WO2020134181A1 - 一种机器人关节臂驱动部件和机器人 - Google Patents

一种机器人关节臂驱动部件和机器人 Download PDF

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Publication number
WO2020134181A1
WO2020134181A1 PCT/CN2019/104779 CN2019104779W WO2020134181A1 WO 2020134181 A1 WO2020134181 A1 WO 2020134181A1 CN 2019104779 W CN2019104779 W CN 2019104779W WO 2020134181 A1 WO2020134181 A1 WO 2020134181A1
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Prior art keywords
articulated arm
harmonic reducer
robot
shaft
joint arm
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PCT/CN2019/104779
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English (en)
French (fr)
Inventor
马章宇
孔令超
金明亮
钟成堡
崔中
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Publication of WO2020134181A1 publication Critical patent/WO2020134181A1/zh
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Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the present application belongs to the technical field of robots, and particularly relates to a robot joint arm driving component and a robot.
  • the wrist drive assembly of an industrial robot is used to drive the movement of the robot's articulated arm.
  • Most of the drive assembly is composed of a motor and a reducer.
  • the reducer is generally a harmonic reducer, the motor is fixedly installed on the previous joint arm, and the harmonic reducer is fixed at the joint axis, and the output end of the harmonic reducer is directly Connected with the latter articulated arm to drive the movement of the latter articulated arm.
  • the wrist harmonic reducer is installed at the end of the robot to increase the weight of the robot end, thereby reducing the modal characteristics of the robot itself.
  • the above-mentioned robot wrist drive assembly structure has great problems in terms of production difficulty, production cost, and the modal characteristics and terminal accuracy of the robot itself.
  • the harmonic reducer is installed at the end of the robot to increase the weight of the end of the robot, thereby reducing the modal characteristics of the robot itself.
  • the machining accuracy of the corresponding matching surface of the arm is high, and the assembly technician also has a high level of assembly requirements.
  • the joint arm needs to be disassembled, increasing maintenance costs and other technical issues, so this application researched and designed a robot Articulated arm drive components and robots.
  • the technical problem to be solved by the present application is to overcome the defects of the robot in the related art that the vibration amplitude at the joint arm and the joint axis is large, which seriously affects the accuracy of the end of the robot, thereby providing a robot joint arm driving part and a robot.
  • This application provides a robot joint arm driving structure, which includes:
  • a first articulated arm and a second articulated arm the first articulated arm includes a first end and a second end, the second end is relatively close to the second articulated arm and can be used to drive the second articulated arm, The first end is relatively away from the second articulated arm;
  • a harmonic reducer is also included, and the harmonic reducer is installed on the first articulated arm relatively close to the first end, and the second articulated arm can be driven by the harmonic reducer Move relative to the first articulated arm.
  • the robot articulated arm drive structure further includes a drive motor provided on the first articulated arm, the harmonic reducer includes a harmonic reducer input end and a harmonic reducer output end, and the drive motor and the The input end of the harmonic reducer is connected, and the output end of the harmonic reducer can output power to drive the movement of the second articulated arm.
  • the harmonic reducer further includes a fixed end of the harmonic reducer, through which the fixed end of the harmonic reducer can be fixedly installed on the first articulated arm.
  • a transmission device is also connected between the harmonic reducer and the second articulated arm, and the transmission device enables the second articulated arm to be driven and moved by the harmonic reducer.
  • the transmission device includes a synchronous belt, a master synchronous pulley and a slave synchronous pulley, the synchronous belt is simultaneously wound on the master synchronous pulley and the slave synchronous pulley, and the master synchronous pulley and the There is a preset distance from the timing pulley.
  • the transmission device further includes a first shaft, one end of the first shaft is connected to the output end of the harmonic reducer to be driven by the harmonic reducer, and the other end of the first shaft is connected to the main shaft
  • the shaft holes of the synchronous pulley are connected to drive the main synchronous pulley to rotate.
