A six-axis lightweight collaborative robot

Abstract

The present invention provides a six-axis light collaborative robot, wherein the middle joint assembly includes a middle joint housing, and the middle joint housing is provided with a third driver for driving the third joint of the six-axis light collaborative robot; a fourth driver and a fifth driver are provided on one side of the third driver for driving the fourth joint and the fifth joint of the six-axis light collaborative robot respectively; a sixth driver is provided on the other side of the third driver for driving the sixth joint of the six-axis light collaborative robot; the fourth driver, the fifth driver and the sixth driver are located in the same plane and the output shafts are all oriented in the same direction. The six-axis light collaborative robot of the present invention has a compact structure, is easy to assemble, and is conducive to production and processing; it has higher precision and longer service life. At the same time, the six-axis light collaborative robot is simple to manufacture, has low cost, and is convenient for large-scale production and application.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a six-axis light 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. In order to further facilitate user use, improve the robot's degrees of freedom and precision, and meet the appearance requirements of different users and reduce costs, it is urgent to design a small, simple, safe, reliable, low-cost, and changeable-appearance multi-DOF collaborative robot to solve the above technical problems. Summary of the invention

[0004] 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 six-axis lightweight collaborative robot with changeable appearance. At the same time, the six-axis lightweight collaborative robot is easy to manufacture, low in cost, higher in precision, and can be replaced by a shell to form a series of products, which is convenient for large-scale production and application.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A six-axis light collaborative robot is provided, comprising an upper arm assembly, a middle joint assembly and a lower arm assembly, wherein the middle joint assembly connects the upper arm assembly and the lower arm assembly, and the middle joint assembly comprises a middle joint shell, on which a third driver for driving a third joint of the six-axis light collaborative robot is arranged; a fourth driver and a fifth driver for driving a fourth joint and a fifth joint of the six-axis light collaborative robot are arranged on one side of the third driver; a sixth driver for driving a sixth joint of the six-axis light collaborative robot is arranged on the other side of the third driver; the fourth driver, the fifth driver and the sixth driver are located in the same plane and the output shafts are all oriented in the same direction.

[0007] Furthermore, the middle joint housing includes a first mounting portion and a second mounting portion; the third driver is arranged on the first mounting portion, and the output shaft of the third driver is fixedly connected to the upper arm assembly; the fourth driver and the fifth driver are arranged in parallel up and down on the second mounting portion; the third driver is arranged between the fourth driver and the fifth driver and is perpendicular to the fourth driver and the fifth driver.

[0008] Furthermore, the forearm assembly includes a forearm; the forearm is connected to the middle joint housing, and the sixth driver is mounted on the forearm.

[0009] Furthermore, it also includes a wrist joint assembly, which includes a wrist joint tube, a transmission hollow shaft and a wrist joint shell, and the wrist joint shell is rotatably arranged on the outside of the wrist joint tube; the output end of the fourth driver is provided with a first driving long shaft, the end of the first driving long shaft is installed with a driving wheel 2, and the wrist joint tube is provided with a driven wheel 2; the driven wheel 2 is transmission-connected to the driving wheel 2.

[0010] Furthermore, a second driving long shaft is provided at the output end of the fifth driver, a driving wheel three is provided at the end of the second driving long shaft, and a driven wheel three is provided at one end of the transmission hollow shaft; the driven wheel three is transmission-connected to the driving wheel three; a bevel gear one is provided at the other end of the transmission hollow shaft; a bevel gear two is also provided in the wrist joint tube, and the bevel gear two is fixedly connected to the wrist joint housing through a first connecting shaft; the bevel gear two is meshed with the bevel gear one for transmission.

[0011] Furthermore, a third driving long shaft is provided at the output end of the sixth driver; the third driving long shaft, the transmission hollow shaft, the wrist joint tube and the forearm are coaxially arranged from the inside to the outside in sequence, and bearings are provided at both ends between the two adjacent ones.

