WO2017128923A1 - 一种旋转适配器及具有该旋转适配器的机械手 - Google Patents

一种旋转适配器及具有该旋转适配器的机械手 Download PDF

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Publication number
WO2017128923A1
WO2017128923A1 PCT/CN2016/113576 CN2016113576W WO2017128923A1 WO 2017128923 A1 WO2017128923 A1 WO 2017128923A1 CN 2016113576 W CN2016113576 W CN 2016113576W WO 2017128923 A1 WO2017128923 A1 WO 2017128923A1
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WO
WIPO (PCT)
Prior art keywords
harmonic gear
connecting plate
robot
drive motor
mechanical arm
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PCT/CN2016/113576
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English (en)
French (fr)
Inventor
何宏文
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坚毅机械工程(高要)有限公司
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Publication of WO2017128923A1 publication Critical patent/WO2017128923A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention belongs to the field of industrial robots, and in particular relates to a rotary adapter and a robot having the same.
  • a robot has six robotic arms. That means it can rotate on six different axes.
  • Each robotic arm is driven by a servo motor.
  • the robot is controlled by the program to perform different tasks, such as an assembly process or a printing process, or a soldering process, or a pick-and-place part of a packaging process or other process.
  • External parts or tools such as pliers, or welding torches, or suction cups can be added to the robot's sixth arm to perform those tasks described above.
  • Each arm of the six-axis robot is independently connected indirectly to the servo motor by a reduction gear.
  • the motor shaft is first connected to a gear and then connected to the other gear of the harmonic gear by a plastic or rubber timing belt.
  • Each arm can be rotated at different angles in the horizontal direction or in the constant direction.
  • This type of robot usually has two problems. First, the robot's stop position is not accurate and the positioning accuracy is low. Simply put, in practice, it will be found that when a robot arm moves to its pre-set end of motion, the gears mesh with each other and the motor will immediately stop at the precise position, but the next section of the arm cannot be connected. The toothed belt is stopped in a precise position. There may be a gap between the plastic teeth on the timing belt and the metal teeth on the pulley, or when the other end is stopped by the motor and the other end is pulled up by the transmission gear and the working load, the belt is pulled. Stretching, causing the next joint arm to stay in the exact position.
  • the mechanical arm has a large volume and low sensitivity; at the same time, the production cost is increased due to high manufacturing precision and mounting accuracy requirements of the motor, the harmonic gear, the synchronous toothed belt, and the like.
  • the motor and harmonic gear of the existing robot arm need to be installed separately, and then connected using a synchronous toothed belt connection.
  • the motor and the harmonic gear are installed separately, and the synchronous toothed belt is used to connect the motor and the harmonic gear, so that the overall structure of the robot arm is complicated and large.
  • the installation of components such as motors, harmonic gears, and synchronous toothed belts requires a high-precision manufacturing process, which greatly increases manufacturing costs.
  • the technical problem to be solved by the present invention is to provide a rotary adapter and a robot having the same, which have solved the inaccurate position, large volume, low sensitivity, high production cost, etc. of the existing robot. defect.
  • the technical solution adopted by the present invention to solve the technical problem is to provide a rotary adapter, comprising an upper connecting plate, a lower connecting plate and a connecting member connecting the upper connecting plate and the lower connecting plate, and the upper connecting plate and the lower connecting plate A line gap is formed between the connecting plate and the connecting member, and the upper connecting plate is provided with a through-line through hole communicating with the gap of the line.
  • the lower connecting plate is provided with a through-line through hole
  • the connecting member includes at least two connecting posts, and two ends of the connecting post are respectively connected to the upper connecting plate and the lower connecting plate The board is fixedly connected.
  • the upper connecting plate, the lower connecting plate, and the connecting member are each made of a metal or carbon fiber material.
  • a robot comprising at least a first mechanical arm, a second mechanical arm, a first harmonic gear provided with a control panel, and mounted on the first mechanical arm a first drive motor, the wave generator of the first harmonic gear is directly connected to an output shaft of the first drive motor, the robot further comprising the rotary adapter according to any one of claims 1-3, on the rotary adapter
  • the connecting plate is fixedly connected with the lower end of the second mechanical arm, and the flexible connecting wheel of the lower connecting plate and the first harmonic gear Make a connection.
  • the first mechanical arm is provided with a first mounting cavity, and the first driving motor and the rigid wheel of the first harmonic gear are fixed to the first mounting cavity through a flange. installation.
  • a still further preferred embodiment of the present invention includes: a third mechanical arm having a lower end fixedly coupled to an upper connecting plate of a rotary adapter; and a second harmonic gear disposed on the second mechanical arm a driving motor, the wave generator of the second harmonic gear is directly connected to the output shaft of the second driving motor, and the flexible wheel of the second harmonic gear is fixed to the lower connecting plate of the rotating adapter of the lower end of the third mechanical arm connection.
  • the power line of the second driving motor is connected to the control panel through a through-hole and a line gap of the upper connecting plate of the rotary adapter connected to the first harmonic gear.
  • the second mechanical arm is provided with a second mounting cavity, and the rigid wheels of the second driving motor and the second harmonic gear are fixed to the second mounting cavity through a flange. installation.