  • the transmission device further includes a second shaft, one end of the second shaft is connected to the shaft hole of the slave synchronous pulley to be driven and rotated by the slave synchronous pulley, and the other end of the second shaft is connected to the shaft
  • the second articulated arm is connected to drive the second articulated arm to move.
  • the second shaft is fixedly connected to the second articulated arm through a screw connection structure;
  • a first bearing is further provided at a position where the second shaft and the second articulated arm meet;
  • the second shaft is fixedly connected to the second articulated arm through a threaded connection structure, and a first bearing is also provided at a position where the second shaft and the second articulated arm are in contact.
  • a bracket for supporting the second articulated arm is also included, and a second bearing is installed between the bracket and the second articulated arm.
  • the present application also provides a robot including the robot joint arm driving structure described in any one of the preceding items.
  • the harmonic reducer is installed on the first articulated arm and is located near the first end, that is, the drive motor and the harmonic reducer are installed in the middle of the first articulated arm
  • the harmonic reducer can drive the second articulated arm to move relative to the first articulated arm while effectively eliminating the joint axis (
  • the existing excitation source is equipped with a harmonic reducer at the second end) to avoid even-numbered double-frequency vibration problems, thereby improving the accuracy of the robot end;
  • the installation position of the reducer is far away from the end of the robot, which can effectively reduce the weight of the end of the articulated arm and improve the modal characteristics of the robot itself; it can also simplify the structure of the articulated arm and reduce the processing accuracy; later maintenance only needs to disassemble the motor and harmonic reducer. No need to disassemble the articulated arm, reducing maintenance costs.
  • FIG. 1 is a structural schematic diagram of a robot joint arm driving structure of the present application.
  • this application provides a robot joint arm driving structure, which includes:
  • a first articulated arm 1 and a second articulated arm 8 the first articulated arm 1 includes a first end 1a and a second end 1b, the second end 1b is relatively close to the second articulated arm 8 and can be used to drive The second articulated arm 8 and the first end 1a are relatively away from the second articulated arm 8;
  • the harmonic reducer is installed and disposed on the first articulated arm 1 at a position relatively close to the first end (ie, a position relatively away from the second end, located at the position of the first articulated arm Middle position), the second articulated arm 8 can be driven to move relative to the first articulated arm 1 by the harmonic reducer.
  • the harmonic reducer is installed on the first articulated arm and is located near the first end, that is, the drive motor and the harmonic reducer are installed in the middle of the first articulated arm.
  • the non-end portion (especially the non-second end portion) can drive the second articulated arm to move relative to the first articulated arm through the harmonic reducer, and can effectively eliminate the joint axis (two At the joint of the articulated arm, especially at the second end, the existing excitation source is equipped with a harmonic reducer at the second end) to avoid even-numbered frequency doubling vibration problems, thereby improving the accuracy of the robot end; at the same time, by reducing the harmonics
  • the installation position of the machine is far from the end of the robot, which can effectively reduce the weight of the end of the articulated arm and improve the modal characteristics of the robot itself; it can also simplify the structure of the articulated arm and reduce the processing accuracy; later maintenance only needs to disassemble the motor and harmonic reducer, no Disassemble the articulated arm to reduce maintenance costs.
  • the robot articulated arm drive structure further includes a drive motor 14 disposed on the first articulated arm 1, the harmonic reducer includes a harmonic reducer input 6 and a harmonic reducer output 3, the drive The motor 14 is connected to the input terminal 6 of the harmonic reducer, and the output terminal 3 of the harmonic reducer can output power to drive the second articulated arm 8 to move.
  • This is the preferred structural form of the harmonic reducer of the present application.
  • power can be obtained from the drive motor, and after deceleration, the power is output from the output end of the harmonic reducer to drive the movement of the second joint arm , To achieve the role of deceleration and transmission.
  • the harmonic reducer further includes a fixed end 2 of the harmonic reducer, through which the fixed end 2 of the harmonic reducer enables the harmonic reducer to be fixedly installed on the first articulated arm 1.
