A desktop six-axis collaborative robot

Abstract

The present invention provides a desktop-level six-axis collaborative robot, including a transmission mechanism skeleton, the transmission mechanism skeleton includes a base assembly, a turntable assembly, a large arm assembly, a middle joint assembly, a small arm assembly, a wrist joint and an end-actuator assembly, the base assembly includes a base, a base turntable and a flange coil; the flange coil is fixedly connected to the base and rotatably supports the base turntable; the turntable assembly is arranged on the base turntable, and is rotatable but not movable relative to the base; the large arm assembly, the middle joint assembly, the small arm assembly and the wrist joint are sequentially connected to the turntable assembly; and a replaceable robot shell is also included. The desktop-level six-axis collaborative robot provided by the present invention has a simple structure, is safe and reliable, and can be replaced to form a series of products, which can meet the appearance requirements of different users and different application scenarios, reduce the manufacturing cost of the series of products, and facilitate large-scale production and application.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a desktop-level six-axis collaborative robot. Background Art

[0002] With the rapid development of modern science and technology, the robot industry is developing more and more rapidly, and is increasingly used in factory automation production. At the same time, it has also greatly stimulated the enthusiasm of college students in my country to learn robots, master technology, and cultivate their abilities. In addition, due to the popularization of robot technology, desktop robots have already entered the field of life in the existing technology for user use, entertainment, and secondary development. Therefore, the demand for robot equipment in various application scenarios is becoming more and more intense.

[0003] However, existing multi-DOF robots are often expensive, large, have few degrees of freedom, and low precision. They cannot meet the requirements of teaching demonstrations and often have certain safety issues. They are neither economical nor applicable for teaching and research. At the same time, the main components of multi-DOF robots in the existing technology, such as the upper arm and the lower arm, are often both structural parts and appearance parts. They cannot be replaced or the appearance can be changed, and the appearance requirements of different users cannot be met. When forming a series of products, the manufacturing cost is very high.

[0004] In order to further facilitate user use, improve the robot's degree of freedom and accuracy, meet the appearance requirements of different users, and reduce costs, it is urgent to design a small, simple, safe and reliable, low-cost, and multi-degree-of-freedom collaborative robot that can change its appearance to solve the above technical problems. Summary of the invention

[0005] In order to solve at least one of the above technical problems, the purpose of the present invention is to provide a small, simple, safe and reliable desktop-level six-axis collaborative robot with changeable appearance. At the same time, the six-axis collaborative robot is easy to manufacture, low in cost, and can be replaced as a serialized product, which is convenient for large-scale production and application.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A desktop-level six-axis collaborative robot comprises a transmission mechanism skeleton, the transmission mechanism skeleton comprises a base assembly, a turntable assembly, an upper arm assembly, a middle joint assembly, a lower arm assembly, a wrist joint and an end-effector assembly, the base assembly comprises a base, a base turntable and a flange coil; the flange coil is fixedly connected to the base and rotatably supports the base turntable; the turntable assembly is arranged on the base turntable and is rotatable but not movable relative to the base; the upper arm assembly, the middle joint assembly, the lower arm assembly and the wrist joint are sequentially connected to the turntable assembly.

[0008] Furthermore, the base assembly also includes a first bearing, which is arranged between the base turntable and the flange coil.

[0009] Furthermore, the base assembly also includes a stop ring, a base wheel one, and a base wheel two; a first bearing mounting hole is provided on one side of the base turntable, the first bearing is installed in the first bearing mounting hole and is limited by the stop ring; the flange end of the flange coil is fixedly connected to the base; the other end passes through the first bearing and is fixedly connected to the base wheel one; the base wheel two is transmission-connected to the base wheel one; a second bearing mounting hole is also provided on the other side of the base turntable, a second bearing is installed in the second bearing mounting hole, and the second bearing supports and positions the drive shaft of the base wheel two.

[0010] Furthermore, the turntable assembly includes a turntable, a first driver, a second driver and a balancing cylinder device; the turntable includes a connecting plate, a first support part, and a second support part; the first support part and the second support part are arranged on the same side of the connecting plate; the first driver is arranged on the connecting plate, and the output shaft of the first driver is connected to the second base wheel for transmission; the second driver is arranged on the first support part, and is used to drive the boom assembly to rotate; one end of the balancing cylinder device is arranged on the second support part, and the other end is connected to the boom assembly; the connecting plate is fixedly connected to the base turntable.

