WO2019114207A1

WO2019114207A1 - Novel multi-functional direct drive horizontally articulated mechanical arm

Info

Publication number: WO2019114207A1
Application number: PCT/CN2018/089169
Authority: WO
Inventors: 田军; 刘耀俊
Original assignee: 慧灵科技（深圳）有限公司
Priority date: 2017-12-12
Filing date: 2018-05-31
Publication date: 2019-06-20
Also published as: CN107803829A; CN107803829B

Abstract

A direct drive horizontally articulated mechanical arm (1) comprises: a mechanical arm main body, a first arm body (16) connected to the mechanical arm main body, and a second arm body (17) connected to an end part of one end of the first arm body. The mechanical arm main body comprises a linear module unit (15), a sliding block base (151) and a driving component (12) which are arranged in the vertical direction. An outer side of the sliding block base is connected to a fixing base (153), and a lower part of the fixing base is provided with a first direct drive motor (18); one end of the first arm body is connected to the first direct drive motor, and the other end is provided with a second direct drive motor (19); and one end of the second arm body is connected to the second direct drive motor. The mechanical arm may be used as a desktop level mechanical arm, and a tail end may be provided with a three-dimensional (3D) printer nozzle, a vacuum suction cup, an electric claw, an ink brush, an electric soldering iron, a laser source and the like to achieve various functions such as 3D printing, stacking, writing, welding a circuit board, laser sintering and the like.

Description

A new type of multifunctional direct drive horizontal joint manipulator

[Technical field]

The invention relates to the technical field of direct-drive horizontal joint manipulator products, in particular to a novel multifunctional direct-drive horizontal joint manipulator which can significantly reduce the manufacturing cost, the thickness of the arm body and the overall appearance coordination.

[Background technique]

The horizontal joint four-axis manipulator has been widely used and has a very important role in the environment of handling, processing and assembly. It has the characteristics of flexible movement, compact structure, small space requirement and high repeatability. Quickly reach the point of space, the horizontal joint four-axis robot arm has the advantages of small size, flexibility and low cost compared with the six-axis industrial robot arm. It will be an inevitable trend in the future industrial pipeline, and the level is increased. The research on the joint four-axis manipulator is also very necessary. At present, the main brands of horizontal joint four-axis manipulators at home and abroad include Epson, Yamaha and KUKA.

At present, most of the existing horizontal joint four-axis robots on the market adopt harmonic reducers or RV reducers, and the upper and lower Z-axis and the rotary R-axis are set at the end, and the front two booms form two robot arms, thereby realizing The different movements of the four-axis manipulator in space. This kind of manipulator has the characteristics of large load, long arm length and high precision, but the price is relatively high. Because the upper and lower Z-axis and the rotating R-axis are at the end, the end structure The space is relatively large and it is not suitable for working in places where space is small.

Based on the above problems, how to effectively optimize the structure of the device, so that the mechanical arm can be better applied to many different occasions, the technical personnel in the field have carried out a lot of research and development, starting from the structure and principle of the arm body. Improvements and improvements, and achieved good results.

[Summary of the Invention]

In order to overcome the problems existing in the prior art, the present invention provides a novel multifunctional direct-drive horizontal joint robot arm which can significantly reduce the manufacturing cost, the thickness of the arm body, and the overall appearance coordination.

The solution to solve the technical problem of the present invention is to provide a novel multifunctional direct drive horizontal joint robot arm, comprising a mechanical arm body and a first arm body connected to the mechanical arm body and connected to one end end of the first arm body a second arm body; the mechanical arm body comprises a linear module unit arranged in a vertical direction, a slider seat movable up and down along the linear module unit, and a driving device for driving the slider holder to be disposed in the linear mode a driving assembly at a lower portion of the unit; a fixed seat is connected to the outside of the sliding block, and a first direct drive motor is disposed at a lower portion of the fixed seat; one end of the first arm is connected to the first direct drive motor, and the first The other end of the first direct drive motor is provided with a second direct drive motor; one end of the second arm is connected to the second direct drive motor at the end of the first arm.