  • a transmission device is further connected between the harmonic reducer and the second articulated arm 8, and the second articulated arm 8 can be driven to move by the harmonic reducer through the transmission device.
  • the output power of the harmonic reducer can be transmitted to the second articulated arm to drive the movement of the second articulated arm.
  • the transmission device includes a timing belt 7, a master timing pulley 5 and a slave timing pulley 9, the timing belt 7 is simultaneously wound on the master timing pulley 5 and the slave timing pulley 9, and the master The timing pulley 5 is separated from the secondary timing pulley 9 by a preset distance.
  • This is the preferred structural form of the transmission device of the present application. It is configured to include a synchronous belt, a main synchronous belt pulley and a slave synchronous belt pulley, which can drive the synchronous belt to move through the rotation of the main synchronous belt pulley, thereby driving the secondary synchronous belt pulley Rotate and finally output power to the second articulated arm.
  • the transmission device further includes a first shaft 4, one end of the first shaft 4 is connected to the output terminal 3 of the harmonic reducer to be driven by the harmonic reducer, and the other end of the first shaft is The shaft holes of the main timing pulley 5 are connected to drive the main timing pulley 5 to rotate.
  • the first shaft can obtain the rotational power from the output end of the harmonic reducer, thereby driving the main synchronous pulley to rotate.
  • the transmission device further includes a second shaft 10, one end of the second shaft 10 is connected to the shaft hole of the slave timing pulley 9 to be driven and rotated by the slave timing pulley 9, the second shaft 10 The other end is connected to the second articulated arm 8 to drive the second articulated arm 8 to move.
  • the second shaft 10 is fixedly connected to the second articulated arm 8 by a threaded connection structure; and/or, a first bearing is further provided at a position where the second shaft 10 and the second articulated arm 8 are in contact 11.
  • a first bearing is further provided at a position where the second shaft 10 and the second articulated arm 8 are in contact 11.
  • the second articulated arm can be moved with the rotation of the second shaft in a fixed manner to effectively realize the drive transmission.
  • the arrangement of the bearing can effectively support the second shaft.
  • a bracket 13 for supporting the second articulated arm 8 is also included, and a second bearing 12 is installed between the bracket 13 and the second articulated arm 8.
  • the second articulated arm can be supported by the bracket, and the second articulated arm can be supported to the bracket by the second bearing.
  • the present application also provides a robot including the robot joint arm driving structure described in any one of the preceding items.
  • the harmonic reducer is installed on the first articulated arm and is located close to the first end, that is, the harmonic reducer is installed in the middle of the first articulated arm.
  • the non-end part can drive the second articulated arm to move relative to the first articulated arm through the drive motor and the harmonic reducer, and can effectively eliminate the joint axis (the two articulated arm phase) Connection) to avoid even multiple frequency vibration problems, thereby improving the accuracy of the robot end; at the same time, by installing the harmonic reducer away from the robot end, it can also effectively reduce the weight of the joint arm end and improve the robot's own modal characteristics; It can also simplify the structure of the articulated arm and reduce the processing accuracy; later maintenance only needs to disassemble the motor and harmonic reducer, without disassembling the articulated arm, reducing maintenance costs.
  • the industrial robot wrist drive structure disclosed in the embodiments of the present application mainly includes a motor, a harmonic reducer, a master synchronous pulley, a slave synchronous pulley, a front articulated arm, and a rear articulated arm, wherein the motor is a robot movement Provide drive; reducer increases drive torque, harmonic reducer includes fixed end, input end, output end, fixed end is installed on articulated arm, provides fixed, input end input drive, output end provides power for the next articulated arm; synchronization The pulleys are driven to drive the robot's rear articulated arm.
