CN212170392U

CN212170392U - Base device and multi-axis robot

Info

Publication number: CN212170392U
Application number: CN202020575112.0U
Authority: CN
Inventors: 田军; 刘耀俊; 陈建峰
Original assignee: Huiling Technology Shenzhen Co ltd
Current assignee: Huiling Technology Shenzhen Co ltd
Priority date: 2020-04-17
Filing date: 2020-04-17
Publication date: 2020-12-18
Anticipated expiration: 2030-04-17

Abstract

The utility model relates to the technical field of robots, and provides a base device and a multi-axis robot, which comprises a box body, a hollow joint rotating shaft which is rotatablely supported on the box body, and a driving mechanism which is arranged in the box body and can rotate the joint rotating shaft; the drive mechanism includes: a motor having an output shaft; detecting the rotating shaft; the first transmission assembly can enable the joint rotating shaft to rotate at a first reduction ratio when the output shaft rotates; the second transmission assembly can enable the detection rotating shaft to rotate at a second speed reduction ratio when the output shaft rotates; the position detection assembly can detect and detect the rotating position of the rotating shaft; the first reduction ratio is the same as the second reduction ratio. Compared with the prior art, the utility model provides a base device, the motion position of articulated axle is judged to the position of accessible direct detection pivot, and overall structure is more compact, and is small, and space occupancy is low, more is fit for working in the narrow and small occasion in space.

Description

Base device and multi-axis robot

Technical Field

The utility model belongs to the technical field of the technique of robot and specifically relates to a base device and multiaxis robot are related to.

Background

The horizontal four-axis joint robot arm has been widely applied to the current industrial production field, mainly occupies a large proportion in the processes of transportation, processing, assembly and the like, and mainly depends on the characteristics of flexible action, compact structure, small space requirement, high repeated positioning precision, high integration level, simple application and operation and the like, and can accurately and quickly reach a certain point in the space. Compared with a multi-axis industrial robot, the horizontal joint four-axis robot has the advantages of small size, flexibility, low cost and the like, and is greatly integrated and applied in future industrial production lines. The research on the horizontal joint four-axis robot is also very necessary, and the market prospect is wide.

At present, most of structures of the existing horizontal joint four-axis robot in the market adopt a harmonic reducer or an RV (resistance volt) reducer, the front two large arm bodies form two joint axis mechanical arms, and an upper Z axis, a lower Z axis and a rotating R axis are arranged at the tail ends, so that different motions of the four-axis robot in space are realized. Traditional horizontal joint four-axis machine, including base subassembly and upper and lower Z axle subassembly, upper and lower Z axle subassembly rotationally installs on base subassembly, is provided with in the base subassembly and can drives the rotatory driving piece of upper and lower Z axle subassembly and connect the hold-in range subassembly between driving piece and upper and lower Z axle subassembly, however, base subassembly's volume is too big, is difficult to the operation in the space.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a base device and multiaxis robot to the base device volume that exists is too big among the solution prior art, technical problem that space occupancy is high.

The utility model provides a base device, which comprises a box body, a hollow joint rotating shaft which is rotatablely supported on the box body and a driving mechanism which is arranged in the box body and can rotate the joint rotating shaft; the drive mechanism includes: a motor having an output shaft; detecting the rotating shaft; the first transmission assembly can enable the joint rotating shaft to rotate at a first reduction ratio when the output shaft rotates; the second transmission assembly can enable the detection rotating shaft to rotate at a second speed reduction ratio when the output shaft rotates; the position detection assembly can detect and detect the rotating position of the rotating shaft; the first reduction ratio is the same as the second reduction ratio.

Furthermore, the first transmission assembly comprises a transmission driven gear and a transmission driving gear driven by the motor to rotate, the transmission driving gear is arranged on the output shaft, and the transmission driven gear is fixedly arranged on the joint rotating shaft, coaxially arranged with the joint rotating shaft and meshed with the transmission driving gear; the second transmission assembly comprises a detection driven gear and a detection driving gear driven by a motor to rotate, the detection driving gear is arranged on the output shaft, and the detection driven gear is fixedly arranged on the detection rotating shaft, coaxially arranged with the detection rotating shaft and meshed with the detection driving gear.

Furthermore, a motor fixing seat is arranged in the box body, and the motor is fixedly arranged on the motor fixing seat; the detection rotating shaft is rotatably supported on the motor fixing seat, and the position detection assembly is arranged between the detection rotating shaft and the motor fixing seat.

