WO2021237844A1 - 一种多轴机器人关节间连接装置 - Google Patents
一种多轴机器人关节间连接装置 Download PDFInfo
- Publication number
- WO2021237844A1 WO2021237844A1 PCT/CN2020/097689 CN2020097689W WO2021237844A1 WO 2021237844 A1 WO2021237844 A1 WO 2021237844A1 CN 2020097689 W CN2020097689 W CN 2020097689W WO 2021237844 A1 WO2021237844 A1 WO 2021237844A1
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- WIPO (PCT)
- Prior art keywords
- connecting shaft
- joint
- robot
- butt
- ring
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
- F16L3/26—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets specially adapted for supporting the pipes all along their length, e.g. pipe channels or ducts
Definitions
- the utility model relates to the technical field of robot joints, in particular to a connection device between joints of a multi-axis robot.
- Multi-axis robots are developing towards high-precision, human-machine collaboration, and flexible manufacturing trends.
- the accuracy of the multi-axis robot system can also be improved by calibrating and optimizing the robot control scheme through calibration.
- accurate data of the axis length and connection angle of each axis are the prerequisites. This requires a zero-clearance connection between the joints of the multi-axis robot to obtain accurate axis length and connection angle data.
- the load and the weight of the front shaft can be distributed to the connection of multiple sets of fasteners, so as to ensure the stability of the connection structure.
- the torsion force of the tightening screw often causes the internal end surface of the joint end hole structure cavity of the robot to be connected to be partially separated from the end surface of the connecting end shaft structure of the adjacent joint.
- the contact or the overall disengagement forms a gap, which makes the actual length and connection angle of each axis of the multi-axis robot deviate from the design value.
- connection error is difficult to predict and difficult to measure, it is often ignored in the calibration optimization control plan, which makes it difficult to effectively improve the accuracy of the multi-axis robot system through the calibration and optimization of the robot control plan through the calibration data. Therefore, in order to improve the system accuracy of a multi-axis robot, it is of great significance to develop a multi-axis robot inter-joint connection device that has a simple structure, is convenient to install, and can ensure a zero-clearance connection.
- the purpose of the utility model is to overcome the shortcomings of the prior art, and provide a multi-axis robot inter-joint connection device which has a simple structure, is convenient to install, and can realize a zero-clearance connection between adjacent joints.
- a multi-axis robot joint connection device which includes a robot joint base, a docking ring, a connecting shaft and a fastener.
- the inner end surface of the cavity of the ring is parallel to the bottom surface of the robot joint base, the connecting shaft is installed on the output end of the robot joint base through fasteners, and the butting end end surface of the connecting shaft is parallel to the output end end surface of the robot joint base.
- the butt ring of the robot joint to be connected is sleeved on the connecting shaft of the adjacent joint, so that the inner end surface of the cavity of the butt ring to be connected to the robot joint is against the butt end of the connecting shaft of the adjacent joint End face, and then connect the two firmly.
- the part of the connecting shaft protruding from the robot joint base is the butting end of the connecting shaft, and the cylindrical side surface of the butting end is provided with a V-shaped groove.
- a number of side threaded holes are distributed on the cylindrical side of the butting ring, and the threaded holes on each side are respectively locked and fixed with the connecting shaft by a set screw.
- the distance between the center of the threaded hole on each side and the inner end surface of the butt ring cavity is less than the distance from the center of the V-shaped groove to the butt end surface of the connecting shaft, so that in the process of tightening the set screw for fixing, the top of the set screw Hold the V-groove of the connecting shaft of the adjacent joint close to the inner end surface of the joint ring cavity of the robot to be connected, and automatically push the inner end surface of the joint ring cavity of the robot to be connected to tightly contact the joint end of the adjacent joint shaft.
- the end face eliminates the gap between two adjacent robot joints; the tip angle of the set screw is equal to the V-groove angle of the cylindrical side of the butt end on the connecting shaft, which can ensure that the set screw is used to connect the joint ring of the robot joint to be connected and the adjacent
- the V-groove of the butt end of the set screw and the connecting shaft has a larger contact area on the side of the groove surface close to the inner end surface of the joint ring cavity of the robot to be connected, so as to firmly connect and maintain the stability of the connection structure.
- the length of the set screw is greater than the distance from the inner surface of the joint ring cavity of the robot to be connected to the center of the V-groove of the adjacent joint shaft, and is smaller than the V-groove from the outer surface of the joint ring of the robot to be connected to the butt end of the adjacent joint shaft The distance from the center to ensure that the set screw passes through the threaded hole on the side of the butt ring of the robot to be connected and bears against the butt end of the adjacent joint.
- the docking ring of the robot joint to be connected can be fixedly connected with the docking end of the connecting shaft of the adjacent joint, and at the same time, the tightening screw will not protrude to the outer surface of the docking ring of the robot joint to be connected, which forms an unsafe factor during the operation of the robot joint.
- the set screw is in linear contact with the butt end of the connecting shaft of the adjacent joint and is close to the groove surface of the inner end surface of the joint ring cavity of the robot joint to be connected, it is in linear contact, and the shaft centers of the opposite butt ring are evenly distributed when tightening with the same torque.
- the set screw When the screw is tightened, the set screw is pressed against the side groove surface of the V-groove of the butt end of the adjacent joint connecting shaft close to the inner end surface of the joint ring cavity of the robot to be connected, and pushes the inner end surface of the joint ring cavity of the robot to be connected automatically
- the whole is close to the butt end faces of the connecting shafts of the adjacent joints, and at the same time, it can ensure that the connecting shafts of the adjacent joints receive uniform force, and the high concentric precision installation of the two adjacent robot joints and the stability of the connecting structure are ensured.