  • the driving motor 14 and the fixed end 2 of the harmonic reducer are fixed to the middle of the first articulated arm 1 by screws, thereby reducing the weight of the end of the industrial robot;
  • the output shaft of the drive motor 14 is directly connected to the input terminal 6 of the harmonic reducer to directly drive the harmonic reducer;
  • the output terminal 3 of the harmonic reducer is connected to the main synchronous pulley 5 through the first shaft 4 to drive the main synchronous pulley 5 to move;
  • the main synchronous belt pulley 5 drives the synchronous belt pulley 9 to move through the synchronous belt 7;
  • the slave timing pulley 9 is connected to the second shaft 10;
  • the second shaft 10 is fixed to the second articulated arm 8 by screws to drive the second articulated arm 8 to move;
  • a first bearing 11 is installed between the second shaft 10 and the second articulated arm 8 to provide support for the second articulated arm 8;
  • the bracket 13 is fixed to the second articulated arm 8 by screws;
  • a second bearing 12 is installed between the bracket 13 and the second articulated arm 8;
  • the bracket 13 has a hollow structure, which is convenient for installing screws inside the second articulated arm 8.
  • the main synchronous belt pulley 5 and the output terminal 3 of the harmonic reducer described in this application are not limited to being fixed by the first shaft 4, and any similar fixing methods such as direct connection are within the scope of protection of this application;
  • the second shaft 10 and the second articulated arm 8 described in this application are not limited to screw fixing, and any similar fixing methods such as an integrated structure are within the scope of protection of this application;