  • a still further preferred embodiment of the present invention is to further include a fourth mechanical arm having a third driving motor and a third harmonic gear, a wave generator of the third harmonic gear and the first The output shaft of the three drive motor is directly connected, and the flexible wheel of the third harmonic gear is fixedly coupled to the upper end of the third robot arm via a rotary adapter.
  • the third mechanical arm includes a hollow cavity
  • the power line of the third driving motor sequentially passes through the gap of the rotating adapter of the rotating adapter connected to the upper end of the third mechanical arm, and the upper connecting plate
  • the through hole through hole, the hollow cavity of the third robot arm, the through hole of the upper connecting plate of the rotary adapter connected to the first harmonic gear, and the line gap are connected to the control panel.
  • the fourth mechanical arm is provided with a third mounting cavity, and the rigid wheels of the third driving motor and the third harmonic gear are fixed to the third mounting cavity through a flange. installation.
  • a still further preferred embodiment of the present invention is: further comprising a fifth mechanical arm; the fourth mechanical arm further comprising a fourth harmonic gear and a fourth driving motor, the wave generator of the fourth harmonic gear
  • a still further preferred embodiment of the present invention is that the power line of the fourth drive motor is electrically driven along the third drive motor The same path of the source line is connected to the control panel.
  • the fifth robot arm includes a housing that is disposed outside the fourth harmonic gear and an outwardly extending connection portion.
  • the fourth mechanical arm further includes a fourth mounting cavity, and the rigid wheels of the fourth driving motor and the fourth harmonic gear pass through a flange and the fourth mounting cavity. Fixed installation.
  • a still further preferred embodiment of the present invention is to further include a sixth robot arm, one end of the sixth robot arm being rotatably coupled to the connection portion of the fifth robot arm.
  • a fifth harmonic gear and a fifth driving motor are disposed in the sixth mechanical arm, and the fifth driving motor is rotatably connected to the connecting portion of the sixth mechanical arm and the fifth mechanical arm.
  • the rotation axis is coaxially mounted, and the wave generator of the fifth harmonic gear of the output shaft thereof is directly connected, and the rigid wheel of the fifth harmonic gear is fixedly connected with the connecting portion.
  • the other end of the sixth robot arm is provided with a sixth drive motor and a sixth harmonic gear, and the output shaft of the sixth harmonic gear and the sixth drive motor Directly connected, the steel wheel is fixedly connected to the sixth mechanical arm.
  • the invention has the beneficial effects that by directly connecting the output shaft of each driving motor and the wave generator of the corresponding harmonic gear, each harmonic gear directly drives the corresponding mechanical arm, so that each mechanical arm can be driven by each driving motor.
  • the instantaneous positioning of stopping and stopping effectively improves the positioning accuracy of the manipulator, and the direct connection between the output shaft of the driving motor and the wave generator of the corresponding harmonic gear also effectively reduces the volume and load of the manipulator and improves the sensitivity of the manipulator.
  • the rotation of the adapter is set at the corresponding position, which provides a convenient passage for the wiring of the drive motor, so that the appearance of the entire robot is more neat and beautiful.
  • FIG. 1 is a schematic perspective view of a rotary adapter according to a first embodiment of the present invention
  • FIG. 2 to FIG. 4 are schematic perspective structural views of a rotary adapter of different shapes according to a second embodiment of the present invention.
  • Figure 5 is a perspective view showing the structure of the manipulator of the present invention.
  • Figure 6 is a partial cross-sectional structural view of the manipulator of the present invention.
  • Figure 7 is a schematic structural view of a manipulator of the present invention.
  • Figure 8 is an exploded view of the first robot arm position of the manipulator of the present invention.
  • Figure 9 is a schematic view showing the internal structure of the first robot arm position of the manipulator of the present invention.
  • Figure 10 is a partially enlarged schematic view of the portion A of Figure 5;
  • Figure 11 is a partially enlarged schematic view of a portion B of Figure 5.
  • the rotary adapter 1 of the present embodiment includes an upper connecting plate 11 , a lower connecting plate 12 , and a connecting member 13 connecting the upper connecting plate 11 and the lower connecting plate 12 , and the upper connecting plate 11 , A line gap 14 is formed between the lower connecting plate 12 and the connecting member 13, and the upper connecting plate 11 is provided with a through-line through hole 15 communicating with the line gap 14.
  • the rotary adapter 1 is for mounting between two rotatable mechanical arms, the upper connecting plate 11 is for connecting a mechanical arm, and the lower connecting plate 12 is for fixing with a harmonic gear in another mechanical arm connection.
  • the through-holes 15 and the line gaps 14 provide a convenient passage for driving the motor or other components.
  • the lower connecting plate 12 is provided with a through-line through hole 15
  • the connecting member 13 includes at least two connecting posts, and two ends of the connecting post are fixedly connected to the upper connecting plate 11 and the lower connecting plate 12 respectively.
  • the connecting columns are three, and are evenly distributed at an angle of 120 degrees between the upper connecting plate 11 and the lower connecting plate 12, and the connecting columns which are uniformly distributed at an angle of 120 degrees are formed between the two.
  • a larger crossing gap 14 when the rotary adapter 1 rotates with the mechanical arm, the line (power line or other line) disposed in the line gap 14 and the through-hole 15 can be close to 120 degrees. The scope of the work is not affected, thus effectively improving the reliability of the work.