- the part of the connecting shaft embedded in the robot joint base is the connecting end of the connecting shaft.
- the docking ring has a ring structure, which is convenient for the robot to pass through various pipelines when installing; one end of the docking ring is the inner end surface of the cavity, and the other end of the docking ring is a cylindrical cavity; the inner end surface of the cavity is provided with several end face threads hole.
- the docking ring is fixedly connected to the robot joint base by fasteners. When the fasteners are connected to the threaded holes on the inner end surface of the docking ring cavity, they cannot protrude out of the inner end surface of the docking ring cavity, so as not to affect the adjacent two The connection between the joints is installed.
- the diameter of the cylindrical cavity is larger than the diameter of the connecting shaft.
- the diameter of the cylindrical cavity is slightly larger than the diameter of the connecting shaft, so as to form a precision shaft at the butt end of the adjacent joint connecting shaft during installation.
- Hole matching ensures that the two adjacent robot joints are installed with high concentric accuracy; the depth of the cylindrical cavity is less than or equal to the length of the butt end of the connecting shaft, so as to ensure that the outer edge of the cavity of the butt ring will not protrude to the top during installation.
- the part of the structure other than the output end of the adjacent joint to prevent the joint movement from being hindered.
- the side surface of the cavity of the docking ring has multiple (two or more) side threaded holes that are uniformly distributed in a circular shape relative to the axis of the docking ring.
- the center of the threaded holes on each side is parallel to the inner end surface of the cavity of the docking ring.
- the distance from the plane of the center of the threaded hole on each side to the inner end surface of the cavity of the butt ring is slightly smaller than the distance from the center of the V-groove on the side of the butt end of the connecting shaft to the end surface of the butt end of the connecting shaft, so as to ensure that the set screw passes through the end surface of the connecting shaft.
- the side threaded hole of the robot joint docking ring fixes the connecting shaft of the robot joint docking ring to be connected with the output end of the adjacent joint.
- the set screw When the set screw is tightened, the set screw can be pressed against the V-groove of the butt end of the connecting shaft and approach the robot to be connected.
- One side of the groove surface of the inner end surface of the joint butt ring cavity pushes the inner end surface of the joint butt ring cavity of the robot to be connected to automatically close to the butt end surface of the adjacent joint connecting shaft as a whole, while ensuring that the same torque is used to tighten the set screw ,
- the force on the connecting shafts of adjacent joints is even, ensuring the high concentric precision installation of the two adjacent robot joints and the stability of the connecting structure.
- the connecting shaft is a hollow two-stage cylindrical structure, which is convenient for the robot to pass through various pipelines during installation; the two end faces of the two-stage cylindrical structure are parallel.
- the first-stage cylindrical structure with a smaller diameter is the connecting end of the connecting shaft, which is embedded in the joint base of the robot, and the second-stage cylindrical structure with a larger diameter is the butting end of the connecting shaft, which protrudes Outside the robot joint base. This ensures that there is a larger contact surface after the adjacent joints are connected, and the structure is stable after the joints are connected.
- a number of counterbore holes are distributed on the end face of the butting end of the connecting shaft, and each counterbore hole penetrates the entire connecting shaft.
- the butt end of the connecting shaft has a plurality of (two or more) counterbores that are symmetrical to the center of the connecting shaft.
- the counterbore of the butt end of the connecting shaft penetrates the butt end of the connecting shaft, and the connecting shaft passes through the butt end of the connecting shaft through a fastener.
- the countersunk hole fixedly connects the connecting end of the connecting shaft with the output end of the robot joint.
- the length of the connecting end of the connecting shaft ensures that after the connecting shaft is connected to the output end of the robot joint, the butting end of the connecting shaft will not interfere with the structure part other than the output end of the robot joint to prevent the joint movement from being hindered.
- a circular V-shaped groove is provided on the cylindrical side of the butt end of the connecting shaft. The plane where the center of the V-groove of the butt end of the connecting shaft is located is parallel to the end face of the butt end of the connecting shaft.
- the distance from the center of the V-groove of the butt end of the connecting shaft to the end face of the butt end of the connecting shaft is slightly larger than the distance from the plane of the center of the threaded hole on the side of the butt ring to the inner end surface of the butt ring cavity.
- the distance from the V-groove edge of the butt end of the connecting shaft to the end face of the butt end of the connecting shaft is smaller than the distance from the plane where the threaded hole on the side of the butt ring cavity faces the inner edge of the butt ring cavity to the inner end surface of the butt ring cavity.
- the principle is: the two adjacent robot joints are arranged perpendicularly, and the docking ring of one joint is connected with the connecting shaft of the other joint.
- the connecting shaft After inserting the connecting shaft into the butt ring, the cavity inner end face of the butt ring bears against the butt end face of the connecting shaft, the side of the butt ring and the side of the connecting shaft are locked and connected by a set screw, and the side of the connecting shaft is opened with V
- the groove surface of the set screw is close to the inner end surface of the butt ring cavity along the V-shaped groove, and the groove surface is supported in a linear contact manner to make the butt end surface of the connecting shaft and the inner end surface of the butt ring cavity tight
- the paste eliminates the gap, thereby ensuring uniform force and achieving high concentric precision installation.
- the cavity inner end surface of the docking ring is parallel to the bottom surface of the joint base, and the docking end end surface of the connecting shaft is parallel to the joint output end end surface, which can ensure the joint docking ring of the robot to be connected and the adjacent robot
- the designed angle relationship between the adjacent two joints remains unchanged.