[0012] Furthermore, a bevel gear three is provided at the end of the third driving shaft, and bevel gear four is meshed with bevel gear three for transmission; bevel gear four is fixedly connected to bevel gear five through a second connecting shaft; bevel gear six is ​​meshed with bevel gear five for transmission, and bevel gear six is ​​fixedly connected to the end flange; the second connecting shaft is coaxially arranged with the first connecting shaft.

[0013] Furthermore, an end cover connected to the first connecting shaft and the second connecting shaft is also provided on the outside of the wrist joint housing, and the end cover adjusts the pressing force generated on the first connecting shaft and the second connecting shaft by adjusting the height.

[0014] Furthermore, it also includes a base assembly and a turntable assembly, and the upper arm assembly is arranged on the base assembly through the turntable assembly; the base assembly includes a base, a flange coil, a first bearing, a driven wheel 1, and a pressure ring; one end of the flange coil is connected to the base, and the other end is connected to the driven wheel 1 through a thread; the driven wheel 1 positions the first bearing arranged on the flange coil through the pressure ring; the driven wheel 1 is positioned on the flange coil by a top screw.

[0015] Furthermore, the base assembly also includes a base turntable and a stop ring; a first bearing mounting hole is provided on one side of the base turntable, the first bearing mounting hole is used to install the first bearing, and the stop ring is provided on one side of the base turntable where the first bearing mounting hole is provided, and is used to limit the base turntable.

[0016] Furthermore, the turntable assembly includes a turntable, a first driver, a driving wheel 1, a second driver and a turntable housing; the turntable is fixedly connected to the base turntable, the first driver is arranged on the turntable, a driving wheel 1 is arranged on the output shaft of the first driver, and the driving wheel 1 is transmission-connected with the driven wheel 1; a second bearing mounting hole is also arranged in the base turntable, and a second bearing is arranged in the second bearing mounting hole; the turntable also includes a first support portion, and the second driver is arranged on the first support portion.

[0017] Furthermore, the upper arm assembly includes an upper arm and an upper arm housing; the upper arm housing is arranged on the upper arm, and the upper arm is directly installed and connected with the output shafts of the second driver and the third driver; the output shafts of the second driver and the third driver are both provided with bosses, and the upper arm is positioned and installed by the bosses, and is fixed by screws installed on the output shafts of the second driver and the third driver.

[0018] Furthermore, a driving block is provided at the end of the output shaft of the second driver and the third driver, and a driving hole matching with the driving block is provided on the large arm.

[0019] Compared with the prior art, the six-axis lightweight collaborative robot provided by the present invention has the following beneficial effects: the six-axis lightweight collaborative robot provided by 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 six-axis lightweight collaborative robot is simple to manufacture, has a low cost, and is convenient for large-scale production and application.

[0020] The threaded connection between the driven wheel 1 and the flange coil in the base assembly of the six-axis light collaborative robot of the present invention can achieve convenient and reliable installation connection with fewer parts.

[0021] The driving mode of directly connecting the upper arm and the driver in the six-axis light collaborative robot provided by the present invention reduces the distance between the driver and the upper arm, reduces the overall size of the robot, and makes installation more convenient. The installation positions of the second driver and the third driver are simultaneously located on the center line of the entire six-axis light collaborative robot, making the spatial layout of the various parts of the robot more reasonable, improving the overall balance, reducing vibration, and improving precision.

[0022] The fourth drive, the fifth drive and the sixth drive in the six-axis light collaborative robot provided by the present invention are relatively arranged in the same plane with the central axis of the third drive as the reference to form a dynamic balance structure, which reduces the unbalanced force and is beneficial to improving the output efficiency of the third drive; at the same time, the three drives are located in the same plane to reduce the overall volume of the robot.