  • the drive motor 14 described in this application is not limited to being directly connected to the input terminal 6 of the harmonic reducer. Driving the harmonic reducer through any similar transmission method such as bevel gears is within the scope of protection of this application.

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

Abstract

一种机器人关节臂驱动结构，所述机器人关节臂驱动结构包括：第一关节臂（1）和第二关节臂（8），所述第一关节臂包括第一端（1a）和第二端（1b），所述第二端相对靠近所述第二关节臂且能够用于驱动所述第二关节臂、所述第一端相对远离所述第二关节臂；还包括谐波减速机，且所述谐波减速机安装设置在所述第一关节臂上的相对靠近所述第一端的位置，通过所述谐波减速机能够驱动所述第二关节臂相对于所述第一关节臂运动。还包括具有上述机器人关节臂驱动结构的机器人。通过上述机器人关节臂驱动结构能够有效地消除关节轴处的激励源，避免偶数倍频振动问题，从而提高机器人末端精度；有效减低关节臂末端的重量；还能使得关节臂结构简化，加工精度降低；降低维护成本。

Description

一种机器人关节臂驱动部件和机器人
本申请要求于2018年12月26日提交至中国国家知识产权局、申请号为201811600313.5、发明名称为“一种机器人关节臂驱动部件和机器人”的专利申请的优先权。
技术领域
本申请属于机器人技术领域，尤其涉及一种机器人关节臂驱动部件和机器人。
背景技术
随着工业机器人的飞速发展，其越来越多的应用于工业领域的自动化作业，逐步实现机械化和现代化，比如自动装配、码垛、喷漆、焊接等工作，对精度、速度均有较高的要求。
通常情况下，工业机器人的腕部驱动组件用于驱动机器人后一关节臂运动，该驱动组件大多都是使用电机和减速机组合而成。目前，为减小机器人关节臂的体积和重量，减速机一般为谐波减速机，电机固定安装在前一关节臂上，而谐波减速机固定在关节轴处，谐波减速机输出端直接同后一关节臂相连，驱动后一关节臂运动。此结构方式存在以下缺点：
1、对关节臂相应配合面的机械加工精度要求高；
2、对组装技术人员也有较高的装配水平要求；
3、在后期维护时，需拆解关节臂，增加维护成本；
4、谐波减速器自身的双波传动特性会引起机器人偶数倍频振动，而将谐波减速机安装在关节轴处，其作为主要激励源，严重影响机器人的末端精度；
5、腕部谐波减速器安装在机器人末端，增加机器人末端重量，从而降低机器人自身的模态特性。
因此，上述机器人腕部驱动组件结构无论对生产难度、生成成本，还是对机器人自身的模态特性以及末端精度均存在较大的问题。
由于相关技术中的机器人存在关节臂和关节轴处振动幅度较大，严重影响机器人的末端精度，谐波减速器安装在机器人末端，增加机器人末端重量，从而降低机器人自身的模态特性，对关节臂相应配合面的机械加工精度要求高,对组装技术人员也有较高的装配水平要求,在后期维护时，需拆解关节臂，增加维护成本等技术问题，因此本申请研究设计出一种机器人关节臂驱动部件和机器人。
发明内容
因此，本申请要解决的技术问题在于克服相关技术中的的机器人存在关节臂和关节轴处振动幅度较大，严重影响机器人的末端精度的缺陷，从而提供一种机器人关节臂驱动部件和机器人。
本申请提供一种机器人关节臂驱动结构，其包括：
第一关节臂和第二关节臂，所述第一关节臂包括第一端和第二端，所述第二端相对靠近所述第二关节臂且能够用于驱动所述第二关节臂、所述第一端相对远离所述第二关节臂；
还包括谐波减速机，且所述谐波减速机安装设置在所述第一关节臂上的相对靠近所述第一端的位置，通过所述谐波减速机能够驱动所述第二关节臂相对于所述第一关节臂运动。
进一步地，
所述机器人关节臂驱动结构还包括设置在所述第一关节臂上的驱动电机，所述谐波减速机包括谐波减速机输入端和谐波减速机输出端，所述驱动电机与所述谐波减速机输入端连接、且所述谐波减速机输出端能够输出动力以驱动所述第二关节臂运动。
