CN213674116U

CN213674116U - Robot

Info

Publication number: CN213674116U
Application number: CN202022659019.0U
Authority: CN
Inventors: 何广峰; 曾照军
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2021-07-13
Anticipated expiration: 2030-11-17

Abstract

The application provides a robot, which comprises a robot main body, a driving motor and a flexible shaft; the robot main body comprises a static platform, a mechanical arm, a movable platform and an output flange; the mechanical arm is connected between the static platform and the movable platform and can drive the movable platform to move; the output flange is rotatably arranged on the movable platform; the driving motor is arranged on the static platform and used for driving the output flange to rotate; the flexible shaft is connected between the driving motor and the output flange in a transmission manner and used for transmitting the mechanical energy output by the driving motor to the output flange so as to drive the output flange to rotate. This application robot sets up driving motor on quiet platform to the weight that the reduction is located terminal platform that moves, directly or indirectly through the flexible axle transmission connect move the output flange on the platform rotate in order to drive the output flange, thereby reduce and move platform weight, reduced the energy consumption when avoided using the spline shaft transmission to connect and the short problem of life that causes.

Description

Robot

Technical Field

The application relates to the technical field of robots, in particular to a robot with a movable platform and a static platform.

Background

In the related design of the Detla robot, the transmission structure for driving the output flange basically adopts the following two modes:

referring to fig. 1, in a first mode, a driving motor and a speed reducer are arranged on a movable platform at the tail end, and mechanical energy output by the driving motor drives an output flange to rotate after speed change of the speed reducer. The disadvantages of this method are that the moving weight of the tail end is large and the energy consumption of the whole machine is high.

Referring to fig. 2, in the second type, a driving motor and a speed reducer are both arranged on a static platform, and an output flange is driven by a spline shaft. The disadvantages of this method are long transmission path, fast wear of spline shaft and short service life.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems that the tail end moving weight is large and the energy consumption of the whole robot is high due to the fact that the driving motor and the speed reducer are arranged on the movable platform, and the spline shaft is fast in abrasion and short in service life due to the fact that the driving motor and the speed reducer are arranged on the static platform and driven through the spline shaft, the robot capable of reducing the moving weight of the tail end movable platform and prolonging the service life is provided.

A robot comprises a robot main body, a driving motor and a flexible shaft;

the robot main body comprises a static platform, a mechanical arm, a movable platform and an output flange; the mechanical arm is connected between the static platform and the movable platform and can drive the movable platform to move; the output flange is rotatably arranged on the movable platform;

the driving motor is arranged on the static platform and used for driving the output flange to rotate;

the flexible shaft is connected between the driving motor and the output flange in a transmission manner and used for transmitting the mechanical energy output by the driving motor to the output flange so as to drive the output flange to rotate.

Further, the robot further comprises a speed reducer;

the speed reducer is arranged on the movable platform and is in transmission connection with the output flange so as to drive the output flange to rotate;

one end of the flexible shaft is in transmission connection with an output shaft of the driving motor, and the other end of the flexible shaft is in transmission connection with an input shaft of the speed reducer.

Furthermore, a protective pipe is sleeved outside the flexible shaft;

the protective tube is fixed on the mechanical arm.

Further, the number of the driving motors is multiple;

the number of the flexible shafts is equal to that of the driving motors, and the flexible shafts are in one-to-one corresponding transmission connection with the driving motors;

each flexible shaft can drive the output flange to rotate around one shaft.

Furthermore, the number of the driving motors and the number of the flexible shafts are respectively three, so that the output flanges can be driven to rotate around three shafts respectively.

Further, the robot further comprises a plurality of speed reducers;

the number of the speed reducers is equal to that of the flexible shafts, and the speed reducers are in one-to-one corresponding transmission connection with the flexible shafts;

each speed reducer can drive the output flange to rotate around one shaft.

Further, the mechanical arm is provided with a plurality of mechanical arms;

each flexible shaft is sleeved with a protective pipe;

each protective tube is fixed on one mechanical arm respectively.

Further, the robotic arm comprises an upper arm and a forearm;

the upper arm is hinged on the static platform;

one end of the forearm is hinged to the upper arm, and the other end of the forearm is hinged to the movable platform.

Further, there are three said mechanical arms;

the three mechanical arms are uniformly distributed around the static platform.

Further, the flexible shaft is a steel wire flexible shaft.

According to the technical scheme, the method has at least the following advantages and positive effects:

the application provides a robot sets up driving motor on quiet platform to reduce and be located terminal moving platform's weight, directly or indirectly the transmission through the flexible axle is connected and is moved the output flange on the platform and rotate in order to drive the output flange, thereby has avoided using the spline shaft transmission to connect and the short problem of life that causes when reducing moving platform weight, reducing the energy consumption.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of a robot in which a driving motor and a speed reducer are both arranged on a movable platform in a related scheme.

Fig. 2 is a schematic view of a three-dimensional structure of a robot in which a driving motor and a speed reducer are both arranged on a static platform in a related scheme.