Furthermore, the box body comprises a mounting plate positioned at the top of the box body, the joint rotating shaft is rotatably supported on the mounting plate, and the motor fixing seat is fixedly connected with the mounting plate.

Furthermore, the transmission driven gear is provided with a through groove communicated with the inside of the joint rotating shaft, and the through groove and the inside of the joint rotating shaft form a wiring channel.

Furthermore, a lead frame is arranged in the box body, and the lead frame is provided with a lead hole corresponding to the through groove for driving the driven gear.

Further, the position detecting assembly includes a magnet fixed to an end of the detecting rotary shaft and a magnetic encoder.

Further, a main control board and a driver electrically connected with the motor are arranged in the box body, and the main control board is electrically connected with the driver and the position detection assembly respectively.

Furthermore, the box body comprises an interface board, and an interface corresponding to the socket on the main control board is formed on the interface board.

The utility model provides a pair of multi-axis robot, including the lift main part with install a plurality of arm body in the lift main part, wherein, this multi-axis robot still includes foretell base device, and base device's joint pivot is connected fixedly with the lift main part.

Compared with the prior art, the utility model provides a base device, including the actuating mechanism that can make the joint pivot rotatory around the axis of joint pivot, actuating mechanism includes the motor, detects pivot, first drive assembly, second drive assembly and position detection subassembly, and first drive assembly can make the joint pivot rotate with first reduction ratio when the output shaft rotates, and second drive assembly can make the detection pivot rotate with second reduction ratio when the output shaft rotates; the position detection assembly can detect the rotating position of the detection rotating shaft, and the first reduction ratio and the second reduction ratio are set to be the same, so that the moving position of the joint shaft can be judged by directly detecting the position of the rotating shaft, the whole structure is more compact, the size is small, the space occupancy rate is low, and the joint shaft is more suitable for working in narrow and small occasions.

Drawings

Fig. 1 is a schematic perspective view of a base device according to an embodiment of the present invention;

fig. 2 is an exploded view of a base unit according to an embodiment of the present invention;

fig. 3 is a schematic top view of a base unit according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view taken along the line A-A in FIG. 3;

fig. 5 is a schematic perspective view of a multi-axis robot according to an embodiment of the present invention.

Description of the main elements

100-multi-axis robot; 1-a base unit; 10-a box body; 11-a mounting plate; 111-mounting holes; 112-a first bearing; 113-bearing end cap; 114-a first support aperture; 115-second support holes; 116-a second bearing; 117-third bearing; 118-a fourth bearing; 12-a base plate; 13-an interface board; 14-a first side panel; 15-a second side panel; 16-a third side panel; 17-motor fixing seat; 171-a first assembly hole; 172-second assembly aperture; 20-joint rotation axis; 30-a drive mechanism; 31-a motor; 311-an output shaft; 32-detecting the rotating shaft; 33-a first transmission assembly; 331-a transmission driven gear; 332-a drive gear; 333-through groove; 34-a second transmission assembly; 341-detecting the driven gear; 342-detecting the drive gear; 35-a position detection assembly; 351-a magnet; 352-a magnetic encoder; 41-a main control board; 42-a driver; 43-an adapter plate; 44-lead frame; 441-wire guides; 2-a lifting body; 3-a first arm body; 4-second arm body.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It is to be understood that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.

In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description is provided for the implementation of the present invention with reference to the specific drawings.

For convenience of description, the terms "upper" and "lower" are used in the same direction as the upper and lower directions of the drawings, but do not limit the structure of the present invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

As shown in fig. 1 to 4, the present embodiment provides a base device 1, which includes a casing 10, a hollow joint rotation shaft 20 rotatably supported on the casing 10, and a driving mechanism 30 disposed in the casing 10 and capable of rotating the joint rotation shaft 20 around an axis of the joint rotation shaft 20; the drive mechanism 30 includes: a motor 31 having an output shaft 311; a detection shaft 32; a first transmission unit 33 capable of rotating the joint rotation shaft 20 at a first reduction ratio when the output shaft 311 rotates; a second transmission assembly 34 capable of rotating the detection rotating shaft 32 at a second reduction ratio when the output shaft 311 rotates; and a position detecting member 35 capable of detecting the rotational position of the rotary shaft 32; the first reduction ratio (also called transmission ratio, for the sake of unifying technical terms, hereinafter generically called reduction ratio) is the same as the second reduction ratio.

