A six-degree-of-freedom articulated robot

Abstract

The application provides a six-degree-of-freedom articulated robot, which comprises a base, a first rotating joint, a second rotating joint, a large arm assembly, an elbow assembly and a small arm assembly, the first rotating joint is vertically connected to the upper surface of the base, the second rotating joint is transversely connected to one side of the first rotating joint, the first rotating joint is adapted to make horizontal circumferential rotation relative to the base, and the second rotating joint is adapted to make vertical movement relative to the first rotating joint; one end of the large arm assembly is rotatably connected to the second rotating joint, so as to be adapted to make vertical movement under the drive of the second rotating joint, the other end of the large arm assembly is rotatably connected to the elbow assembly, and the other side of the elbow assembly is connected to the small arm assembly. The application designs a six-degree-of-freedom articulated robot, reduces the required torque for starting and stopping, reduces the motor load, and further improves the rotating speed under the condition of meeting the strength.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a six-degree-of-freedom joint robot. BACKGROUND

[0002] At present, industrial robots have been widely used in automobile parts, machining, electronics, food, rubber and plastic industry, wood and furniture manufacturing industry and other fields.

[0003] In industrial production, the use of industrial robots has the following advantages: improving labor conditions and production efficiency; stronger and more controllable production capacity, shortening the product update cycle; improving the processing capacity of parts and product quality; eliminating boring work, saving labor; providing a safer working environment, reducing the labor intensity of workers and reducing labor risks. With the reduction of the degree of surplus of domestic social labor, the increase of the cost of individual workers, the more stringent requirements for product quality, the government's attention to the equipment manufacturing industry and other changes, the use environment of robots has been improved, and industrial robots and technology have gradually been valued by the government and enterprises in China. Using robot technology to improve the level of China's industrial production, transforming from a manufacturing power to a strong country, and improving people's living standards have become the consensus of the whole society.

[0004] At present, the speed reducer of the six-degree-of-freedom robot mainly uses an ordinary speed reducer, which leads to a complex transmission layout mode of each axis of the robot, not only affects the structural strength of each arm, but also aggravates the wear degree of the transmission gear teeth, which is not conducive to better meshing.

[0005] The two currently disclosed schemes need to consider that the bending moment borne by the speed reducer is within the parameter requirement range when calculating the four-axis type.

[0006] In addition, the installation of the four-axis motor and the speed reducer has a complex structure and a large processing difficulty; the structural gravity center of the robot three-axis body to the load is close to the end, and the rotational inertia of this part of the structure is related to the mass m and the square of the distance r from the mass center to the three-axis rotation axis. Therefore, the required torque for starting and stopping the three-axis is large, the motor load rate is high, and the rotational speed cannot be further improved. SUMMARY

[0007] The present application aims to solve the technical problems of the conventional joint robot in the background art, such as limited bearing bending moment, high motor load rate and inability to further improve the rotational speed, thereby providing a six-degree-of-freedom joint robot.

[0008] To at least solve one of the above problems, the present application provides a six-degree-of-freedom joint robot, comprising a base, a first rotary joint, a second rotary joint, a large arm assembly, an elbow assembly and a small arm assembly,

[0009] The first rotary joint is vertically connected to the upper surface of the base, the second rotary joint is transversely connected to one side of the first rotary joint, and the first rotary joint is adapted to make horizontal circumferential rotation relative to the base, and the second rotary joint is adapted to make vertical movement relative to the first rotary joint;

[0010] One end of the large arm assembly is rotatably connected to the second rotary joint to adapt to vertical movement under the drive of the second rotary joint, and the other end of the large arm assembly is rotatably connected to the elbow assembly, and the other side of the elbow assembly is connected to the small arm assembly.

[0011] Optionally, the first rotary joint comprises a rotary table base, a first rotary structure, and a first drive assembly,

[0012] The rotary table base comprises a rotary table base located directly above the base, a second rotary mounting seat vertically connected to one side of the upper surface of the rotary table base, and a rotary table wiring slot connected to the outside of the second rotary mounting seat;

[0013] The first rotary structure comprises a base sleeve vertically arranged in the rotary table base, a first driven bevel gear horizontally sleeved on the top of the base sleeve, and a cross-roller bearing and a skeleton oil seal horizontally and sleevedly connected to the bottom of the base sleeve, and the skeleton oil seal is located at the bottom end face of the cross-roller bearing;

[0014] The first drive assembly comprises a first servo motor, a first planetary reducer, and a first driving bevel gear, the input shaft of the first planetary reducer is fixedly connected to the output shaft of the first servo motor, and the first driving bevel gear is fixedly connected to the output shaft of the first planetary reducer;

[0015] The first driving bevel gear is meshingly connected with the first driven bevel gear in the rotary table base, so as to adapt the first drive assembly to drive the first rotary structure to make horizontal rotation;

[0016] The first servo motor and the first planetary reducer are vertically connected to the rotary table base, the first driving bevel gear is located in the rotary table base, and the lower end face of the rotary table base is fixedly connected to the lower end face of the base sleeve, so as to adapt the rotary table base to make horizontal rotation with the first rotary structure.