进一步地，
所述谐波减速机还包括谐波减速机固定端，通过所述谐波减速机固定端以能够将所述谐波减速机固定安装在所述第一关节臂上。
进一步地，
在所述谐波减速机和所述第二关节臂之间还连接设置有传动装置、通过所述传动装置使得所述第二关节臂能够被所述谐波减速机驱动运动。
进一步地，
所述传动装置包括同步带、主同步带轮和从同步带轮，所述同步带同时缠绕在所述主同步带轮和所述从同步带轮上、且所述主同步带轮与所述从同步带轮之间相隔预设距离。
进一步地，
所述传动装置还包括第一轴，所述第一轴的一端与所述谐波减速机输出端连接、以被所述谐波减速机驱动，所述第一轴的另一端与所述主同步带轮的轴孔连接、以驱动所述主同步带轮转动。
进一步地，
所述传动装置还包括第二轴，所述第二轴的一端与所述从同步带轮的轴孔连接、以被所述从同步带轮驱动转动，所述第二轴的另一端与所述第二关节臂连接、以驱动所述第二关节臂运动。
进一步地，
所述第二轴通过螺纹连接结构固定连接于所述第二关节臂上；或者
所述第二轴与所述第二关节臂相接的位置还设置有第一轴承；或者
所述第二轴通过螺纹连接结构固定连接于所述第二关节臂上，且所述第二轴与所述第二关节臂相接的位置还设置有第一轴承。
进一步地，
还包括用于支撑所述第二关节臂的支架、且所述支架与所述第二关节臂之间还安装设置有第二轴承。
本申请还提供一种机器人，其包括前任一项所述的机器人关节臂驱动结构。
本申请提供的一种机器人关节臂驱动结构和机器人具有如下有益效果：
本申请通过将谐波减速机均安装设置在所述第一关节臂上、且位于靠近所述第一端的位置，即使得驱动电机和所述谐波减速机安装于第一关节臂的中部而非端部(尤其非第二端部)，能够通过所述谐波减速机能够驱动所述第二关节臂相对于所述第一关节臂运动的同时、还能有效地消除关节轴处(两关节臂相接处、尤其是第二端处，现有的是将谐波减速机设在第二端处)的激励源，避免偶数倍频振动问题，从而提高机器人末端精度；同时通过将谐波减速机安装位置远离机器人末端，还能够有效减低关节臂末端的重量，提高机器人自身模态特性；还能使得关节臂结构简化，加工精度降低；后期维护仅需拆解电机 及谐波减速机，无需拆解关节臂，降低维护成本。
附图说明
图1是本申请的机器人关节臂驱动结构的结构示意图。
图中附图标记表示为：
1、第一关节臂；1a、第一端；1b、第二端；2、谐波减速机固定端；3、谐波减速机输出端；4、第一轴；5、主同步带轮；6、谐波减速机输入端；7、同步带；8、第二关节臂；9、从同步带轮；10、第二轴；11、第一轴承；12、第二轴承；13、支架；14、驱动电机。
具体实施方式
如图1所示，本申请提供一种机器人关节臂驱动结构，其包括：
第一关节臂1和第二关节臂8，所述第一关节臂1包括第一端1a和第二端1b，所述第二端1b相对靠近所述第二关节臂8且能够用于驱动所述第二关节臂8、所述第一端1a相对远离所述第二关节臂8；
还包括谐波减速机，且所述谐波减速机安装设置在所述第一关节臂1上的相对靠近所述第一端的位置(即相对远离第二端的位置，位于第一关节臂的中部位置)，通过所述谐波减速机能够驱动所述第二关节臂8相对于所述第一关节臂1运动。
本申请通过将谐波减速机安装设置在所述第一关节臂上、且位于靠近所述第一端的位置，即使得驱动电机和所述谐波减速机安装于第一关节臂的中部而非端部(尤其非第二端部)，能够通过所述谐波减速机能够驱动所述第二关节臂相对于所述第一关节臂运动的同时、还能有效地消除关节轴处(两关节臂相接处、尤其是第二端处，现有的是将谐波减速机设在第二端处)的激励源，避免偶数倍频振动问题，从而提高机器人末端精度；同时通过将谐波减速机安装位置远离机器人末端，还能够有效减低关节臂末端的重量，提高机器人自身模态特性；还能使得关节臂结构简化，加工精度降低；后期维护仅需拆解电机及谐波减速机，无需拆解关节臂，降低维护成本。
进一步地，
所述机器人关节臂驱动结构还包括设置在所述第一关节臂1上的驱动电机 14，所述谐波减速机包括谐波减速机输入端6和谐波减速机输出端3，所述驱动电机14与所述谐波减速机输入端6连接、且所述谐波减速机输出端3能够输出动力以驱动所述第二关节臂8运动。这是本申请的谐波减速机的优选结构形式，通过谐波减速机输入端能够从驱动电机处获得动力、经过减速机减速后从谐波减速机输出端输出动力以驱动第二关节臂运动，实现减速和传动的作用。