Preferably, the mechanical arm body further includes a base and a main support plate disposed on an upper portion of the base and a side plate disposed perpendicularly to the main support plate; the linear module unit is vertically disposed on the base and is located on the main support plate Between the side and the side; the driving component comprises a motor, an active synchronous wheel driven by the motor, a driven synchronous wheel for driving the slider seat to move on the linear module unit, and a connection for the active synchronous wheel and the driven The timing belt of the synchronous wheel; the motor is located at the lower part of the linear module unit.

Preferably, the first direct drive motor includes a stator punch disposed around the coil, a rotor, a stator shaft, a first rotary bearing, a second rotary bearing coaxial with the first rotary bearing and fixed relative to the stator shaft, and a code The stator punch is fixed on the stator shaft; and the inner wall of the rotor casing is adhered with a magnet; the stator shaft is fixed in the fixed seat; and an encoder protection cover for protecting the encoder is further fixed on the outside of the encoder; One end of the first arm body is connected to an outer end surface of the rotor by a screw.

Preferably, the fixing base is fixed to the slider seat by screws, the first direct drive motor is fixed on the fixing base by screws, and a tank drag chain is arranged on one side of the linear module unit, and the fixing seat is internally arranged There is a first motor drive plate for controlling the operation of the first direct drive motor.

Preferably, the structure of the second direct drive motor is the same as that of the first direct drive motor.

Preferably, the first arm body includes a first arm upper cover and a first arm lower cover; and a second motor drive for controlling the operation of the second direct drive motor is disposed inside the first arm a plate; one end of the second arm is connected to the outer end surface of the rotor of the second direct drive motor by a screw.

Preferably, the fixing seat of the mechanical arm body is provided with a groove body for placing the first motor driving plate toward one side of the slider seat.

Preferably, the first rotary bearing is disposed on an upper portion of the stator shaft, and the second rotary bearing is disposed on a lower portion of the stator shaft.

Preferably, the middle portion of the rotor is provided with a rotating shaft that cooperates with the first rotating bearing and the second rotating bearing inner ring.

Compared with the prior art, a novel multifunctional direct drive horizontal joint robot arm of the present invention is provided with a main arm body and a first arm body 16 connected to the main body of the robot arm, and an end end of the first arm body 16 a second arm body 17 connected to the portion, and the robot arm body is designed to include a linear module unit 15 disposed in a vertical direction, a slider holder 151 movable up and down along the linear module unit 15, and for driving The slider base 151 moves and is disposed on the driving assembly 12 at the lower part of the linear module unit 15, and combines with the direct drive motor between the arm bodies. The structure of the second arm body 17 has a compact structure, a large up and down movement stroke, and a light load. Compared with the mechanical arm using the harmonic reducer or the RV reducer, the cost is greatly reduced, and the direct drive is used to directly improve the repeatability of the mechanical arm. The thickness of the arm body can be designed to be very thin and the overall appearance is coordinated. The horizontal joint triaxial arm has a small body shape and can be used as a desktop-level robot arm. The end can be equipped with a 3D printing nozzle, a vacuum chuck, an electric gripper, a writing brush, an electric soldering iron, a laser light source. , To perform various functions, such as 3D printing, stacking, writing, soldering circuit boards, laser sintering.

[Description of the Drawings]

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the structure of a three-dimensional state of a novel multifunctional direct drive horizontal joint manipulator.

2 is a schematic view showing the structure of a side state of a novel multifunctional direct drive horizontal joint manipulator according to the present invention.

Figure 3 is an enlarged schematic view of a portion A in Figure 2.

4 is a schematic view showing the structure of another side state of a novel multifunctional direct drive horizontal joint robot arm according to the present invention.

[Detailed ways]

The present invention will be further described in detail below with reference to the drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1 to FIG. 4, a novel multifunctional direct drive horizontal joint robot 1 includes a mechanical arm body and a first arm body 16 connected to the mechanical arm body and an end end of the first arm body 16. a second arm body 17 connected to the portion; the robot arm body includes a linear module unit 15 disposed in a vertical direction, a slider holder 151 movable up and down along the linear module unit 15, and a driving block for driving the slider The base 151 is moved and disposed on the lower part of the linear module unit 15; the slider base 151 is externally connected with a fixing base 153, and a first direct drive motor 18 is disposed at a lower portion of the fixed base 153; One end of the arm body 16 is connected to the first direct drive motor 18, and the first arm body 16 is different from the other end of the first direct drive motor 18 with a second direct drive motor 19; one end of the second arm body 17 and the first arm The second direct drive motor 19 at the end of the body 16 is connected.