[0017] Optionally, the rotary table base comprises a first drive mounting slot and a first rotary mounting slot opened on the rotary table base body, the first rotary mounting slot is located at the center position of the rotary table base body, and the first drive mounting slot is located near one side of the first rotary mounting slot;

[0018] The top of the first rotating structure is adapted to be inserted into the first rotating installation slot, and the bottom of the first driving assembly is adapted to be inserted into the first driving installation slot.

[0019] Optionally, the second rotating joint comprises a second servo motor and a second planetary reducer, the second planetary reducer is fixedly connected in the second rotating mounting seat away from the side of the second servo motor, the input shaft of the second planetary reducer is connected with the second servo motor, and the output shaft of the second planetary reducer is connected with the forearm assembly, so as to drive the forearm assembly to rotate by the second rotating joint.

[0020] Optionally, the forearm assembly comprises a forearm, a lower forearm connecting structure and an upper forearm connecting structure, the lower forearm connecting structure is arranged on the side of the forearm close to the second planetary reducer, and is adapted to be fixedly connected with the output shaft of the second planetary reducer, and the upper forearm connecting structure is arranged on the same side of the other end of the forearm, and is adapted to be fixedly connected with the elbow assembly.

[0021] The forearm comprises a forearm body, a lower forearm mounting seat integrally connected to the lower end of the forearm body, and an upper forearm mounting seat integrally connected to the upper end of the forearm body, the lower forearm mounting seat is adapted to be fixedly connected with the end face of the second planetary reducer, and the upper forearm mounting seat is adapted to be fixedly connected with the elbow assembly.

[0022] The lower forearm connecting structure comprises a lower forearm end cover, a first wire passing bearing seat and a first deep groove ball bearing, the first wire passing bearing seat and the first deep groove ball bearing are adapted to be sleeved in the rotating table wire slot, and the lower forearm end cover is adapted to be covered on the lower forearm mounting seat.

[0023] The upper forearm connecting structure comprises an upper forearm end cover and an adjusting pad plate, the adjusting pad plate is mounted on the elbow assembly, and the upper forearm end cover is adapted to be covered on the upper forearm mounting seat.

[0024] Optionally, the elbow assembly comprises a first driving component, a second driving component, a first driving shell and a second driving shell, the first driving component and the second driving component are arranged horizontally and vertically in the first driving shell and the second driving shell, and the first driving shell and the second driving shell are combined to form the shell of the first driving component and the second driving component.

[0025] The end of the first driving component extending out of the first driving shell is fixedly connected with the upper forearm connecting structure of the forearm assembly.

[0026] The end of the second driving component extending out of the second driving shell is adapted to be connected with an external structure.

[0027] Optionally, the first driving component comprises a three-shaft servo motor, a three-shaft servo motor base, a three-shaft driving pulley, a first synchronous belt and a three-shaft speed reducer pulley assembly, the output shaft of the three-shaft servo motor is connected with the three-shaft driving pulley, one side of the three-shaft servo motor base is fixedly connected with the inner surface of the first driving shell, the other side is fixedly connected with the end surface of the three-shaft servo motor, one end of the first synchronous belt is wrapped around the three-shaft driving pulley, and the other end is wrapped around the three-shaft speed reducer pulley assembly.

[0028] The three-shaft speed reducer pulley assembly comprises a three-shaft driven pulley, a three-shaft wire passing sleeve, an outer ring spacer sleeve, a bearing and a three-shaft bearing end cover, the three-shaft driven pulley is sleeved and installed at the end of the three-shaft wire passing sleeve, the outer ring spacer sleeve and the bearing are sequentially installed on the three-shaft wire passing sleeve, and the three-shaft bearing end cover is connected at the end of the three-shaft wire passing sleeve.

[0029] Optionally, the second driving component comprises a four-shaft servo motor, a four-shaft servo motor base, a four-shaft driving pulley, a second synchronous belt and a four-shaft speed reducer pulley assembly, the four-shaft driving pulley is fixedly connected on the output shaft of the four-shaft servo motor, the four-shaft servo motor base is sleeved on the output shaft of the four-shaft servo motor, one side is fixedly connected with the end surface of the four-shaft servo motor, and the other end is fixedly connected with the inner surface of the second driving shell, one end of the second synchronous belt is wrapped around the four-shaft driving pulley, and the other end is wrapped around the four-shaft speed reducer pulley assembly.

[0030] The four-shaft speed reducer pulley assembly comprises a four-shaft driven pulley, a four-shaft wire passing sleeve, a second deep groove ball bearing and a four-shaft bearing pressing cover, the four-shaft driven pulley is sleeved and installed at the end of the four-shaft wire passing sleeve, the second deep groove ball bearing is installed on the four-shaft wire passing sleeve, and the four-shaft bearing pressing cover is connected at the end of the four-shaft wire passing sleeve.

[0031] Optionally, the small arm assembly comprises a small arm, a small arm lower connecting structure, a small arm upper connecting structure, a five-shaft driving assembly and a six-shaft driving assembly, one end of the small arm lower connecting structure is connected at the bottom of the small arm, and the other end is fixedly connected on the four-shaft speed reducer pulley assembly.

[0032] The small arm upper connecting structure comprises a first side transmission structure and a second side transmission structure installed on both sides of the top end of the small arm, the five-shaft driving assembly and the six-shaft driving assembly are respectively and oppositely installed inside the small arm, and the five-shaft driving assembly is adapted to drive the first side transmission structure to move, and the six-shaft driving assembly is adapted to drive the second side transmission structure to move.