- the matching ring and the precision shaft hole of the connecting shaft can connect the two adjacent joints with high coaxial precision to prevent additional torque errors due to position deviations, thereby affecting the accuracy of the multi-axis robot system, so as to ensure Obtain accurate data of the axis length and connection angle of each axis, and bring it into the calculation and optimization of the robot control scheme based on the calibration results.
- the distance from the plane of the side threaded hole center of the docking ring to the inner end surface of the docking ring cavity is slightly smaller than that of the V-groove center of the cylindrical side of the docking end of the connecting shaft to the docking end surface of the connecting shaft.
- the set screw bears against the groove surface on the side of the V-groove near the inner end surface of the docking ring cavity, and automatically pushes the joint of the robot to be connected to the inner end surface of the docking ring cavity. Sticking to the butt end faces of the connecting shafts of adjacent joints to eliminate the gap between two adjacent robot joints.
- a large number of (two or more) threaded holes are arranged on the side of the butt ring cavity, which are evenly distributed relative to the butt ring axis, and the V-groove of the butt end of the set screw and the connecting shaft of the adjacent joint is close to the joint of the robot to be connected.
- the tip angle of the tightening screw is equal to the angle of the V-groove at the butt end of the connecting shaft to increase the V-groove of the butt end of the tightening screw and the connecting shaft.
- the joint connection device has a simple structure and is convenient to install.
- Fig. 1 is a schematic diagram of the overall structure of the joint connection device of the multi-axis robot.
- Fig. 2 is a cross-sectional view of Fig. 1.
- Figure 3 is a schematic diagram of the overall structure of the docking ring.
- Figure 4 is a cross-sectional view of the butt ring.
- Figure 5 is a schematic diagram of the overall structure of the connecting shaft.
- Figure 6 is a cross-sectional view of the connecting shaft.
- Figure 7 is a schematic diagram of the overall structure when two adjacent joints are connected.
- Figure 8 is a cross-sectional view of the joint when two adjacent joints are connected.
- Fig. 9 is a structural schematic diagram of the installation position of the fastening screw in Fig. 8.
- 1 is the butt ring
- 1-1 is the inner end surface of the cavity
- 1-2 is the threaded hole on the side surface
- 1-3 is the threaded hole on the end surface
- 2 is the connecting shaft
- 2 -1 is the connection end
- 2-2 is the butt end
- 2-3 is the V-groove
- 2-4 is the countersunk hole
- 3 is the fastener
- 4 is the set screw
- 5 is the robot joint base
- 6 is the The output terminal of the robot joint.
- a device for connecting joints of a multi-axis robot in this embodiment includes a robot joint base 5, a docking ring 1, a connecting shaft 2, and a fastener 3.
- the docking ring is installed on the joint by the fasteners
- the bottom surface of the robot joint base, the cavity inner end surface 1-1 of the docking ring is parallel to the bottom surface of the robot joint base, and the connecting shaft is installed on the output end 6 of the robot joint base by fasteners.
- the end faces of the output ends of the robot joint base are parallel.
- the butt ring of the robot joint to be connected is sleeved on the connecting shaft of the adjacent joint, so that the inner end surface of the cavity of the butt ring to be connected to the robot joint is against the butt end of the connecting shaft of the adjacent joint End face, and then connect the two firmly.
- the connecting shaft is a hollow two-stage cylindrical structure, which is convenient for the robot to pass through various pipelines during installation; the two end faces of the two-stage cylindrical structure are parallel.
- the first-stage cylindrical structure with a smaller diameter is the connecting end of the connecting shaft, which is embedded in the joint base of the robot
- the second-stage cylindrical structure with a larger diameter is the butting end of the connecting shaft, which protrudes from the robot. Outside the joint base. This ensures that there is a larger contact surface after the adjacent joints are connected, and the structure is stable after the joints are connected. That is, the part where the connecting shaft is embedded in the joint base of the robot is the connecting end 2-1 of the connecting shaft.
- the part of the connecting shaft protruding from the base of the robot joint is the butting end 2-2 of the connecting shaft, and the cylindrical side surface of the butting end is provided with a V-shaped groove 2-3.
- a number of countersunk holes 2-4 are distributed on the end face of the butt end of the connecting shaft, and each countersunk hole penetrates the entire connecting shaft.
- the butt end of the connecting shaft has a plurality of (two or more) counterbores that are symmetrical to the center of the connecting shaft.
- the counterbore of the butt end of the connecting shaft penetrates the butt end of the connecting shaft, and the connecting shaft passes through the butt end of the connecting shaft through a fastener.
- the countersunk hole fixedly connects the connecting end of the connecting shaft with the output end of the robot joint.
- the length of the connecting end of the connecting shaft ensures that after the connecting shaft is connected to the output end of the robot joint, the butting end of the connecting shaft will not interfere with the structure part other than the output end of the robot joint to prevent the joint movement from being hindered.
- a circular V-shaped groove is provided on the cylindrical side of the butt end of the connecting shaft. The plane where the center of the V-groove of the butt end of the connecting shaft is located is parallel to the end face of the butt end of the connecting shaft.
- the distance from the center of the V-groove of the butt end of the connecting shaft to the end face of the butt end of the connecting shaft is slightly larger than the distance from the plane of the center of the threaded hole on the side of the butt ring to the inner end surface of the butt ring cavity.
- the distance from the V-groove edge of the butt end of the connecting shaft to the end face of the butt end of the connecting shaft is smaller than the distance from the plane of the inner side edge of the threaded hole on the side of the butt ring cavity to the inner end surface of the butt ring cavity.
- the distance from the center of the threaded hole on each side to the inner end surface of the butt ring cavity is less than the distance from the center of the V-groove to the end surface of the butt end of the connecting shaft, so that during the process of tightening the set screw for fixation, the set screw bears against the opposite end.
