Horizontal multi-joint robot

Abstract

The present invention relates to the technical field of robot equipment, and provides a horizontal multi-joint robot, which includes an intermediate arm body and a terminal arm body; the intermediate arm body includes a bearing seat, a joint transmission shaft, an axis drive motor, a flange seat transmission shaft, a flange seat drive motor, and a first transmission assembly capable of rotating the flange seat transmission shaft; the terminal arm body includes an end arm seat connected and fixed to the joint transmission shaft, a mounting flange seat for connecting an external actuator, and a second transmission assembly capable of rotating the mounting flange seat when the flange seat transmission shaft rotates; the flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft; the two ends of the flange seat transmission shaft are respectively connected to the first transmission assembly and the second transmission assembly. Compared with the prior art, by moving the axis drive motor and the flange seat drive motor forward to the intermediate arm body, the weight of the terminal arm body is reduced and the terminal load capacity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, in particular to a horizontal multi-joint robot. Background Art

[0002] Horizontal joint robot arms have been widely used, playing a very important role in handling, processing, assembly and other environments, and are also widely used in the education industry; they have the characteristics of flexible movement, compact structure, small space requirements, high repeatability, and can reach a point in space accurately and quickly. Compared with multi-axis industrial robots, horizontal joint four-axis robots have the advantages of small size, flexible movement, and low overall cost. At the same time, such a versatile and compact robot arm can be used alone in automated assembly lines, and can be directly integrated into various mid-to-high-end automation equipment. It is inevitable that it will be widely used in industrial assembly lines in the future. It is also necessary to increase research on horizontal joint four-axis robots. At present, the main brands of horizontal joint multi-axis robots at home and abroad are all foreign old brands such as Epson, Yamaha, Kuka and other companies.

[0003] At present, the existing horizontal joint four-axis robots on the market mainly include an up and down motion device, a fixed seat device and two arms. The two arms are respectively a first arm and a second arm. The fixed seat device, the first arm and the second arm are connected in sequence. The second arm is used to connect an external actuator to realize different movements of the four-axis robot in space. However, the rotation drive control device of the second arm and the control device of the external actuator are generally installed in the second arm, resulting in excessive load at the end of the robot. In addition, the second arm will also be too large in size and occupy a large space. A larger avoidance space is also required within its working range, which is not suitable for working in applications with relatively narrow space. Summary of the invention

[0004] One of the purposes of the present invention is to provide a horizontal multi-joint robot to solve the technical problems existing in the prior art that the terminal structure is large in size, overloaded, and not suitable for working in applications with relatively narrow spaces.

[0005] To achieve the above object, the present invention provides the following technical solution: a horizontal multi-joint robot, comprising an intermediate arm body and a terminal arm body;

[0006] The intermediate arm body includes a bearing seat, a joint transmission shaft rotatably supported on the bearing seat, a shaft driving motor capable of driving the joint transmission shaft to rotate, a flange seat transmission shaft, a flange seat driving motor, and a first transmission assembly capable of rotating the flange seat transmission shaft when the output shaft of the flange seat driving motor rotates;

[0007] The end arm body includes an end arm seat connected and fixed to the joint transmission shaft, a mounting flange seat rotatably supported on the end arm seat and used to connect the external actuator, and a second transmission assembly capable of rotating the mounting flange seat when the flange seat transmission shaft rotates;

[0008] The flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft; the two ends of the flange seat transmission shaft respectively extend beyond the end of the joint transmission shaft, and one end is connected to the first transmission component, and the other end is connected to the second transmission component.

[0009] The technical solution of the present invention has the following advantages: the horizontal multi-joint robot comprises an intermediate arm body and an end arm body, the intermediate arm body comprises a bearing seat, a joint transmission shaft, an axis driving motor, a flange seat transmission shaft, a flange seat driving motor and a first transmission component capable of rotating the flange seat transmission shaft when the output shaft of the flange seat driving motor rotates; the end arm body comprises an end arm seat connected and fixed to the joint transmission shaft, a mounting flange seat and a second transmission component capable of rotating the mounting flange seat when the flange seat transmission shaft rotates; the flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft, so that by moving the axis driving motor capable of driving the end arm body to rotate and the flange seat driving motor capable of driving the external actuator to rotate forward to the intermediate arm body, the volume of the end arm body is reduced and the weight of the end arm body is reduced, the end load capacity is improved, and it is more suitable for use in narrow occasions, so that it can be applied to operations in more occasions.

[0010] In one embodiment, the first transmission assembly includes a first active synchronous wheel, a first driven synchronous wheel and a first synchronous belt wrapped therebetween, the first active synchronous wheel being arranged on the output shaft of the flange seat drive motor and being able to rotate together with the output shaft, and the first driven synchronous wheel being arranged on the flange seat transmission shaft and being able to rotate coaxially;

[0011] The second transmission assembly includes a second driven synchronous wheel and a second synchronous belt, wherein the second driven synchronous wheel is arranged on the mounting flange seat and can rotate together with the mounting flange seat;

[0012] The flange seat transmission shaft is provided with a second driving synchronous wheel which can rotate coaxially therewith and is located outside the intermediate arm body, and the second synchronous belt is wrapped between the second driving synchronous wheel and the second driven synchronous wheel.

[0013] In one embodiment, an output shaft position detection assembly is disposed in the bearing seat, which can detect the rotational position of the output shaft of the flange seat drive motor.