[0033] Optionally, the five-axis driving assembly comprises a five-axis servo motor, a five-axis driving wheel and a five-axis synchronous belt, one end of the five-axis synchronous belt is wrapped around the five-axis driving wheel, and the other end of the five-axis synchronous belt is wrapped around the five-axis synchronous belt.

[0034] The first side transmission structure comprises a five-axis driven pulley, a five-axis reducer fixing seat, a five-axis harmonic reducer and a five-axis synchronous pulley shaft, the input shaft of the five-axis harmonic reducer is connected with the five-axis driven pulley, the five-axis reducer fixing seat is sleeved between the five-axis driven pulley and the five-axis harmonic reducer, and the five-axis reducer fixing seat is connected on the inner surface of the small arm, and the output shaft of the five-axis harmonic reducer is connected with the five-axis synchronous pulley shaft.

[0035] The second side transmission structure comprises a six-axis driven pulley, a six-axis transmission shaft outer seat, a six-axis transmission shaft bearing, a six-axis transmission shaft inner seat, a six-axis transmission shaft, a first bevel gear and a harmonic reduction component, the six-axis transmission shaft is sequentially provided with the six-axis driven pulley, the six-axis transmission shaft outer seat, the six-axis transmission shaft bearing, the six-axis transmission shaft inner seat and the first bevel gear from the side away from the first side transmission structure, and the harmonic reduction component is installed above the first side transmission structure and the second side transmission structure.

[0036] The harmonic reduction component comprises a second bevel gear, a bearing pressing ring, a bevel gear shaft connector, a six-axis harmonic reducer and an output flange which are sequentially installed from bottom to top, the harmonic reduction component is provided with the second bevel gear at one end close to the first bevel gear, and the second bevel gear is in meshing connection with the first bevel gear.

[0037] Compared with the prior art, the present application has at least the following beneficial effects:

[0038] The joint robot is composed of a base, a first rotary joint, a second rotary joint, an upper arm assembly, an elbow assembly and a small arm assembly, the motors of the first rotary joint, the second rotary joint, the upper arm assembly, the elbow assembly and the small arm assembly are independent of each other, the four-axis reducer is directly connected with the five-axis body, drives the five-axis and the load to rotate, the three-axis and the four-axis adopt a split structure, the small arm and the five-axis and the six-axis are fixed, the output end of the four-axis reducer is connected with the small arm, drives the small arm to rotate to the end load structure, the bending moment directly acts on the four-axis reducer, the three-axis rotating speed is reduced, the end load is reduced, the bending moment borne by the four-axis reducer is ensured to be within the parameter requirement range, the motor load rate is reduced, and the rotating speed is further improved.

[0039] The application adopts the combination of planetary reducer and harmonic reducer, the small arm motor is installed in the small arm and is connected with the harmonic reducer through a key, the flexspline of the harmonic reducer is connected with the small arm through bolts, the rigid wheel of the harmonic reducer is connected with the rotary wrist through bolts, the bending moment and the torque are borne by the cross roller bearing, the structural strength of each arm is ensured, and the occupied space is also saved. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural schematic view of a six-degree-of-freedom joint robot in an embodiment of the application;

[0041] Figure 2 It is a structural schematic view of a base in the six-degree-of-freedom joint robot in an embodiment of the application;

[0042] Figure 3 It is a structural schematic view of the installation of a first rotary joint and a second rotary joint in an embodiment of the application;

[0043] Figure 4 It is a structural schematic view of the installation of the first rotary joint on the base in an embodiment of the application;

[0044] Figure 5 It is a structural schematic view of the first rotary structure in an embodiment of the application;

[0045] Figure 6 It is a structural schematic view of the first driven helical gear in an embodiment of the application;

[0046] Figure 7 It is a structural schematic view of the first driving assembly in an embodiment of the application;

[0047] Figure 8 It is a structural schematic view of the installation of the second rotary joint on the rotary table base in an embodiment of the application;

[0048] Figure 9 It is a structural schematic view of the rotary table base in an embodiment of the application;

[0049] Figure 10 It is a structural schematic view of the large arm assembly in an embodiment of the application;

[0050] Figure 11 It is a structural schematic view of the elbow assembly in an embodiment of the application;

[0051] Figure 12 It is an exploded structural schematic view of the elbow assembly in an embodiment of the application;

[0052] Figure 13 It is a structural schematic view of the first driving component in an embodiment of the application;

[0053] Figure 14Structure schematic diagram of second driving component in embodiment of the present application;

[0054] Figure 15 Structure schematic diagram of small arm assembly in embodiment of the present application;

[0055] Figure 16 Exploded structure schematic diagram of small arm assembly in embodiment of the present application;

[0056] Figure 17 Internal structure schematic diagram of small arm assembly in embodiment of the present application;

[0057] Figure 18 Exploded structure schematic diagram of first side transmission structure in embodiment of the present application;

[0058] Figure 19 Structure schematic diagram of harmonic reducer component installed in five-axis bearing seat in embodiment of the present application;

[0059] Figure 20 Exploded structure schematic diagram of harmonic reducer component installed in five-axis bearing seat in embodiment of the present application.