[0023] In summary, the present invention proposes a small, simple, safe, reliable, and adaptable-appearance six-axis lightweight collaborative robot, which has broad application prospects in the field of robotics. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the six-axis lightweight collaborative robot of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the six-axis lightweight collaborative robot of the present invention after the outer shell is removed;

[0026] Figure 3 is a schematic diagram of the internal structure of the first joint of the present invention;

[0027] Figure 4 It is a schematic structural diagram of the second joint and the third joint of the present invention;

[0028] Figure 5 yes Figure 4 A partial enlarged view of the middle A;

[0029] Figure 6 yes Figure 4 A partial enlarged view of point B in the middle;

[0030] Figure 7 It is a schematic diagram of the structure of the fourth, fifth and sixth joints of the present invention;

[0031] Figure 8 yes Figure 7 A partial enlarged view of point C in the middle;

[0032] Fig. 9 It is a structural schematic diagram of the fourth, fifth and sixth joints of the present invention from another perspective;

[0033] Fig.10 yes Fig. 9A partial enlarged view of point D in the middle.

[0034] The reference numerals are described as follows:

[0035] 1 base assembly, 1-1 base, 1-2 flange coil, 1-3 first bearing, 1-4 driven wheel 1, 1-5 pressure ring, 1-6 base turntable, 1-7 stop ring, 2 turntable assembly, 2-1 turntable, 2-11 first support part, 2-2 first drive, 2-3 driving wheel 1, 2-4 second drive, 2-41 boss, 2-5 turntable shell, 3 balance cylinder assembly, 4 arm assembly, 4-1 arm, 4-2 arm shell, 5 middle joint assembly, 5-1 third drive, 5-2 middle joint shell, 5-3 fourth drive, 5-31 first drive shaft, 5-32 driving wheel 2 , 5-33 driven wheel two, 5-4 fifth drive, 5-41 second drive shaft, 5-42 driving wheel three, 5-43 driven wheel three, 6 forearm assembly, 6-1 forearm, 6-2 sixth drive, 6-21 third drive shaft, 6-3 forearm housing, 7 wrist joint assembly, 7-1 wrist joint tube, 7-2 transmission hollow shaft, 7-21 bevel gear one, 7-22 bevel gear two, first connecting shaft 7-23, 7-3 wrist joint housing, 7-41 bevel gear three, 7-42 bevel gear four, 7-43 second connecting shaft, 7-44 bevel gear five, 7-45 bevel gear six, 8 end flange. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The following is a detailed description of the six-axis lightweight collaborative robot of the present invention through specific embodiments:

[0040] In this implementation, if Figure 1 As shown, the six-axis lightweight collaborative robot of the present invention comprises a transmission mechanism frame and a robot shell, wherein the robot shell and the transmission mechanism frame are independent of each other and do not interfere with each other; the robot shell is mounted on the transmission mechanism frame, which is equivalent to the shell being wrapped outside the transmission mechanism frame. Figure 2 The six-axis lightweight collaborative robot comprises a base assembly 1, a turntable assembly 2, a balance cylinder assembly 3, a large arm assembly 4, a middle joint assembly 5, a small arm assembly 6, a wrist joint assembly 7, an end flange 8 and other components.

[0041] like Figure 3 As shown, the base assembly 1 includes a base 1-1, a flange tube 1-2, a first bearing 1-3, a driven wheel 1-4, a pressure ring 1-5, a base turntable 1-6, a stop ring 1-7 and other parts. The base 1-1 provides fixed support for the entire robot, and can be directly fixedly installed on the desktop as needed, or can be connected to other devices such as an adapter plate or an adapter seat or a mobile platform. A stepped through hole is provided in the middle of the base 1-1; the flange tube 1-2 is installed in the stepped through hole. One end of the flanged flange tube 1-2 is connected to the base 1-1 by screws; the part with external threads on the other end extends out of the upper end surface of the base 1-1. The first bearing 1-3 is installed on the flange tube 1-2 and is positioned by a shaft shoulder. The center hole of the driven wheel 1-4 is provided with an internal thread matching the external thread. After the driven wheel 1-4 is installed on the flange tube 1-2 through threaded connection, the first bearing 1-3 is fixed by the pressure ring 1-5. The driven wheel 1-4 is also positioned on the flange tube 1-2 through a top screw to prevent the thread from loosening due to frequent forward and reverse rotation.