[0011] Furthermore, the flange tube is provided with a hollow through hole, and the connecting plate is also provided with a through hole 1; the hollow through hole is arranged coaxially with the through hole; the base wheel 1 and the base wheel 2 are synchronous pulleys or gears.

[0012] Furthermore, the boom assembly includes a boom, a support bearing and a coupling; one end of the coupling is fixedly connected to the boom, and the other end is transmission-connected to the output shaft of the second driver; a third bearing mounting hole is provided on the first support portion on the side opposite to the second driver, and the support bearing is provided in the third bearing mounting hole.

[0013] Furthermore, a coaxial threaded hole is provided at the end of the output shaft of the second driver, and a screw provided in the threaded hole limits the coupling and the upper arm at the end of the output shaft of the second driver.

[0014] Furthermore, the middle joint assembly includes a middle joint, a third driver, a fourth driver, a fifth driver, and a sixth driver; a first mounting portion and a second mounting portion are provided on the middle joint, and a bearing mounting portion is also provided on the opposite side of the first mounting portion, and the third driver is arranged on the first mounting portion; the fourth driver, the fifth driver and the sixth driver are arranged on the second mounting portion; the fifth driver and the sixth driver are arranged side by side on the upper part of the fourth driver; the middle joint is also provided with a connecting portion, and the connecting portion is connected to the forearm assembly.

[0015] Further, the middle joint assembly also includes a first transmission device, a second transmission device and a third transmission device; the first transmission device includes a first transmission wheel 1 and a first transmission wheel 2 that are transmission-connected, the second transmission device includes a second transmission wheel 1 and a second transmission wheel 2 that are transmission-connected, and the third transmission device includes a third transmission wheel 1 and a third transmission wheel 2 that are transmission-connected; the first transmission wheel 1, the second transmission wheel 1 and the third transmission wheel 1 are driven by a fourth drive, a fifth drive and a sixth drive respectively; the first transmission wheel 1, the first transmission wheel 2 and / or the second transmission wheel 1, the second transmission wheel 2 and / or the third transmission wheel 1, the third transmission wheel 2 are synchronous pulleys or gears.

[0016] Furthermore, the forearm assembly includes a fixed tube, a first transmission tube, a second transmission tube, a third transmission tube, and a forearm; the fixed tube, the first transmission tube, the second transmission tube and the third transmission tube are all hollow tubes, and are coaxially sleeved in sequence from the outside to the inside, and bearings are provided at both ends between any two adjacent tubes.

[0017] Furthermore, the forearm assembly also includes a wrist joint transmission synchronous pulley 1 and a terminal transmission synchronous pulley 1; the fixed tube is fixedly connected to the connecting part for supporting the forearm assembly; the same side ends of the first transmission tube, the second transmission tube and the third transmission tube are respectively fixedly connected to the first transmission wheel 2, the second transmission wheel 2 and the third transmission wheel 2; the other end of the first transmission tube is fixedly connected to the forearm, the other end of the second transmission tube is fixedly connected to the wrist joint transmission synchronous pulley 1, and the other end of the third transmission tube is fixedly connected to the terminal transmission synchronous pulley 1.

[0018] Furthermore, the forearm assembly also includes a wrist joint transmission synchronous pulley 2, a transmission shaft and a terminal transmission synchronous pulley 2; the transmission shaft is a stepped shaft, both ends of the stepped shaft are D-shaped, and two stepped shafts are provided; the wrist joint transmission synchronous pulley 2 is connected to the wrist joint through one of the transmission shafts; the terminal transmission synchronous pulley 2 is connected to the terminal actuator through another transmission shaft.

[0019] Furthermore, the forearm assembly also includes an intermediate wheel, and there are two groups of intermediate wheels, which are respectively arranged on both sides of the forearm; the wrist joint transmission synchronous pulley one and the wrist joint transmission synchronous pulley two are connected by a synchronous belt one, and when the synchronous belt one passes through a group of the intermediate wheels, it is tensioned and changes direction, thereby realizing the driving of the wrist joint by the fifth drive; the end transmission synchronous pulley one and the end transmission synchronous pulley two are connected by a synchronous belt two, and when the synchronous belt two passes through another group of the intermediate wheels, it is tensioned and changes direction.

[0020] Furthermore, the end execution assembly includes a first bevel gear, a second bevel gear, an end flange and a connecting shaft; the first bevel gear is connected to the end transmission synchronous pulley through the transmission shaft, and the second bevel gear is fixedly connected to the end flange coaxially; the connecting shaft connects the wrist joint and the end flange, and screws are provided at both ends of the connecting shaft to achieve a non-movable but mutually rotatable connection between the end flange and the wrist joint.