进一步地，
所述谐波减速机还包括谐波减速机固定端2，通过所述谐波减速机固定端2以能够将所述谐波减速机固定安装在所述第一关节臂1上。这是本申请的谐波减速机的进一步优选结构形式，即能够通过该固定端将谐波减速机有效地固定安装于第一关节臂的中部位置。
进一步地，
在所述谐波减速机和所述第二关节臂8之间还连接设置有传动装置、通过所述传动装置使得所述第二关节臂8能够被所述谐波减速机驱动运动。通过传动装置的设置能够将谐波减速机的输出动力传动至第二关节臂以驱动第二关节臂运动。
进一步地，
所述传动装置包括同步带7、主同步带轮5和从同步带轮9，所述同步带7同时缠绕在所述主同步带轮5和所述从同步带轮9上、且所述主同步带轮5与所述从同步带轮9之间相隔预设距离。这是本申请的传动装置的优选结构形式，将其设置为包括同步带、主同步带轮和从同步带轮的结构，能够通过主同步带轮转动带动同步带运动、进而带动从同步带轮转动、最终输出动力至第二关节臂。
进一步地，
所述传动装置还包括第一轴4，所述第一轴4的一端与所述谐波减速机输出端3连接、以被所述谐波减速机驱动，所述第一轴的另一端与所述主同步带轮5的轴孔连接、以驱动所述主同步带轮5转动。这是本申请的传动装置的进一步优选结构形式，即通过第一轴能够从谐波减速机输出端获得转动动力、进而带动主同步带轮转动。
进一步地，
所述传动装置还包括第二轴10，所述第二轴10的一端与所述从同步带轮9的轴孔连接、以被所述从同步带轮9驱动转动，所述第二轴10的另一端与所述第二关节臂8连接、以驱动所述第二关节臂8运动。这是本申请的传动装置的进一步优选结构形式，即通过第二轴能够从从同步带轮获得转动动力、进而最终带动第二关节臂转动。
进一步地，
所述第二轴10通过螺纹连接结构固定连接于所述第二关节臂8上；和/或，所述第二轴10与所述第二关节臂8相接的位置还设置有第一轴承11。这是本申请的第二轴与第二关节臂之间的优选相接形式，通过固定的方式使得第二关节臂能够随着第二轴的转动而运动、有效地实现驱动传动，通过第一轴承的设置能够对第二轴起到有效的支撑作用。
进一步地，
还包括用于支撑所述第二关节臂8的支架13、且所述支架13与所述第二关节臂8之间还安装设置有第二轴承12。这是本申请的第二关节臂处的优选结构形式，通过支架能够对第二关节臂起到支承作用、并且通过第二轴承能够将第二关节臂支承到支架上。
本申请还提供一种机器人，其包括前任一项所述的机器人关节臂驱动结构。
本申请通过将所述谐波减速机均安装设置在所述第一关节臂上、且位于靠近所述第一端的位置，即使得所述谐波减速机安装于第一关节臂的中部而非端部，能够通过所述驱动电机和所述谐波减速机能够驱动所述第二关节臂相对于所述第一关节臂运动的同时、还能有效地消除关节轴处(两关节臂相接处)的激励源，避免偶数倍频振动问题，从而提高机器人末端精度；同时通过将谐波减速机安装位置远离机器人末端，还能够有效减低关节臂末端的重量，提高机器人自身模态特性；还能使得关节臂结构简化，加工精度降低；后期维护仅需拆解电机及谐波减速机，无需拆解关节臂，降低维护成本。
本申请实施例所公开的工业机器人腕部驱动结构中，主要包括电机、谐波减速机、主同步带轮、从同步带轮、前一关节臂、后一关节臂，其中，电机为机器人运动提供驱动；减速机增加驱动扭矩，谐波减速机包括固定端、输入端、 输出端，固定端安装在关节臂上，提供固定，输入端输入驱动，输出端为下一关节臂提供动力；同步带轮进行传动，进而驱动机器人后一关节臂。
解决机器人腕部关节臂加工难度大、装配要求高，且关节轴处谐波减速机作为激励源引起的偶数倍频振动问题等现象，并提高机器人自身的模态特性。
1、所述的驱动电机14、谐波减速机固定端2通过螺钉固定于第一关节臂1的中部，从而减少工业机器人末端的重量；
2、所述的驱动电机14的输出轴直接同谐波减速机输入端6相连，直接驱动谐波减速机；
3、所述的谐波减速机输出端3通过第一轴4与主同步带轮5相连，驱动主同步带轮5运动；
4、所述的主同步带轮5通过同步带7驱动从同步带轮9运动；
5、所述的从同步带轮9与第二轴10相连；
6、所述的第二轴10通过螺钉固定于第二关节臂8上，驱动第二关节臂8运动；
7、所述的第二轴10与第二关节臂8之间安装有第一轴承11，给第二关节臂8提供支撑；