- the V-groove of the butt end of the adjacent joint connecting shaft is close to the side groove surface of the inner end surface of the docking ring cavity of the robot joint to be connected, and automatically pushes the inner end surface of the joint butt ring cavity of the robot to be connected close to the butt end surface of the adjacent joint connecting shaft.
- the tip angle of the set screw is equal to the V-groove angle of the cylindrical side of the butt end on the connecting shaft, which can ensure that the set screw is used to connect the joint ring of the robot joint to be connected and the adjacent joint.
- the V-shaped groove of the butt end of the set screw and the connecting shaft has a larger contact area on the side of the groove surface close to the inner end surface of the butt ring cavity of the robot joint to be connected, so as to firmly connect and maintain the stability of the connection structure.
- the length of the set screw is greater than the distance from the inner surface of the joint ring cavity of the robot to be connected to the center of the V-groove of the adjacent joint shaft, and is smaller than the V-groove from the outer surface of the joint ring of the robot to be connected to the butt end of the adjacent joint shaft The distance from the center to ensure that the set screw passes through the threaded hole on the side of the butt ring of the robot to be connected and bears against the butt end of the adjacent joint.
- the docking ring of the robot joint to be connected can be fixedly connected with the docking end of the connecting shaft of the adjacent joint, and at the same time, the tightening screw will not protrude to the outer surface of the docking ring of the robot joint to be connected, which forms an unsafe factor during the operation of the robot joint.
- the set screw is in linear contact with the butt end of the connecting shaft of the adjacent joint and is close to the groove surface of the inner end surface of the joint ring cavity of the robot joint to be connected, it is in linear contact, and the shaft centers of the opposite butt ring are evenly distributed when tightening with the same torque.
- the set screw When the screw is tightened, the set screw is pressed against the side groove surface of the V-groove of the butt end of the adjacent joint connecting shaft close to the inner end surface of the joint ring cavity of the robot to be connected, and pushes the inner end surface of the joint ring cavity of the robot to be connected automatically
- the whole is close to the butt end faces of the connecting shafts of the adjacent joints, and at the same time, it can ensure that the connecting shafts of the adjacent joints receive uniform force, and the high concentric precision installation of the two adjacent robot joints and the stability of the connecting structure are ensured.
- a number of side threaded holes 1-2 are distributed on the cylindrical side of the butt ring, and the threaded holes on each side are respectively locked and fixed with the connecting shaft by a set screw.
- the docking ring has a ring structure, which is convenient for the robot to pass through various pipelines during installation; one end of the docking ring is the inner end surface 1-1 of the cavity, and the other end of the docking ring is a cylindrical cavity; there are several on the inner end surface of the cavity Threaded holes 1-3 on the end face.
- the docking ring is fixedly connected to the robot joint base by fasteners.
- the fasteners When the fasteners are connected to the threaded holes on the inner end surface of the docking ring cavity, they cannot protrude out of the inner end surface of the docking ring cavity, so as not to affect the adjacent two
- the connection between the joints is installed.
- the diameter of the cylindrical cavity On the butt ring, the diameter of the cylindrical cavity is larger than the diameter of the connecting shaft.
- the diameter of the cylindrical cavity is slightly larger than the diameter of the connecting shaft, so that it can form a precise shaft hole fit with the butt end of the adjacent joint connecting shaft during installation.
- the depth of the cylindrical cavity is less than or equal to the length of the butt end of the connecting shaft, so as to ensure that the outer edge of the cavity of the butt ring will not protrude to the adjacent during installation
- the part of the structure other than the output end of the joint so as not to hinder the movement of the joint.
- the side surface of the cavity of the docking ring has multiple (two or more) side threaded holes that are uniformly distributed in a circular shape relative to the axis of the docking ring. The center of the threaded holes on each side is parallel to the inner end surface of the cavity of the docking ring.
- the distance from the plane of the center of the threaded hole on each side to the inner end surface of the cavity of the butt ring is slightly smaller than the distance from the center of the V-groove on the side of the butt end of the connecting shaft to the end surface of the butt end of the connecting shaft, so as to ensure that the set screw passes through the end surface of the connecting shaft.
- the side threaded hole of the robot joint docking ring fixes the connecting shaft of the robot joint docking ring to be connected with the output end of the adjacent joint. When the set screw is tightened, the set screw can be pressed against the V-groove of the butt end of the connecting shaft and approach the robot to be connected.
- One side of the groove surface of the inner end surface of the joint butt ring cavity pushes the inner end surface of the joint butt ring cavity of the robot to be connected to automatically close to the butt end surface of the adjacent joint connecting shaft as a whole, while ensuring that the same torque is used to tighten the set screw , The force on the connecting shafts of adjacent joints is even, ensuring the high concentric precision installation of the two adjacent robot joints and the stability of the connecting structure.
- the principle is: the two adjacent robot joints are arranged vertically, and the docking ring of one joint Connect with the connecting shaft of another joint.
- a V-shaped groove is opened on the side of the connecting shaft, and the set screw is located along the V-shaped groove near the groove surface of the inner end surface of the butt ring cavity (as shown in Figure 9), and withstands the groove surface in a linear contact manner , Make the butt end face of the connecting shaft and the inner end face of the butt ring cavity close to eliminate the gap, so as to ensure uniform force and realize high concentric precision installation.
- the present utility model can be better realized.
- the above-mentioned embodiments are only preferred embodiments of the present utility model, and are not used to limit the scope of implementation of the present utility model; that is, all equal changes made in accordance with the content of the utility model Both the modification and the modification are covered by the scope of protection required by the claims of this utility model.