  • the lower connecting plate 12 is formed in a structure conforming to the upper connecting plate 11. During the assembly process of the robot, the front and back of the rotating adapter 1 may be disregarded. To help improve assembly efficiency.
  • the upper connecting plate 11, the lower connecting plate 12 and the connecting member 13 are all made of metal or carbon fiber material.
  • the upper connecting plate 11 and the lower connecting plate 12 of the rotary adapter 1 are not limited to the embodiment.
  • a ring shape as shown which may also be a triangular shape, a regular polygon or other shape.
  • the connecting member 13 is not limited to the connecting post shown in the first embodiment, and may also be a connecting arm that is not completely closed between the upper connecting plate 11 and the lower connecting plate 12, or other provided for routing.
  • the connector 13 of the hole position ie, the line gap 14).
  • the robot of this embodiment includes at least a first mechanical arm 2, a second mechanical arm 3, a first harmonic gear 22, and a first harmonic arm 22, which are provided with a control panel 21.
  • the first driving motor 23, the wave generator of the first harmonic gear 22 is directly connected to the output shaft of the first driving motor 23, and the robot further includes the rotating adapter 1 of any one or two of the embodiments, rotating
  • the upper connecting plate 11 of the adapter 1 is fixedly connected to the lower end of the second mechanical arm 3, and the lower connecting plate 12 is fixedly connected to the flexible wheel of the first harmonic gear 22.
  • the soft wheel or the rigid wheel of the harmonic gear can be used as the output wheel, and the rigid wheel or the flexible wheel serving as the non-output wheel is directly or indirectly fixedly connected with the mechanical arm on which the corresponding drive motor is mounted.
  • An external tool such as a pliers, a welding torch or a suction cup may be disposed on the second mechanical arm 3, and another mechanical arm may be disposed.
  • the rotation adapter 1 is disposed such that the inner space of the first robot arm 2 and the inner space of the second robot arm 3 are electrically connected to each other through the line gap 14 and the through-line through hole 15, thereby being pliers and electric welding.
  • An external tool such as a gun, a suction cup or the like or another robot arm provided on the second robot arm 3 provides a passage for wiring.
  • a first mounting cavity 24 is disposed in the first mechanical arm 2, and the rigid wheels of the first driving motor 23 and the first harmonic gear 22 are fixed to the first mounting cavity 24 through a flange 8. installation.
  • the arrangement of the first mounting cavity 24 can provide guidance for the installation of the first driving motor 23 and the first harmonic gear 22, reducing the requirement for assembly work of the worker during assembly of the robot, and improving assembly efficiency. reduce manufacturing cost.
  • the robot of the present embodiment adds a third robot arm 4 to the lower end of the third robot arm 4, and the lower end of the third robot arm 4 is fixedly connected to the upper connecting plate 11 of the rotary adapter 1.
  • a second harmonic gear 31 and a second driving motor 32 are disposed on the second mechanical arm 3, and the wave generator of the second harmonic gear 31 is directly connected to the output shaft of the second driving motor 32,
  • the flex wheel of the second harmonic gear 31 is fixedly connected to the lower connecting plate 12 of the rotary adapter 1 at the lower end of the third robot arm 4.
  • the second drive motor 32 is mounted perpendicular to the first drive motor 23.
  • An external tool such as a pliers, a welding torch or a suction cup may be disposed on the third robot arm 4, and another robot arm may be disposed.
  • Power cord of the second drive motor 32 The through-line through hole 15 and the line gap 14 of the rotary adapter 1 connected to the first harmonic gear 22 are connected to the control panel 21.
  • the second mechanical arm 3 is provided with a second mounting cavity 33, and the rigid wheels of the second driving motor 32 and the second harmonic gear 31 are fixed to the second mounting cavity 33 by a flange 8 installation.
  • the function of the second mounting cavity 33 is the same as that of the first mounting cavity 24, and details are not described herein.
  • the robot of the embodiment adds a fourth robot arm 5 to the fourth embodiment.
  • the fourth robot arm 5 is provided with a third driving motor 51 and a third harmonic gear 52.
  • the wave generator of the third harmonic gear 52 is directly connected to the output shaft of the third drive motor 51, and the flexible wheel of the third harmonic gear 52 passes through a rotary adapter 1 and the third mechanical arm
  • the upper end of 4 is fixedly connected.
  • the third drive motor 51 is mounted perpendicular to the second drive motor 32.
  • the third robot arm 4 includes a hollow cavity 41, and the power line of the third drive motor 51 sequentially passes through the line gap 14 of the rotary adapter 1 connected to the upper end of the third robot arm 4, and is connected upward.
  • the control panel 21 is connected.
  • a third mounting cavity 53 is disposed on the fourth mechanical arm 5, and the rigid wheels of the third driving motor 51 and the third harmonic gear 52 are fixed to the third mounting cavity 53 through a flange 8. installation.
  • the function of the third mounting cavity 53 is the same as that of the first mounting cavity 24, and details are not described herein again.
  • the robot of the embodiment adds a fifth robot arm 6 to the fifth embodiment;
  • the fourth robot arm 5 further includes a fourth harmonic gear 54 and a fourth drive.
  • a motor 55, a wave generator of the fourth harmonic gear 54 is directly connected to an output shaft of the fourth drive motor 55;
  • the fifth robot arm 6 is passed through a rotation adapter 1 and a fourth harmonic gear 54
  • the wheel is fixedly connected.