Fig. 3 is a schematic perspective view of a robot in which a driving motor is disposed on a stationary platform and directly or indirectly drives an output flange disposed on a movable platform through a flexible shaft according to an embodiment of the present application.

Fig. 4 is a schematic view of a portion of fig. 3 at i.

Fig. 5 is a schematic perspective view of an embodiment of the present application, in which a driving motor is connected to a speed reducer disposed on a movable platform through a flexible shaft, and the speed reducer drives an output flange.

Fig. 6 is an enlarged partial cutaway schematic view at ii of fig. 5.

Fig. 7 is a schematic perspective view of an output flange of the driving motor directly connected to the movable platform through a flexible shaft in an embodiment of the present application.

Fig. 8 is a schematic view of fig. 7 at position iii, in enlarged partial cutaway.

Fig. 9 and 10 are schematic perspective views of a robot in which three driving motors are arranged on a stationary platform and an output flange on the stationary platform is driven by three flexible shafts to rotate around multiple axes in an embodiment of the present application.

The reference numerals are explained below:

1. a robot main body; 11. a static platform; 12. a mechanical arm; 121. an upper arm; 122. a forearm; 13. a movable platform; 14. an output flange; 141. rotating the cutter;

2. a drive motor; 21. a fourth shaft driving motor; 22. a fifth shaft driving motor; 23. a sixth shaft driving motor;

3. a speed reducer;

4. a flexible shaft; 41. and (4) a protective pipe.

Detailed Description

Exemplary embodiments that embody features and advantages of the present application will be described in detail in the following description. It is to be understood that the present application is capable of various modifications in various embodiments without departing from the scope of the application, and that the description and drawings are to be taken as illustrative and not restrictive in character.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In a related scheme, a transmission structure of a fourth shaft of a Della robot product adopts the following two modes:

referring to fig. 1, the first way is that the fourth shaft driving motor 21 and the speed reducer 3 are arranged on the end moving platform 13, and the fourth shaft driving motor 21 drives the speed reducer 3 and further drives the output flange 14, which has the disadvantages of heavy moving weight of the end moving platform and high energy consumption of the whole machine.

Referring to fig. 2, the second way is that the fourth shaft driving motor and the speed reducer are arranged on the static platform 11, and the output flange 14 arranged on the movable platform 13 is driven by the central spline shaft, which has the disadvantages of long transmission path, fast abrasion of the spline shaft and short service life.

Referring to fig. 3, to solve the above problem, an embodiment of the present application provides a robot, including a robot main body 1, a driving motor 2, a speed reducer 3, and a flexible shaft 4.

The robot main body 1 includes a stationary platform 11, a robot arm 12, a movable platform 13, and an output flange 14.

The static platform 11 is static relative to the movable platform 13, and may be in various forms such as a disc shape.

The mechanical arm 12 is connected between the static platform 11 and the movable platform 13, and the mechanical arm 12 can drive the movable platform 13 to move relative to the static platform 11. The specific motion form of the movable platform 13 relative to the stationary platform 11 may be a planar motion, or a motion form such as a turning motion or a more complex curve motion.

The robotic arm 12 includes an upper arm 121 and a forearm 122. One end of the upper arm 121 is hinged on the static platform 11, and the other end of the upper arm 121 is hinged on one end of the forearm 122. The end of the forearm 122 remote from the upper arm 121 is hinged to the mobile platform 13. Therefore, after power capable of driving each part to rotate around a hinge point is applied to the mechanical arm 12, the movable platform 13 can be driven to move relative to the static platform 11.

There are three robotic arms 12. Each of the robot arms 12 includes an upper arm 121 and a forearm 122 and is connected between the stationary platform 11 and the movable platform 13 in the above-described connected relationship. The upper arms 121 of the three robotic arms 12 are evenly distributed around the stationary platform 11. The forearms 122 of the three mechanical arms 12 are hinged around the movable platform 13.

In some embodiments, the mechanical arm may be of other types as long as it can support the movable platform 13 and move the movable platform 13 relative to the stationary platform 11.

Referring to fig. 4, the output flange 14 is rotatably provided on the movable platform 13. The output flange 14 is rotatable on the movable platform 13 about an axis, for example, the output flange 14 is rotatable only about its geometric center axis. The output flange 14 may also be rotatable about multiple axes on the movable platform 13 or, for example, the output flange 14 may be rotatable or swingable about three axes, a fourth axis, a fifth axis and a sixth axis, respectively.

The driving motor 2 is mounted on the stationary platform 11. The number of the driving motors 2 can be determined according to the number of the axes around which the output flange 14 is driven to rotate or swing, for example, the output flange 14 needs to be capable of rotating or swinging around the fourth axis, the fifth axis and the sixth axis respectively, and the number of the driving motors 2 can be correspondingly three.

Referring to fig. 5 and 6, the speed reducer 3 is mounted on the movable platform 13, and an output shaft of the speed reducer 3 is in transmission connection with the output flange 14, so that the mechanical energy transmitted by the driving motor 2 is transmitted to the output flange 14 after being changed in speed, and the output flange 14 is driven to rotate. The speed reducer 3 is arranged on the movable platform 13, the reduced rotary mechanical energy is directly transmitted to the output flange 14, and the problem of insufficient transmission rigidity of the steel wire flexible shaft can be solved.

