Fig. 1 schematically shows a structural schematic diagram of an industrial robot body provided by an embodiment of the present application. As shown in fig. 1, the robot body may include a plurality of transmission mechanisms, such as a first transmission mechanism 1, a second transmission mechanism 2, a third transmission mechanism 3, a fourth transmission mechanism 4, a fifth transmission mechanism 5, and a sixth transmission mechanism 6 shown in fig. 1.

Each transmission may include a motor and a reducer (not shown in fig. 1). Further, there may be at least one direct connection transmission mechanism among the plurality of transmission mechanisms, and an output shaft of the motor in the direct connection transmission mechanism may be directly connected with a transmission input end of the speed reducer.

It should be noted that: (1) the first transmission mechanism 1 can be regarded as 1 shaft of the robot body, the second transmission mechanism 2 can be regarded as 2 shafts of the robot body, the third transmission mechanism 3 can be regarded as 3 shafts of the robot body, the fourth transmission mechanism 4 can be regarded as 4 shafts of the robot body, the fifth transmission mechanism 5 can be regarded as 5 shafts of the robot body, and the sixth transmission mechanism 6 can be regarded as 6 shafts of the robot body; (2) the number of the transmission mechanisms in fig. 1 is only one example, and in other possible examples, the number of the transmission mechanisms may be greater or less, for example, the robot body may include 3 transmission mechanisms, and is not particularly limited

In the embodiment of the present application, for example, the robot body may include six transmission mechanisms, which are the first transmission mechanism 1, the second transmission mechanism 2, the third transmission mechanism 3, the fourth transmission mechanism 4, the fifth transmission mechanism 5, and the sixth transmission mechanism 6 illustrated in fig. 1, wherein the first transmission mechanism 1, the second transmission mechanism 2, the third transmission mechanism 3, and the sixth transmission mechanism 6 may be direct-connection transmission mechanisms.

Specifically, each transmission mechanism in the industrial robot body provided by the embodiment of the present application will be described below with reference to the accompanying drawings.

Referring to fig. 2, a schematic structural diagram of a first transmission mechanism provided in an embodiment of the present application is exemplarily shown. The first transmission mechanism 1 may include a base 11, a first motor 12, a first reducer 13, a first mounting seat 14, and a first output flange 15.

The base 11, the first output flange 15, the first speed reducer 13, the first mounting seat 14, and the first motor 12 may be sequentially mounted from bottom to top in a direction perpendicular to a horizontal plane.

The first motor 12 and the first reducer 13 may be mounted on the first mount 14.

Further, the first reducer 13 may be installed below the first mount 14, and the first motor 12 may be installed above the first mount 14.

The first decelerator 13 may have a first groove 131.

Further, the first groove 131 may have various shapes, such as a circle, a rectangle, a triangle, etc., without limitation.

Further, the first recess 131 may be provided at a central position of the first decelerator 13, so that stability of the first transmission mechanism can be increased.

The output shaft 121 of the first motor 12 may be disposed in the first recess 131, and the first motor 12 may be connected with the transmission input 132 of the first reducer 13. The transmission output 133 of the first reduction gear 13 can be connected to the first output flange 15; the first output flange 15 may be connected to the base 11.

In the embodiment of the present application, the first transmission mechanism 1 may further include a first input flange (not shown in fig. 2). The first input flange may be disposed between the first electric machine 12 and the first reduction gear 13, and the output shaft 121 of the first electric machine 12 may be connected to the transmission input 132 of the first reduction gear 13 through the first input flange.

Refer to fig. 3, which schematically illustrates a structural diagram of a second transmission mechanism according to an embodiment of the present application. The second transmission mechanism 2 may include a second motor 21, a second reducer 22, a second mount 23, and a large arm 24.

Wherein the second motor 21 and the second decelerator 22 may be installed on the second installation base 23.

The second decelerator 22 may have a second groove 221.

Further, the second groove 221 may have various shapes, such as a circle, a rectangle, a triangle, etc., without limitation.

Further, the second groove 221 may be provided at a central position of the second decelerator 22, so that stability of the second transmission mechanism can be increased.

The output shaft 211 of the second motor 21 may be disposed in the second recess 221, and the second motor 21 may be connected with the transmission input 222 of the second reducer 22. The transmission output 223 of the second reducer 22 may be connected to one end of the large arm 24.

In the embodiment of the present application, the second transmission 2 may further include a second input flange (not shown in fig. 3). A second input flange may be arranged between the second electric machine 21 and the second reduction gear 22, and the output shaft 211 of the second electric machine 21 may be connected to the transmission input 222 of the second reduction gear 22 via the second input flange.