8、所述的支架13通过螺钉固定于第二关节臂8上；
9、所述的支架13与第二关节臂8之间安装有第二轴承12；
10、所述的支架13为中空结构，方便安装第二关节臂8内部的螺钉。
11、本申请所述的主同步带轮5与谐波减速机输出端3不仅限于通过第一轴4固定，直接相连等任何类似固定方式均在本申请的保护范围之内；
12、本申请所述的第二轴10与第二关节臂8不仅限于螺钉固定，一体结构等任何类似固定方式均在本申请的保护范围之内；
13、本申请所述驱动电机14不仅限于与谐波减速机输入端6直接相连，通过锥齿轮等任何类似传动方式驱动谐波减速机均在本申请的保护范围之内。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请技术原理的前提下，还可以做出若干改进和变型，这些改进和变型也应视为本申请的保护范围。

Claims (10)

  1. 一种机器人关节臂驱动结构，
    包括：第一关节臂(1)和第二关节臂(8)，所述第一关节臂(1)包括第一端(1a)和第二端(1b)，所述第二端(1b)相对靠近所述第二关节臂(8)且能够用于驱动所述第二关节臂(8)、所述第一端(1a)相对远离所述第二关节臂(8)；
    还包括谐波减速机，且所述谐波减速机安装设置在所述第一关节臂(1)上的相对靠近所述第一端(1a)的位置，通过所述谐波减速机能够驱动所述第二关节臂(8)相对于所述第一关节臂(1)运动。
  2. 根据权利要求1所述的机器人关节臂驱动结构，其特征在于：
    所述机器人关节臂驱动结构还包括设置在所述第一关节臂(1)上的驱动电机(14)，所述谐波减速机包括谐波减速机输入端(6)和谐波减速机输出端(3)，所述驱动电机(14)与所述谐波减速机输入端(6)连接、且所述谐波减速机输出端(3)能够输出动力以驱动所述第二关节臂(8)运动。
  3. 根据权利要求2所述的机器人关节臂驱动结构，其特征在于：
    所述谐波减速机还包括谐波减速机固定端(2)，通过所述谐波减速机固定端(2)以能够将所述谐波减速机固定安装在所述第一关节臂(1)上。
  4. 根据权利要求1-3中任一项所述的机器人关节臂驱动结构，其特征在于：
    在所述谐波减速机和所述第二关节臂(8)之间还连接设置有传动装置、通过所述传动装置使得所述第二关节臂(8)能够被所述谐波减速机驱动运动。
  5. 根据权利要求4所述的机器人关节臂驱动结构，其特征在于：
    所述传动装置包括同步带(7)、主同步带轮(5)和从同步带轮(9)，所述同步带(7)同时缠绕在所述主同步带轮(5)和所述从同步带轮(9)上、且所述主同步带轮(5)与所述从同步带轮(9)之间相隔预设距离。
  6. 根据权利要求5所述的机器人关节臂驱动结构，其特征在于：
    所述传动装置还包括第一轴(4)，所述第一轴(4)的一端与所述谐波减速机输出端(3)连接、以被所述谐波减速机驱动，所述第一轴(4)的另一端与所述主同步带轮(5)的轴孔连接、以驱动所述主同步带轮(5)转动。
  7. 根据权利要求5或6所述的机器人关节臂驱动结构，其特征在于：
    所述传动装置还包括第二轴(10)，所述第二轴(10)的一端与所述从同步带轮(9)的轴孔连接、以被所述从同步带轮(9)驱动转动，所述第二轴(10)的另一端与所述第二关节臂(8)连接、以驱动所述第二关节臂(8)运动。
  8. 根据权利要求7所述的机器人关节臂驱动结构，其特征在于：
    所述第二轴(10)通过螺纹连接结构固定连接于所述第二关节臂(8)上；或者
    所述第二轴(10)与所述第二关节臂(8)相接的位置还设置有第一轴承(11)；或者
    所述第二轴(10)通过螺纹连接结构固定连接于所述第二关节臂(8)上，且所述第二轴(10)与所述第二关节臂(8)相接的位置还设置有第一轴承(11)。
  9. 根据权利要求1-8中任一项所述的机器人关节臂驱动结构，其特征在于：
    还包括用于支撑所述第二关节臂(8)的支架(13)、且所述支架(13)与所述第二关节臂(8)之间还安装设置有第二轴承(12)。
  10. 一种机器人，其特征在于：包括权利要求1-9中任一项所述的机器人关节臂驱动结构。
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