WO2022011797A1 - 一种基于模块化设计的大惯量负载机器人 - Google Patents

一种基于模块化设计的大惯量负载机器人 Download PDF

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WO2022011797A1
WO2022011797A1 PCT/CN2020/111846 CN2020111846W WO2022011797A1 WO 2022011797 A1 WO2022011797 A1 WO 2022011797A1 CN 2020111846 W CN2020111846 W CN 2020111846W WO 2022011797 A1 WO2022011797 A1 WO 2022011797A1
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module
wrist
axis
forearm
robot
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PCT/CN2020/111846
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English (en)
French (fr)
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付杰
吕健
耿羚彪
王杰高
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南京埃斯顿机器人工程有限公司
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Publication of WO2022011797A1 publication Critical patent/WO2022011797A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

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  • the invention relates to the technical field of robots, in particular to a large inertia load robot based on a modular design.
  • a solar photovoltaic panel module is a power generation device that generates direct current when exposed to sunlight. It consists of thin solid photovoltaic cells almost entirely made of semiconductor materials (such as silicon).
  • semiconductor materials such as silicon.
  • cell strings need to be neatly arranged on a glass plate, then interconnected and welded, and then laminated into modules. Due to the low efficiency of manual arrangement, time-consuming and labor-intensive, the arrangement effect is extremely inconsistent, and excessive manual interference in the battery string makes it difficult to guarantee the quality. At the same time, the sweat on the hands of the human being easily contaminates the battery cells, resulting in poor appearance of the modules.
  • the solution at this stage is Most of the following two schemes are adopted: using a 20kg small load robot instead of manual labor, because matching the large inertia load of the wrist will significantly reduce the working rhythm of the robot, and at the same time lead to a large load inertia ratio of the wrist joint, which will slow down the response of the control system and be easy to generate Overload alarm; and it will lower the natural frequency of the system and cause resonance, resulting in large positioning error, low typesetting accuracy and long robot pose stabilization time.
  • the large-load robot has high power and large volume, which is not conducive to the compact design and arrangement of the line body on the customer's site, and will greatly increase the customer's procurement and use costs.
  • the present invention provides a large inertia load robot based on modular design.
  • a large inertia load six-axis robot based on modular design includes a base module, a large arm module, a small arm module and a wrist module.
  • J2 axis motor and reducer and the base module is provided with the upper interface of the base module;
  • the boom module is provided with the upper interface of the boom module and the lower interface of the boom module;
  • the forearm module includes the J3 axis motor that drives the movement of the forearm and the reducer
  • the forearm module is provided with the upper interface of the forearm module and the lower interface of the forearm module;
  • the wrist module includes the J5 axis motor and the reducer that drive the wrist to swing up and down, and the J6-axis motor and reducer that drive the circular motion of the wrist, and the wrist module is provided with a lower interface of the wrist module;
  • the lower interface of the big arm module is detachably connected to the upper interface of the base module;
  • the upper interface of the big arm module is connected to the lower interface of
  • the lower interface of the big arm module and the upper interface of the base module are matched with a spigot and are connected by screws; the upper interface of the big arm module and the lower interface of the forearm module are matched with a spigot and are connected by screws; the upper interface of the forearm module is connected with the wrist module.
  • the lower interface is fitted with a spigot and connected by screws.
  • the installation and disassembly are easy to install and disassemble through the use of a stopper and a high-precision installation and a screw connection.
  • the large inertia load six-axis robot is used in photovoltaic typesetting, sheet metal bending and PCB board handling industries, the arm span range is 1.9-2.3m, the load range is 8-20kg, and the allowable load inertia range of the wrist is 2.5 ⁇ 6.5kg.m 2 .
  • the robot load inertia ratio (load inertia divided by motor inertia) that meets this technical index is small, which can effectively increase the resonance frequency, improve the response speed of the control system, improve the positioning accuracy, and shorten the robot pose stabilization time, so as to achieve photovoltaic layout, sheet metal High-precision and high-paced handling of large-inertia panel workpieces in industries such as gold bending and PCB board handling.