[0060] Explanation of reference signs:

[0061] 1 - base;

[0062] 2 - first rotary joint;

[0063] 21 - rotary table seat; 211 - rotary table base; 2111 - first driving installation slot; 2112 - first rotary installation seat; 212 - second rotary installation seat; 213 - rotary table wiring slot;

[0064] 22 - first rotary structure;

[0065] 221 - base sleeve; 222 - first driven bevel gear; 2221 - gear body; 2222 - inner step; 2223 - first connecting hole; 223 - crossed roller bearing; 224 - skeleton oil seal;

[0066] 23 - first driving assembly;

[0067] 231 - first servo motor; 232 - first planetary reducer; 233 - first driving bevel gear;

[0068] 3 - second rotary joint;

[0069] 31 - second servo motor; 32 - second planetary reducer;

[0070] 4 - large arm assembly;

[0071] 41 - large arm; 411 - large arm body; 412 - large arm lower mounting seat; 413 - large arm upper mounting seat; 42 - large arm lower connecting structure; 421 - large arm lower end cover; 422 - first wire passing bearing seat; 423 - first deep groove ball bearing;

[0072] 43 - large arm upper connecting structure; 431 - large arm upper end cover; 432 - adjustment pad plate;

[0073] 5 - elbow assembly;

[0074] 51 - first driving component; 511 - three-axis servo motor; 512 - three-axis servo motor seat; 513 - three-axis driving pulley; 514 - first synchronous belt; 515 - three-axis speed reducer pulley assembly; 5151 - three-axis driven pulley; 5152 - three-axis wire passing sleeve; 5153 - outer ring spacer sleeve; 5154 - bearing; 5155 - three-axis bearing end cover;

[0075] 52 - second driving component; 521 - four-axis servo motor; 522 - four-axis servo motor seat; 523 - four-axis driving pulley; 524 - second synchronous belt; 525 - four-axis speed reducer pulley assembly; 5251 - four-axis driven pulley; 5252 - four-axis wire passing sleeve; 5253 - second deep groove ball bearing; 5254 - four-axis bearing gland;

[0076] 53 - first driving housing; 54 - second driving housing;

[0077] 6 - small arm assembly;

[0078] 61 - small arm; 611 - small arm structural member; 612 - small arm first housing; 613 - small arm second housing; 614 - five-axis bearing seat;

[0079] 62 - small arm lower connecting structure; 621 - sleeve; 622 - adapter flange; 623 - wire protection sleeve;

[0080] 63 - small arm upper connecting structure;

[0081] 631 - first side transmission structure;

[0082] 6311 - five-axis driven pulley; 6312 - five-axis speed reducer fixed seat; 6313 - five-axis harmonic speed reducer; 6314 - five-axis synchronous pulley shaft;

[0083] 632 - second side transmission structure;

[0084] 6321 - six-axis driven pulley; 6322 - six-axis transmission shaft outer seat; 6323 - six-axis transmission shaft bearing; 6324 - six-axis transmission shaft inner seat; 6325 - six-axis transmission shaft; 6326 - first bevel gear; 6327 - harmonic reduction component; 63271 - second bevel gear; 63272 - bearing compression ring; 63273 - bevel gear shaft connector; 63274 - six-axis harmonic reducer; 63275 - output flange;

[0085] 64 - five-axis drive assembly;

[0086] 641 - five-axis servo motor; 642 - five-axis drive wheel; 643 - five-axis synchronous belt;

[0087] 65 - six-axis drive assembly;

[0088] 651 - six-axis servo motor; 652 - six-axis drive wheel; 653 - six-axis synchronous belt; DETAILED DESCRIPTION

[0089] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0090] In the description of the present application, it should be noted that the terms "first", "second", "third", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0091] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements, it can be wireless connection, or wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0092] Please refer to Figures 1-20 As shown in the drawings, the six-degree-of-freedom articulated robot provided in the embodiments of the present application includes a base 1, a first rotary joint 2, a second rotary joint 3, a large arm assembly 4, an elbow assembly 5 and a small arm assembly 6,

[0093] The first rotating joint 2 is vertically connected to the upper surface of the base 1, the second rotating joint 3 is transversely connected to one side of the first rotating joint 2, and the first rotating joint 2 is adapted to make horizontal circumferential rotating motion relative to the base 1, and the second rotating joint 3 is adapted to make vertical motion relative to the first rotating joint 2.

[0094] One end of the large arm assembly 4 is rotatably connected to the second rotating joint 3, so as to be adapted to make vertical motion under the driving of the second rotating joint 3, and the other end of the large arm assembly 4 is rotatably connected to the elbow assembly 5, and the other side of the elbow assembly 5 is connected to the small arm assembly 6.

[0095] Therefore, through the layout mode of each axis of the robot, under the guarantee of the structural strength of the large arm assembly 4 and the small arm assembly 6, through the layout of the shaft motors and speed reducers of the first rotating joint 2, the second rotating joint 3, the large arm assembly 4, the elbow assembly 5 and the small arm assembly 6, the three-four-axis split structure is adopted, the small arm assembly 6 and the five-six-axis are fixed, the output end of the four-axis speed reducer is connected to the small arm, the small arm is driven to rotate to the end load structure, the six-degree-of-freedom joint of the robot can effectively control the motion of the joint on the determined motion track, and the controllable virtual constraint of the robot can be realized, in addition, the bending moment is directly acted on the four-axis speed reducer, the three-axis rotating speed is reduced, the end load is reduced or the type of the speed reducer is increased, so that the bending moment borne by the four-axis speed reducer is guaranteed to be within the parameter requirement range, the five-six-axis and the load are driven to rotate, the torque required for starting and stopping the speed reducer is reduced, the motor load is reduced, and the rotating speed is further improved.