[0021] Furthermore, the first bevel gear and the second bevel gear are meshed and driven to realize that the sixth driver drives the end effector assembly.

[0022] Furthermore, the desktop-level six-axis collaborative robot also includes a robot shell, and the robot shell is installed on the transmission mechanism skeleton.

[0023] Furthermore, the robot shell can be designed into any shape, and the robot shell includes an entertainment version, an educational version or an industrial version. The transmission mechanism skeleton can replace the robot shell to form a series of products.

[0024] Compared with the prior art, the desktop-level six-axis collaborative robot provided by the present invention has the following beneficial effects: the desktop-level six-axis collaborative robot of the present invention has a compact structure, is conducive to production and processing, and reduces production costs; has a smaller volume and weight, and is easy to disassemble, move and operate. At the same time, the desktop-level six-axis collaborative robot is simple to manufacture, has a low cost, and is convenient for large-scale production and application.

[0025] The desktop six-axis collaborative robot of the present invention enables robotics researchers to verify their robot motion-related algorithms anytime and anywhere, and provides a comprehensive teaching device for robotics education classrooms. It can be widely used in education and teaching as well as personal secondary development in the field of robotics; it has higher precision, flexibility and broader application prospects.

[0026] The desktop-level six-axis collaborative robot shell and the transmission mechanism frame of the present invention are designed independently of each other. The robot shell can be designed into any shape. Different styles of robot shells can be provided according to different needs of application scenarios, such as entertainment version, educational version or industrial version, etc., to present various appearances for the robot.

[0027] The desktop-level six-axis collaborative robot provided by the present invention has a replaceable shell to form a series of products, which can meet the appearance requirements of different users and different application scenarios and reduce the manufacturing cost of the series of products.

[0028] In summary, the present invention proposes a small, simple, safe, reliable, and desktop-level six-axis collaborative robot with changeable appearance, which has broad application prospects in the field of robotics. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the desktop six-axis collaborative robot of the present invention;

[0030] Figure 2 It is a schematic diagram of a base assembly and a turntable assembly of a desktop six-axis collaborative robot of the present invention;

[0031] Figure 3 It is a schematic diagram of the internal structure of the base assembly and the turntable assembly of the present invention;

[0032] Figure 4 It is a schematic diagram of the driving structure of the big arm of the present invention;

[0033] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0034] Figure 6 It is a schematic diagram of the structure of the joint assembly in the present invention;

[0035] Figure 7 is a schematic diagram of the internal structure of the joint assembly of the present invention;

[0036] Figure 8 The transmission structure of the joint assembly in the present invention is shown in FIG. Figure 1 ;

[0037] Fig. 9 The transmission structure of the joint assembly in the present invention is shown in FIG. Figure 2 ;

[0038] Fig.10 It is a schematic diagram of the structure of the forearm assembly and the wrist joint of the present invention;

[0039] Fig.11 The transmission structure of the wrist joint and the end effector assembly of the present invention is shown in FIG. Figure 1 ;

[0040] Fig.12 The transmission structure of the wrist joint and the end effector assembly of the present invention is shown in FIG. Figure 2 ;

[0041] Fig.13 This is a schematic diagram of the structure of the desktop six-axis collaborative robot of the present invention after the shell is installed Figure 1 ;

[0042] Fig.14 This is a schematic diagram of the structure of the desktop six-axis collaborative robot of the present invention after the shell is installed Figure 2 .

[0043] The reference numerals are described as follows:

[0044] 1 base assembly, 1-1 base, 1-2 base turntable, 1-3 first bearing, 1-4 stop ring, 1-5 flange coil, 1-6 base wheel one, 1-7 base wheel two, 2 turntable assembly, 2-1 turntable, 2-11 connecting plate, 2-12 first support part, 2-13 second support part, 2-2 first drive, 2-3 second drive, 2-4 balance cylinder device, 3 big arm assembly, 3-1 big arm, 3-2 support bearing, 3-3 coupling, 4 middle joint assembly, 4-1 middle joint, 4-11 bearing mounting part, 4-12 connecting part, 4-2 third drive, 4-3 fourth drive, 4-31 first transmission wheel one, 4-32 first transmission wheel two, 4-4 The fifth drive, 4-41 the second transmission wheel one, 4-42 the second transmission wheel two, 4-5 the sixth drive, 4-51 the third transmission wheel one, 4-52 the third transmission wheel two, 5 forearm assembly, 5-1 fixed tube, 5-2 the first transmission tube, 5-3 the second transmission tube, 5-4 the third transmission tube, 5-5 forearm, 5-6 wrist joint transmission synchronous pulley one, 5-7 the end transmission synchronous pulley one, 5-8 intermediate wheel, 5-9 wrist joint transmission synchronous pulley two, 5-10 transmission shaft, 5-11 the end transmission synchronous pulley two, 6 wrist joint, 7 end actuator, 7-1 the first bevel gear, 7-2 the second bevel gear, 7-3 the end flange, 7-4 connecting shaft, 8 robot housing. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention. If no specific technology or conditions are specified in the embodiments, the technology or conditions described in the literature in the art or the product instructions shall be followed.

[0046] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The following is a detailed description of the desktop six-axis collaborative robot of the present invention through specific embodiments:

[0049] like Figure 1 As shown, the desktop-level six-axis collaborative robot described in the present invention includes a transmission mechanism skeleton and a robot shell. The transmission mechanism skeleton includes a base assembly 1, a turntable assembly 2, a large arm assembly 3, a middle joint assembly 4, a small arm assembly 5, a wrist joint 6 and an end-effector assembly 7 and other components.

[0050] like Figure 2-3 As shown, the base assembly 1 includes a base 1-1, a base turntable 1-2, a first bearing 1-3, a stop ring 1-4, a flange coil 1-5, a base wheel 1-6, a base 2 1-7 and other parts. The base 1-1 provides fixed support for the entire robot, and can be directly connected to the desktop for installation as needed, or can be connected to other devices such as an adapter plate or an adapter seat or a mobile platform. A first bearing mounting hole is provided on one side of the base turntable 1-2, and the first bearing mounting hole is used to install the first bearing 1-3. The stop ring 1-4 can be fixedly connected to the side of the base turntable 1-2 where the first bearing mounting hole is provided by screws, and is used to limit the first bearing 1-3. After the flange coil 1-5 passes through the first bearing 1-3, one end with a flange is fixedly connected to the base 1-1 by screws, and the end face of the other end is fixedly connected to the base wheel 1-6 by screws. The base wheel 1-6 is transmission-connected to the base wheel 2 1-7. A second bearing mounting hole is also provided in the base turntable 1-2, and the second bearing provided in the second bearing mounting hole can provide support and positioning for the driving shaft of the base wheel 2 1-7.

[0051] The turntable assembly 2 includes a turntable 2-1, a first driver 2-2, a second driver 2-3, a balancing cylinder device 2-4 and other components. The turntable 2-1 includes a connecting disk 2-11, a first support portion 2-12, and a second support portion 2-13; the first support portion 2-12 and the second support portion 2-13 are arranged on the same side of the connecting disk 2-11. The first driver 2-2 is arranged on the connecting disk, and the second driver 2-3 is arranged on the first support portion 2-12, and is used to drive the large arm assembly to rotate. One end of the balancing cylinder device 2-4 is arranged on the second support portion, and the other end is connected to the large arm assembly. The balancing cylinder device 2-4 can automatically balance and adjust the eccentric moment generated by the moving parts of the robot arm due to their own gravity and the gravity of the load during movement, thereby reducing the load of the second driver and increasing the load capacity of the entire robot.

[0052] The output shaft of the first driver 2-2 in the turntable assembly 2 is connected to the base wheel 2 1-7 by transmission, and supported in the second bearing; the connecting plate 2-11 in the turntable assembly 2 is fixedly connected to the base turntable 1-2 in the base assembly 1 by screws. Due to the mutual cooperation of the first bearing 1-3, the stop ring 1-4 and the flange tube 1-5, the base turntable 1-2 is rotatably supported on the base 1-1, so that the base assembly is divided into a fixed part fixedly connected to the base 1-1 and a rotating part fixedly connected to the base turntable 1-2.

[0053] When the base wheel 1-7 is driven to rotate by the first driver 2-2, since the base wheel 1-6 is fixedly connected to the base, and the base wheel 1-7 is fixedly connected to the base turntable 1-2, the base wheel 1-7 rotates around the base wheel 1-6, so that the turntable assembly 2 fixedly connected to the base turntable 1-2 rotates relative to the base 1-1, thereby realizing the rotation of the first degree of freedom of the robot arm.