By simultaneously providing a mechanical arm body and a first arm body 16 connected to the mechanical arm body, and a second arm body 17 connected to one end end of the first arm body 16, and designing the mechanical arm body to include a linear module unit 15 disposed in a vertical direction, a slider holder 151 movable up and down along the linear module unit 15, and a driving assembly 12 for driving the slider holder 151 to move and disposed at a lower portion of the linear module unit 15 Combined with the direct drive motor between the arm bodies, the structure of the second arm body 17 has the characteristics of compact structure, large up and down movement stroke, light load, and the like, and the cost of the mechanical arm using the harmonic reducer or the RV reducer is greatly reduced. The use of direct drive directly improves the repeatability of the mechanical arm. The thickness of the arm can be designed to be very thin and the overall appearance is coordinated. This horizontal joint triaxial arm is small and can be used as a desktop-level robotic arm. Can be installed with 3D printing nozzles, vacuum chucks, electric grippers, writing brushes, electric soldering irons, laser light sources, etc. to achieve various functions, such as 3D printing, stacking, writing, soldering circuit boards, Light sintering, etc.

Preferably, the mechanical arm body further includes a base 11 and a main support plate 13 disposed on an upper portion of the base 11 and a side plate 14 disposed perpendicularly to the main support plate 13; the linear module unit 15 is vertically disposed on the base 11 is between the main support plate 13 and the side 14; the drive assembly 12 includes a motor 121, an active synchronous wheel 123 driven by the motor 121, and is used to drive the slider block 151 to move on the linear module unit 15. The driven synchronous wheel 127 and the timing belt 125 for connecting the active synchronous wheel 123 and the driven synchronous wheel 127; the motor 121 is located at the lower portion of the linear module unit 15.

Preferably, the first direct drive motor 18 includes a stator die 186 around which a coil is disposed, a rotor 181, a stator shaft 184, a first rotary bearing 183, is coaxial with the first rotary bearing 183, and is fixed relative to the stator shaft 184. a second rotating bearing 182 and an encoder 185; the stator punching piece 186 is fixed on the stator shaft 184; and a magnet 187 is adhered to the inner wall of the outer casing of the rotor 181; the stator shaft 184 is fixed in the fixing base 153; outside the encoder 185 An encoder protection cover for protecting the encoder 185 is also fixedly disposed; one end of the first arm body 16 is connected to the outer end surface of the rotor 181 by a screw.

Preferably, the fixing base 153 is fixed to the slider seat 151 by screws, the first direct drive motor 18 is fixed on the fixing base 153 by screws, and a tank drag chain is arranged on the side of the linear module unit 15 14. The fixed seat 153 is internally provided with a first motor drive plate 152 for controlling the operation of the first direct drive motor 18.

Preferably, the structure of the second direct drive motor 19 is the same as that of the first direct drive motor 18.

Preferably, the first arm body 16 includes a first arm upper cover and a first arm lower cover; and a second for controlling the operation of the second direct drive motor 19 is disposed inside the first arm The motor drive plate 161; one end of the second arm body 17 is connected to the outer end surface of the rotor of the second direct drive motor 19 by a screw.

Preferably, the fixing seat 153 of the mechanical arm body is provided with a groove body for placing the first motor driving plate 152 toward the side of the slider seat 151.

Preferably, the first rotary bearing 183 is disposed on an upper portion of the stator shaft 184, and the second rotary bearing 182 is disposed on a lower portion of the stator shaft 184.

Preferably, a middle portion of the rotor 181 is provided with a rotating shaft that cooperates with the first rotating bearing 183 and the second rotating bearing 182 inner ring.