Abstract
本实用新型公开一种多轴机器人关节间连接装置，包括机器人关节基座、对接环、连接轴和紧固件，对接环通过紧固件安装于机器人关节基座的底面，对接环的空腔内端面与机器人关节基座的底面平行，连接轴通过紧固件安装于机器人关节基座的输出端，连接轴的对接端端面与机器人关节基座的输出端端面平行。本实用新型结构简单、安装方便、且能实现相邻关节之间的零间隙连接，可有效防止出现位置偏移而产生额外的力矩误差、从而影响多轴机器人系统精度的情况，以此保证获得准确的各轴轴长和连接角度数据，带入到机器人控制方案依据标定结果进行的计算优化当中。
Description
本实用新型涉及机器人关节技术领域，特别涉及一种多轴机器人关节间连接装置。
多轴机器人正朝着高精度、人机协作、柔性制造的趋势发展。除了提高机器人关节自身系统精度之外，还可以通过标定来校准优化机器人控制方案来提高多轴机器人系统精度。而要保证机器人控制方案依据标定结果进行准确计算，准确的各轴轴长和连接角度数据是前提条件。这就要求多轴机器人关节间确保零间隙连接才能获得准确的轴长和连接角度数据。传统的多轴机器人关节间采用轴孔对接的方式将待连接机器人关节对接端的孔结构套住相邻关节的连接端的轴结构，使对接端孔结构空腔的内端面顶到相邻关节的连接端轴结构的端面，然后用紧固螺丝穿过待连接机器人关节对接端孔结构侧壁上多组中心对称的通孔，连接到相邻关节连接端轴结构侧面的螺纹孔中。这样连接结构简单牢固、安装也相对容易，同时又可将负载和前端轴的重量分散到多组紧固件的连接当中，以此来保证连接结构稳定。但由于螺纹连接的精密程度有限，在实际安装过程中，往往会出现因拧紧螺丝的扭力致使待连接机器人关节对接端孔结构空腔的内端面与相邻关节的连接端轴结构端面发生局部脱离接触或整体脱离接触的情况而形成间隙，这就使得多轴机器人各轴的实际长度和连接角度与设计值产生偏差。由于这种连接误差难以预测，也难以测量，往往会在校准优化控制方案中被忽略掉，这就导致通过标定数据进行机器人控制方案校准优化难以有效提高多轴机器人系统精度。因此， 为了提高多轴机器人的系统精度，开发一种结构简单、安装方便、且能保证零间隙连接的多轴机器人关节间连接装置就具有重要的意义。
实用新型内容
本实用新型的目的在于克服现有技术的不足，提供一种结构简单、安装方便、且能实现相邻关节之间零间隙连接的多轴机器人关节间连接装置。
本实用新型的技术方案为：一种多轴机器人关节间连接装置，包括机器人关节基座、对接环、连接轴和紧固件，对接环通过紧固件安装于机器人关节基座的底面，对接环的空腔内端面与机器人关节基座的底面平行，连接轴通过紧固件安装于机器人关节基座的输出端，连接轴的对接端端面与机器人关节基座的输出端端面平行。多轴机器人进行关节间连接时，将待连接机器人关节的对接环套住相邻关节的连接轴，使待连接机器人关节的对接环的空腔内端面顶住相邻关节的连接轴的对接端端面，然后将两者固定连接即可。
所述连接轴凸出于机器人关节基座的部分为连接轴的对接端，对接端的圆柱侧面上设有V型槽。
所述对接环的圆柱侧面上分布有若干侧面螺纹孔，各侧面螺纹孔处分别通过紧定螺钉与连接轴锁紧固定。
安装时，通过多组均匀分布的紧定螺钉穿过待连接机器人关节的对接环侧面螺纹孔，以线性接触的方式顶住相邻关节连接轴对接端圆柱侧面上的V型槽，使其靠近待连接机器人关节的对接环空腔内端面的一侧槽面，并在恒扭矩拧紧紧定螺钉时推动待连接机器人关节的对接环空腔内端面自动与相邻关节连接轴的对接端端面紧贴，消除间隙，并保证受力均匀，高同心精度完成安装。
所述各侧面螺纹孔中心所处的平面到对接环空腔内端面的距离小于V型 槽中心到连接轴对接端端面的距离，使得在拧紧紧定螺钉进行固定的过程中，紧定螺钉顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，自动推动待连接机器人关节对接环空腔内端面整体紧贴相邻关节连接轴对接端端面而消除相邻两个机器人关节之间间隙；紧定螺钉的尖端角度与连接轴上对接端圆柱侧面的V型槽角度相等，可保证用紧定螺钉连接待连接机器人关节对接环和相邻关节连接轴时，紧定螺钉与连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面有较大的接触区域，以便牢固连接保持连接结构的稳定。紧定螺钉长度大于待连接机器人关节对接环空腔内侧面到相邻关节连接轴对接端V型槽中心的距离，小于待连接机器人关节对接环外侧面到相邻关节连接轴对接端V型槽中心的距离，以此保证紧定螺钉穿过待连接机器人关节对接环侧面螺纹孔顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面时，可以固定连接待连接机器人关节对接环和相邻关节连接轴对接端，同时紧定螺钉又不会凸出到待连接机器人关节对接环外侧面而形成机器人关节运转时的不安全因素。紧定螺钉与顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面时是线性接触，在使用相同扭力拧紧相对对接环轴心环形均匀分布的紧定螺钉时，紧定螺钉顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，推动待连接机器人关节对接环空腔内端面自动整体紧贴相邻关节连接轴对接端端面，同时又可保证相邻关节连接轴受力均匀，确保这两个相邻的机器人关节的高同心精度安装和连接结构的稳定。