[0054] At the same time, the flange coil 1-5 is provided with a hollow through hole, and the turntable 2-1 is provided with a through hole 1 coaxially arranged with the hollow through hole. The hollow through hole and the through hole 1 are used to pass cables, realizing the wiring method of the robot cable internal arrangement, which is not only beautiful, but also can reduce the damage of the cable caused by external twisting and bending. The base wheel 1-6 and the base wheel 2-1-7 can be set as synchronous pulleys or gears according to the actual working conditions.

[0055] like Figure 1 and 4-5, one end of the upper arm assembly 3 is connected to the turntable assembly 2, and the other end is connected to the middle joint assembly 4. The upper arm assembly 3 includes components such as an upper arm 3-1, a support bearing 3-2 and a coupling 3-3. One end of the coupling 3-3 is fixedly connected to the upper arm 3-1 by a screw, and the other end is connected to the output shaft of the second driver 2-3 by a transmission connection, preferably a key transmission connection. A third bearing mounting hole is provided on the first supporting portion 2-11 on the side opposite to the second driver 2-3, and the support bearing 3-2 is provided in the third bearing mounting hole to support the output shaft and coupling of the second driver 2-3. The support bearing can be provided in a plurality according to actual working conditions. A coaxial threaded hole is provided at the end of the output shaft of the second driver 2-3, and a screw matching the threaded hole sets the coupling and the upper arm limit at the end of the output shaft of the second driver 2-3.

[0056] Since the support bearing 3-2 is arranged between the first support part 2-11 and the output shaft of the second driver 2-3, the gravity of the parts and loads above the upper arm is supported by the first support part, and the first support part can be regarded as a frame. The above arrangement can eliminate the radial force of the output shaft of the driver, so that the driver only needs to provide axial power output, thereby protecting the driver and improving the output accuracy of the driver. The transmission method of directly driving the upper arm through the above second driver 2-3 can realize the rotation of the second degree of freedom of the robot arm.

[0057] like Figure 6-9 As shown, the middle joint assembly 4 includes a middle joint 4-1, a third driver 4-2, a fourth driver 4-3, a fifth driver 4-4, a sixth driver 4-5, a first transmission device, a second transmission device and a third transmission device and other components.

[0058] The middle joint 4-1 is provided with a first mounting portion and a second mounting portion, and a bearing mounting portion 4-11 is further provided on the opposite side of the first mounting portion, and a third driver 4-2 is provided on the first mounting portion. The transmission connection mode between the third driver 4-2 and the upper arm 3-1 is the same as the connection mode between the upper arm 3-1 and the second driver, and will not be repeated here. The transmission mode of the middle joint is directly driven by the third driver 4-3, thereby realizing the rotation of the third degree of freedom of the robot arm.

[0059] The fourth driver 4-3, the fifth driver 4-4 and the sixth driver 4-5 are installed on the second installation part, wherein the fifth driver 4-4 and the sixth driver 4-5 are arranged side by side above the fourth driver 4-3. A connecting part 4-12 is also arranged on the middle joint 4-1 for connecting with the forearm assembly 5.

[0060] The forearm assembly includes a fixed tube 5-1, a first transmission tube 5-2, a second transmission tube 5-3, a third transmission tube 5-4, a forearm 5-5, a wrist joint transmission synchronous pulley 5-6 and a terminal transmission synchronous pulley 5-7. The fixed tube 5-1, the first transmission tube 5-2, the second transmission tube 5-3 and the third transmission tube 5-4 are all hollow tubes, and are sequentially coaxially sleeved from the outside to the inside. Bearings are provided at both ends between any two adjacent tubes for slewing support. The fixed tube 5-1 is fixedly connected to the connecting portion 4-12 to support the forearm assembly.

[0061] The first transmission device includes a first transmission wheel 1 4-31 and a first transmission wheel 2 4-32, the second transmission device includes a second transmission wheel 1 4-41 and a second transmission wheel 2 4-42, and the third transmission device includes a third transmission wheel 1 4-51 and a third transmission wheel 2 4-52. The first transmission wheel 1 4-31, the second transmission wheel 1 4-41 and the third transmission wheel 1 4-51 are driven by the fourth driver 4-3, the fifth driver 4-4 and the sixth driver 4-5 respectively. The same side ends of the first transmission tube 5-2, the second transmission tube 5-3 and the third transmission tube 5-4 are respectively connected to the first transmission wheel 2 4-32, the second transmission wheel 2 4-42 and the third transmission wheel 2 4-52; the other end of the first transmission tube 5-2 is connected to the forearm 5-5 by a top screw, the other end of the second transmission tube 5-3 is connected to the wrist joint transmission synchronous pulley 1 5-6, and the other end of the third transmission tube 5-4 is connected to the terminal transmission synchronous pulley 1 5-7. All the above-mentioned transmission wheels can be set as synchronous wheels or gears according to actual working conditions.