  • the fourth drive motor 55 is mounted perpendicular to the third drive motor 51.
  • the power supply line of the fourth drive motor 55 is connected to the control panel 21 along the same path of the power line of the third drive motor 51.
  • the fifth robot arm 6 includes a housing 61 that is disposed outside the fourth harmonic gear 54 and an outwardly extending connecting portion 62.
  • the fourth mechanical arm 5 is further provided with a fourth mounting cavity 56 adapted to the fourth driving motor 55, and the rigid wheels of the fourth driving motor 55 and the fourth harmonic gear 54 pass through a flange 8 It is fixedly mounted with the fourth mounting cavity 56.
  • the robot of the embodiment further includes a sixth robot arm 7 with one end of the sixth robot arm 7 and The connecting portion 62 of the fifth robot arm 6 is rotatably connected.
  • a fifth harmonic gear 71 and a fifth driving motor 72 are disposed in the sixth mechanical arm 7, and the rotational axes of the fifth driving motor 72 and the connecting portion of the sixth mechanical arm 7 and the fifth mechanical arm 6 are rotationally coupled.
  • the shaft is mounted, and its output shaft is directly connected to the wave generator of the fifth harmonic gear 71, and the rigid wheel of the fifth harmonic gear 71 is fixedly coupled to the connecting portion.
  • the fifth drive motor 72 is mounted perpendicular to the fourth drive motor 55.
  • the other end of the sixth robot arm 7 is provided with a sixth drive motor 73 and a sixth harmonic gear 74.
  • the wave generator of the sixth harmonic gear 74 is directly connected to the output shaft of the sixth drive motor 73.
  • the steel wheel is fixedly coupled to the sixth robot arm 7.
  • the sixth drive motor 73 is mounted perpendicular to the fifth drive motor 72.
  • the flexible wheel of the sixth harmonic gear 74 is used for installing an external tool such as a pliers, a welding torch, a suction cup, etc., to complete a pick-and-place part such as an assembly process or a printing process, or a soldering process, or a packaging process or other processes. Waiting for work.
  • the manipulator of the embodiment is a six-axis manipulator, and since each of the mechanical arms is directly connected to the driving motor through a harmonic gear, the positioning accuracy of the six-axis manipulator is relatively faster than that of the conventional manipulator (belt transmission or gear set transmission). The positioning accuracy is greatly improved, the volume of the robot and the load thereof are also reduced, and the sensitivity is improved.