Refer to fig. 4, which schematically illustrates a structural diagram of a third transmission mechanism according to an embodiment of the present application. The third transmission mechanism 3 may include a third motor 31, a third reducer 32, and a third mount 33.

Wherein, the third motor 31 and the third decelerator 32 may be installed on the third installation seat 33.

The third decelerator 32 may have a third groove 321.

Further, the third groove 321 may have various shapes, such as a circle, a rectangle, a triangle, and the like, without limitation.

Further, a third groove 321 may be provided at a central position of the third decelerator 32, so that stability of the second transmission mechanism can be increased.

The output shaft 311 of the third motor 31 may be disposed in the third groove 321, and the third motor 31 may be connected with the transmission input 322 of the third decelerator 32. The transmission output 323 of the third reduction gear 32 may be connected to the other end of the large arm 24.

In the embodiment of the present application, the third transmission mechanism 3 may further include a third input flange (not shown in fig. 4). A third input flange may be disposed between the third electric machine 31 and the third reduction gear 32, and the output shaft 311 of the third electric machine 31 may be connected to the transmission input 322 of the third reduction gear 32 through the third input flange.

Refer to fig. 5, which schematically illustrates a structural diagram of a fourth transmission mechanism according to an embodiment of the present application. The fourth transmission 4 may include a fourth motor 41, a fourth decelerator 42, a fourth mounting seat 43, a first timing belt 44, a first timing pulley 45, a second timing pulley 46, and a small arm (not shown in fig. 5).

Wherein the fourth motor 41 may be mounted on the fourth mounting seat 43.

The fourth decelerator 42 may have a hollow ring structure. The fourth decelerator 42 may include a first ring-shaped decelerator body 421 and a first hollow structure 422 composed of the first ring-shaped decelerator body 421 connected end to end. The first hollow structure 422 may be used to place cables, which may include, but are not limited to, a power cable, a network cable, a signal cable, and the like.

The first timing pulley 45 and the second timing pulley 46 may be drivingly connected by a first timing belt 44.

The output shaft 411 of the fourth motor 41 may be connected to the first timing pulley 45, the transmission input 423 of the fourth reduction gear 42 may be connected to the second timing pulley 46, and the transmission output 424 of the fourth reduction gear 42 may be connected to one end of the small arm.

Further, the output shaft 411 of the fourth motor 41 may be connected to the first timing pulley 45 by a bolt, and the transmission input end 423 of the fourth decelerator 42 may be connected to the second timing pulley 46 by a bolt. In this way, when the fourth motor 41 operates, the output shaft 411 of the fourth motor 41 can drive the first synchronous pulley 45 to rotate, and the second synchronous pulley 46 can be driven to rotate through the first synchronous belt 44.

Refer to fig. 6, which schematically illustrates a structure of a fifth transmission mechanism according to an embodiment of the present application. The fifth transmission mechanism 5 may include a fifth motor 51, a fifth speed reducer 52, a fifth mount 53, a second timing belt 54, a third timing pulley 55, and a fourth timing pulley 56.

Wherein the fifth motor 51 may be mounted on the fifth mount 53.

The fifth speed reducer 52 may be a hollow ring structure. The fifth reducer 52 may include a second ring reducer body 521 and a second hollow structure 522 composed of the second ring reducer body 521 joined end to end. The second hollow structure 522 may be used to place cables, which may include, but are not limited to, a power cable, a network cable, a signal cable, and the like.

The third and fourth timing pulleys 55 and 56 may be drivingly connected by a second timing belt 54.

The output shaft 511 of the fifth electric motor 51 can be connected to the third synchronous pulley 55, the transmission input 523 of the fifth reduction gear 52 can be connected to the fourth synchronous pulley 56, and the transmission output 524 of the fifth reduction gear 52 can be used for connection to the sixth transmission 6.

Further, the output shaft 511 of the fifth motor 51 may be connected to the third synchronous pulley 55 by a bolt, and the transmission input terminal 523 of the fifth speed reducer 52 may be connected to the fourth synchronous pulley 56 by a bolt. In this way, when the fifth motor 51 is operated, the output shaft 511 of the fifth motor 51 can drive the third synchronous pulley 55 to rotate, and the fourth synchronous pulley 56 can be driven to rotate by the second synchronous belt 54.

Refer to fig. 7, which schematically illustrates a structure of a sixth transmission mechanism according to an embodiment of the present application. The sixth transmission 6 may include a sixth motor 61, a sixth reducer 62, a sixth mount 63, and a second output flange 64.