  • the wrist module includes a forearm connecting body, a wrist connecting body and a wrist body which are connected in sequence; the forearm connecting body is provided with a wrist module lower interface for connecting the forearm module; the J5-axis motor is arranged in the wrist connecting body, and is synchronized with the wrist body.
  • the belt transmission mechanism drives the wrist body to rotate around the J5 axis; the J6 axis motor is arranged in the wrist body to drive the wrist body to rotate around the J6 axis.
  • the length of the wrist module can be flexibly changed according to customer needs to adapt to different robot arm spans.
  • J5-axis and/or J6-axis motors are selected as low-speed and high-torque motors, and the sizes of the wrist connecting body and the wrist body are respectively adapted to the J5-axis motor and the J6-axis motor.
  • the moment of inertia of the J5 axis and J6 axis is increased by selecting a suitable low-speed high-torque motor. Due to the large mounting flange of the low-speed high-torque motor, the wrist body needs to be redesigned, and the size and strength of the wrist body and the wrist connecting body need to be increased. Match the allowable load inertia range of the wrist from 2.5kg.m 2 to 6.5kg.m 2 . The transmission structure of the corresponding joint does not need to be redesigned, only the size of the wrist body and the wrist connecting body needs to be changed. Due to the low speed of the motor and the large torque, it can achieve higher transmission efficiency, reduce energy consumption, and reduce motor heat.
  • the reduction ratio of the J5 axis is increased, and the moment of inertia of the J5 axis is increased.
  • the robot has a compact structure, the wrist body connector does not need to be redesigned, the casting does not need to be re-molded, the product development cycle is shortened, and the market demand is quickly responded to. It is suitable for photovoltaic layout, sheet metal bending, PCB board handling and other industries. Large inertia plate workpiece handling can achieve high precision and high cycle handling. The reduction of the load inertia ratio can effectively increase the resonance frequency, improve the response speed of the control system, improve the positioning accuracy, shorten the robot pose stabilization time, and achieve high precision. , high-paced handling.
  • the moment of inertia of the J6 axis is increased.
  • the wrist body does not need to be redesigned, the casting does not need to be re-molded, the product development cycle is shortened, and the market demand can be quickly responded to.
  • Handling can achieve high-precision, high-paced handling.
  • the reduction of the load inertia ratio can effectively increase the resonance frequency, improve the response speed of the control system, improve the positioning accuracy, shorten the robot pose stabilization time, and achieve high-precision, high-paced handling.
  • the reduction ratio of the harmonic reducer is 80, 100 or 120.
  • it can achieve high-precision, high-beat handling, and the reduction of the load-to-inertia ratio can effectively increase the resonant frequency and improve the response speed of the control system , improve the positioning accuracy, shorten the robot pose stabilization time, and achieve high-precision, high-paced handling.
  • the present invention is an industrial robot designed for the handling conditions of large-inertia panel workpieces in industries such as photovoltaic layout, sheet metal bending, and PCB board handling.
  • the invention adopts the modular design idea, divides the robot into a plurality of module components, and each module component adopts the interface detachable connection, so that the robot has better integrity and stronger interaction ability.
  • the industrial robot of the present invention can flexibly select parameters such as the length of the robot rod, the power of the driving motor, the speed ratio of the transmission mechanism, the speed ratio of the reducer and other parameters according to the needs of customers, so as to achieve a load of 8kg-20kg, an arm span of 1.9m-2.3m, and a wrist allowable Using the product technical index of load inertia 2.5kg.m 2 ⁇ 6.5kg.m 2 , the robot load inertia ratio (load inertia divided by motor inertia) that meets this technical index is small, which can effectively increase the resonance frequency and improve the response of the control system speed, improve positioning accuracy, and shorten the stabilization time of robot posture, so as to realize high-precision and high-pace handling of large-inertia panel workpieces in industries such as photovoltaic layout, sheet metal bending, and PCB board handling.