The base device 1 includes a driving mechanism 30 capable of rotating the joint rotation shaft 20 around the axis of the joint rotation shaft 20, the driving mechanism 30 includes a motor 31, a detection rotation shaft 32, a first transmission assembly 33, a second transmission assembly 34 and a position detection assembly 35, the first transmission assembly 33 is capable of rotating the joint rotation shaft 20 at a first reduction ratio when the output shaft 311 rotates, and the second transmission assembly 34 is capable of rotating the detection rotation shaft 32 at a second reduction ratio when the output shaft 311 rotates; the position detection assembly 35 can detect the rotation position of the detection rotating shaft 32, and the first reduction ratio and the second reduction ratio are set to be the same, so that the movement position of the joint shaft can be judged by directly detecting the position of the rotating shaft 32, the whole structure is more compact, the size is small, the space occupancy rate is low, and the joint shaft joint detection device is more suitable for working in narrow and small occasions.

Referring to fig. 1 to 3, the base device 1 of the present embodiment includes a box 10, which is substantially rectangular, in the present embodiment, the box 10 includes a mounting plate 11 at a top thereof, a bottom plate 12 at a bottom thereof, and an interface plate 13 and three side plates, which are respectively a first side plate 14, a second side plate 15 and a third side plate 16 connected in sequence between the mounting plate 11 and the bottom plate 12, wherein the first side plate 14 is opposite to the third side plate 16, and the second side plate 15 is opposite to the interface plate 13.

Referring to fig. 1 to 4, the joint rotation shaft 20 of the present embodiment is a hollow structure and rotatably supported on the box 10, in the present embodiment, the joint rotation shaft 20 is rotatably supported on the mounting plate 11 of the box 10, the mounting plate 11 is provided with a mounting hole 111 for mounting the joint rotation shaft 20, a first bearing 112 is disposed between an outer wall of the joint rotation shaft 20 and an inner wall of the mounting hole 111 of the mounting plate 11, the mounting plate 11 is covered with a bearing end cover 113, and the bearing end cover 113 is fixed on the mounting plate 11 by screws and holds the first bearing 112 on the mounting plate 11.

Referring to fig. 1 to 4, the driving mechanism 30 of the present embodiment is disposed in the casing 10 and is capable of rotating the joint rotating shaft 20 around the axis of the joint rotating shaft 20, and the driving mechanism 30 includes a motor 31, a detection rotating shaft 32, a first transmission assembly 33, a second transmission assembly 34, and a position detection assembly 35; the motor 31 has an output shaft 311, the first transmission assembly 33 can rotate the joint rotation shaft 20 at a first reduction ratio when the output shaft 311 rotates, the second transmission assembly 34 can rotate the detection rotation shaft 32 at a second reduction ratio when the output shaft 311 rotates, the position detection assembly 35 can detect the rotation position of the detection rotation shaft 32, and the first reduction ratio and the second reduction ratio are set to be the same. It can be understood that, since the first transmission assembly 33 and the second transmission assembly 34 have the same reduction ratio, the rotation motion of the joint rotation shaft 20 is consistent with the detection rotation shaft 32, and the motion position of the joint rotation shaft can be determined by directly detecting the position of the rotation shaft 32 under this structure, so that not only the position information of the joint rotation shaft 20 can be checked, but also the wiring can be performed through the inside of the joint rotation shaft 20 without mutual interference.

Referring to fig. 2 and 4, the first transmission assembly 33 of the present embodiment includes a transmission driven gear 331 and a transmission driving gear 332 driven by the motor 31 to rotate, the transmission driving gear 332 is disposed on the output shaft 311, the transmission driven gear 331 is fixedly disposed on the joint rotating shaft 20 and is coaxially disposed with the joint rotating shaft 20 and is engaged with the transmission driving gear 332; the second transmission assembly 34 includes a detection driven gear 341 and a detection driving gear 342 driven by the motor 31 to rotate, the detection driving gear 342 is disposed on the output shaft 311, and the detection driven gear 341 is fixedly disposed on the detection rotating shaft 32, coaxially disposed with the detection rotating shaft 32, and engaged with the detection driving gear 342. In the present embodiment, the axis of the output shaft 311 and the axis of the joint rotating shaft 20 and the axis of the output shaft 311 and the axis of the detection rotating shaft 32 are both arranged in parallel. The transmission driving gear 332 and the detection driving gear 342 are both disposed on the output shaft 311, the transmission driving gear 332 is disposed below the detection driving gear 342 (below the illustration), all the existing non-rotatable manners such as key connection are adopted between the transmission driving gear 332 and the output shaft 311 and between the detection driving gear 342 and the output shaft 311, and the transmission driving gear 332 and the detection driving gear 342 are driven by the motor 31 to rotate together. The transmission driven gear 331 is fixed to the lower end (lower end shown in the figure) of the joint rotation shaft 20 by any conventional fixing means such as screws and welding, the transmission driven gear 331 and the transmission driving gear 332 are coaxially arranged, the transmission driven gear 331 is engaged with the transmission driving gear 332, and the transmission driving gear 332 rotates to drive the transmission driven gear 331 and the joint rotation shaft 20 to rotate together under the driving of the motor 31. Detect driven gear 341 and detect pivot 32 key-type connection, detect driven gear 341 and detect pivot 32 coaxial setting and with detect driving gear 342 meshing, under the drive of motor 31, the rotation that detects driving gear 342 drives and detects driven gear 341 and detect pivot 32 and rotate together. The transmission driving gear 332 and the transmission driven gear 331 have a first reduction ratio therebetween, and the detection driving gear 342 and the detection driven gear 341 have a second reduction ratio therebetween, the first reduction ratio being set to be the same as the second reduction ratio.