[0042] A first bearing mounting hole is provided on one side of the base turntable 1-6, and the first bearing mounting hole is used to mount the first bearing 1-3. The stop ring 1-7 is fixedly connected to the side of the base turntable 1-6 where the first bearing mounting hole is provided by screws, and is used to limit the base turntable 1-6. Through the mutual cooperation of the first bearing 1-3, the flange tube 1-2 and the stop ring 1-7, the base turntable 1-6 is rotatably supported on the base 1-1, so that the base assembly 1 is divided into a fixed part fixedly connected to the base 1-1 and a rotating part fixedly connected to the base turntable 1-6.

[0043] The turntable assembly 2 includes a turntable 2-1, a first driver 2-2, a driving wheel 2-3, a second driver 2-4, a turntable housing 2-5 and other components. The turntable 2-1 is fixedly connected to the base turntable 1-2 by screws, the first driver 2-2 is arranged on the turntable 2-1, and a driving wheel 2-3 is installed on the output shaft of the first driver 2-2, and the driving wheel 2-3 is connected to the driven wheel 1-4 in transmission. A second bearing mounting hole is also provided in the base turntable 1-6, and the second bearing provided in the second bearing mounting hole can provide support and positioning for the output shaft of the first driver 2-2. The second bearing can reduce the radial runout of the output shaft of the first driver 2-2 and improve the transmission accuracy. The turntable 2-1 also includes a first support portion 2-11, and the second driver 2-4 is provided on the first support portion 2-11 for driving the large arm assembly 4.

[0044] When the driving wheel 2-3 is driven to rotate by the first driver 2-2, since the driven wheel 1-4 is fixedly connected to the base 1-1 and the driving wheel 2-3 is fixedly connected to the base turntable 1-6, the driving wheel 2-3 rotates around the driven wheel 1-4, so that the turntable assembly 2 fixedly connected to the base turntable 1-6 rotates relative to the base 1-1, forming the first joint of the six-axis light collaborative robot.

[0045] The connection method of the first joint can achieve convenient and reliable installation and connection with fewer parts; at the same time, a flange coil with a smaller outer diameter can be selected, thereby reducing the size of the first bearing and the driven wheel 1. The small-sized bearing has smaller runout, which can improve the accuracy of the six-axis lightweight collaborative robot. In this embodiment, the driven wheel 1 and the driving wheel 1 are preferably synchronous pulleys. The small-sized synchronous pulleys increase the meshing angle of the synchronous belt and improve the transmission reliability; at the same time, the reduction ratio in the synchronous belt transmission is reduced, and the rotation speed of the first joint in the six-axis lightweight collaborative robot is increased; more preferably, the driven wheel 1 is a synchronous pulley with a rib, and the driving wheel 1 is a synchronous pulley without a rib; the driven wheel 1 with a rib can ensure that the synchronous belt does not produce axial runout, and the driving wheel 1 without a rib is easy to assemble and install.

[0046] One end of the balancing cylinder assembly 3 is fixed on the turntable 2-1, and the other end is connected to the arm assembly 4. The balancing cylinder assembly 3 can automatically balance the eccentric moment generated by the moving parts of the robot arm due to their own gravity and the load gravity during movement, thereby reducing the load of the second driver 2-4 and increasing the load capacity of the entire robot.