[0014] In one embodiment, the output shaft position detection component includes an output shaft detection code disc and an output shaft photoelectric detection device. The output shaft detection code disc is connected and fixed to the output shaft of the flange seat drive motor. The output shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the output shaft detection code disc.

[0015] In one embodiment, a first control board and a second control board are disposed in the bearing seat, the first control board is electrically connected to the shaft drive motor, and the second control board is electrically connected to the flange seat drive motor.

[0016] In one embodiment, an interface board for connecting to an external actuator and a third control board are disposed on the end arm base, and the third control board is electrically connected to the interface board.

[0017] In one embodiment, a deceleration mechanism is provided in the bearing seat, and the deceleration mechanism includes:

[0018] Reduction drive shaft;

[0019] a primary reduction assembly connected between the reduction transmission shaft and the shaft drive motor and capable of rotating the reduction transmission shaft when the motor shaft of the shaft drive motor rotates; and,

[0020] The secondary reduction assembly is connected between the reduction transmission shaft and the joint transmission shaft and can cause the joint transmission shaft to rotate when the reduction transmission shaft rotates.

[0021] In one embodiment, the primary reduction assembly includes a primary active synchronous wheel, a primary driven synchronous wheel, and a primary synchronous belt wrapped therebetween, wherein the primary active synchronous wheel is disposed on the motor shaft of the shaft drive motor and can rotate together with the motor shaft;

[0022] The secondary reduction assembly includes a secondary active synchronous wheel, a secondary driven synchronous wheel and a secondary synchronous belt wrapped therebetween, and the secondary driven synchronous wheel is arranged on the joint transmission shaft and can rotate together with the joint transmission shaft;

[0023] The primary driven synchronous wheel and the secondary active synchronous wheel are respectively arranged on the reduction transmission shaft and can rotate coaxially.

[0024] In one embodiment, a motor shaft position detection component is disposed in the bearing seat, which can detect the rotation position of the motor shaft; the motor shaft position detection component includes a motor shaft detection code disk and a motor shaft photoelectric detection device, the motor shaft detection code disk is fixed on the motor shaft, and the motor shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the motor shaft detection code disk.

[0025] In one embodiment, the horizontal multi-joint robot also includes an up and down motion device and a fixed seat device. The fixed seat device is liftably supported on the up and down motion device. The up and down motion device includes a lifting drive mechanism that can drive the fixed seat device to move up and down relative to the up and down motion device; the intermediate arm body is rotatably supported on the fixed seat device. The fixed seat device includes a rotating mechanism that can drive the intermediate arm body to rotate relative to the fixed seat device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional schematic diagram of a horizontal multi-joint robot provided by an embodiment of the present invention;

[0027] Figure 2 is a three-dimensional schematic diagram of an up-and-down motion device provided by an embodiment of the present invention;

[0028] Figure 3 is a front view schematic diagram of an up-and-down motion device provided by an embodiment of the present invention;

[0029] Figure 4 for Figure 3 Schematic cross-sectional view of the AA plane;

[0030] Figure 5 is a three-dimensional schematic diagram of a fixing seat device provided in an embodiment of the present invention;

[0031] Figure 6 is a schematic top view of a fixing seat device provided in an embodiment of the present invention;

[0032] Figure 7 for Figure 6 Schematic cross-sectional view of the middle BB surface;

[0033] Figure 8 is a three-dimensional schematic diagram of an intermediate arm body provided by an embodiment of the present invention;

[0034] Fig. 9 is an exploded schematic diagram of an intermediate arm body provided by an embodiment of the present invention;

[0035] Fig.10 is a schematic top view of an intermediate arm body provided by an embodiment of the present invention;

[0036] Fig.11 for Fig.10 Schematic cross-sectional view of the middle CC plane;

[0037] Fig.12 is a schematic top view of the terminal arm provided by an embodiment of the present invention;

[0038] Fig.13 for Fig.12 Schematic cross-sectional view of the middle DD surface.

[0039] Description of main component symbols:

[0040] 100-Horizontal multi-joint robot;

[0041] 10-up and down motion device; 11-base; 12-housing; 13-lifting drive mechanism; 131-slider; 132-lifting motor;

[0042] 20-fixed seat device; 21-lifting seat; 22-protective shell; 23-rotating mechanism; 231-rotating drive motor; 232-joint drive shaft; 233-rotating transmission assembly; 2331-rotating driving wheel; 2332-rotating driven wheel; 2333-rotating transmission belt; 234-tensioning wheel;

[0043] 30-intermediate arm body; 30a-first internal space; 301-bearing seat; 3011-assembly recess; 3012-connection recess; 301a-first end; 301b-second end; 302-joint transmission shaft; 303-shaft drive motor; 3031-motor shaft; 304-flange seat transmission shaft; 305-flange seat drive motor; 306-first transmission assembly; 3061-first active synchronous wheel; 3062-first driven synchronous wheel; 3063-first synchronous belt; 307-reduction transmission shaft; 308-first reduction assembly; 3081-first active synchronous wheel; 3082-first driven synchronous wheel; 3 083-primary synchronous belt; 309-secondary reduction assembly; 3091-secondary active synchronous wheel; 3092-secondary driven synchronous wheel; 3093-secondary synchronous belt; 310-intermediate arm upper cover; 311-intermediate arm lower cover; 312-first bearing; 313-bearing end cover; 314-reduction mounting seat; 315-motor shaft detection code disk; 316-motor shaft photoelectric detection device; 317-first control board; 318-shaft sleeve component; 319-second bearing; 320-third bearing; 321-output shaft photoelectric detection device; 322-second control board; 323-second active synchronous wheel; 324-output shaft detection code disk;