  • parameters such as the length of the robot rod, the power of the driving motor, the speed ratio of the transmission mechanism, the speed ratio of the
  • FIG. 1 is a schematic three-dimensional structure diagram of a large inertia load robot of the present invention.
  • FIG. 2 is a schematic three-dimensional structural diagram of the base module of the large inertia load robot of the present invention.
  • FIG. 3 is a schematic three-dimensional structure diagram of the large arm module of the large inertia load robot of the present invention.
  • FIG. 4 is a schematic three-dimensional structural diagram of the forearm module of the large inertia load robot of the present invention.
  • FIG. 5 is a schematic three-dimensional structural diagram of the wrist module of the large inertia load robot of the present invention.
  • FIG. 6 is a schematic diagram of the connection structure of the wrist connecting body and the wrist body of the wrist module of the large inertia load robot of the present invention.
  • FIG. 7 is a cross-sectional view taken along the A-A direction of FIG. 6 .
  • this embodiment provides a six-axis robot with a large inertia load based on a modular design, which is composed of a base module 1, a large arm module 2, a small arm module 3 and a wrist module 4, including the J1 axis (rotation ), J2 axis (rotation), J3 axis (rotation), J4 axis (rotation), J5 axis (wrist swing), J6 axis (wrist rotation) six degrees of freedom;
  • base module 1 includes the J1 axis motor that drives the rotation of the base body and reducer, and the J2 axis motor and reducer that drive the movement of the boom, and the base module is provided with an upper interface 101 of the base module;
  • the boom module 2 is provided with an upper interface 202 of the boom module and a lower interface 201 of the boom module;
  • the forearm module includes a J3-axis motor and a reducer that drives the movement of the forearm, and a J4-axis
  • the above-mentioned interfaces all use a concave interface on one side and a convex interface on the other side, which are matched with a stop port, and the two components are connected together by means of screw fastening.
  • the wrist module 4 includes a forearm connecting body 402, a wrist connecting body 403 and a wrist body 404 which are connected in sequence; the forearm connecting body 402 is used to connect the forearm module 3 and the wrist connecting body 403, and the J5 axis motor 407 Set in the wrist connecting body 403, the output shaft of the J5 shaft motor 407 is sleeved with an input pulley 406, and the J5 shaft is sleeved with an output pulley 408, and the input pulley 406 and the output pulley 408 are connected by a synchronous belt.
  • the J5-axis motor 407 directly drives the input pulley 406 to rotate, drives the output pulley 408 to rotate synchronously through the synchronous belt, and drives the wrist body 409 to swing around the J5 axis;
  • the J6-axis motor 410 is installed in the wrist body 404 and is driven by the harmonic reducer 411 The wrist body 404 rotates around the J6 axis.
  • the length of the arm module 2 can be increased or the forearm connecting body of the wrist module 4 can be increased.
  • the length of 402 is used to increase the arm span of the robot, achieving an arm span of 1.9m to 2.3m.
  • There is no drive device on the boom module and the length of the boom module can be increased only by increasing the length of the boom body, with simple design and low manufacturing cost; Extremely convenient.
  • the lower interface 401 of the wrist module is set on the forearm connecting body 402, and the forearm connecting body 402 and the wrist connecting body 403 are connected by pin positioning and screw fastening. Manufacturing costs are low.
  • J5-axis motor 407 and/or J6-axis motor 410 use low-speed and high-torque motors, such as low-speed and high-torque servo motors. Due to the large mounting flanges of the low-speed and high-torque motors, the wrist connecting body 403 and the wrist body 404 need to be redesigned. The structural size and strength of the wrist connecting body and the wrist body should match the allowable load inertia range of the wrist from 2.5kg.m 2 to 6.5kg.m 2 .