[0047] like Figure 4-6 As shown, one end of the upper arm assembly 4 is connected to the turntable assembly 2, and the other end is connected to the middle joint assembly 5. The upper arm assembly 4 includes parts such as an upper arm 4-1 and an upper arm housing 4-2. The upper arm housing 4-2 is wrapped around the upper arm 4-1, and the upper arm 4-1 is directly installed and connected with the output shafts of the second driver 2-4 and the third driver 5-1. Bosses 2-41 are provided on the output shafts of the second driver 2-4 and the third driver 5-1, and the upper arm 4-1 is positioned and installed by the bosses and fixed by screws installed on the output shafts. Preferably, a driving block is provided at the very end of the output shafts of the second driver 2-4 and the third driver 5-1, and a driving hole that cooperates with the driving block is provided on the upper arm, and the transmission mode of the driving block and the driving hole is stable and reliable. The second driver 2-4 can actuate the upper arm to rotate, forming the second joint of the six-axis light collaborative robot.

[0048] The driving mode of directly connecting the arm to the driver reduces the distance between the driver and the arm, reduces the overall size of the robot, and makes installation more convenient. Figure 4 As shown, the installation positions of the second driver 2-4 and the third driver 5-1 are located in the middle part of the driver; the above installation positions are also located on the center line of the entire six-axis light collaborative robot. This installation method makes the spatial layout of the various components of the robot more reasonable and makes the robot more beautiful; at the same time, it improves the overall balance, reduces vibration and improves accuracy.

[0049] like Figure 7-10 As shown, the middle joint assembly 5 includes a third driver 5-1, a middle joint housing 5-2, a fourth driver 5-3, a fifth driver 5-4, a second driving wheel 5-32, a second driven wheel 5-33, a third driving wheel 5-42 and a third driven wheel 5-43. The housing 5-2 is provided with a first mounting portion and a second mounting portion, and the third driver 5-1 is mounted on the first mounting portion, and the output shaft of the third driver 5-1 is fixed on the upper arm 3-1; when the third driver 5-1 rotates, the middle joint housing 5-2 fixedly connected to the third driver 5-1 is driven to rotate due to the fixed output shaft, thereby realizing the rotation of other components installed on the middle joint housing, thereby forming the third joint of the six-axis light collaborative robot.

[0050] The fourth driver 5-3 and the fifth driver 5-4 are installed on the second mounting portion in parallel. The output end of the fourth driver 5-3 is provided with a first driving long shaft 5-31, the end of the first driving long shaft 5-31 is provided with the second driving wheel 5-32, and the second driven wheel 5-33 is fixed on the wrist joint tube 7-1 in the wrist joint assembly 7; the second driven wheel 5-33 is connected to the second driving wheel 5-32 in a transmission connection. When the fourth driver 5-3 rotates, the wrist joint tube 7-1 can be actuated to rotate through the above-mentioned transmission connection to form the fourth joint of the six-axis light collaborative robot.

[0051] The output end of the fifth driver 5-4 is provided with a second driving long shaft 5-41, the end of the second driving long shaft 5-41 is installed with the driving wheel 3 5-42, and the driven wheel 3 5-43 is fixed on the transmission hollow shaft 7-2 in the wrist joint assembly 7; the driven wheel 3 5-43 is transmission-connected with the driving wheel 3 5-42. When the fifth driver 5-4 rotates, the transmission hollow shaft 7-2 can be actuated to rotate through the above transmission connection. The first driving long shaft 5-31 and the second driving long shaft 5-41 are respectively located on both sides of the output shaft of the third driver and are arranged in parallel.

[0052] The middle joint housing 5-2 is also equipped with a forearm assembly 6. The forearm assembly 6 includes a forearm 6-1, a sixth driver 6-2, a forearm housing 6-3 and other components. The forearm housing 6-3 is wrapped around the outside of the forearm 6-1; the sixth driver 6-2 is installed on the forearm 6-1 and is located in the same plane on the opposite side of the fourth driver 5-3 and the fifth driver 5-4 based on the central axis of the third driver 5-1. The layout of the fourth driver 5-3, the fifth driver 5-4 and the sixth driver 6-2 forms a dynamic balance structure, which reduces the unbalanced force and is beneficial to improving the output efficiency of the third driver 5-1; at the same time, the three drivers are located in the same plane to reduce the overall volume of the robot and facilitate the installation and arrangement of the forearm housing 6-3.