[0044] 40-end arm body; 40a-second internal space; 401-end arm seat; 402-mounting flange seat; 403-second transmission assembly; 4031-second driven synchronous wheel; 4032-second synchronous belt; 404-end arm upper cover; 405-end arm lower cover; 406-interface plate;

[0045] 50 - External actuator. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In order to enable those skilled in the art to better understand the technical solution of the present invention, the implementation of the present invention is described in detail below with reference to specific drawings.

[0048] For the convenience of description, the terms “left”, “right”, “upper” and “lower” mentioned below are consistent with the left, right, upper and lower directions of the drawings themselves, but do not limit the structure of the present invention.

[0049] Unless otherwise defined, the technical or scientific terms used herein shall have the common meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantity limitation, but indicate the existence of at least one.

[0050] like Figures 1 to 13 As shown, the horizontal multi-joint robot 100 provided in this embodiment includes an intermediate arm body 30 and an end arm body 40; the intermediate arm body 30 includes a bearing seat 301, a joint transmission shaft 302 rotatably supported on the bearing seat 301, a shaft driving motor 303 capable of driving the joint transmission shaft 302 to rotate, a flange seat transmission shaft 304, a flange seat driving motor 305, and a first transmission assembly 306 capable of rotating the flange seat transmission shaft 304 when the output shaft of the flange seat driving motor 305 rotates; the end arm body 40 includes an end arm seat 40 connected and fixed to the joint transmission shaft 302. 01. A mounting flange seat 402 rotatably supported on the end arm seat 401 and used to connect to an external actuator 50, and a second transmission assembly 403 capable of rotating the mounting flange seat 402 when the flange seat transmission shaft 304 rotates; the flange seat transmission shaft 304 is arranged inside the joint transmission shaft 302, and is coaxially arranged with the joint transmission shaft 302 and can rotate relative to the joint transmission shaft 302; both ends of the flange seat transmission shaft 304 extend to the outside of the end of the joint transmission shaft 302 respectively, and one end is connected to the first transmission assembly 306, and the other end is connected to the second transmission assembly 403.

[0051] The above-mentioned horizontal multi-joint robot 100 includes an intermediate arm body 30 and an end arm body 40, wherein the intermediate arm body 30 includes a bearing seat 301, a joint transmission shaft 302, an axis driving motor 303, a flange seat transmission shaft 304, a flange seat driving motor 305, and a first transmission assembly 306 capable of rotating the flange seat transmission shaft 304 when the output shaft of the flange seat driving motor 305 rotates; the end arm body 40 includes an end arm seat 401 connected and fixed to the joint transmission shaft 302, a mounting flange seat 402, and a first transmission assembly 306 capable of rotating the flange seat transmission shaft 304 when the output shaft of the flange seat driving motor 305 rotates. 02 rotating second transmission component 403; the flange seat transmission shaft 304 is arranged inside the joint transmission shaft 302, and is coaxially arranged with the joint transmission shaft 302 and can rotate relative to the joint transmission shaft 302. In this way, by moving the shaft drive motor 303 that can drive the terminal arm body 40 to rotate and the flange seat drive motor 305 that can drive the external actuator 50 to rotate forward to the intermediate arm body 30, the volume of the terminal arm body is reduced and the weight of the terminal arm body 40 is reduced, thereby improving the terminal load capacity, being more suitable for use in narrow occasions, and thus being applicable to operations in more occasions.

[0052] See also Figure 1 The horizontal multi-joint robot 100 provided in this embodiment includes an up and down motion device 10, a fixed seat device 20, an intermediate arm body 30 and an end arm body 40. The fixed seat device 20 is supported on the up and down motion device 10. The fixed seat device 20, the intermediate arm body 30 and the end arm body 40 are connected in sequence. The end arm body 40 is used to install an external actuator 50. The external actuator 50 can be but is not limited to a spray gun, a cleaning tool, a welding gun, a gripper, etc.

[0053] In other embodiments, the horizontal multi-joint robot 100 may only include an up-and-down motion device 10 , an intermediate arm body 30 , and an end arm body 40 connected to the intermediate arm body 30 , and the intermediate arm body 30 is directly connected to the up-and-down motion device 10 .

[0054] See also Figures 1 to 4 In this embodiment, the fixed seat device 20 can be supported on the up-and-down motion device 10 in a liftable manner. The up-and-down motion device 10 includes a base 11, a shell 12 supported on the base 11, and a lifting drive mechanism 13 that can drive the fixed seat device 20 to move up and down relative to the up-and-down motion device 10. In this embodiment, the lifting drive mechanism 13 includes a slider 131 arranged on the base 11 and a lifting motor 132 that can drive the slider 131 to reciprocate in a direction perpendicular to the surface of the base 11 (i.e., move in the up-and-down direction shown in the figure). The fixed seat device 20 is connected and fixed to the slider 131. In this way, the up-and-down (up-and-down direction shown in the figure) movement can be achieved under the control of the lifting motor 132.