所述连接轴嵌入机器人关节基座的部分为连接轴的连接端。
所述对接环为环形结构，便于机器人安装时穿过各种管线；对接环的一端为空腔内端面，对接环的另一端为圆柱形空腔；空腔内端面上设有若干个端面螺纹孔。对接环通过紧固件与机器人关节基座固定连接，紧固件连接到对接环空腔内端面上的端面螺纹孔时，不能凸出于对接环空腔内端面外，以免影响相邻两个关节之间的连接安装。
所述对接环上，圆柱形空腔的直径大于连接轴的直径，一般以圆柱形空腔的直径略大于连接轴的直径为宜，以便在安装时与相邻关节连接轴对接端形成精密轴孔配合，保证高同心精度安装这两个相邻的机器人关节；圆柱形空腔的深度小于或等于连接轴对接端的长度，以此保证安装时对接环的空腔外缘不会凸出顶到相邻关节输出端以外的结构部分，以防阻碍关节运动。
对接环的空腔侧面有多个(两个或两个以上)相对对接环轴心呈环形均匀分布的侧面螺纹孔，各侧面螺纹孔中心所处的平面与对接环的空腔内端面平行，各侧面螺纹孔中心所处的平面到对接环的空腔内端面的距离略小于连接轴对接端侧面V型槽中心到连接轴对接端端面的距离，以此保证通过紧定螺钉穿过待连接机器人关节对接环的侧面螺纹孔固定待连接机器人关节对接环与相邻关节输出端连接轴时，既可在拧紧紧定螺钉时使紧定螺钉顶住连接轴对接端的V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，推动待连接机器人关节对接环空腔内端面自动整体紧贴相邻关节连接轴对接端端面，同时又可保证在使用相同扭力拧紧紧定螺钉时，相邻关节连接轴受力均匀，确保这两个相邻的机器人关节的高同心精度安装和连接结构的稳定。
所述连接轴为中空的二级圆柱结构，便于机器人安装时穿过各种管线；二级圆柱结构的两个端面相平行。
所述二级圆柱结构中，直径较小的第一级圆柱结构为连接轴的连接端，嵌入于机器人关节基座内，直径较大的第二级圆柱结构为连接轴的对接端，凸出于机器人关节基座外。这样保证相邻关节连接后有较大的接触面，确保关节连接后结构稳定。
所述连接轴的对接端端面分布有若干沉头孔，各沉头孔贯穿整个连接轴。连接轴对接端具有多数个(两个或两个以上)相对连接轴轴心中心对称的沉头孔，连接轴对接端沉头孔贯穿连接轴，连接轴通过紧固件穿过连接轴对接端沉头孔将连接轴连接端与机器人关节输出端固定连接。连接轴连接端长度保证连接轴与机器人关节输出端连接后，连接轴对接端不会与机器人关节输出端以外的结构部分产生干涉，以防阻碍关节运动。连接轴对接端的圆柱侧面有一条环形V型槽。连接轴对接端V型槽中心所在的平面与连接轴对接端端面平行。连接轴对接端V型槽中心到连接轴对接端端面距离略大于对接环侧面螺纹孔中心所处的平面到对接环空腔内端面的距离。连接轴对接端V型槽边缘到连接轴对接端端面距离小于对接环空腔侧面螺纹孔朝内侧边缘所处的平面到对接环空腔内端面的距离。这样保证紧定螺钉可以顺利顶到连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，并在拧紧紧定螺钉进行固定的过程中自动推动待连接机器人关节对接环空腔内端面整体紧贴相邻关节连接轴对接端端面，从而消除相邻两个机器人关节之间的间隙。
利用上述多轴机器人关节间连接装置对相邻两个机器人关节进行连接时，其原理是：相邻的两个机器人关节相垂直设置，其中一个关节的对接环与另一个关节的连接轴进行连接，将连接轴嵌入对接环之后，对接环的空腔内端面顶住连接轴的对接端端面，对接环的侧面与连接轴的侧面之间通过紧定螺钉锁紧 连接，连接轴的侧面开设V型槽，紧定螺钉沿V型槽靠近对接环空腔内端面一侧的槽面，以线性接触的方式顶住该槽面，使连接轴的对接端端面与对接环的空腔内端面紧贴消除间隙，从而保证受力均匀，实现高同心精度安装。
本实用新型相对于现有技术，具有以下有益效果：
本多轴机器人关节间连接装置中，对接环的空腔内端面与关节基座底面平行，连接轴的对接端端面与关节输出端端面平行，这可以保证待连接机器人关节对接环和相邻机器人关节连接轴连接时，相邻的这两个关节之间保持设计的角度关系不变。通过对接环和连接轴精密轴孔配合可以高同轴精度连接相邻的这两个关节，以防出现位置偏移而产生额外的力矩误差、从而影响多轴机器人系统精度的情况，以此保证获得准确的各轴轴长和连接角度数据，带入到机器人控制方案依据标定结果进行的计算优化当中。
本多轴机器人关节间连接装置中，利用对接环的侧面螺纹孔中心所处的平面到对接环空腔内端面的距离略小于连接轴对接端圆柱侧面的V型槽中心到连接轴对接端端面的距离，使得在拧紧紧定螺钉进行固定的过程中，紧定螺钉顶住V型槽靠近对接环空腔内端面一侧的槽面，自动推动待连接机器人关节对接环空腔内端面整体紧贴相邻关节连接轴对接端端面而消除相邻两个机器人关节之间间隙。同时对接环空腔侧面设置多数个(两个或两个以上)相对对接环轴心环形均匀分布的螺纹孔，紧定螺钉与顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面一侧的槽面时是线性接触，同时紧定螺钉的尖端角度与连接轴对接端V型槽角度相等以此增大紧定螺钉与连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面一侧的槽面的接触区域，这些可保证在使用相同扭力拧紧紧定螺钉时，相邻关节连 接轴受力均匀，确保这两个相邻的机器人关节的高同心精度安装和连接结构的稳定。同时这样关节连接装置结构简单，安装方便。