[0062] Through the above transmission arrangement, the fourth driver 4-3 can drive the forearm 5-5 to rotate relative to the middle joint, thereby realizing the fourth degree of freedom of the mechanical arm. At the same time, the fifth driver 4-4 and the sixth driver 4-5 can respectively drive the wrist joint transmission synchronous pulley 1 5-6 and the terminal transmission synchronous pulley 1 5-7 to rotate relative to the middle joint.

[0063] The forearm assembly 5 also includes an intermediate wheel 5-8, a wrist joint transmission synchronous pulley 2 5-9, a transmission shaft 5-10 and a terminal transmission synchronous pulley 2 5-11 and other parts. The transmission shaft 5-10 is a stepped shaft, both ends of which are D-shaped. There are two stepped shafts, which are arranged on both sides of the forearm. The wrist joint transmission synchronous pulley 2 5-9 is connected to the wrist joint 6 through a transmission shaft 5-10; the terminal transmission synchronous pulley 2 5-11 is connected to the terminal actuator 7 through another transmission shaft 5-10.

[0064] The end actuator assembly 7 includes a first bevel gear 7-1, a second bevel gear 7-2, an end flange 7-3, a connecting shaft 7-4 and other parts. The first bevel gear 7-1 is connected to the end transmission synchronous pulley 2 through the transmission shaft 5-10, and the second bevel gear 7-2 is coaxially fixedly connected to the end flange 7-3. The connecting shaft 7-4 connects the wrist joint 6 and the end flange 7-3, and is limited by screws at both ends of the connecting shaft 7-4 to achieve a connection between the end flange and the wrist joint that cannot move relative to each other but can rotate relative to each other. The end flange 7-3 can be connected to various end actuators commonly used in robotic arms, such as pens, suction cups, clips, 3D printing heads and other common actuators in the field.

[0065] There are two groups of intermediate wheels, which are respectively arranged on both sides of the forearm. The wrist joint transmission synchronous pulley 1 5-6 and the wrist joint transmission synchronous pulley 2 5-9 are connected by synchronous belt transmission. When the synchronous belt passes through a group of intermediate wheels 5-8, it will be tensioned and changed in direction, so that the fifth driver 4-4 drives the wrist joint 6, and then the fifth degree of freedom of the robot arm is rotated. Similarly, the synchronous belt between the end transmission synchronous pulley 1 5-7 and the end transmission synchronous pulley 2 5-11 on the other side of the forearm is also tensioned and changed in direction by the intermediate wheel 5-8 on the other side, and the sixth driver 4-6 drives the end actuator 7 through the meshing transmission of the first bevel gear 7-1 and the second bevel gear 7-2, so that the sixth degree of freedom of the robot arm is rotated.

[0066] The transmission mechanism skeleton of the desktop-level six-axis collaborative robot provided by the present invention can realize six degrees of freedom of movement and can perform relatively complex actions and tasks. However, due to the large differences in the appearance requirements of different users, on the basis of the transmission mechanism skeleton of the desktop-level six-axis collaborative robot provided by the present invention, the present invention also provides a robot shell 8. The robot shell includes but is not limited to a large arm shell, a small arm shell, a base shell, etc., and can be decorated accordingly according to the appearance design requirements.

[0067] The robot shell and the transmission mechanism frame are independent of each other and do not interfere with each other. The robot shell is installed on the transmission mechanism frame, which is equivalent to the shell being wrapped around the transmission mechanism. The robot shell can be designed into any shape, and different styles of robot shells can be provided according to different needs of application scenarios, such as entertainment version, educational version or industrial version, etc., to present various appearances for the robot. The desktop-level six-axis collaborative robot provided by the present invention has a replaceable shell to form a series of products, which can meet the appearance requirements of different users and different application scenarios, and reduce the manufacturing cost of the series of products.

[0068] Each driver in the desktop six-axis collaborative robot of the present invention is connected to the controller for communication, and each driver is controlled by the controller to enable the robot arm to perform complex actions and movements. Each driver is preferably a stepper motor with a harmonic reducer.