[0055] See also Figures 5 to 7In this embodiment, the intermediate arm body 30 is rotatably supported on the fixed seat device 20. The fixed seat device 20 includes a lifting seat 21, a protective shell 22, and a rotating mechanism 23 capable of driving the intermediate arm body 30 to rotate relative to the fixed seat device 20. The rotating mechanism 23 includes a rotating drive motor 231 and a joint drive shaft 232 provided on the lifting seat 21. The joint drive shaft 232 is rotatably supported on the lifting seat 21. A rotating transmission assembly 233 is connected between the joint drive shaft 232 and the rotating drive motor 231. The rotating transmission assembly 233 includes a rotating driving wheel 2331 connected to the output shaft of the rotating drive motor 231, a rotating driven wheel 2332 connected to the joint drive shaft 232, and a rotating transmission belt 2333 connected between the rotating driving wheel 2331 and the rotating driven wheel 2332. In addition, a tensioning wheel 234 is also provided on the lifting seat 21 to counter the rotating transmission belt 2333. It should be pointed out that the axis of the joint drive shaft 232 is arranged perpendicular to the surface of the base 11. Under the drive of the rotary drive motor 231, the intermediate arm body 30 rotates around the axis of the joint drive shaft 232 relative to the fixed seat device 20; in addition, the rotation center axis of the rotation appearing below is arranged perpendicular to the surface of the base 11.

[0056] See also Figures 8 to 11 The middle arm body 30 of this embodiment includes a bearing seat 301.

[0057] from Figure 8 , 9As can be seen from Figures 11, the upper and lower sides (the upper and lower sides shown in the figure) of the supporting seat 301 are respectively covered with an intermediate arm upper cover 310 and an intermediate arm lower cover 311, and the intermediate arm upper cover 310, the intermediate arm lower cover 311 and the interior of the supporting seat 301 are enclosed together to form a first internal space 30a, and the supporting seat 301 is provided with a joint transmission shaft 302 in the first internal space 30a, and the joint transmission shaft 302 is rotatably supported on the supporting seat 301, and the lower end (the lower end shown in the figure) of the joint transmission shaft 302 extends downward to the outside of the intermediate arm body 30, and is used to be connected to the terminal arm body 40. In this embodiment, the bearing seat 301 has an assembly recess 3011 formed by being located on its lower surface (lower surface in the figure) and being recessed toward the first internal space 30a (upper side in the figure), the joint transmission shaft 302 is arranged in the assembly recess 3011, a first bearing 312 is arranged between the outer wall of the joint transmission shaft 302 and the inner wall of the assembly recess 3011, the assembly recess 3011 is fixedly connected with a bearing end cover 313 on the outer side of the joint transmission shaft 302, and the first bearing 312 is retained on the assembly recess 3011 by the bearing end cover 313. It is worth mentioning that the bearing end cover 313 is connected and fixed to the assembly recess 3011 of the bearing seat 301 by fasteners such as screws and bolts (not shown in the figure), so that the first bearing 312 can be limited in the up-down direction (up-down direction in the figure), and the first bearing 312 is sleeved on the outer side of the joint transmission shaft 302, so as to limit the joint transmission shaft 302 in the radial direction (left-right direction in the figure).

[0058] See also Figure 8 , 9 and 11. In the supporting seat 301 of the present embodiment, an axial drive motor 303 is arranged inside the supporting seat 301, which can drive the joint transmission shaft 302 to rotate relative to the supporting seat 301 with the axis of the joint transmission shaft 302 as the axis. In the present embodiment, the axial drive motor 303 has a motor shaft 3031, and the axis of the motor shaft 3031 is parallel to the axis of the joint transmission shaft 302. The supporting seat 301 has a connecting recess 3012 formed on its upper surface (the upper surface shown in the figure) and is recessed toward the first internal space 30a (the lower part shown in the figure). The joint driving shaft 232 of the fixed seat device 20 is fixedly connected to the connecting recess 3012. The axial drive motor 303 is approximately located directly below the connecting recess 3012 (the lower part shown in the figure) and is coaxially arranged with the joint driving shaft 232.

[0059] In particular, the support seat 301 has a first end 301a (the left end in the figure) and a second end 301b (the right end in the figure) opposite to the first end 301a, the connecting recess 3012 connected to the joint drive shaft 232 and the shaft drive motor 303 are located at the first end 301a, and the joint transmission shaft 302 is located at the second end 301b.

[0060] See also Figure 8 ,9 11, a reduction mechanism is provided in the bearing seat 301 of the present embodiment, and the reduction mechanism is connected between the motor shaft 3031 of the shaft drive motor 303 and the joint transmission shaft 302, and can drive the joint transmission shaft 302 to rotate relative to the bearing seat 301 when the motor shaft 3031 rotates. In the present embodiment, the reduction mechanism is a two-stage reduction structure, which includes a reduction transmission shaft 307, a primary reduction assembly 308 and a secondary reduction assembly 309, the reduction transmission shaft 307 is rotatably provided in the bearing seat 301 and is located between the shaft drive motor 303 and the joint transmission shaft 302, the primary reduction assembly 308 is connected between the reduction transmission shaft 307 and the shaft drive motor 303 and can rotate the reduction transmission shaft 307 when the motor shaft 3031 rotates, and the secondary reduction assembly 309 is connected between the reduction transmission shaft 307 and the joint transmission shaft 302 and can rotate the joint transmission shaft 302 when the reduction transmission shaft 307 rotates. It can be understood that the transmission structure using the reduction transmission shaft 307, the first reduction assembly 308 and the second reduction assembly 309 can better improve the load capacity and achieve more stable and precise motion control, while also having the advantages of low cost and simple maintenance.