图1为本多轴机器人关节间连接装置的整体结构示意图。
图2为图1的剖视图。
图3为对接环的整体结构示意图。
图4为对接环的剖视图。
图5为连接轴的整体结构示意图。
图6为连接轴的剖视图。
图7为相邻两个关节连接时的整体结构示意图。
图8为相邻两个关节连接时连接处的剖视图。
图9为图8中紧固螺钉安装位置的结构示意图。
上述各图中，各附图标记所示部件如下：1为对接环，1-1为空腔内端面，1-2为侧面螺纹孔，1-3为端面螺纹孔；2为连接轴，2-1为连接端，2-2为对接端，2-3为V型槽，2-4为沉头孔；3为紧固件，4为紧定螺钉，5为机器人关节基座，6为机器人关节的输出端。
下面结合实施例，对本实用新型作进一步的详细说明，但本实用新型的实施方式不限于此。
实施例
本实施例一种多轴机器人关节间连接装置，如图1或图2所示，包括机器人关节基座5、对接环1、连接轴2和紧固件3，对接环通过紧固件安装于机 器人关节基座的底面，对接环的空腔内端面1-1与机器人关节基座的底面平行，连接轴通过紧固件安装于机器人关节基座的输出端6，连接轴的对接端端面与机器人关节基座的输出端端面平行。多轴机器人进行关节间连接时，将待连接机器人关节的对接环套住相邻关节的连接轴，使待连接机器人关节的对接环的空腔内端面顶住相邻关节的连接轴的对接端端面，然后将两者固定连接即可。
如图5或图6所示，连接轴为中空的二级圆柱结构，便于机器人安装时穿过各种管线；二级圆柱结构的两个端面相平行。二级圆柱结构中，直径较小的第一级圆柱结构为连接轴的连接端，嵌入于机器人关节基座内，直径较大的第二级圆柱结构为连接轴的对接端，凸出于机器人关节基座外。这样保证相邻关节连接后有较大的接触面，确保关节连接后结构稳定。即：连接轴嵌入机器人关节基座的部分为连接轴的连接端2-1。连接轴凸出于机器人关节基座的部分为连接轴的对接端2-2，对接端的圆柱侧面上设有V型槽2-3。连接轴的对接端端面分布有若干沉头孔2-4，各沉头孔贯穿整个连接轴。连接轴对接端具有多数个(两个或两个以上)相对连接轴轴心中心对称的沉头孔，连接轴对接端沉头孔贯穿连接轴，连接轴通过紧固件穿过连接轴对接端沉头孔将连接轴连接端与机器人关节输出端固定连接。连接轴连接端长度保证连接轴与机器人关节输出端连接后，连接轴对接端不会与机器人关节输出端以外的结构部分产生干涉，以防阻碍关节运动。连接轴对接端的圆柱侧面有一条环形V型槽。连接轴对接端V型槽中心所在的平面与连接轴对接端端面平行。连接轴对接端V型槽中心到连接轴对接端端面距离略大于对接环侧面螺纹孔中心所处的平面到对接环空腔内端面的距离。连接轴对接端V型槽边缘到连接轴对接端端面距离小于对接环空腔侧面螺纹孔朝内侧边缘所处的平面到对接环空腔内端面 的距离。这样保证紧定螺钉可以顺利顶到连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，并在拧紧紧定螺钉进行固定的过程中自动推动待连接机器人关节对接环空腔内端面整体紧贴相邻关节连接轴对接端端面，从而消除相邻两个机器人关节之间的间隙。安装时，通过多组均匀分布的紧定螺钉穿过待连接机器人关节的对接环侧面螺纹孔，以线性接触的方式顶住相邻关节连接轴对接端圆柱侧面上的V型槽，使其靠近待连接机器人关节的对接环空腔内端面的一侧槽面，并在恒扭矩拧紧紧定螺钉时推动待连接机器人关节的对接环空腔内端面自动与相邻关节连接轴的对接端端面紧贴，消除间隙，并保证受力均匀，高同心精度完成安装。各侧面螺纹孔中心所处的平面到对接环空腔内端面的距离小于V型槽中心到连接轴对接端端面的距离，使得在拧紧紧定螺钉进行固定的过程中，紧定螺钉顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，自动推动待连接机器人关节对接环空腔内端面整体紧贴相邻关节连接轴对接端端面而消除相邻两个机器人关节之间间隙；紧定螺钉的尖端角度与连接轴上对接端圆柱侧面的V型槽角度相等，可保证用紧定螺钉连接待连接机器人关节对接环和相邻关节连接轴时，紧定螺钉与连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面有较大的接触区域，以便牢固连接保持连接结构的稳定。紧定螺钉长度大于待连接机器人关节对接环空腔内侧面到相邻关节连接轴对接端V型槽中心的距离，小于待连接机器人关节对接环外侧面到相邻关节连接轴对接端V型槽中心的距离，以此保证紧定螺钉穿过待连接机器人关节对接环侧面螺纹孔顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面时，可以固定连接待连接机器人关节对接环和相邻 关节连接轴对接端，同时紧定螺钉又不会凸出到待连接机器人关节对接环外侧面而形成机器人关节运转时的不安全因素。紧定螺钉与顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面时是线性接触，在使用相同扭力拧紧相对对接环轴心环形均匀分布的紧定螺钉时，紧定螺钉顶住相邻关节连接轴对接端V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，推动待连接机器人关节对接环空腔内端面自动整体紧贴相邻关节连接轴对接端端面，同时又可保证相邻关节连接轴受力均匀，确保这两个相邻的机器人关节的高同心精度安装和连接结构的稳定。