[0096] Specifically, as shown in Figure 3 , 4 In the embodiment of the application, the first rotating joint 2 comprises a rotating table seat 21, a first rotating structure 22 and a first driving assembly 23, wherein:

[0097] As shown in Figure 8 , the rotating table seat 21 comprises a rotating table base 211 located directly above the base 1, a second rotating mounting seat 212 vertically connected to one side of the upper surface of the rotating table base 211 and a rotating table wiring groove 213 connected to the outer side of the second rotating mounting seat 212. The rotating table seat 21 can move in the XY plane relative to the base 1 to meet the rotating needs of the mechanical arm.

[0098] As shown in Figure 5 , the first rotating structure 22 comprises a base sleeve 221 vertically arranged in the rotating table base 211, a first driven bevel gear 222 horizontally sleeved at the top of the base sleeve 221, a cross-roller bearing 223 and a skeleton oil seal 224 horizontally sleeved and connected at the bottom of the base sleeve 221, and the skeleton oil seal 224 is located at the bottom end face of the cross-roller bearing 223.

[0099] Thus, the first rotating structure 22 is used to drive the turntable base 21 to move in the horizontal plane, so as to drive the mechanical arm on the turntable base 21 to move.

[0100] Please refer to Figure 4 As shown in the figure, the first driving assembly 23 comprises a first servo motor 231, a first planetary reducer 232 and a first driving helical gear 233, the input shaft of the first planetary reducer 232 is fixedly connected to the output shaft of the first servo motor 231, and the first driving helical gear 233 is fixedly connected to the output shaft of the first planetary reducer 232.

[0101] Thus, the first driving assembly 23 drives the first rotating structure 22 to move, so as to realize the movement of the turntable base 21.

[0102] The first driving helical gear 233 and the first driven helical gear 222 are meshingly connected in the turntable base 211, so as to be suitable for the first driving assembly 23 to drive the first rotating structure 22 to move horizontally.

[0103] The first servo motor 231 and the first planetary reducer 232 are vertically connected to the turntable base 211, the first driving helical gear 233 is located in the turntable base 211, and the lower end surface of the turntable base 211 is fixedly connected to the lower end surface of the base sleeve 221, so as to be suitable for the turntable base 21 to move horizontally with the first rotating structure 22.

[0104] Specifically, please refer to Figure 9 As shown in the figure, in the embodiment of the present application, the turntable base 211 comprises a first driving installation groove 2111 and a first rotating installation groove 2112 which are opened on the turntable base body, the first rotating installation groove 2112 is located at the center position of the turntable base body, and the first driving installation groove 2111 is located near one side of the first rotating installation groove 2112.

[0105] The top of the first rotating structure 22 is suitable for being inserted into the first rotating installation groove 2112, and the bottom of the first driving assembly 23 is suitable for being inserted into the first driving installation groove 2111.

[0106] Thus, the first driving assembly 23 and the second rotating joint 3 are suitable for being installed on the turntable base 211, so as to realize the three-directional freedom of the mechanical arm.

[0107] Specifically, please refer to Figure 8 As shown in the figure, in the embodiment of the present application, the second rotating joint 3 comprises a second servo motor 31 and a second planetary reducer 32, the second planetary reducer 32 is fixedly connected to the second rotating installation base 212 away from one side of the second servo motor 31, the input shaft of the second planetary reducer 32 is connected to the second servo motor 31, and the output shaft of the second planetary reducer 32 is connected to the large arm assembly 4, so as to be suitable for the second rotating joint 3 to drive the large arm assembly 4 to rotate.

[0108] Thus, the second rotary joint 3 is used to realize the Z-axis direction movement of the large arm assembly 4.

[0109] Specifically, referring to Figure 10 shown in the embodiment of the present application, the large arm assembly 4 comprises a large arm 41, a large arm lower connecting structure 42 and a large arm upper connecting structure 43, the large arm lower connecting structure 42 is arranged on the side of the large arm 41 close to the second planetary reducer 32, and is adapted to be fixedly connected with the output shaft of the second planetary reducer 32, and the large arm upper connecting structure 43 is arranged on the same side of the other end of the large arm 41, and is adapted to be fixedly connected with the elbow assembly 5.

[0110] Thus, the large arm assembly 4 is connected with the second rotary joint 3 and the elbow assembly 5 through the large arm lower connecting structure 42 and the large arm upper connecting structure 43 respectively,

[0111] Please refer to Figure 10 shown, the large arm 41 comprises a large arm body 411, a large arm lower mounting seat 412 integrally connected with the lower end of the large arm body 411 and a large arm upper mounting seat 413 integrally connected with the upper end of the large arm body 411, the large arm lower mounting seat 412 is adapted to be fixedly connected with the end face of the second planetary reducer 32, and the large arm upper mounting seat 413 is adapted to be fixedly connected with the elbow assembly 5.