[0061] In other embodiments, only one primary reduction assembly 308 may be used to connect the motor shaft 3031 and the joint transmission shaft 302 .

[0062] See also Figure 8 , 9and 11, the primary reduction assembly 308 includes a primary active synchronous wheel 3081, a primary driven synchronous wheel 3082 and a primary synchronous belt 3083 wrapped therebetween, the primary active synchronous wheel 3081 is arranged on the motor shaft 3031 of the shaft drive motor 303 and can rotate together with the motor shaft 3031; the secondary reduction assembly 309 includes a secondary active synchronous wheel 3091, a secondary driven synchronous wheel 3092 and a secondary synchronous belt 3093 wrapped therebetween, the secondary driven synchronous wheel 3092 is arranged on the joint transmission shaft 302 and can rotate together with the joint transmission shaft 302; the primary driven synchronous wheel 3082 and the secondary active synchronous wheel 3091 are respectively arranged on the reduction transmission shaft 307 and can rotate coaxially. In this embodiment, the primary active synchronous wheel 3081 can be sleeved on the motor shaft 3031 by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other; the primary driven synchronous wheel 3082 and the primary active synchronous wheel 3081 are basically located on the same plane, and the diameter of the primary driven synchronous wheel 3082 is larger than the diameter of the primary active synchronous wheel 3081. The primary driven synchronous wheel 3082 and the reduction transmission shaft 307 can be connected by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other. When the motor shaft 3031 of the shaft drive motor 303 rotates, the reduction transmission shaft 307 is driven to rotate through the primary active synchronous wheel 3081, the primary synchronous belt 3083 and the primary driven synchronous wheel 3082 of the primary reduction assembly 308. The diameter of the secondary active synchronous wheel 3091 is smaller than the diameter of the primary driven synchronous wheel 3082, and can be mounted on the reduction transmission shaft 307 by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other; the secondary driven synchronous wheel 3092 and the secondary active synchronous wheel 3091 are basically located on the same plane, and the diameter of the secondary driven synchronous wheel 3092 is larger than the diameter of the secondary active synchronous wheel 3091, and the secondary driven synchronous wheel 3092 and the joint transmission shaft 302 can be connected by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other. When the shaft drive motor 303 drives the reduction transmission shaft 307 to rotate, the secondary active synchronous wheel 3091, the secondary synchronous belt 3093 and the secondary driven synchronous wheel 3092 of the secondary reduction assembly 309 are used to drive the joint transmission shaft 302 to rotate.

[0063] In other embodiments, the reduction mechanism may also include a helical gear pair, a planetary gear pair, a worm gear pair, and the like.

[0064] See also Figure 8 , 911, the primary driven synchronous wheel 3082 of this embodiment is located above the secondary active synchronous wheel 3091, and the two are arranged at a distance. In this embodiment, a reduction mounting seat 314 is arranged in the bearing seat 301, and the reduction transmission shaft 307 is rotatably supported on the reduction mounting seat 314. The primary driven synchronous wheel 3082 is covered on the end of the reduction transmission shaft 307, and is connected and fixed to the reduction transmission shaft 307 by fasteners such as screws and bolts (not shown in the figure), and the secondary active synchronous wheel 3091 is sleeved on the middle part of the reduction transmission shaft 307.

[0065] In other embodiments, the primary driven synchronous wheel 3082 may also be sleeved on the reduction transmission shaft 307, and the two are coaxial and cannot rotate relative to each other.

[0066] In other embodiments, the primary driven synchronous wheel 3082 may be disposed below the secondary active synchronous wheel 3091 .

[0067] See also Figure 8 , 9 In the present embodiment, the secondary driven synchronous wheel 3092 is covered on the end of the joint transmission shaft 302, and the two are connected and fixed by screws, bolts and other fasteners (not shown). It should be pointed out that the lower end of the inner edge of the secondary driven synchronous wheel 3092 abuts against the first bearing 312, so that the joint transmission shaft 302 can be limited in the axial direction (up and down direction shown in the figure) by the first bearing 312 and the secondary driven synchronous wheel 3092, so that the joint transmission shaft 302 can be rotatably maintained on the bearing seat 301.

[0068] In other embodiments, the secondary driven synchronous wheel 3092 may also be sleeved on the joint transmission shaft 302, and the two are coaxial and cannot rotate relative to each other.

[0069] See also Figure 8 , 9 11, a motor shaft position detection component is provided in the bearing seat 301 of the present embodiment, which can detect the rotation position of the motor shaft 3031. In the present embodiment, the motor shaft position detection component includes a motor shaft detection code disk 315 and a motor shaft photoelectric detection device 316. The motor shaft detection code disk 315 is fixedly mounted on the motor shaft 3031 and can rotate with the motor shaft 3031. The motor shaft photoelectric detection device 316 is fixed on the bearing seat 301 and corresponds to the position of the motor shaft detection code disk 315. The motor shaft photoelectric detection device 316 is fixed on the bearing seat 301 by any existing fixing method such as screws and welding. The motor shaft photoelectric detection device 316 is located above the motor shaft detection code disk 315 (above the figure), and the motor shaft photoelectric detection device 316 can read the rotation position of the motor shaft detection code disk 315, thereby detecting the position information of the motor shaft 3031.