  • the rotary adapters are arranged such that the power supply line of the corresponding drive motor can be connected to the control panel 21 from the inside of the robot; meanwhile, the power supply line does not need to pass through the middle of the harmonic gear after the rotary adapter is disposed, so that the volume can be used more Small (or smaller) harmonic gears also help to reduce the size of the robot and its own load, and high sensitivity.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种旋转适配器（1），包括上连接板（11）、下连接板（12）以及连接上连接板和下连接板的连接件（13），且上连接板、下连接板与连接件之间形成过线空隙，上连接板上设有与过线空隙相连通的过线通孔（15）。还公开了一种具有该旋转适配器的机械手，包括第一机械臂（2）、第二机械臂（3）、第一谐波齿轮（22）、第一驱动马达（23）以及上述旋转适配器。旋转适配器的设置，不仅为驱动马达的布线提供了便利的通道，也使得整个机械手的外观更加整洁美观，并且通过将驱动马达的输出轴与对应的谐波齿轮的波发生器直接连接，谐波齿轮又直接驱动对应的机械臂，使得机械臂可在驱动马达停止的瞬间定位，有效的提高了机械手的定位精度，减小了机械手的体积及负载，提高了机械手的灵敏度。

Description

一种旋转适配器及具有该旋转适配器的机械手 技术领域
本发明属于工业机器人领域，具体涉及一种旋转适配器及具有该旋转适配器的机械手。
背景技术
工业机器人现在广泛应用于各种工业，例如取/放零件，例如应用于塑胶行业，或者装配或者包装或者烧焊，或者喷油，或者其他操作工序，例如半导体行业和汽车制造业。
其中一种普遍的工业机器人是六轴机械手。简要地说，一台机器人拥有六只机械手臂。那意味着它能够在六条不同的轴上旋转。每一节机械手臂由一只伺服马达驱动。机器人由程序控制执行不同的任务，例如装配工序或印刷工序，或烧焊工序，或包装工序或其他工序的取/放零件。外部的零件或工具，例如钳子，或电焊枪，或吸盘能够添加到机器人第六节手臂上执行上述中的那些任务。
六轴机械手的每一节手臂都是独立地由减速齿轮间接地连接到伺服马达。电机轴先连接到一个齿轮，然后通过一条塑胶或橡胶同步齿形带连接到与谐波齿轮的驱动齿轮的连接另一个齿轮。每一节手臂可以在水平方向或者在常量方向进行不同角度旋转。
这种机器人通常出现两种问题。第一，机械手停留位置不准确，定位精度低。简单地说，在实践中会发现当一台机器人手臂移动到它预先设定的动作终点时，齿轮互相啮合，马达将立刻停到精确的位置上，但是下一节运动手臂却不能由连接的齿形带停到精确的位置上。由于在同步齿形带上的塑胶轮齿与皮带轮上的金属轮齿之间可能存在间隙，或者，在一端被马达停止，另一端被传动齿轮和工作负重往上拉的时候，皮带会被拉伸，从而导致下一关节手臂不能停留在准确的位置上。同步齿形带和皮带出现上述情况，导致机器人手臂停留在不准确的位置上时，会影响到机器人的动作的准确性。同时，齿形带上施加张力和伸缩皮带的老化同样也会影响手臂停留位置的准确性。
第二，机械手臂的体积大，灵敏度低；同时，由于对马达、谐波齿轮、同步齿形带等的制造精度和安装精度要求高，使得生产成本提高。为了方便布线，现有机械手臂的马达和谐波齿轮需要分开安装，然后使用同步齿形带连接等连接。以保证前端马达的电线可以穿过后端手臂的谐波齿轮中心孔，然后连接到位于底部的第一节手臂外壳上的控制面板。马达和谐波齿轮分开安装，并使用同步齿形带连接马达和谐波齿轮，使得机械手臂的整体结构复杂而庞大。而马达、谐波齿轮、同步齿形带等部件的安装，需要高精度的制造工艺，使得制造成本大大提高。
技术问题
本发明要解决的技术问题在于，针对现有技术的上述缺陷，提供一种旋转适配器及具有该旋转适配器的机械手，已解决现有机械手的停留位置不准确，体积大，灵敏度低，生产成本高等缺陷。
问题的解决方案
技术解决方案
本发明解决其技术问题所采用的技术方案是：提供一种旋转适配器，包括上连接板、下连接板以及连接所述上连接板和下连接板的连接件，且所述上连接板、下连接板与连接件之间形成过线空隙，所述上连接板上设有与所述过线空隙相连通的过线通孔。
本发明的更进一步优选方案是：所述下连接板上设有过线通孔，所述连接件包括至少两根连接柱，所述连接柱的两端分别与所述上连接板和下连接板固定连接。
本发明的更进一步优选方案是：所述上连接板、下连接板及连接件均由金属或碳纤材料制成。
本发明解决其技术问题所采用的另一技术方案是：一种机械手，至少包括设有控制面板的第一机械臂、第二机械臂、第一谐波齿轮以及安装于所述第一机械臂内的第一驱动马达，所述第一谐波齿轮的波发生器与第一驱动马达的输出轴直接连接，该机械手还包括权利要求1-3任一所述的旋转适配器，旋转适配器的上连接板与所述第二机械臂下端固定连接，下连接板与第一谐波齿轮的柔轮固 定连接。