  • the wrist connector 403 does not need to be redesigned.
  • increasing the reduction ratio of the sixth-axis harmonic reducer 411 on the J6 axis for example, adjusting the reduction ratio of the harmonic reducer 411 from the general 50 to 80, 100, and 120 to achieve the allowable wrist inertia range of 2.5kg.m 2 ⁇ 6.5kg.m 2 ; the wrist body 404 does not need to be redesigned.
  • the moment of inertia of the J5 axis and the J6 axis can be adjusted individually or at the same time. Either one of the above two schemes can be used for adjustment, or the above two schemes can be used for adjustment at the same time, as long as the allowable inertia range of the wrist is satisfied 2.5kg.m 2 ⁇ 6.5kg.m 2 requirements.

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

Abstract

本发明公开了一种基于模块化设计的大惯量负载六轴机器人，包括底座模块、大臂模块、小臂模块以及手腕模块，各模块通过接口可拆卸式连接。本发明的工业机器人可根据客户需要灵活选择机器人杆长参数、驱动电机功率、传动机构速比、减速机速比等参数，以达到负载8kg～20kg、臂展1.9m～2.3m、手腕部许用负载惯量2.5kg.m 3～6.5kg.m 2的产品技术指标，从而满足光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运对于负载、臂展、惯量的特殊要求。

Description

一种基于模块化设计的大惯量负载机器人 技术领域
本发明涉及机器人技术领域，具体涉及一种基于模块化设计的大惯量负载机器人。
背景技术
太阳能光伏板组件是一种暴露在阳光下便会产生直流电的发电装置，由几乎全部以半导体物料(例如硅)制成的薄身固体光伏电池组成。在生产太阳能光伏组件时，需要将电池串整齐地排布在玻璃板上，然后互联焊接，进而层压成组件。由于人工排布效率低下，费时费力，排布效果极不统一，人工的过多干涉电池串导致质量难以保证，同时人手上的汗液等容易污染电池片，造成组件外观不良，现阶段的解决方式大多采用以下两种方案：采用20kg小负载机器人替代人工，因为匹配手腕部的大惯量负载，会明显降低机器人的工作节拍，同时导致手腕关节负载惯量比大，使控制系统响应变慢，容易产生过载报警；且会使系统固有频率变低，产生谐振，导致定位误差大、排版精度低和机器人位姿稳定时间长。采用20kg以上大负载机器人，大负载机器人的功率大、体积大，不利于客户现场的线体紧凑设计排布，同时会大大的提高客户采购及使用成本。
另外，由于光伏板组件质量在8kg～20kg不等，玻璃板规格在长1.58m～2.5m、宽0.8m～1.4m不等，为了匹配工件的形状及不同质量，需要设计不同型号的机器人，制造及使用成本高。
发明内容
为解决现有通用六轴机器人不能满足光伏排版、钣金折弯、PCB板搬运等行业对于大惯量负载的需求，以及为了匹配光伏板工件的形状及不同质量，需要设计不同型号的机器人，制造及使用成本高的技术问题，本发明提供一种基于模块化设计的大惯量负载机器人。
本发明采用的技术方案是：