[0070] See also Figure 8 , 9 11, a first control board 317 capable of controlling the operation of the shaft drive motor 303 is provided in the support seat 301, the first control board 317 is electrically connected to the shaft drive motor 303, the first control board 317 is located between the shaft drive motor 303 and the reduction transmission shaft 307, and is sleeved on the support seat 301 by any existing fixing method such as screws and welding. In this embodiment, the first control board 317 is electrically connected to the shaft drive motor 303 and the motor shaft position detection component respectively. The first control board 317 controls the operation of the shaft drive motor 303 to drive the joint transmission shaft 302 to rotate, and the motor shaft position detection component can detect the rotation position of the motor shaft 3031, and can realize real-time feedback of the position to form a closed-loop control circuit. The first control board 317 is all the existing first control boards 317 that can realize the above control in the prior art.

[0071] See also Figure 8 , 911, the intermediate arm body 30 of this embodiment, the bearing seat 301 is provided with a flange seat transmission shaft 304, a flange seat drive motor 305, and a first transmission assembly 306 connected between the flange seat drive motor 305 and the flange seat transmission shaft 304 and capable of rotating the flange seat transmission shaft 304 when the output shaft of the flange seat drive motor 305 rotates, and the flange seat transmission shaft 304 is used to drive the external actuator 50 to rotate. The flange seat transmission shaft 304 is arranged inside the joint transmission shaft 302, and is coaxially arranged with the joint transmission shaft 302 and can rotate relative to the joint transmission shaft 302; the two ends of the flange seat transmission shaft 304 extend outside the end of the joint transmission shaft 302 respectively, and the upper end (the upper end shown in the figure) is connected to the first transmission assembly 306. In this embodiment, the first transmission assembly 306 includes a first active synchronous wheel 3061, a first driven synchronous wheel 3062 and a first synchronous belt 3063 wrapped therebetween. The first active synchronous wheel 3061 is arranged on the output shaft of the flange seat drive motor 305 and can rotate together with the output shaft. The first driven synchronous wheel 3062 is arranged on the flange seat transmission shaft 304 and can rotate coaxially. The first active synchronous wheel 3061 can be sleeved on the output shaft of the flange seat drive motor 305 by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other; the first driven synchronous wheel 3062 and the first active synchronous wheel 3061 are basically located on the same plane, and the diameter of the first driven synchronous wheel 3062 is larger than the diameter of the first active synchronous wheel 3061. The first driven synchronous wheel 3062 and the flange seat drive shaft 304 can be connected by any existing fixing method such as screws and flat keys, and the two are coaxial and cannot rotate relative to each other. When the output shaft of the flange seat drive motor 305 rotates, the first active synchronous wheel 3061, the first synchronous belt 3063 and the first driven synchronous wheel 3062 of the first transmission assembly 306 are used to drive the flange seat drive shaft 304 to rotate.

[0072] Specifically, a shaft sleeve component 318 is provided on the outer side of the flange seat transmission shaft 304, and the shaft sleeve component 318 is abutted against the upper surface (the upper surface shown in the figure) of the secondary driven synchronous wheel 3092, and is connected and fixed by fasteners such as screws and bolts (not shown in the figure). A second bearing 319 is provided between the inner wall of the shaft sleeve component 318 and the outer wall of the flange seat transmission shaft 304, and a third bearing 320 is provided between the inner wall of the joint transmission shaft 302 and the outer wall of the flange seat transmission shaft 304, so that the flange seat transmission shaft 304 can rotate relative to the joint transmission shaft 302. In particular, the lower surface of the inner edge of the first driven synchronous wheel 3062 (the lower surface shown in the figure) is abutted against the upper surface of the second bearing 319 (the upper surface shown in the figure), and the position of the second bearing 319 can be maintained by the sleeve component 318 and the first driven synchronous wheel 3062; the flange seat transmission shaft 304 is limited in the radial direction (the left and right direction shown in the figure) by the second bearing 319 and the third bearing 320. In addition, the flange seat transmission shaft 304 can be limited in the axial direction (the up and down direction shown in the figure) by the first driven synchronous wheel 3062 and the third bearing 320.

[0073] See also Figure 8 , 9 11, an output shaft position detection component is provided in the bearing seat 301 of the present embodiment, which can detect the rotational position of the output shaft of the flange seat drive motor 305. In the present embodiment, the output shaft position detection component includes an output shaft detection code disc 324 and an output shaft photoelectric detection device 321, the output shaft detection code disc 324 is connected and fixed to the output shaft of the flange seat drive motor 305, and the output shaft photoelectric detection device 321 is fixed on the bearing seat 301 and corresponds to the position of the output shaft detection code disc 324. The output shaft detection code disc 324 is fixedly mounted on the output shaft of the flange seat drive motor 305, and can rotate with the output shaft of the flange seat drive motor 305, and the output shaft photoelectric detection device 321 is fixed on the bearing seat 301 and corresponds to the position of the output shaft detection code disc 324. The output shaft photoelectric detection device 321 is fixed on the supporting seat 301 by any existing fixing means such as screws and welding. The output shaft photoelectric detection device 321 is located below the output shaft detection code disk 324 (below the figure). The output shaft photoelectric detection device 321 can read the rotation position of the output shaft detection code disk 324, thereby detecting the position information of the output shaft of the flange seat drive motor 305.