本发明的更进一步优选方案是：所述第一机械臂内设有第一安装腔，所述第一驱动马达及第一谐波齿轮的刚轮通过一法兰与所述第一安装腔固定安装。
本发明的更进一步优选方案是：还包括第三机械臂，该第三机械臂的下端与一旋转适配器的上连接板固定连接；所述第二机械臂上设有第二谐波齿轮及第二驱动马达，所述第二谐波齿轮的波发生器与第二驱动马达的输出轴直接连接，所述第二谐波齿轮的柔轮与第三机械臂下端的旋转适配器的下连接板固定连接。
本发明的更进一步优选方案是：所述第二驱动马达的电源线穿过与第一谐波齿轮连接的旋转适配器的上连接板的过线通孔和过线空隙与所述控制面板相连接。
本发明的更进一步优选方案是：所述第二机械臂上设有第二安装腔，所述第二驱动马达及第二谐波齿轮的刚轮通过一法兰与所述第二安装腔固定安装。
本发明的更进一步优选方案是：还包括第四机械臂，该第四机械臂内设有第三驱动马达及第三谐波齿轮，所述第三谐波齿轮的波发生器与所述第三驱动马达的输出轴直接连接，所述第三谐波齿轮的柔轮通过一旋转适配器与所述第三机械臂的上端固定连接。
本发明的更进一步优选方案是：所述第三机械臂包括一空心腔，所述第三驱动马达的电源线依次穿过与第三机械臂上端连接的旋转适配器的过线空隙、上连接板的过线通孔、第三机械臂的空心腔、与第一谐波齿轮连接的旋转适配器的上连接板的过线通孔及过线空隙，与所述控制面板相连接。
本发明的更进一步优选方案是：所述第四机械臂上设有第三安装腔，所述第三驱动马达及第三谐波齿轮的刚轮通过一法兰与所述第三安装腔固定安装。
本发明的更进一步优选方案是：还包括第五机械臂；所述第四机械臂上还设有第四谐波齿轮及第四驱动马达，所述第四谐波齿轮的波发生器与所述第四驱动马达的输出轴直接连接；所述第五机械臂通过一旋转适配器与第四谐波齿轮的柔轮固定连接。
本发明的更进一步优选方案是：所述第四驱动马达的电源线沿第三驱动马达电 源线相同的路径与所述控制面板相连接。
本发明的更进一步优选方案是：所述第五机械臂包括罩设于所述第四谐波齿轮外部的外壳以及向外伸出的连接部。
本发明的更进一步优选方案是：所述第四机械臂上还设有第四安装腔，所述第四驱动马达及第四谐波齿轮的刚轮通过一法兰与所述第四安装腔固定安装。
本发明的更进一步优选方案是：还包括第六机械臂，该第六机械臂的一端与所述第五机械臂的连接部转动连接。
本发明的更进一步优选方案是：所述第六机械臂内设有第五谐波齿轮及第五驱动马达，该第五驱动马达与第六机械臂与第五机械臂的连接部转动连接的转动轴线同轴安装，且其输出轴所述第五谐波齿轮的波发生器直接连接，所述第五谐波齿轮的刚轮与所述连接部固定连接。
本发明的更进一步优选方案是：所述第六机械臂的另一端设有第六驱动马达及第六谐波齿轮，所述第六谐波齿轮的波发生器与第六驱动马达的输出轴直接连接，其钢轮与所述第六机械臂固定连接。
发明的有益效果
有益效果
本发明的有益效果在于，通过将各驱动马达的输出轴与对应的谐波齿轮的波发生器直接连接，各谐波齿轮又直接驱动对应的机械臂，从而使得各机械臂可在各驱动马达停止停止的瞬间定位，有效的提高了机械手的定位精度，而驱动马达的输出轴与对应的谐波齿轮的波发生器直接连接也有效的减小了机械手的体积及负载，提高了机械手的灵敏度；而设置在对应位置上旋转适配器，为驱动马达的布线提供了便利的通道，使得整个机械手的外观更加整洁美观。
对附图的简要说明
附图说明
下面将结合附图及实施例对本发明作进一步说明，附图中：
图1是本发明实施例一的旋转适配器立体结构示意图；
图2-图4是本发明实施例二的不同形状的旋转适配器立体结构示意图；
图5是本发明的机械手的立体结构意图；
图6是本发明的机械手的局部剖面结构示意图；
图7是本发明的机械手的结构示意图；
图8是本发明机械手的第一机械臂位置爆炸结构意图；
图9是本发明机械手的第一机械臂位置内部结构示意图；
图10是图5中A部位局部放大示意图；
图11是图5中B部位局部放大示意图。
实施该发明的最佳实施例
本发明的最佳实施方式
现结合附图，对本发明的较佳实施例作详细说明。
实施例一
如图1所示，本实施例的旋转适配器1，包括上连接板11、下连接板12以及连接所述上连接板11和下连接板12的连接件13，且所述上连接板11、下连接板12与连接件13之间形成过线间隙14，所述上连接板11上设有与所述过线间隙14相连通的过线通孔15。该旋转适配器1用于安装在两可相对转动的机械臂之间，所述上连接板11用于连接一个机械臂，所述下连接板12用于和另一机械臂内的谐波齿轮固定连接。而所述过线通孔15及过线间隙14则为驱动马达或其它部件的布线提供了便利的通道。所述下连接板12上设有过线通孔15，所述连接件13包括至少两根连接柱，所述连接柱的两端分别与所述上连接板11和下连接板12固定连接。本实施例中，所述连接柱为三根，并互成120度角均匀分布于所述上连接板11与下连接板12之间，互成120度角均匀分布的连接柱两两之间形成一较大过线间隙14，当所述旋转适配器1随机械臂转动时，布置于所述过线间隙14及过线通孔15内的线(电源线或其它线)可在接近于120度的范围内不被牵动，从而有效的提高了工作的可靠性。进一步地，在所述下连接板12上设置过线通孔15后，所述下连接板12形成与上连接板11一致的结构，在机械手的装配过程中，可不考虑旋转适配器1的正反向，有利于提高装配效率。所述上连接板11、下连接板12及连接件13均由金属或碳纤材料制成。
实施例二