Wherein the sixth motor 61 and the sixth reducer 62 may be mounted on the sixth mounting seat 63, and the sixth mounting seat 63 may be connected with the transmission output 524 of the fifth reducer 52 (not shown in fig. 7).

The sixth decelerator 62 may have a fourth groove 621.

Further, the fourth groove 621 may have various shapes, such as a circle, a rectangle, a triangle, etc., without limitation.

Further, the fourth recess 621 may be provided at a central position of the sixth speed reducer 62, so that the stability of the second transmission mechanism can be increased.

The output shaft 611 of the sixth motor 61 may be disposed in the fourth recess 621, and the sixth motor 61 may be connected with the transmission input 622 of the sixth reducer 62. The transmission output 623 of the sixth reduction gear 62 can be connected to the second output flange 64.

Further, the second output flange 64 may be used for connection to external tools. For example, the external tool may include any one of a jig, a manipulator, a laser knife, an electric saw, and an electric drill, without limitation.

In the embodiment of the present application, the sixth transmission mechanism 6 may further include a fourth input flange 65. A fourth input flange 65 may be disposed between the sixth motor 61 and the sixth reduction gear 62, and the output shaft 611 of the sixth motor 61 may be connected to the transmission input 622 of the sixth reduction gear 62 through the fourth input flange 65.

In order to more clearly describe the structure of the industrial robot body provided in the embodiment of the present application, please refer to fig. 8, which is a schematic structural diagram of an integrated industrial robot body provided in the embodiment of the present application. The specific structure can refer to fig. 8 and the above description, and is not described herein again.

Taking the industrial robot body shown in fig. 8 as an example, when the robot operates, under the action of the first motor 12, the first mounting seat 14 can rotate around a first axis (i.e., L1 shown in fig. 8) as a rotating shaft with respect to the base 11, under the action of the second motor 21, the large arm 24 can rotate around a second axis (i.e., L2 shown in fig. 8) as a rotating shaft with respect to the first mounting seat 14, under the action of the third motor 31, the third mounting seat 33 can rotate around a third axis (i.e., L3 shown in fig. 8) as a rotating shaft with respect to the large arm 24, under the action of the fourth motor 41, the small arm 47 can rotate around a fourth axis (i.e., L4 shown in fig. 8) with respect to the fourth mounting seat 43, under the action of the fifth motor 51 (not shown in fig. 8), the sixth mounting seat 63 can rotate around a fifth axis (i.e., L5 shown in fig. 8) as a rotating shaft with respect to the small arm 47, under the action of the sixth motor 61 (not shown in fig. 8), the second output flange 64 can rotate relative to the sixth mounting base 63 about the sixth axis (i.e., L6 shown in fig. 8); the second shaft is perpendicular to the first shaft, the third shaft is parallel to the second shaft, the fourth shaft is perpendicular to the third shaft, the fifth shaft is perpendicular to the fourth shaft, and the sixth shaft is perpendicular to the fifth shaft.

Further, when the robot is operated, under the action of the first motor 12, the first mounting seat 14 can rotate within a range of ± 180 ° about the first axis (i.e., L1 shown in fig. 8) with respect to the base 11, under the action of the second motor 21, the large arm 24 can rotate within a range of-60 ° to +140 ° about the second axis (i.e., L2 shown in fig. 8) with respect to the first mounting seat 14, under the action of the third motor 31, the third mounting seat 33 can rotate within a range of-150 ° to +75 ° about the third axis (i.e., L3 shown in fig. 8) with respect to the large arm 24, under the action of the fourth motor 41, the small arm 47 can rotate within a range of ± 360 ° about the fourth axis (i.e., L4 shown in fig. 8) with respect to the fourth mounting seat 43, under the action of the fifth motor 51, the sixth mounting seat 63 can rotate about the fifth axis (i.e., L5 shown in fig. 8) with respect to the small arm 47 The second output flange 64 can rotate within a range of 125 degrees and within a range of ± 360 degrees around the sixth axis (i.e., L6 shown in fig. 8) relative to the sixth mounting seat 63 under the action of the sixth motor 61; the second shaft is perpendicular to the first shaft, the third shaft is parallel to the second shaft, the fourth shaft is perpendicular to the third shaft, the fifth shaft is perpendicular to the fourth shaft, and the sixth shaft is perpendicular to the fifth shaft.