[0112] The large arm lower connecting structure 42 comprises a large arm lower end cover 421, a first wire passing bearing seat 422 and a first deep groove ball bearing 423, the first wire passing bearing seat 422 and the first deep groove ball bearing 423 are adapted to be sleeved in the rotary table wire groove 213, and the large arm lower end cover 421 is adapted to be coveringly arranged on the large arm lower mounting seat 412.

[0113] The large arm upper connecting structure 43 comprises a large arm upper end cover 431 and an adjusting pad plate 432, the adjusting pad plate 432 is mounted on the elbow assembly 5, and the large arm upper end cover 431 is adapted to be coveringly arranged on the large arm upper mounting seat 413.

[0114] It should be noted that the bearing is arranged as a single or multiple needle roller bearing or roller bearing or deep groove ball bearing or angular contact ball bearing, mainly bearing radial load, and the main bearing is a crossed roller bearing or tapered roller bearing or double row angular contact bearing which can bear larger bending moment.

[0115] Specifically, referring to Figure 11 shown, in the embodiment of the present application, the elbow assembly 5 comprises a first driving component 51, a second driving component 52, a first driving shell 53 and a second driving shell 54, the first driving component 51 and the second driving component 52 are arranged horizontally and vertically crossing in the first driving shell 53 and the second driving shell 54, and the first driving shell 53 and the second driving shell 54 are combined and connected to constitute the shell of the first driving component 51 and the second driving component 52.

[0116] The first driving component 51 is fixedly connected with the upper connecting structure 43 of the large arm assembly 4 at the end of the first driving shell 53.

[0117] The end of the second driving shell 54 is adapted to be connected with the external structure.

[0118] Thus, the application effectively reduces the load rate of the original two-three axis internal motor of the six-degree-of-freedom robot by placing the driving device of the three-four axis body behind the three-four axis body.

[0119] Specifically, referring to Figure 7 In the embodiment of the application, the first driving component 51 includes a three-axis servo motor 511, a three-axis servo motor base 512, a three-axis driving pulley 513, a first synchronous belt 514 and a three-axis speed reducer pulley assembly 515. The output shaft of the three-axis servo motor 511 is connected with the three-axis driving pulley 513. One side of the three-axis servo motor base 512 is fixedly connected with the inner surface of the first driving shell 53, and the other side is fixedly connected with the end surface of the three-axis servo motor 511. One end of the first synchronous belt 514 is wrapped around the three-axis driving pulley 513, and the other end is wrapped around the three-axis speed reducer pulley assembly 515.

[0120] The three-axis speed reducer pulley assembly 515 includes a three-axis driven pulley 5151, a three-axis wire passing sleeve 5152, an outer ring spacer sleeve 5153, a bearing 5154 and a three-axis bearing end cover 5155. The three-axis driven pulley 5151 is sleeved and installed at the end of the three-axis wire passing sleeve 5152. The outer ring spacer sleeve 5153 and the bearing 5154 are sequentially installed on the three-axis wire passing sleeve 5152, and the three-axis bearing end cover 5155 is connected at the end of the three-axis wire passing sleeve 5152.

[0121] Specifically, referring to Figure 12 In the embodiment of the application, the second driving component 52 includes a four-axis servo motor 521, a four-axis servo motor base 522, a four-axis driving pulley 523, a second synchronous belt 524 and a four-axis speed reducer pulley assembly 525. The four-axis driving pulley 523 is fixedly connected on the output shaft of the four-axis servo motor 521. The four-axis servo motor base 522 is sleeved on the output shaft of the four-axis servo motor 521, one side of which is fixedly connected with the end surface of the four-axis servo motor 521, and the other end is fixedly connected with the inner surface of the second driving shell 54. One end of the second synchronous belt 524 is wrapped around the four-axis driving pulley 523, and the other end is wrapped around the four-axis speed reducer pulley assembly 525.

[0122] Referring to Figure 14As shown, the four-axis reducer pulley assembly 525 includes a four-axis driven pulley 5251, a four-axis wire sleeve 5252, a second deep groove ball bearing 5253 and a four-axis bearing pressure cover 5254. The four-axis driven pulley 5251 is sleeved and installed on the end of the four-axis wire sleeve 5252, the second deep groove ball bearing 5253 is installed on the four-axis wire sleeve 5252, and the four-axis bearing pressure cover 5254 is connected to the end of the four-axis wire sleeve 5252.

[0123] Specifically, please refer to Figure 15 、 16 As shown, in an embodiment of the present invention, the forearm assembly 6 includes a forearm 61, a lower forearm connecting structure 62, an upper forearm connecting structure 63, a five-axis drive assembly 64 and a six-axis drive assembly 65, one end of the lower forearm connecting structure 62 is connected to the bottom of the forearm 61, and the other end is fixedly connected to the four-axis reducer pulley assembly 525.

[0124] Please refer to Figure 17 As shown, the connecting structure 63 on the forearm includes a first side transmission structure 631 and a second side transmission structure 632 installed on both sides of the top of the forearm 61, and the five-axis drive assembly 64 and the six-axis drive assembly 65 are respectively installed in parallel and opposite directions inside the forearm 61, and the five-axis drive assembly 64 is suitable for driving the first side transmission structure 631 to move, and the six-axis drive assembly 65 is suitable for driving the second side transmission structure 632 to move.