如图2-4所示，所述旋转适配器1的的上连接板11和下连接板12不限定为实施例 一所示的圆环形状，其也可为图三角形、正多边形或其它形状。所述连接件13也不限定为实施例一所示的连接柱，其也可为设置于上连接板11与下连接板12之间不完全封闭的连接臂，或其它设有用于走线的孔位(即过线间隙14)的连接件13。
实施例三
如图5-8所示，本实施例的机械手，至少包括设有控制面板21的第一机械臂2、第二机械臂3、第一谐波齿轮22以及安装于所述第一机械臂2内的第一驱动马达23，所述第一谐波齿轮22的波发生器与第一驱动马达23的输出轴直接连接，该机械手还包括实施例一或二中任意一种旋转适配器1，旋转适配器1的上连接板11与所述第二机械臂3下端固定连接，下连接板12与第一谐波齿轮22的柔轮固定连接。当然，谐波齿轮的柔轮或刚轮均可作为输出轮，而充当非输出轮的刚轮或柔轮则与安装对应驱动马达的机械臂直接或间接固定连接。所述第二机械臂3上可设置钳子、电焊枪或吸盘等外部工具，也可设置另一机械臂。所述旋转适配器1的设置，使得所述第一机械臂2的内部空间与第二机械臂3的内部空间通过所述过线间隙14及过线通孔15相互导通，从而为钳子、电焊枪、吸盘等外部工具或设置在所述第二机械臂3上的另一机械臂提供一个布线的通道。进一步地，所述第一机械臂2内设有第一安装腔24，所述第一驱动马达23及第一谐波齿轮22的刚轮通过一法兰8与所述第一安装腔24固定安装。所述第一安装腔24的设置可为所述第一驱动马达23及第一谐波齿轮22的安装提供导向，降低该机械手组装过程中对工作人员组装经验的要求，有利于提高装配效率，降低生产成本。
实施例四
如图5-10所示，本实施例的机械手在实施例三的基础上增加了一个第三机械臂4，所述第三机械臂4的下端与一旋转适配器1的上连接板11固定连接；并在所述第二机械臂3上设有第二谐波齿轮31及第二驱动马达32，所述第二谐波齿轮31的波发生器与第二驱动马达32的输出轴直接连接，所述第二谐波齿轮31的柔轮与第三机械臂4下端的旋转适配器1的下连接板12固定连接。优选的，所述第二驱动马达32垂直于所述第一驱动马达23安装。所述第三机械臂4上可设置钳子、电焊枪或吸盘等外部工具，也可设置另一机械臂。所述第二驱动马达32的电源线 穿过与第一谐波齿轮22连接的旋转适配器1的过线通孔15和过线间隙14与所述控制面板21相连接。进一步地，所述第二机械臂3上设有第二安装腔33，所述第二驱动马达32及第二谐波齿轮31的刚轮通过一法兰8与所述第二安装腔33固定安装。所述第二安装腔33的作用与第一安装腔24的作用相同，此处不再赘述。
实施例五
如图5-11所示，本实施例的机械手在实施例四的基础上增加了一个第四机械臂5，该第四机械臂5内设有第三驱动马达51及第三谐波齿轮52，所述第三谐波齿轮52的波发生器与所述第三驱动马达51的输出轴直接连接，所述第三谐波齿轮52的柔轮通过一旋转适配器1与所述第三机械臂4的上端固定连接。优选的，所述第三驱动马达51垂直于所述第二驱动马达32安装。为方便布线，所述第三机械臂4包括一空心腔41，所述第三驱动马达51的电源线依次穿过与第三机械臂4上端连接的旋转适配器1的过线间隙14、上连接板11的过线通孔15、第三机械臂4的空心腔41、与第一谐波齿轮22连接的旋转适配器1的上连接板11的过线通孔15及过线间隙14，与所述控制面板21相连接。进一步地，所述第四机械臂5上设有第三安装腔53，所述第三驱动马达51及第三谐波齿轮52的刚轮通过一法兰8与所述第三安装腔53固定安装。所述第三安装腔53的作用与第一安装腔24的作用相同，此处不再赘述。
实施例六
如图5-11所示，本实施例的机械手在实施例五的基础上增加了一个第五机械臂6；所述第四机械臂5上还设有第四谐波齿轮54及第四驱动马达55，所述第四谐波齿轮54的波发生器与所述第四驱动马达55的输出轴直接连接；所述第五机械臂6通过一旋转适配器1与第四谐波齿轮54的柔轮固定连接。优选的，所述第四驱动马达55垂直于所述第三驱动马达51安装。所述第四驱动马达55的电源线沿第三驱动马达51电源线相同的路径与所述控制面板21相连接。所述第五机械臂6包括罩设于所述第四谐波齿轮54外部的外壳61以及向外伸出的连接部62。所述第四机械臂5上还设有与所述第四驱动马达55相适应的第四安装腔56，所述第四驱动马达55及第四谐波齿轮54的刚轮通过一法兰8与所述第四安装腔56固定安装。进一步地，本实施例的机械手还包括第六机械臂7，该第六机械臂7的一端与 所述第五机械臂6的连接部62转动连接。所述第六机械臂7内设有第五谐波齿轮71及第五驱动马达72，该第五驱动马达72与第六机械臂7与第五机械臂6的连接部转动连接的转动轴线同轴安装，且其输出轴与所述第五谐波齿轮71的波发生器直接连接，所述第五谐波齿轮71的刚轮与所述连接部固定连接。优选的，所述第五驱动马达72垂直于所述第四驱动马达55安装。所述第六机械臂7的另一端设有第六驱动马达73及第六谐波齿轮74，所述第六谐波齿轮74的波发生器与第六驱动马达73的输出轴直接连接，其钢轮与所述第六机械臂7固定连接。优选的，所述第六驱动马达73垂直于所述第五驱动马达72安装。所述第六谐波齿轮74的柔轮则用于安装钳子、电焊枪、吸盘等外部工具，以完成如装配工序或印刷工序，或烧焊工序，或包装工序或其他工序的取/放零件等工作。本实施例的机械手为六轴机械手，由于其每一节机械臂均直接通过一谐波齿轮与驱动马达相连接，使得该六轴机械手的定位精度相对于通过传统机械手(皮带传动或齿轮组传动)的定位精度大大提高，也减小了机械手的体积及自身负载，提高了灵敏度。设置的各旋转设配器则使得相应驱动马达的电源线可从该机械手的内部连接到控制面板21；同时，设置旋转设配器后电源线无需从谐波齿轮的中间穿过，因此可采用体积更小(或者说是直径更小)的谐波齿轮，也有利于减小机械手的体积及自身负载，挺高灵敏度。
需要说明的是，各驱动马达的电源线等在相关附图中均采用标号9表示。