With continued reference to fig. 2 and 4, a motor fixing seat 17 is disposed in the box body 10 of the present embodiment, and the motor 31 is fixedly disposed on the motor fixing seat 17; the detection rotating shaft 32 is rotatably supported on the motor fixing seat 17, and the position detection assembly 35 is arranged between the detection rotating shaft 32 and the motor fixing seat 17. In this embodiment, the motor fixing seat 17 is connected and fixed with the mounting plate 11 through any existing fixing method such as screws and welding, the motor 31 is fixed with the motor 31 through any existing fixing method such as screws and welding, the motor fixing seat 17 is provided with a first assembling hole 171 and a second assembling hole 172, the mounting plate 11 is provided with a first supporting hole 114 corresponding to the first assembling hole 171 and a second supporting hole 115 corresponding to the second assembling hole 172, the output shaft 311 of the motor 31 enters the first supporting hole 114 through the first assembling hole 171, the transmission driving gear 332 is located in the first assembling hole 171, and the second bearing 116 is arranged between the inner wall of the first supporting hole 114 and the outer wall of the output shaft 311 of the motor 31. The detection rotating shaft 32 penetrates through the second assembling hole 172 and the second supporting hole 115, and a third bearing 117 is arranged between the inner wall of the second supporting hole 115 and the outer wall of the detection rotating shaft 32. A fourth bearing 118 is disposed between the inner wall of the second fitting hole 172 and the outer wall of the detection rotating shaft 32.

With continued reference to fig. 2 and 4, the position detecting assembly 35 of the present embodiment includes a magnet 351 and a magnetic encoder 352, wherein the magnet 351 is fixed on the end of the detecting rotary shaft 32. In the present embodiment, the magnet 351 has a substantially circular cross section, is adhesively fixed to the lower end (lower end shown in the figure) of the detection rotating shaft 32, and can rotate together with the detection rotating shaft 32, the magnetic encoder 352 is fixed to the motor fixing base 17 by any conventional fixing means such as screws and welding, the magnetic encoder 352 is located below (lower end shown in the figure) the magnet 351, the magnetic encoder 352 includes a magnetic encoder board provided with a hall sensor chip, the magnetic encoder board and the magnet 351 are arranged in accordance with a predetermined direction and distance, and can detect the position information of the detection rotating shaft 32 according to the magnetic field change of the magnet 351. It should be noted that, the position information of the detection rotating shaft 32 can be identified through the voltage signal output by the magnetic encoding circuit board provided with the hall sensor chip, so that the position reading after the power failure restart is realized, and the cost increase caused by the mode that the servo motor 31 is matched with the servo encoder to read the position after the power failure is well solved through the above application.

Referring to fig. 2 and 4, a main control board 41 and a driver 42 electrically connected to the motor 31 are disposed in the box 10 of the present embodiment, and the main control board 41 is electrically connected to the driver 42 and the position detecting assembly 35 respectively. In this embodiment, a main control board 41, a driver 42 and an adapter board 43 are disposed in the box 10, the main control board 41 is electrically connected to the driver 42 and the magnetic encoder 352 through the adapter board 43, a socket is disposed on the main control board 41, and an interface corresponding to the socket on the main control board 41 is formed on the interface board 13. The main control board 41 controls the driver 42 to drive the motor 31 to work, the motor 31 drives the joint rotating shaft 20 to rotate through the first transmission assembly 33 and drives the detection rotating shaft 32 to rotate through the second transmission assembly 34, the position detection assembly 35 can detect the rotating position of the detection rotating shaft 32, and real-time feedback of the position can be achieved to form a closed-loop control loop. The main control board 41 is a conventional main control board 41 capable of implementing the above control in the related art, and the driver 42 is a conventional driver 42 capable of implementing the above driving in the related art.