By adopting the industrial robot body provided by the embodiment of the application, the robot body can comprise 6 transmission mechanisms of a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a fifth transmission mechanism and a sixth transmission mechanism, and the motors and the speed reducers in the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the sixth transmission mechanism are directly connected, compared with the mode that the motor is connected with the speed reducer through transmission parts such as gears and the like in the prior art, the industrial robot provided by the embodiment of the application has fewer transmission chains, correspondingly, the structure of the industrial robot body is simpler, the deviation existing in the assembling and processing can be effectively reduced, thereby, the transmission precision can be provided, and simultaneously, the vibration and the noise of the robot body can be reduced, and further, the manufacturable type of the industrial robot body can be improved.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. An industrial robot body comprising a plurality of transmission mechanisms; the transmission mechanism comprises a motor and a speed reducer; the motor is characterized in that at least one direct-connection transmission mechanism exists in the plurality of transmission mechanisms, and an output shaft of a motor in the direct-connection transmission mechanism is connected with a transmission input end of a speed reducer.

2. The robot body according to claim 1, characterized in that it comprises a first transmission (1), a second transmission (2), a third transmission (3), a fourth transmission (4), a fifth transmission (5) and a sixth transmission (6); the first transmission mechanism (1), the second transmission mechanism (2), the third transmission mechanism (3) and the sixth transmission mechanism (6) are the direct connection transmission mechanisms;

the first transmission mechanism (1) comprises a first motor (12) and a first speed reducer (13); the first speed reducer (13) is provided with a first groove (131), and an output shaft (121) of the first motor (12) is arranged in the first groove (131) and is connected with a transmission input end (132) of the first speed reducer (13);

the second transmission mechanism (2) comprises a second motor (21) and a second speed reducer (22); the second speed reducer (22) is provided with a second groove (221), and an output shaft (211) of the second motor (21) is arranged in the second groove (221) and is connected with a transmission input end (222) of the second speed reducer (22);

the third transmission mechanism (3) comprises a third motor (31) and a third speed reducer (32); the third speed reducer (32) is provided with a third groove (321), and an output shaft (311) of the third motor (31) is arranged in the third groove (321) and is connected with a transmission input end (322) of the third speed reducer (32);

the fourth transmission mechanism (4) comprises a fourth motor (41), a fourth speed reducer (42), a first synchronous belt (44), a first synchronous belt wheel (45) and a second synchronous belt wheel (46); the first synchronous belt pulley (45) is in transmission connection with the second synchronous belt pulley (46) through the first synchronous belt (44); an output shaft (411) of the fourth motor (41) is connected with the first synchronous belt pulley (45), and a transmission input end (423) of the fourth speed reducer (42) is connected with the second synchronous belt pulley (46);

the fifth transmission mechanism (5) comprises a fifth motor (51), a fifth speed reducer (52), a second synchronous belt (54), a third synchronous belt wheel (55) and a fourth synchronous belt wheel (56); the third synchronous pulley (55) is in transmission connection with the fourth synchronous pulley (56) through the second synchronous belt (54); an output shaft (511) of the fifth motor (51) is connected with the third synchronous pulley (55), and a transmission input end (523) of the fifth speed reducer (52) is connected with the fourth synchronous pulley (56);

the sixth transmission mechanism (6) comprises a sixth motor (61) and a sixth speed reducer (62); the sixth speed reducer (62) is provided with a fourth groove (621), and the output shaft (611) of the sixth motor (61) is arranged in the fourth groove (621) and connected with the transmission input end (622) of the sixth speed reducer (62).

3. Robot body according to claim 2, characterized in that the first transmission (1) further comprises a base (11), a first mounting (14) and a first output flange (15); the first motor (12) and the first speed reducer (13) are mounted on the first mounting seat (14); the transmission output end (133) of the first speed reducer (13) is connected with the first output flange (15), and the first output flange (15) is connected with the base (11);

the second transmission mechanism (2) further comprises a second mounting seat (23) and a large arm (24); the second motor (21) and the second speed reducer (22) are mounted on the second mounting seat (23); the transmission output end (223) of the second speed reducer (22) is connected with one end of the large arm (24);

the third transmission mechanism (3) further comprises a third mounting seat (33); the third motor (31) and the third speed reducer (32) are mounted on the third mounting seat (33); the transmission output end (323) of the third speed reducer (32) is connected with the other end of the large arm (24);

the fourth transmission mechanism (4) further comprises a fourth mounting seat (43) and a small arm (47); the fourth motor (41) is mounted on the fourth mounting seat (43); the transmission output end (424) of the fourth speed reducer (42) is connected with one end of the small arm (47);

the fifth transmission mechanism (5) further comprises a fifth mounting seat (53); the fifth motor (51) is arranged on the fifth mounting seat (53);

the sixth transmission mechanism (6) further comprises a sixth mounting seat (63) and a second output flange (64); the sixth motor (61) and the sixth speed reducer (62) are mounted on the sixth mounting seat (63), and the sixth mounting seat (63) is connected with a transmission output end (524) of the fifth speed reducer (52); the transmission output end (623) of the sixth speed reducer (62) is connected with the second output flange (64).