[0125] Thus, the five-axis drive assembly 64 is arranged in the small arm 61 to provide power to the first side transmission structure 631.

[0126] Specifically, please refer to Figure 17 As shown, in an embodiment of the present invention, the five-axis drive assembly 64 includes a five-axis servo motor 641, a five-axis drive wheel 642 and a five-axis synchronous belt 643, the five-axis drive wheel 642 is connected to the output shaft of the five-axis servo motor 641, and one end of the five-axis synchronous belt 643 is wrapped around the five-axis drive wheel 642.

[0127] Therefore, the output shaft of the five-axis servo motor 641 is connected to the five-axis driving wheel 642 through a key, one end of the five-axis synchronous belt 643 is connected to the five-axis driving wheel 642, and the other end of the five-axis synchronous belt 643 is connected to the five-axis driven pulley 6311. Under the driving force of the five-axis servo motor 641, the five-axis driving wheel 642 is driven to rotate, and the five-axis driving wheel 642 drives the five-axis synchronous belt 643 to engage and move, thereby driving the five-axis driven pulley 6311 to move.

[0128] Please refer to Figure 18As shown, the first side transmission structure 631 includes a five-axis driven pulley 6311, a five-axis speed reducer fixed seat 6312, a five-axis harmonic reducer 6313, and a five-axis synchronous pulley shaft 6314. The input shaft of the five-axis harmonic reducer 6313 is connected with the five-axis driven pulley 6311. The five-axis speed reducer fixed seat 6312 is sleeved between the five-axis driven pulley 6311 and the five-axis harmonic reducer 6313, and is connected on the inner surface of the small arm 61. The output shaft of the five-axis harmonic reducer 6313 is connected with the five-axis synchronous pulley shaft 6314.

[0129] Thus, the five-axis synchronous pulley shaft 6314 is connected on the output shaft of the harmonic reducer 6313 through the five-axis speed reducer fixed seat 6312, and the five-axis driven pulley 6311 is connected at the end of the five-axis synchronous pulley shaft 6314. When the five-axis driven pulley 6311 rotates under the action of the five-axis drive wheel 642, the movement of the five-axis driven pulley 6311 is input into the five-axis harmonic reducer 6313, driving the output shaft of the five-axis harmonic reducer 6313 to move, and the output shaft of the five-axis harmonic reducer 6313 is connected with the five-axis synchronous pulley shaft 6314, thereby driving the five-axis synchronous pulley shaft 6314 to rotate.

[0130] Please refer to Figure 17 , 20 As shown, the second side transmission structure 632 includes a six-axis driven pulley 6321, a six-axis transmission shaft outer seat 6322, a six-axis transmission shaft bearing 6323, a six-axis transmission shaft inner seat 6324, a six-axis transmission shaft 6325, and a harmonic reduction component 6327. The six-axis transmission shaft 6325 is sequentially provided with the six-axis driven pulley 6321, the six-axis transmission shaft outer seat 6322, the six-axis transmission shaft bearing 6323, the six-axis transmission shaft inner seat 6324, and the first bevel gear 6326 from the side away from the first side transmission structure 631. The harmonic reduction component 6327 is installed above between the first side transmission structure 631 and the second side transmission structure 632.

[0131] The harmonic reduction component 6327 includes a second bevel gear 63271, a bearing compression ring 63272, a bevel gear shaft connector 63273, a six-axis harmonic reducer 63274, and an output flange 63275, which are sequentially installed from bottom to top. The harmonic reduction component 6327 is installed with the second bevel gear 63271 close to one end of the first bevel gear 6326, and the second bevel gear 63271 is engaged and connected with the first bevel gear 6326.

[0132] Thus, the movement of the six-axis driven pulley 6321 drives the movement of the six-axis transmission shaft 6325, the movement of the six-axis transmission shaft 6325 drives the movement of the six-axis transmission shaft 6325, and the six-axis transmission shaft 6325 inputs the movement into the harmonic reducer 6327, and the second bevel gear 63271 is arranged in the harmonic reducer 6327, thereby driving the movement of the second bevel gear 63271.

[0133] Specifically, please refer to Figure 7 In the embodiment of the present application, the six-axis drive assembly 65 is arranged in the small arm 61 to provide power for the second side transmission structure 632, wherein the six-axis drive assembly 65 includes a six-axis servo motor 651, a six-axis drive wheel 652 and a six-axis synchronous belt 653, wherein the six-axis servo motor 651 is substantially the same as the five-axis servo motor 641, and the two are placed in opposite directions in the small arm 61, the output shaft of the six-axis servo motor 651 is connected with the six-axis drive wheel 652 through a key, thereby driving the rotation of the six-axis drive wheel 652, and the other end of the six-axis synchronous belt 653 is connected to the six-axis driven pulley 6321.