[0053] The output end of the sixth driver 6-2 is provided with a third driving shaft 6-21. The third driving shaft 6-21, the transmission hollow shaft 7-2, the wrist joint tube 7-1 and the forearm 6-1 are coaxially arranged from inside to outside in sequence, and bearings are provided at both ends between any two of the above for slewing support.

[0054] The transmission hollow shaft 7-2 is fixedly mounted with a bevel gear 1 7-21 on the part located inside the wrist joint tube 7-1; the wrist joint tube 7-1 is also provided with a bevel gear 2 7-22, which is fixedly connected to the wrist joint housing 7-3 through the first connecting shaft 7-23 by interference fit. The bevel gear 2 7-22 is meshed with the bevel gear 1 7-21 for transmission, and when the transmission hollow shaft 7-2 rotates, the wrist joint housing 7-3 is driven to rotate, forming the fifth joint of the six-axis light collaborative robot. The interference fit connection between the first connecting shaft 7-23 and the wrist joint housing 7-3 can eliminate the radial runout of the first connecting shaft 7-23 and improve the accuracy of the fifth joint.

[0055] Bevel gear three 7-41 is installed at the end of the third driving long shaft 6-21, and bevel gear four 7-42 is meshed with bevel gear three 7-41 for transmission. Bevel gear four 7-42 is fixedly connected to bevel gear five 7-44 through the second connecting shaft 7-43; bevel gear six 7-45 is meshed with bevel gear five 7-44 for transmission, and bevel gear six 7-45 is fixedly connected to the end flange 8. Through the above transmission method, the sixth driver 6-2 can actuate the end flange 8 to rotate, forming the sixth joint of the six-axis light collaborative robot. The second connecting shaft 7-43 is supported on the wrist joint tube 7-1 by a double bearing. The double bearing structure improves the stability of the second connecting shaft 7-43, reduces the radial runout of the bevel gear, and improves the accuracy of the sixth joint.

[0056] An end cover connected to the first connecting shaft 7-23 and the second connecting shaft 7-43 is also provided on the outside of the wrist joint housing 7-3. The end cover can adjust the clamping force on the first connecting shaft 7-23 and the second connecting shaft 7-43 by adjusting the height, thereby achieving the meshing clearance of the bevel gears fixed on the first connecting shaft 7-23 and the second connecting shaft 7-43, thereby improving the transmission accuracy of the fifth joint and the sixth joint.

[0057] The transmission mechanism skeleton of the six-axis light collaborative robot provided in this embodiment can realize six degrees of freedom of movement and can perform relatively complex actions and tasks. At the same time, the robot shell provided in this embodiment can also be designed accordingly according to the needs of appearance design. The robot shell can be designed into any shape, and different styles of robot shells can be provided according to the different needs of application scenarios, such as entertainment version, educational version or industrial version, etc., to present various appearances for the robot. The six-axis light collaborative robot provided in this embodiment 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.

[0058] Each driver in the six-axis lightweight 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.

[0059] The materials of each component in the six-axis lightweight collaborative robot of the present invention can be metal materials or non-metal materials, and the specific components can also be manufactured by machining, die-casting, injection molding or 3D printing, etc.; in order to control costs, the important parts of the movement part can be made of metal materials, while the parts of the shell part can be made of non-metal materials.

[0060] The driving wheel 2 5-32, the driven wheel 2 5-33, the driving wheel 3 5-42 and the driven wheel 3 5-43 in the six-axis light collaborative robot of the present invention are preferably gears. The wrist joint housing 7-3 in the six-axis light collaborative robot of the present invention is set as a U-shaped integrated piece, which can improve the rigidity of the wrist joint and improve the accuracy of the robot; at the same time, the wrist joint housing 7-3 is set on the periphery of the wrist joint tube, which can increase the range of motion of the fifth joint.