As can be seen from fig. 4, the transmission driven gear 331 of the present embodiment has a through groove 333 communicating with the inside of the joint rotation shaft 20, and the through groove 333 and the inside of the joint rotation shaft 20 form a routing channel. In the embodiment, the case 10 is provided with the lead frame 44, the lead frame 44 is fixed on the mounting plate 11 by any conventional fixing means such as screws, welding, etc., the lead frame 44 has a lead hole 441 corresponding to the through slot 333 of the transmission driven gear 331, and the connecting wires can be bound on the lead frame 44 by nylon bands or binding bands, so that the internal routing is more neat and the maintenance is convenient.

As shown in fig. 5, the multi-axis robot 100 provided by this embodiment includes a lifting body, a plurality of arms mounted on the lifting body, and the base device 1, wherein the joint rotating shaft 20 of the base device 1 is connected and fixed with the lifting body. In the present embodiment, the multi-axis robot 100 is a four-axis robot, and includes a base device 1, a lifting body 2 rotatably supported on the base device 1, a first arm 3 liftably mounted on the lifting body 2, and a second arm 4 rotatably mounted on the first arm 3. This multiaxis robot 100 adopts foretell base device 1, and the shared space of end structure is little, more is fit for the occasion work that the space is narrow and small, and is convenient for maintain.

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

Claims

1. A base device is characterized by comprising a box body, a hollow joint rotating shaft and a driving mechanism, wherein the hollow joint rotating shaft is rotatably supported on the box body; the drive mechanism includes: a motor having an output shaft; detecting the rotating shaft; a first transmission assembly capable of rotating the joint rotation shaft at a first reduction ratio when the output shaft rotates; the second transmission assembly can enable the detection rotating shaft to rotate at a second speed reduction ratio when the output shaft rotates; the position detection assembly can detect the rotating position of the detection rotating shaft; the first reduction gear ratio is the same as the second reduction gear ratio.

2. The base device of claim 1, wherein the first transmission assembly comprises a transmission driven gear and a transmission driving gear driven by the motor to rotate, the transmission driving gear is disposed on the output shaft, and the transmission driven gear is fixedly disposed on the joint rotating shaft, coaxially disposed with the joint rotating shaft and engaged with the transmission driving gear; the second transmission assembly comprises a detection driven gear and a detection driving gear driven by the motor to rotate, the detection driving gear is arranged on the output shaft, and the detection driven gear is fixedly arranged on the detection rotating shaft, coaxially arranged with the detection rotating shaft and meshed with the detection driving gear.

3. The pedestal device according to claim 2, wherein a motor fixing seat is arranged in the box body, and the motor is fixedly arranged on the motor fixing seat; the detection rotating shaft is rotatably supported on the motor fixing seat, and the position detection assembly is arranged between the detection rotating shaft and the motor fixing seat.

4. The base unit of claim 3, wherein the housing includes a mounting plate at a top thereof, the joint shaft is rotatably supported on the mounting plate, and the motor holder is fixedly connected to the mounting plate.

5. The pedestal device according to claim 2, wherein the transmission driven gear has a through slot communicating with the interior of the joint rotation shaft, the through slot and the interior of the joint rotation shaft forming a routing channel.

6. The pedestal device according to claim 5, wherein a lead frame is disposed in the case, and the lead frame has a lead hole corresponding to the through groove of the transmission driven gear.

7. The base unit of any one of claims 1 to 6, wherein the position detecting assembly includes a magnet and a magnetic encoder, the magnet being fixed to an end of the detection shaft.

8. The pedestal device according to any one of claims 1 to 6, wherein a main control board and a driver electrically connected to the motor are disposed in the box, and the main control board is electrically connected to the driver and the position detecting assembly respectively.

9. The base unit of claim 8, wherein the housing includes an interface board having an interface formed thereon that corresponds to a socket on the main control board.

10. A multi-axis robot, comprising a lifting body and a plurality of arms mounted on the lifting body, characterized in that it further comprises a base device as claimed in any one of claims 1 to 9, wherein the joint rotation shaft of the base device is fixedly connected with the lifting body.