一种基于模块化设计的大惯量负载六轴机器人，包括底座模块、大臂模块、小臂模块以及手腕模块，底座模块包括驱动底座本体回转的J1轴电机和减速机，及驱动大臂运动的J2轴电机和减速机，并且在底座模块上设有底座模块上接口；大臂模块设有大臂模块上接口和大臂模块下接口；小臂模块包括驱动小臂运动的J3轴电机和减速器，及驱动手腕旋转运动的J4轴电机和减速机，并且在小臂模块上设有小臂模块上接口和小臂模块下接口；手腕模块包括驱动手腕上下摆动的J5轴电机和减速机，及驱动手腕圆周运动的J6轴电机和减速机，并且在手腕模块上设有手腕模块下接口；大臂模块下接口与底座模块上接口可拆卸式连接；大臂模块上接口与小臂模块下接口可拆卸式连接；小臂模块上接口与手腕模块下接口可拆卸式连接。
进一步地，大臂模块下接口与底座模块上接口采用止口配合，通过螺钉连接；大臂模块上接口与小臂模块下接口采用止口配合，通过螺钉连接；小臂模块上接口与手腕模块下接口采用止口配合，通过螺钉连接。
通过采用止口配合安装定位精度高，采用螺钉连接，安装及拆卸方便。
进一步地，所述大惯量负载六轴机器人用于光伏排版、钣金折弯及PCB板搬运行业，臂展范围为1.9～2.3m，负载范围为8～20kg，手腕部许用负载惯量范围为2.5～6.5kg.m 2。
满足该技术指标的机器人负载惯量比(负载惯量除以电机的惯量)小，可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，从而实现光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件的高精度、高节拍的搬运。
进一步地，手腕模块包括依次连接的小臂连接体、手腕连接体及手腕体；小臂连接体上设有用于连接小臂模块的手腕模块下接口；J5轴电机设于手腕连接体内，通过同步带传动机构驱动手腕体绕J5轴线转动；J6轴电机设于手腕体内，驱动手腕体绕J6轴线转动。
通过增加小臂连接体，可根据客户需要灵活改变手腕模块的长度，适应不同机器人臂展范围。
进一步地，J5轴和/或J6轴电机选用低速大扭矩电机，手腕连接体和手腕体的尺寸分别与J5轴电机和J6轴电机适配。
通过选用合适的低速大扭矩电机来增加J5轴和J6轴的转动惯量，由于低速大扭矩电机安装法兰较大，手腕体需要重新进行设计，增大手腕体及手腕连接体的尺寸及强度以匹配手腕部许用负载惯量范围2.5kg.m 2～6.5kg.m 2。对应关节的传动结构无需重新设计，只需要变更手腕体及手腕连接体的尺寸，由于电机转速低扭矩大，可实现较高的传动效率、降低能源消耗，降低电机发热，针对光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运，可实现高精度、高节拍的搬运，负载惯量比(负载惯量除以电机的惯量)减小可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，实现高精度、高节拍的搬运。
进一步地，通过减小输入带轮的齿数，增加输出带轮的齿数，增大J5轴的减速比，提高J5轴的转动惯量。
采用该设计方案，机器人结构紧凑，手腕体连接体不需要重新进行设计，铸件无需重新开模，缩短产品开发周期，快速响应市场需求，针对光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运，可实现高精度、高节拍的搬运，负载惯量比减小可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，实现高精度、高节拍的搬运。
进一步地，通过增大J6轴的谐波减速机的减速比，提高J6轴的转动惯量。
采用该设计方案，手腕体不需要重新进行设计，铸件无需重新开模，缩短产品开发周期，快速响应市场需求，针对光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运， 可实现高精度、高节拍的搬运，负载惯量比减小可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，实现高精度、高节拍的搬运。