[0061] Compared with the prior art, the six-axis lightweight collaborative robot provided by the present invention has the following beneficial effects: the six-axis lightweight collaborative robot provided by 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 six-axis lightweight collaborative robot is simple to manufacture, has a low cost, and is convenient for large-scale production and application.

[0062] The threaded connection between the driven wheel 1 and the flange coil in the base assembly of the six-axis light collaborative robot of the present invention can achieve convenient and reliable installation connection with fewer parts.

[0063] The driving mode of directly connecting the upper arm and the driver in the six-axis light collaborative robot provided by the present invention reduces the distance between the driver and the upper arm, reduces the overall size of the robot, and makes installation more convenient. The installation positions of the second driver and the third driver are simultaneously located on the center line of the entire six-axis light collaborative robot, making the spatial layout of the various parts of the robot more reasonable, improving the overall balance, reducing vibration, and improving precision.

[0064] The fourth drive, the fifth drive and the sixth drive in the six-axis light collaborative robot provided by the present invention are relatively arranged in the same plane with the central axis of the third drive as the reference to form a dynamic balance structure, which reduces the unbalanced force and is beneficial to improving the output efficiency of the third drive; at the same time, the three drives are located in the same plane to reduce the overall volume of the robot.

[0065] The outputs of the fifth joint and the sixth joint provided by the fifth driver and the sixth driver in the six-axis light collaborative robot provided by the present invention are finally realized through three pairs of bevel gear transmissions, which not only simplifies the structure compared with the traditional complex synchronous belt transmission mechanism, but also greatly reduces the volume of the transmission mechanism, which is beneficial to the design and control of the six-axis light collaborative robot. In addition, it is also convenient for the aesthetic design and industrial design of the six-axis light collaborative robot.

[0066] In summary, the present invention proposes a small, simple, safe, reliable, and adaptable-appearance six-axis lightweight collaborative robot, which has broad application prospects in the field of robotics.

[0067] 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.

[0068] 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 six-axis lightweight collaborative robot, comprising a large arm assembly, a middle joint assembly and a small arm assembly, wherein the middle joint assembly connects the large arm assembly and the small arm assembly, and is characterized in that: The middle joint assembly comprises a middle joint housing, on which a third driver for driving a third joint of the six-axis light collaborative robot is disposed; A fourth driver and a fifth driver are provided on one side of the third driver, respectively used to drive the fourth joint and the fifth joint of the six-axis lightweight collaborative robot; A sixth driver for driving the sixth joint of the six-axis lightweight collaborative robot is provided on the other side of the third driver; the fourth driver, the fifth driver and the sixth driver are located in the same plane and the output shafts thereof are all oriented in the same direction; The middle joint housing comprises a first mounting portion and a second mounting portion; the third driver is arranged on the first mounting portion, and the output shaft of the third driver is fixedly connected to the large arm assembly; the fourth driver and the fifth driver are arranged vertically and parallelly on the second mounting portion; the third driver is arranged between the fourth driver and the fifth driver and is perpendicular to the fourth driver and the fifth driver; The forearm assembly includes a forearm; the forearm is connected to the middle joint housing, and the sixth actuator is mounted on the forearm; and is located in the same plane on the opposite sides of the fourth actuator and the fifth actuator based on the central axis of the third actuator; The forearm assembly also includes a forearm housing, and the forearm housing is wrapped around the outside of the forearm.

2. The six-axis lightweight collaborative robot according to claim 1, characterized in that: It also includes a wrist joint component, which includes a wrist joint tube, a transmission hollow shaft and a wrist joint shell, and the wrist joint shell is rotatably arranged on the outside of the wrist joint tube; the output end of the fourth driver is provided with a first driving long shaft, the end of the first driving long shaft is installed with a driving wheel 2, and the wrist joint tube is provided with a driven wheel 2; the driven wheel 2 is transmission-connected to the driving wheel 2.