The number of the speed reducers 3 is equal to that of the driving motors 2, and the speed reducers are in one-to-one transmission connection, so that the output flanges 14 are driven to rotate or swing around a plurality of shafts respectively.

Referring to fig. 7 and 8, in some embodiments, the driving motor 2 may be directly connected to the output flange 14 through the flexible shaft 4 without a speed reducer, so as to drive the output flange 14 to rotate. A more powerful drive motor may be used. The output speed is high, the output flange 14 is provided with a rotary tool 141, and the robot can be used for machining operations such as drilling, grinding and polishing according to the tool.

Generally, the larger the power of the driving motor 2 is, the larger the weight thereof will be, but the arrangement thereof on the static platform 11 will not increase the weight of the movable platform 13, and further will not affect the moving speed of the movable platform 13, and will not increase the extra energy consumption.

The flexible shaft 4 is a flexible shaft capable of bending and driving, and even if the movable platform 13 frequently moves relative to the static platform 11, the service life can still be ensured to be longer.

With reference to fig. 5 and 6, one end of the flexible shaft 4 is connected to the output shaft of the driving motor 2, the other end of the flexible shaft 4 is connected to the input shaft of the speed reducer 3, and is further connected to the output flange 14 through the speed reducer 3 in an indirect transmission manner, so that the mechanical energy output by the driving motor 2 is transmitted to the output flange 14 to drive the output flange 14 to rotate.

The flexible shaft 4 is sleeved with a protective pipe 41. The protective tube 41 can be bound or fixed on the mechanical arm 12 through other fixing modes, so that the flexible shaft 4 transmits power to the speed reducer 3 or the output flange 14 along the mechanical arm 12.

The number of the flexible shafts 4 is equal to that of the driving motors 2, and the flexible shafts are in one-to-one transmission connection. For example, in the case of three driving motors 2 and three speed reducers, three flexible shafts 4 are correspondingly provided, and two ends of each flexible shaft 4 are respectively connected with an output shaft of one driving motor 2 and an input shaft of one speed reducer 3 in a transmission manner, so that each driving motor 2 correspondingly drives one speed reducer. Under the condition of arranging three flexible shafts 4, the protective pipe 41 sleeved on each flexible shaft 4 can be correspondingly fixed on one mechanical arm 12.

The flexible shaft 4 can be a steel wire flexible shaft.

By integrating the above settings, one working process of the robot is as follows:

referring to fig. 9 and 10, after the robotic arm 12 moves the mobile platform 13 to the approximate work position, the fifth axis drive motor 22 and/or the sixth axis drive motor 23 are then activated. The output power of the fifth shaft driving motor 22 and the sixth shaft driving motor 23 can be transmitted to a fifth shaft speed reducer and a sixth shaft speed reducer through the corresponding flexible shafts 4 respectively. The fifth shaft reducer and the sixth shaft reducer can respectively drive the output flange 14 to further rotate or swing around the fifth shaft and the sixth shaft to accurate processing positions. Then, the fourth shaft driving motor 21 is started to drive the output flange 14 to rotate around the fourth shaft, and the workpiece is machined by the tool mounted on the output flange 14. The fourth shaft driving motor 21, the fifth shaft driving motor 22 and the sixth shaft driving motor 23 are operated at the same time, and a more complicated processing path can be realized.

When only one driving motor is provided, for example, only the fourth shaft driving motor 21 and the fourth shaft reducer corresponding to the fourth shaft driving motor 21 are provided, after the fourth shaft driving motor 21 is started, the output flange 14 and the tool mounted thereon rotate only around the fourth shaft, thereby realizing the machining of the specific area on the workpiece.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A robot, comprising:

and the flexible shaft is in transmission connection between the driving motor and the output flange and is used for transmitting the mechanical energy output by the driving motor to the output flange so as to drive the output flange to rotate.

2. The robot of claim 1, further comprising a speed reducer;

3. The robot as claimed in claim 1, wherein a protective tube is sleeved outside the flexible shaft;

the protective tube is fixed on the mechanical arm.

4. The robot according to claim 1, wherein there are a plurality of said drive motors;

each flexible shaft can drive the output flange to rotate around one shaft.

5. The robot as claimed in claim 4, wherein there are three driving motors and three flexible shafts respectively, so as to drive the output flange to rotate around three shafts respectively.

6. The robot of claim 4, further comprising a plurality of speed reducers;

each speed reducer can drive the output flange to rotate around one shaft.

7. The robot according to claim 4, wherein there are a plurality of said robot arms;

each flexible shaft is sleeved with a protective pipe;

each protective tube is fixed on one mechanical arm respectively.

8. The robot of claim 1, wherein the robotic arm comprises an upper arm and a forearm;

the upper arm is hinged on the static platform;

9. The robot of claim 1, wherein there are three of said robotic arms;

the three mechanical arms are uniformly distributed around the static platform.

10. A robot as claimed in claim 1, wherein the flexible shaft is a steel wire flexible shaft.