Compared with the prior art, a novel multifunctional direct drive horizontal joint robot 1 of the present invention has a first arm body 16 and one end of the first arm body 16 by simultaneously providing a mechanical arm body and a body connected to the mechanical arm body. a second arm body 17 connected at an end, and the robot arm body is designed to include a linear module unit 15 disposed in a vertical direction, a slider holder 151 movable up and down along the linear module unit 15, and The driving assembly 12 that drives the slider holder 151 to move and is disposed at the lower portion of the linear module unit 15 is combined with the direct drive motor between the arm bodies. The structure of the second arm body 17 has a compact structure, a large up and down movement stroke, and a light load. The cost is greatly reduced compared with the mechanical arm using the harmonic reducer or the RV reducer, and the direct drive is used to directly improve the repeatability of the mechanical arm. The thickness of the arm can be designed to be very thin and the overall appearance is coordinated. This horizontal joint triaxial arm has a small body shape and can be used as a desktop-level robot arm. The end can be equipped with a 3D printing nozzle, a vacuum chuck, an electric gripper, a writing brush, an electric soldering iron, and a laser light source. , To perform various functions, such as 3D printing, stacking, writing, soldering circuit boards, laser sintering.

The embodiments of the invention described above are not intended to limit the scope of the invention. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

Claims

A novel multifunctional direct drive horizontal joint robot arm, comprising: a mechanical arm body; a first arm body connected to the mechanical arm body; and a second arm body connected to one end end of the first arm body The mechanical arm body includes a linear module unit disposed in a vertical direction, a slider seat movable up and down along the linear module unit, and a driving device for driving the slider holder to move and disposed at a lower portion of the linear module unit a fixed seat is disposed outside the slider seat, and a first direct drive motor is disposed at a lower portion of the fixed seat; one end of the first arm body is connected to the first direct drive motor, and the first arm body is different from the first arm body The other end of the first drive motor is provided with a second direct drive motor; one end of the second arm is connected to the second direct drive motor at the end of the first arm.
A novel multifunctional direct drive horizontal joint manipulator according to claim 1, wherein the mechanical arm body further comprises a base and a main support plate disposed on the upper portion of the base and perpendicular to the main support plate a side plate is disposed; the linear module unit is vertically disposed on the base between the main support plate and the side; the driving component comprises a motor, an active synchronous wheel driven by the motor, and is used for driving the slider seat in a straight line A driven synchronous wheel moving on the module unit and a timing belt for connecting the active synchronous wheel and the driven synchronous wheel; the motor is located at a lower portion of the linear module unit.
A novel multifunctional direct drive horizontal joint manipulator according to claim 1, wherein said first direct drive motor comprises a stator punch, a rotor, a stator shaft, a first rotary bearing, and a coil, a second rotary bearing and an encoder coaxial with the first rotary bearing and fixed relative to the stator shaft; the stator punch is fixed on the stator shaft; and a magnet is adhered to the inner wall of the rotor casing; the stator shaft is fixed in the fixed seat; An encoder protection cover for protecting the encoder is further fixed on the outside of the encoder; one end of the first arm is connected to the outer end surface of the rotor by a screw.
A novel multifunctional direct drive horizontal joint robot arm according to any one of claims 1 to 3, wherein the fixing base is fixed to the slider seat by screws, and the first direct drive motor passes The screw is fixed on the fixing base, and a tank drag chain is disposed on one side of the linear module unit, and a first motor driving board for controlling the operation of the first direct drive motor is disposed inside the fixing base.
A novel multifunctional direct drive horizontal joint manipulator according to claim 1, wherein the structure of the second direct drive motor is the same as that of the first direct drive motor.
A novel multifunctional direct drive horizontal joint robot according to claim 1 or 5, wherein said first arm body comprises a first arm upper cover and a first arm lower cover; The first arm body is internally provided with a second motor driving plate for controlling the operation of the second direct drive motor; one end of the second arm body is connected to the outer end surface of the rotor of the second direct drive motor through a screw.
A novel multifunctional direct drive horizontal joint robot arm according to claim 4, wherein the fixing seat of the mechanical arm body is provided with a groove body for placing the first motor driving plate toward a side of the slider seat.
A novel multifunctional direct drive horizontal joint robot according to claim 3, wherein said first rotary bearing is disposed at an upper portion of the stator shaft, and the second rotary bearing is disposed at a lower portion of the stator shaft.
A novel multifunctional direct drive horizontal joint manipulator according to claim 3, wherein the middle portion of the rotor is provided with a rotating shaft, and the rotating shaft cooperates with the first rotating bearing and the second rotating bearing inner ring.