如图3或图4所示，对接环的圆柱侧面上分布有若干侧面螺纹孔1-2，各侧面螺纹孔处分别通过紧定螺钉与连接轴锁紧固定。对接环为环形结构，便于机器人安装时穿过各种管线；对接环的一端为对空腔内端面1-1，对接环的另一端为圆柱形空腔；空腔内端面上设有若干个端面螺纹孔1-3。对接环通过紧固件与机器人关节基座固定连接，紧固件连接到对接环空腔内端面上的端面螺纹孔时，不能凸出于对接环空腔内端面外，以免影响相邻两个关节之间的连接安装。对接环上，圆柱形空腔的直径大于连接轴的直径，一般以圆柱形空腔的直径略大于连接轴的直径为宜，以便在安装时与相邻关节连接轴对接端形成精密轴孔配合，保证高同心精度安装这两个相邻的机器人关节；圆柱形空腔的深度小于或等于连接轴对接端的长度，以此保证安装时对接环的空腔外缘不会凸出顶到相邻关节输出端以外的结构部分，以防阻碍关节运动。对接环的空腔侧面有多个(两个或两个以上)相对对接环轴心呈环形均匀分布的侧面螺纹孔，各侧面螺纹孔中心所处的平面与对接环的空腔内端面平行，各侧面螺纹孔中心所处的平面到对接环的空腔内端面的距离略小于连接轴对接端侧面V型槽中 心到连接轴对接端端面的距离，以此保证通过紧定螺钉穿过待连接机器人关节对接环的侧面螺纹孔固定待连接机器人关节对接环与相邻关节输出端连接轴时，既可在拧紧紧定螺钉时使紧定螺钉顶住连接轴对接端的V型槽靠近待连接机器人关节对接环空腔内端面的一侧槽面，推动待连接机器人关节对接环空腔内端面自动整体紧贴相邻关节连接轴对接端端面，同时又可保证在使用相同扭力拧紧紧定螺钉时，相邻关节连接轴受力均匀，确保这两个相邻的机器人关节的高同心精度安装和连接结构的稳定。
利用上述多轴机器人关节间连接装置对相邻两个机器人关节进行连接时，如图7或图8所示，其原理是：相邻的两个机器人关节相垂直设置，其中一个关节的对接环与另一个关节的连接轴进行连接，将连接轴嵌入对接环之后，对接环的空腔内端面顶住连接轴的对接端端面，对接环的侧面与连接轴的侧面之间通过紧定螺钉4锁紧连接，连接轴的侧面开设V型槽，紧定螺钉沿V型槽靠近对接环空腔内端面一侧的槽面(如图9所示)，以线性接触的方式顶住该槽面，使连接轴的对接端端面与对接环的空腔内端面紧贴消除间隙，从而保证受力均匀，实现高同心精度安装。
如上所述，便可较好地实现本实用新型，上述实施例仅为本实用新型的较佳实施例，并非用来限定本实用新型的实施范围；即凡依本实用新型内容所作的均等变化与修饰，都为本实用新型权利要求所要求保护的范围所涵盖。
Claims (10)
- 一种多轴机器人关节间连接装置，其特征在于，包括机器人关节基座、对接环、连接轴和紧固件，对接环通过紧固件安装于机器人关节基座的底面，对接环的空腔内端面与机器人关节基座的底面平行，连接轴通过紧固件安装于机器人关节基座的输出端，连接轴的对接端端面与机器人关节基座的输出端端面平行。
- 根据权利要求1所述一种多轴机器人关节间连接装置，其特征在于，所述连接轴凸出于机器人关节基座的部分为连接轴的对接端，对接端的圆柱侧面上设有V型槽。
- 根据权利要求2所述一种多轴机器人关节间连接装置，其特征在于，所述对接环的圆柱侧面上分布有若干侧面螺纹孔，各侧面螺纹孔处分别通过紧定螺钉与连接轴锁紧固定。
- 根据权利要求3所述一种多轴机器人关节间连接装置，其特征在于，所述各侧面螺纹孔中心所处的平面到对接环空腔内端面的距离小于V型槽中心到连接轴对接端端面的距离；紧定螺钉的尖端角度与连接轴上对接端圆柱侧面的V型槽角度相等。
- 根据权利要求1所述一种多轴机器人关节间连接装置，其特征在于，所述连接轴嵌入机器人关节基座的部分为连接轴的连接端。
- 根据权利要求1所述一种多轴机器人关节间连接装置，其特征在于，所述对接环为环形结构，对接环的一端为空腔内端面，对接环的另一端为圆柱形空腔；空腔内端面上设有若干个端面螺纹孔。
- 根据权利要求6所述一种多轴机器人关节间连接装置，其特征在于，所述对接环上，圆柱形空腔的直径大于连接轴的直径，圆柱形空腔的深度小于或 等于连接轴对接端的长度。
- 根据权利要求1所述一种多轴机器人关节间连接装置，其特征在于，所述连接轴为中空的二级圆柱结构，二级圆柱结构的两个端面相平行。
- 根据权利要求8所述一种多轴机器人关节间连接装置，其特征在于，所述二级圆柱结构中，直径较小的第一级圆柱结构为连接轴的连接端，嵌入于机器人关节基座内，直径较大的第二级圆柱结构为连接轴的对接端，凸出于机器人关节基座外。
- 根据权利要求8所述一种多轴机器人关节间连接装置，其特征在于，所述连接轴的对接端端面分布有若干沉头孔，各沉头孔贯穿整个连接轴。
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