[0069] The innermost third transmission tube in the forearm assembly of the present invention is hollow, which is convenient for routing the actuator at the end of the robot arm. The arrangement of the internal routing of the robot is not only beautiful, but also can reduce the damage of the cable caused by external twisting and bending.

[0070] The material of each component in the desktop six-axis collaborative robot of the present invention is preferably non-metallic material, and is manufactured by injection molding or 3D printing.

[0071] Compared with the prior art, the desktop-level six-axis collaborative robot provided by the present invention has the following beneficial effects: the desktop-level six-axis collaborative robot of the present invention has a compact structure, is conducive to production and processing, and reduces production costs; has a smaller volume and weight, and is easy to disassemble, move and operate. At the same time, the desktop-level six-axis collaborative robot is simple to manufacture, has a low cost, and is convenient for large-scale production and application.

[0072] The shell and transmission mechanism frame of the desktop-level six-axis collaborative robot of the present invention are designed independently of each other. The robot shell can be designed into any shape. Different styles of robot shells can be provided according to different requirements of application scenarios, such as entertainment version, educational version or industrial version, etc., to present various appearances for the robot.

[0073] The desktop-level six-axis collaborative robot provided by the present invention has a replaceable shell to form a series of products, which can meet the appearance requirements of different users and different application scenarios and reduce the manufacturing cost of the series of products.

[0074] In summary, the present invention proposes a small, simple, safe, reliable, and desktop-level six-axis collaborative robot with changeable appearance, which has broad application prospects in the field of robotics.

[0075] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and assemble different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

Claims

1. A desktop six-axis collaborative robot, characterized in that: It includes a transmission mechanism skeleton, which includes a base assembly, a turntable assembly, a large arm assembly, a middle joint assembly, a small arm assembly, a wrist joint and an end-actuator assembly, and the base assembly includes a base, a base turntable and a flange coil; The flange coil is fixedly connected to the base and rotatably supports the base turntable; The turntable assembly is arranged on the base turntable, and is rotatable but immovable relative to the base; the upper arm assembly, the middle joint assembly, the lower arm assembly, and the wrist joint are connected to the turntable assembly in sequence; The middle joint assembly includes a middle joint, and the middle joint is also provided with a connecting portion, and the connecting portion is connected to the forearm assembly; The middle joint assembly further comprises a first transmission device, a second transmission device and a third transmission device; the first transmission device comprises a first transmission wheel 1 and a first transmission wheel 2 which are transmission-connected, the second transmission device comprises a second transmission wheel 1 and a second transmission wheel 2 which are transmission-connected, and the third transmission device comprises a third transmission wheel 1 and a third transmission wheel 2 which are transmission-connected; the first transmission wheel 1, the second transmission wheel 1 and the third transmission wheel 1 are driven by a fourth driver, a fifth driver and a sixth driver respectively; the first transmission wheel 1, the first transmission wheel 2 and / or the second transmission wheel 1, the second transmission wheel 2 and / or the third transmission wheel 1, the third transmission wheel 2 are synchronous pulleys or gears; The forearm assembly includes a fixed tube, a first transmission tube, a second transmission tube, a third transmission tube, and a forearm; the fixed tube, the first transmission tube, the second transmission tube, and the third transmission tube are all hollow tubes, and are sequentially coaxially sleeved from outside to inside, and bearings are provided at both ends between any two adjacent tubes; The forearm assembly also includes a wrist joint transmission synchronous pulley 1 and a terminal transmission synchronous pulley 1; the fixed tube is fixedly connected to the connecting portion for supporting the forearm assembly; the first transmission tube, the second transmission tube and the third transmission tube are respectively fixedly connected to the first transmission wheel 2, the second transmission wheel 2 and the third transmission wheel 2 at the same side; the other end of the first transmission tube is fixedly connected to the forearm, the other end of the second transmission tube is fixedly connected to the wrist joint transmission synchronous pulley 1, and the other end of the third transmission tube is fixedly connected to the terminal transmission synchronous pulley 1; The desktop-level six-axis collaborative robot also includes a robot shell, which is installed on the transmission mechanism skeleton; the robot shell includes a large arm shell, a small arm shell, and a base shell.

2. The desktop six-axis collaborative robot according to claim 1, characterized in that: The base assembly also includes a first bearing, which is arranged between the base turntable and the flange coil.