3. The six-axis lightweight collaborative robot according to claim 2, characterized in that: The output end of the fifth driver is provided with a second driving long shaft, the end of the second driving long shaft is provided with a driving wheel three, and one end of the transmission hollow shaft is provided with a driven wheel three; the driven wheel three is transmission-connected with the driving wheel three; the other end of the transmission hollow shaft is provided with a bevel gear one; a bevel gear two is also provided in the wrist joint tube, and the bevel gear two is fixedly connected to the wrist joint housing through a first connecting shaft; the bevel gear two is meshed with the bevel gear one for transmission.

4. The six-axis lightweight collaborative robot according to claim 3, characterized in that: The output end of the sixth driver is provided with a third driving long shaft; the third driving long shaft, the transmission hollow shaft, the wrist joint tube and the forearm are coaxially arranged from the inside to the outside in sequence, and bearings are provided at both ends between the two adjacent ones.

5. The six-axis lightweight collaborative robot according to claim 4, characterized in that: A bevel gear three is provided at the end of the third driving long shaft, and bevel gear four is meshed with bevel gear three for transmission; bevel gear four is fixedly connected to bevel gear five through a second connecting shaft; bevel gear six is ​​meshed with bevel gear five for transmission, and bevel gear six is ​​fixedly connected to the end flange; the second connecting shaft is coaxially arranged with the first connecting shaft.

6. The six-axis lightweight collaborative robot according to claim 5, characterized in that: An end cover connected to the first connecting shaft and the second connecting shaft is also arranged on the outside of the wrist joint housing, and the end cover can adjust the pressing force on the first connecting shaft and the second connecting shaft by adjusting the height.

7. The six-axis lightweight collaborative robot according to claim 6, characterized in that: It also includes a base assembly and a turntable assembly, and the upper arm assembly is arranged on the base assembly through the turntable assembly; the base assembly includes a base, a flange coil, a first bearing, a driven wheel 1, and a pressure ring; one end of the flange coil is connected to the base, and the other end is connected to the driven wheel 1 through a thread; the driven wheel 1 positions the first bearing arranged on the flange coil through the pressure ring; the driven wheel 1 is positioned on the flange coil by a top screw.

8. The six-axis lightweight collaborative robot according to claim 7, characterized in that: The base assembly also includes a base turntable and a stop ring; a first bearing mounting hole is provided on one side of the base turntable, the first bearing mounting hole is used to install the first bearing, and the stop ring is provided on one side of the base turntable where the first bearing mounting hole is provided, and is used to limit the base turntable.

9. The six-axis lightweight collaborative robot according to claim 8, characterized in that: The turntable assembly includes a turntable, a first driver, a driving wheel 1, a second driver and a turntable housing; the turntable is fixedly connected to the base turntable, the first driver is arranged on the turntable, a driving wheel 1 is arranged on the output shaft of the first driver, and the driving wheel 1 is transmission-connected with the driven wheel 1; a second bearing mounting hole is also arranged in the base turntable, and a second bearing is arranged in the second bearing mounting hole; the turntable also includes a first support portion, and the second driver is arranged on the first support portion.

10. The six-axis lightweight collaborative robot according to claim 9, characterized in that: The upper arm assembly includes an upper arm and an upper arm housing; the upper arm housing is arranged on the upper arm, and the upper arm is directly installed and connected with the output shafts of the second driver and the third driver; the output shafts of the second driver and the third driver are both provided with bosses, and the upper arm is positioned and installed by the bosses, and is fixed by screws installed on the output shafts of the second driver and the third driver.

11. The six-axis lightweight collaborative robot according to claim 10, characterized in that: The ends of the output shafts of the second driver and the third driver are provided with driving blocks, and the large arm is provided with a driving hole matched with the driving block.

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