[0074] See also Figure 8 , 911, a second control board 322 capable of controlling the operation of the flange seat drive motor 305 is provided in the bearing seat 301, and the second control board 322 is electrically connected to the flange seat drive motor 305. In this embodiment, the second control board 322 is electrically connected to the flange seat drive motor 305 and the output shaft position detection component respectively. The second control board 322 controls the operation of the flange seat drive motor 305, drives the flange seat transmission shaft 304 to rotate, and the output shaft position detection component can detect the rotation position of the output shaft of the flange seat drive motor 305, and can realize real-time feedback of the position to form a closed-loop control circuit. The second control board 322 is any existing second control board 322 in the prior art that can realize the above control.

[0075] Specifically, the flange seat drive motor 305 is located between the reduction transmission shaft 307 and the joint transmission shaft 302, the second control board 322 is located between the flange seat drive motor 305 and the shaft drive motor 303, and is roughly located above the reduction transmission shaft 307, and is mounted on the supporting seat 301 by any existing fixing methods such as screws and welding. It should be noted that the shaft drive motor 303 is arranged on the first end 301a of the bearing seat 301 (the left end in the figure, that is, the front end), and the joint transmission shaft 302 and the flange seat transmission shaft 304 are arranged on the second end 301b of the bearing seat 301 (the left end in the figure, that is, the end), and the joint transmission shaft 302 is sleeved on the outside of the flange seat transmission shaft 304, the flange seat drive motor 305 is roughly located in the middle of the bearing seat 301, the second control board 322 is located at the upper part of the bearing seat 301, and the first control board 317 is located at the lower part of the bearing seat 301 and corresponds to the position of the second control board 322. In this way, the structure of the intermediate arm body 30 is more compact, the space occupancy rate is reduced, and it is more suitable for use in narrow occasions, thereby improving the application occasions.

[0076] In particular, by arranging the power component that can drive the end arm body 40 to rotate (i.e., the shaft drive motor 303) and the power component that can drive the external actuator 50 to rotate (i.e., the flange seat drive motor 305) on the bearing seat 301 of the middle arm body 30, the installation positions of the heavier power components and drive control are moved forward to the middle arm body 30. Without increasing the control difficulty and structural cost, the weight of the end arm body 40 is reduced, thereby reducing the structural inertia and mass, improving the end load capacity, and allowing the external actuator 50 at the end to have a larger control space.

[0077] See also Fig.12 and 13 The end arm body 40 of this embodiment includes an end arm seat 401.

[0078] from Fig.11 and 13It can be seen that the upper and lower sides of the end arm seat 401 (the upper and lower sides shown in the figure) are respectively covered with an end arm upper cover 404 and an end arm lower cover 405, and the end arm upper cover 404, the end arm lower cover 405 and the interior of the end arm seat 401 are enclosed to form a second internal space 40a, and the end arm seat 401 is provided with a mounting flange seat 402 and a second transmission assembly 403 in the second internal space 40a, the mounting flange seat 402 is rotatably supported on the end arm seat 401, and the lower end of the mounting flange seat 402 (the lower end shown in the figure) extends downward to the outside of the end arm body 40 and is used to connect with the external actuator 50; the other end of the flange seat transmission shaft 304 opposite to the end connected to the first transmission assembly 306 extends into the second internal space 40a, and the second transmission assembly 403 is connected between the mounting flange seat 402 and the flange seat transmission shaft 304 and can rotate the mounting flange seat 402 when the flange seat transmission shaft 304 rotates. In this embodiment, the mounting flange seat 402 is located at the right end of the terminal arm body 40 (the right end in the figure), and the left end of the terminal arm body 40 (the left end in the figure) is connected and fixed to the joint transmission shaft 302. The second transmission assembly 403 includes a second driven synchronous wheel 4031 and a second synchronous belt 4032. The second driven synchronous wheel 4031 is arranged on the mounting flange seat 402 and can rotate together with the mounting flange seat 402; the bottom of the flange seat transmission shaft 304 is provided with a second active synchronous wheel 323 which can rotate coaxially therewith and is located outside the intermediate arm body 30, and the second synchronous belt 4032 is wrapped around the second active synchronous wheel 323 and the second driven synchronous wheel 4031. In this way, under the drive of the flange seat drive motor 305, the output shaft of the flange seat drive motor 305 rotates through the first active synchronous wheel 3061, the first synchronous belt 3063 and the first driven synchronous wheel 3062 of the first transmission component 306 to drive the flange seat drive shaft 304 and the second active synchronous wheel 323 to rotate, and the second active synchronous wheel 323 then rotates the second driven synchronous wheel 4031 and the mounting flange seat 402 connected to the second driven synchronous wheel 4031 through the second synchronous belt 4032 of the second transmission component 403, thereby realizing the rotation of the external actuator 50 fixed on the mounting flange seat 402.

[0079] In another embodiment, the second active synchronous wheel 323 and the flange seat transmission shaft 304 are integrally supported, that is, a tooth portion matching the teeth of the second synchronous belt 4032 is formed on the outer wall of the flange seat transmission shaft 304 .