3. The desktop six-axis collaborative robot according to claim 2, characterized in that: The base assembly also includes a stop ring, a base wheel one, and a base wheel two; a first bearing mounting hole is provided on one side of the base turntable, the first bearing is installed in the first bearing mounting hole and is limited by the stop ring; the flange end of the flange coil is fixedly connected to the base; the other end passes through the first bearing and is fixedly connected to the base wheel one; the base wheel two is transmission-connected to the base wheel one; a second bearing mounting hole is also provided on the other side of the base turntable, a second bearing is installed in the second bearing mounting hole, and the second bearing supports and positions the drive shaft of the base wheel two.

4. The desktop six-axis collaborative robot according to claim 3, characterized in that: The turntable assembly includes a turntable, a first driver, a second driver and a balancing cylinder device; the turntable includes a connecting plate, a first supporting part and a second supporting part; the first supporting part and the second supporting part are arranged on the same side of the connecting plate; the first driver is arranged on the connecting plate, and the output shaft of the first driver is connected to the second base wheel for transmission; the second driver is arranged on the first supporting part, and is used to drive the large arm assembly to rotate; one end of the balancing cylinder device is arranged on the second supporting part, and the other end is connected to the large arm assembly; the connecting plate is fixedly connected to the base turntable.

5. The desktop six-axis collaborative robot according to claim 4, characterized in that: The flange tube is provided with a hollow through hole, and the connecting plate is also provided with a through hole 1; the hollow through hole is arranged coaxially with the through hole; the base wheel 1 and the base wheel 2 are synchronous pulleys or gears.

6. The desktop six-axis collaborative robot according to claim 5, characterized in that: The boom assembly includes a boom, a support bearing and a coupling; one end of the coupling is fixedly connected to the boom, and the other end is drivingly connected to the output shaft of the second driver; a third bearing mounting hole is provided on the first support portion on a side opposite to the second driver, and the support bearing is provided in the third bearing mounting hole.

7. The desktop six-axis collaborative robot according to claim 6, characterized in that: A coaxial threaded hole is provided at the end of the output shaft of the second driver, and a screw provided in the threaded hole limits the coupling and the large arm at the end of the output shaft of the second driver.

8. The desktop six-axis collaborative robot according to claim 7, characterized in that: The middle joint assembly also includes a third driver, a fourth driver, a fifth driver, and a sixth driver; a first mounting portion and a second mounting portion are provided on the middle joint, and a bearing mounting portion is also provided on the opposite side of the first mounting portion; the third driver is provided on the first mounting portion; the fourth driver, the fifth driver and the sixth driver are provided on the second mounting portion; the fifth driver and the sixth driver are provided side by side on the upper portion of the fourth driver.

9. The desktop six-axis collaborative robot according to claim 8, characterized in that: The forearm assembly also includes a wrist joint transmission synchronous pulley 2, a transmission shaft and a terminal transmission synchronous pulley 2; the transmission shaft is a stepped shaft, both ends of the stepped shaft are D-shaped, and two transmission shafts are provided; the wrist joint transmission synchronous pulley 2 is connected to the wrist joint through one of the transmission shafts; the terminal transmission synchronous pulley 2 is connected to the terminal actuator assembly through another transmission shaft.

10. The desktop six-axis collaborative robot according to claim 9, characterized in that: The forearm assembly also includes an intermediate wheel, and there are two groups of intermediate wheels, which are respectively arranged on both sides of the forearm; the wrist joint transmission synchronous pulley 1 and the wrist joint transmission synchronous pulley 2 are connected by a synchronous belt 1, and when the synchronous belt 1 passes through a group of the intermediate wheels, it is tensioned and changes direction, so that the fifth drive drives the wrist joint; the end transmission synchronous pulley 1 and the end transmission synchronous pulley 2 are connected by a synchronous belt 2, and when the synchronous belt 2 passes through another group of the intermediate wheels, it is tensioned and changes direction.

11. The desktop six-axis collaborative robot according to claim 10, characterized in that: The end execution assembly includes a first bevel gear, a second bevel gear, an end flange and a connecting shaft; the first bevel gear is connected to the end transmission synchronous pulley through the transmission shaft, and the second bevel gear is fixedly connected to the end flange coaxially; the connecting shaft connects the wrist joint and the end flange, and screws are provided at both ends of the connecting shaft to achieve an immovable but mutually rotatable connection between the end flange and the wrist joint.

12. The desktop six-axis collaborative robot according to claim 11, characterized in that: The first bevel gear and the second bevel gear are meshed and driven to realize the driving of the end effector assembly by the sixth driver.

Images