进一步地，谐波减速机的减速比为80、100或120。针对光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运，可实现高精度、高节拍的搬运，负载惯量比减小可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，实现高精度、高节拍的搬运。
本发明的有益效果：本发明是针对光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件搬运工况而设计的工业机器人。本发明运用模块化的设计思路，将机器人分为多个模块部件，各模块部件采用接口可拆卸式连接，使得机器人具有更好的整体性以及更强的交互能力。本发明的工业机器人可根据客户需要灵活选择机器人杆长参数、驱动电机功率、传动机构速比、减速机速比等参数，以达到负载8kg～20kg、臂展1.9m～2.3m、手腕部许用负载惯量2.5kg.m 2～6.5kg.m 2的产品技术指标，满足该技术指标的机器人负载惯量比(负载惯量除以电机的惯量)小，可以有效的提高谐振频率，提高控制系统响应速度，提高定位精度、缩短机器人位姿稳定时间，从而实现光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件的高精度、高节拍的搬运。
附图说明
图1为本发明的大惯量负载机器人的立体结构示意图。
图2为本发明的大惯量负载机器人的底座模块的立体结构示意图。
图3为本发明的大惯量负载机器人的大臂模块的立体结构示意图。
图4为本发明的大惯量负载机器人的小臂模块的立体结构示意图。
图5为本发明的大惯量负载机器人的手腕模块的立体结构示意图。
图6为本发明的大惯量负载机器人的手腕模块的手腕连接体与手腕体的连接结构示意图。
图7是图6沿A-A方向的剖视图。
具体实施方式
为了更好地理解本发明，下面结合实施例进一步阐明本发明的内容，但本发明的内容不仅仅局限于下面的实施例。
实施方式1
参阅图1～图7，本实施例提供一种基于模块化设计的大惯量负载六轴机器人，由底座模块1、大臂模块2、小臂模块3以及手腕模块4组成，包含J1轴(旋转)、J2轴(旋转)、J3轴(旋转)、J4轴(旋转)、J5轴(手腕摆动)、J6轴(手腕回转)六个自由度；底座模块1包括驱动底座本体回转的J1轴电机和减速机，及驱动大臂运动的J2轴电机和减速机，并且在底座模块上设有底座模块上接口101；大臂模块2设有大臂模块上接口202和大臂模 块下接口201；小臂模块包括驱动小臂运动的J3轴电机和减速器，及驱动手腕旋转运动的J4轴电机和减速机，并且在小臂模块上设有小臂模块上接口302和小臂模块下接口301；手腕模块包括驱动手腕上下摆动的J5轴电机和减速机，及驱动手腕圆周运动的J6轴电机和减速机，并且在手腕模块上设有手腕模块下接口401；大臂模块下接口201以螺钉连接的方式安装入底座模块一上接口101；小臂模块下接口301以螺钉连接的方式安装入大臂模块上接口202；手腕模块下接口401以螺钉连接的方式安装入小臂模块上接口302。
上述接口均采用一侧为凹接口，另一侧为凸接口，采用止口配合，通过螺钉紧固的形式将两个部件连接在一起。
在本实施例中，手腕模块4包括依次连接的小臂连接体402、手腕连接体403及手腕体404；小臂连接体402用于连接小臂模块3与手腕连接体403，J5轴电机407设于手腕连接体403内，J5轴电机407的输出轴套装有输入带轮406，J5轴上套装有输出带轮408，输入带轮406与输出带轮408通过同步带连接。J5轴电机407直接驱动输入带轮406转动，通过同步带带动输出带轮408同步转动，驱动手腕体409绕J5轴线摆动；J6轴电机410设于手腕体404内，通过谐波减速机411驱动手腕体404绕J6轴线回转。
实施方式1的机器人用于光伏排版、钣金折弯、PCB板搬运等行业中大惯量板件类工件的搬运时，可通过增加大臂模块2的长度或增加手腕模块4的小臂连接体402的长度，来增加机器人臂展，实现臂展1.9m～2.3m。大臂模块上不设置驱动装置，仅需要增加大臂本体的长度即可实现大臂模块长度的增加，设计简单，制造成本低；且大臂模块与小臂模块及底座模块采用接口连接，装配极其方便。小臂连接体402上设置手腕模块下接口401，小臂连接体402与手腕连接体403通过销钉定位、螺钉紧固方式连接，通过增加小臂连接体402的长度增加机器人臂展，设计简单，制造成本低。