4. The robot body as claimed in claim 3, characterized in that, during operation of the robot body, under the action of the first motor (12), the first mounting seat (14) rotates relative to the base (11) about a first axis, under the action of the second motor (21), the large arm (24) rotates relative to the first mounting seat (14) about a second axis, under the action of the third motor (31), the third mounting seat (33) rotates relative to the large arm (24) about a third axis, under the action of the fourth motor (41), the small arm (47) rotates relative to the fourth mounting seat (43) about a fourth axis, and under the action of the fifth motor (51), the sixth mounting seat (63) rotates relative to the small arm (47) about a fifth axis, under the action of the sixth motor (61), the second output flange (64) rotates relative to the sixth mounting seat (63) by taking a sixth shaft as a rotating shaft; the second shaft is perpendicular to the first shaft, the third shaft is parallel to the second shaft, the fourth shaft is perpendicular to the third shaft, the fifth shaft is perpendicular to the fourth shaft, and the sixth shaft is perpendicular to the fifth shaft.

5. The robot body according to claim 3, characterized in that the base (11), the first output flange (15), the first reducer (13), the first mounting seat (14) and the first motor (12) are mounted in sequence from bottom to top in a direction perpendicular to a horizontal plane;

the first speed reducer (13) is mounted below the first mounting seat (14), and the first motor (12) is mounted above the first mounting seat (14).

6. The robot body according to claim 2, characterized in that said fourth reducer (42) is a hollow annular structure comprising a first annular reducer body (421) and a first hollow structure (422) composed of said first annular reducer body (421) end to end; the first hollow structure (422) is used for placing cables;

the fifth speed reducer (52) is of a hollow annular structure and comprises a second annular speed reducer body (521) and a second hollow structure (522) formed by connecting the second annular speed reducer body (521) end to end; the second hollow structure (522) is used for placing cables.

7. The robot body according to claim 3, characterized in that said first recess (131) is a circular recess and is arranged in the central position of said first reducer (13);

the second groove (221) is a circular groove and is arranged at the center of the second speed reducer (22);

the third groove (321) is a circular groove and is arranged at the center of the third speed reducer (32);

the fourth groove (621) is a circular groove and is disposed at the center of the sixth speed reducer (62).

8. The robot body according to claim 3, characterized in that the first transmission mechanism (1) further comprises a first input flange through which the output shaft (121) of the first motor (12) is connected with the transmission input (132) of the first reducer (13);

the second transmission mechanism (2) further comprises a second input flange, and an output shaft (211) of the second motor (21) is connected with a transmission input end (222) of the second speed reducer (22) through the second input flange;

the third transmission mechanism (3) further comprises a third input flange, and an output shaft (311) of the third motor (31) is connected with a transmission input end (322) of the third speed reducer (32) through the third input flange;

the sixth transmission (6) further comprises a fourth input flange, through which the output shaft (611) of the sixth electric machine (61) is connected to the transmission input (622) of the sixth reduction gear (62).

9. Robot body according to claim 3, characterized in that the output shaft (411) of the fourth motor (41) is connected with the first synchronous pulley (45) by means of bolts, and the transmission input (423) of the fourth reducer (42) is connected with the second synchronous pulley (46) by means of bolts;

when the fourth motor (41) runs, an output shaft (411) of the fourth motor (41) drives the first synchronous belt pulley (45) to rotate, and the first synchronous belt (44) drives the second synchronous belt pulley (46) to rotate;

an output shaft (511) of the fifth motor (51) is connected with the third synchronous pulley (55) through a bolt, and a transmission input end (523) of the fifth speed reducer (52) is connected with the fourth synchronous pulley (56) through a bolt;

when the fifth motor (51) runs, an output shaft (511) of the fifth motor (51) drives the third synchronous pulley (55) to rotate, and the fourth synchronous pulley (56) is driven to rotate through the second synchronous belt (54).

10. Robot body according to claim 3, characterized in that the second output flange (64) is used for connecting external tools;

the external tool comprises any one of a clamp, a manipulator, a laser knife, an electric saw and an electric drill.

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