应当理解的是，以上实施例仅用以说明本发明的技术方案，而非对其限制，对本领域技术人员来说，可以对上述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而所有这些修改和替换，都应属于本发明所附权利要求的保护范围。

Claims (18)

  1. [根据细则26改正08.02.2017]　
    一种旋转适配器，其特征在于：包括上连接板、下连接板以及连接所述上连接板和下连接板的连接件，且所述上连接板、下连接板与连接件之间形成过线空隙，所述上连接板上设有与所述过线空隙相连通的过线通孔。
  2. [根据细则26改正08.02.2017]　
    根据权利要求1所述旋转适配器，其特征在于：所述下连接板上设有过线通孔，所述连接件包括至少两根连接柱，所述连接柱的两端分别与所述上连接板和下连接板固定连接。
  3. [根据细则26改正08.02.2017]　
    根据权利要求2所述旋转适配器，其特征在于：所述上连接板、下连接板及连接件均由金属或碳纤材料制成。
  4. [根据细则26改正08.02.2017]　
    一种机械手，至少包括设有控制面板的第一机械臂、第二机械臂、第一谐波齿轮以及安装于所述第一机械臂内的第一驱动马达，所述第一谐波齿轮的波发生器与第一驱动马达的输出轴直接连接，其特征在于：该机械手还包括权利要求1-3任一所述的旋转适配器，旋转适配器的上连接板与所述第二机械臂下端固定连接，下连接板与第一谐波齿轮的柔轮固定连接。
  5. [根据细则26改正08.02.2017]　
    根据权利要求4所述机械手，其特征在于：所述第一机械臂内设有第一安装腔，所述第一驱动马达及第一谐波齿轮的刚轮通过一法兰与所述第一安装腔固定安装。
  6. [根据细则26改正08.02.2017]　
    根据权利要求4所述机械手，其特征在于：还包括第三机械臂，该第三机械臂的下端与一旋转适配器的上连接板固定连接；所述第二机械臂上设有第二谐波齿轮及第二驱动马达，所述第二谐波齿轮的波发生器与第二驱动马达的输出轴直接连接，所述第二谐波齿轮的柔轮与第三机械臂下端的旋转适配器的下连接板固定连接。
  7. [根据细则26改正08.02.2017]　
    根据权利要求6所述机械手，其特征在于：所述第二驱动马达的电源线穿过与第一谐波齿轮连接的旋转适配器的上连接板的过线通孔和过线空隙与所述控制面板相连接。
  8. [根据细则26改正08.02.2017]　
    根据权利要求6或7所述机械手，其特征在于：所述第二机械臂上设有第二安装腔，所述第二驱动马达及第二谐波齿轮的刚轮通过一法兰与所述第二安装腔固定安装。
  9. [根据细则26改正08.02.2017]　
    根据权利要求7所述机械手，其特征在于：还包括第四机械臂，该第四机械臂内设有第三驱动马达及第三谐波齿轮，所述第三谐波齿轮的波发生器与所述第三驱动马达的输出轴直接连接，所述第三谐波齿轮的柔轮通过一旋转适配器与所述第三机械臂的上端固定连接。
  10. [根据细则26改正08.02.2017]　
    根据权利要求9所述机械手，其特征在于：所述第三机械臂包括一空心腔，所述第三驱动马达的电源线依次穿过与第三机械臂上端连接的旋转适配器的过线空隙、上连接板的过线通孔、第三机械臂的空心腔、与第一谐波齿轮连接的旋转适配器的上连接板的过线通孔及过线空隙，与所述控制面板相连接。
  11. [根据细则26改正08.02.2017]　
    根据权利要求9或10所述机械手，其特征在于：所述第四机械臂上设有第三安装腔，所述第三驱动马达及第三谐波齿轮的刚轮通过一法兰与所述第三安装腔固定安装。
  12. [根据细则26改正08.02.2017]　
    根据权利要求10所述机械手，其特征在于：还包括第五机械臂；所述第四机械臂上还设有第四谐波齿轮及第四驱动马达，所述第四谐波齿轮的波发生器与所述第四驱动马达的输出轴直接连接；所述第五机械臂通过一旋转适配器与第四谐波齿轮的柔轮固定连接。
  13. [根据细则26改正08.02.2017]　
    根据权利要求12所述机械手，其特征在于：所述第四驱动马达的电源线沿第三驱动马达电源线相同的路径与所述控制面板相连接。
  14. [根据细则26改正08.02.2017]　
    根据权利要求13所述机械手，其特征在于：所述第五机械臂包括罩设于所述第四谐波齿轮外部的外壳以及向外伸出的连接部。

  15. [根据细则26改正08.02.2017]　
    根据权利要求12-14任一所述机械手，其特征在于：所述第四机械臂上还设有第四安装腔，所述第四驱动马达及第四谐波齿轮的刚轮通过一法兰与所述第四安装腔固定安装。
  16. [根据细则26改正08.02.2017]　
    根据权利要求14所述机械手，其特征在于：还包括第六机械臂，该第六机械臂的一端与所述第五机械臂的连接部转动连接。
  17. [根据细则26改正08.02.2017]　
    根据权利要求16所述机械手，其特征在于：所述第六机械臂内设有第五谐波齿轮及第五驱动马达，该第五驱动马达与第六机械臂与第五机械臂的连接部转动连接的转动轴线同轴安装，且其输出轴所述第五谐波齿轮的波发生器直接连接，所述第五谐波齿轮的刚轮与所述连接部固定连接。
  18. [根据细则26改正08.02.2017]　
    根据权利要求17所述机械手，其特征在于：所述第六机械臂的另一端设有第六驱动马达及第六谐波齿轮，所述第六谐波齿轮的波发生器与第六驱动马达的输出轴直接连接，钢轮与所述第六机械臂固定连接。
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