为实现实施方式1的机器人的手腕部许用负载惯量2.5kg.m 2～6.5kg.m 2、负载8kg～20kg的技术指标，可采用以下设计方案：
1、J5轴电机407和/或J6轴电机410选用低速大扭矩电机，如低速大扭矩伺服电机，由于低速大扭矩电机安装法兰较大，手腕连接体403及手腕体404需重新设计，增加手腕连接体及手腕体的结构尺寸及强度以匹配手腕部许用负载惯量范围2.5kg.m 2～6.5kg.m 2。
2、通过调整输入带轮406、输出带轮408的齿数，减少输入带轮406的齿数，增加输出带轮408的齿数，增大J5轴的减速比，手腕连接体403不需要重新设计。J6轴通过增加第六轴谐波减速机411的减速比，例如将谐波减速机411的减速比由通用的50调整为80、100、120来达到手腕部许用惯量范围2.5kg.m 2～6.5kg.m 2；手腕体404不需要重新进行设计。
J5轴和J6轴的转动惯量可以单一调整，也可同时调整，可以采用上述两种方案中的一种进行调整，也可同时采用上述两种方案进行调整，只需满足手腕部许用惯量范围2.5kg.m 2～6.5kg.m 2的要求。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (9)

  1. 一种基于模块化设计的大惯量负载六轴机器人，包括底座模块、大臂模块、小臂模块以及手腕模块，其特征在于，底座模块包括驱动底座本体回转的J1轴电机和减速机，及驱动大臂运动的J2轴电机和减速机，并且在底座模块上设有底座模块上接口；大臂模块设有大臂模块上接口和大臂模块下接口；小臂模块包括驱动小臂运动的J3轴电机和减速器，及驱动手腕旋转运动的J4轴电机和减速机，并且在小臂模块上设有小臂模块上接口和小臂模块下接口；手腕模块包括驱动手腕上下摆动的J5轴电机和减速机，及驱动手腕圆周运动的J6轴电机和减速机，并且在手腕模块上设有手腕模块下接口；大臂模块下接口与底座模块上接口可拆卸式连接；大臂模块上接口与小臂模块下接口可拆卸式连接；小臂模块上接口与手腕模块下接口可拆卸式连接。
  2. 根据权利要求1所述的大惯量负载六轴机器人，其特征在于，大臂模块下接口与底座模块上接口采用止口配合，通过螺钉连接；大臂模块上接口与小臂模块下接口采用止口配合，通过螺钉连接；小臂模块上接口与手腕模块下接口采用止口配合，通过螺钉连接。
  3. 根据权利要求1或2所述的大惯量负载六轴机器人，其特征在于，所述大惯量负载六轴机器人用于光伏排版、钣金折弯及PCB板搬运行业，臂展范围为1.9～2.3m，负载范围为8～20kg，手腕部许用负载惯量范围为2.5～6.5kg.m 2。
  4. 根据权利要求3所述的大惯量负载六轴机器人，其特征在于，手腕模块包括依次连接的小臂连接体、手腕连接体及手腕体；小臂连接体上设有用于连接小臂模块的手腕模块下接口；J5轴电机设于手腕连接体内，通过同步带传动机构驱动手腕体绕J5轴线转动；J6轴电机设于手腕体内，驱动手腕体绕J6轴线转动。
  5. 根据权利要求4所述的大惯量负载六轴机器人，其特征在于，J5轴和/或J6轴电机选用低速大扭矩电机，手腕连接体和手腕体的尺寸分别与J5轴电机和J6轴电机适配。
  6. 根据权利要求4所述的大惯量负载六轴机器人，其特征在于，通过减小输入带轮的齿数，增加输出带轮的齿数，增大J5轴的减速比，提高J5轴的转动惯量。
  7. 根据权利要求6所述的大惯量负载六轴机器人，其特征在于，通过增大J6轴的谐波减速机的减速比，提高J6轴的转动惯量。
  8. 根据权利要求4所述的大惯量负载六轴机器人，其特征在于，通过增大J6轴的谐波减速机的减速比，提高J6轴的转动惯量。
  9. 根据权利要求7或8所述的大惯量负载六轴机器人，其特征在于，谐波减速机的减速比为80、100或120。
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