[0080] In yet another embodiment, the second active synchronous wheel 323 may be mounted on the end arm seat 401 .

[0081] Please continue to see Fig.13An interface board 406 and a third control board 407 for connecting to the external actuator 50 are provided on the end arm seat 401. The third control board 407 is electrically connected to the interface board 406. The interface board 406 is provided with an interface connected to the external actuator 50. In this way, the external actuator 50 can be controlled to perform corresponding actions through the third control board 407. The third control board 407 is any existing third control board 407 in the prior art that can realize the above-mentioned control.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A horizontal multi-joint robot, characterized in that: It includes an intermediate arm body and a terminal arm body; The intermediate arm body includes a bearing seat, a joint transmission shaft rotatably supported on the bearing seat, a shaft driving motor capable of driving the joint transmission shaft to rotate, a flange seat transmission shaft, a flange seat driving motor, and a first transmission assembly capable of rotating the flange seat transmission shaft when the output shaft of the flange seat driving motor rotates; The end arm body includes an end arm seat connected and fixed to the joint transmission shaft, a mounting flange seat rotatably supported on the end arm seat and used to connect an external actuator, and a second transmission assembly capable of rotating the mounting flange seat when the flange seat transmission shaft rotates; The flange seat transmission shaft is arranged inside the joint transmission shaft, and is coaxially arranged with the joint transmission shaft and can rotate relative to the joint transmission shaft; both ends of the flange seat transmission shaft extend outside the end of the joint transmission shaft respectively, and one end is connected to the first transmission assembly, and the other end is connected to the second transmission assembly; The first transmission assembly includes a first active synchronous wheel, a first driven synchronous wheel and a first synchronous belt wrapped therebetween, the first active synchronous wheel being arranged on the output shaft of the flange seat drive motor and being able to rotate together with the output shaft, the first driven synchronous wheel being arranged on the flange seat transmission shaft and being able to rotate coaxially; The second transmission assembly comprises a second driven synchronous wheel and a second synchronous belt, wherein the second driven synchronous wheel is arranged on the mounting flange seat and can rotate together with the mounting flange seat; The flange seat transmission shaft is provided with a second active synchronous wheel which can rotate coaxially therewith and is located outside the intermediate arm body, and the second synchronous belt is wrapped between the second active synchronous wheel and the second driven synchronous wheel; An output shaft position detection component is arranged in the bearing seat, which can detect the rotation position of the output shaft of the flange seat driving motor; The output shaft position detection component includes an output shaft detection code disk and an output shaft photoelectric detection device. The output shaft detection code disk is connected and fixed to the output shaft of the flange seat drive motor, and the output shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the output shaft detection code disk.

2. The horizontal multi-joint robot according to claim 1, characterized in that: A first control board and a second control board are disposed in the bearing seat, wherein the first control board is electrically connected to the shaft drive motor, and the second control board is electrically connected to the flange seat drive motor.

3. The horizontal multi-joint robot according to claim 1, characterized in that: The end arm seat is provided with an interface board connected to an external actuator and a third control board, and the third control board is electrically connected to the interface board.

4. The horizontal multi-joint robot according to any one of claims 1 to 3, characterized in that: A deceleration mechanism is provided in the bearing seat, and the deceleration mechanism comprises: Reduction drive shaft; a primary reduction assembly connected between the reduction transmission shaft and the shaft drive motor and capable of rotating the reduction transmission shaft when the motor shaft of the shaft drive motor rotates; and The secondary reduction assembly is connected between the reduction transmission shaft and the joint transmission shaft and can rotate the joint transmission shaft when the reduction transmission shaft rotates.

5. The horizontal multi-joint robot according to claim 4, characterized in that: The primary reduction assembly comprises a primary active synchronous wheel, a primary driven synchronous wheel and a primary synchronous belt wrapped therebetween, wherein the primary active synchronous wheel is arranged on the motor shaft of the shaft driving motor and can rotate together with the motor shaft; The secondary reduction assembly comprises a secondary active synchronous wheel, a secondary driven synchronous wheel and a secondary synchronous belt wrapped therebetween, wherein the secondary driven synchronous wheel is arranged on the joint transmission shaft and can rotate together with the joint transmission shaft; The primary driven synchronous wheel and the secondary active synchronous wheel are respectively arranged on the reduction transmission shaft and can rotate coaxially.

6. The horizontal multi-joint robot according to claim 4, characterized in that: A motor shaft position detection component is arranged in the bearing seat, which can detect the rotation position of the motor shaft; the motor shaft position detection component includes a motor shaft detection code disk and a motor shaft photoelectric detection device, the motor shaft detection code disk is fixed on the motor shaft, and the motor shaft photoelectric detection device is fixed on the bearing seat and corresponds to the position of the motor shaft detection code disk.

7. The horizontal multi-joint robot according to any one of claims 1 to 3, characterized in that: The horizontal multi-joint robot also includes an up and down motion device and a fixed seat device, wherein the fixed seat device is liftably supported on the up and down motion device, and the up and down motion device includes a lifting drive mechanism capable of driving the fixed seat device to move up and down relative to the up and down motion device; the intermediate arm body is rotatably supported on the fixed seat device, and the fixed seat device includes a rotating mechanism capable of driving the intermediate arm body to rotate relative to the fixed seat device.

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