[0134] The second side transmission structure 632 is installed on the upper top side of the small arm 61, and the second side transmission structure 632 includes a six-axis driven pulley 6321, a six-axis transmission shaft outer seat 6322, a six-axis transmission shaft bearing 6323, a six-axis transmission shaft inner seat 6324, a six-axis transmission shaft 6325 and a bevel gear 6326, wherein the six-axis driven pulley 6321 is installed on one end of the six-axis transmission shaft 6325, the six-axis transmission shaft inner seat 6324 and the six-axis transmission shaft outer seat 6322 are both sleeved on the six-axis transmission shaft 6325, and the six-axis transmission shaft bearing 6323 is located between the six-axis transmission shaft inner seat 6324 and the six-axis transmission shaft outer seat 6322, and the bevel gear 6326 is fixedly installed on the other end of the six-axis transmission shaft 6325.

[0135] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present application.

Claims

1. A six-degree-of-freedom joint robot, characterized in that: It comprises a base (1), a first rotating joint (2), a second rotating joint (3), a large arm assembly (4), an elbow assembly (5) and a small arm assembly (6), The first rotational joint (2) is vertically connected to the upper surface of the base (1), the second rotational joint (3) is laterally connected to one side of the first rotational joint (2), and the first rotational joint (2) is suitable for horizontal circular rotation relative to the base (1), and the second rotational joint (3) is suitable for vertical movement relative to the first rotational joint (2); One end of the boom assembly (4) is rotatably connected to the second rotating joint (3) so as to be adapted to move in a vertical direction under the drive of the second rotating joint (3); the other end side of the boom assembly (4) is rotatably connected to the elbow assembly (5); and the other side of the elbow assembly (5) is connected to the small arm assembly (6); The elbow assembly (5) includes a first driving component (51), a second driving component (52), a first driving housing (53) and a second driving housing (54); the first driving component (51) and the second driving component (52) are arranged horizontally and vertically in the first driving housing (53) and the second driving housing (54); the first driving housing (53) and the second driving housing (54) are combined and connected to form the housings of the first driving component (51) and the second driving component (52); The end of the first driving component (51) extending out of the first driving housing (53) is fixedly connected to the upper connecting structure (43) of the boom assembly (4); The end of the second drive component (52) extending out of the second drive housing (54) is suitable for connection to an external structure; The first driving component (51) comprises a three-axis servo motor (511), a three-axis servo motor seat (512), a three-axis driving pulley (513), a first synchronous belt (514) and a three-axis speed reducer pulley assembly (515); the output shaft of the three-axis servo motor (511) is connected to the three-axis driving pulley (513); one side of the three-axis servo motor seat (512) is fixedly connected to the inner surface of the first driving housing (53), and the other side is fixedly connected to the end face of the three-axis servo motor (511); one end of the first synchronous belt (514) is wrapped around the three-axis driving pulley (513), and the other end is wrapped around the three-axis speed reducer pulley assembly (515); The three-axis reducer pulley assembly (515) includes a three-axis driven pulley (5151), a three-axis wire sleeve (5152), an outer ring spacer (5153), a bearing (5154) and a three-axis bearing end cover (5155), wherein the three-axis driven pulley (5151) is sleeved and mounted on the end of the three-axis wire sleeve (5152), the outer ring spacer (5153) and the bearing (5154) are sequentially mounted on the three-axis wire sleeve (5152), and the three-axis bearing end cover (5155) is connected to the end of the three-axis wire sleeve (5152); The second driving component (52) comprises a four-axis servo motor (521), a four-axis servo motor seat (522), a four-axis driving pulley (523), a second synchronous belt (524) and a four-axis reducer pulley assembly (525), wherein the four-axis driving pulley (523) is fixedly connected to the output shaft of the four-axis servo motor (521), the four-axis servo motor seat (522) is sleeved on the output shaft of the four-axis servo motor (521), one end of the second synchronous belt (524) is fixedly connected to the end face of the four-axis servo motor (521), and the other end is fixedly connected to the inner surface of the second driving housing (54), one end of the second synchronous belt (524) is wrapped around the four-axis driving pulley (523), and the other end is wrapped around the four-axis reducer pulley assembly (525); The four-axis reducer pulley assembly (525) comprises a four-axis driven pulley (5251), a four-axis wire-passing sleeve (5252), a second deep groove ball bearing (5253) and a four-axis bearing pressure cover (5254). The four-axis driven pulley (5251) is sleeved and mounted on the end of the four-axis wire-passing sleeve (5252), the second deep groove ball bearing (5253) is mounted on the four-axis wire-passing sleeve (5252), and the four-axis bearing pressure cover (5254) is connected to the end of the four-axis wire-passing sleeve (5252).

2. The six-degree-of-freedom articulated robot according to claim 1, characterized in that: The first rotating joint (2) comprises a turntable seat (21), a first rotating structure (22) and a first driving assembly (23). The turntable seat (21) comprises a turntable base (211) located directly above the base (1), a second rotation mounting seat (212) vertically connected to one side of the upper surface of the turntable base (211), and a turntable wiring groove (213) connected to the outside of the second rotation mounting seat (212); The first rotating structure (22) comprises a base sleeve (221) vertically arranged in the turntable base (211), a first driven helical gear (222) horizontally sleeved on the top of the base sleeve (221), and a cross roller bearing (223) and a skeleton oil seal (224) horizontally sleeved and connected to the bottom of the base sleeve (221), wherein the skeleton oil seal (224) is located on the bottom end surface of the cross roller bearing (223); The first drive assembly (23) comprises a first servo motor (231), a first planetary reducer (232) and a first driving helical gear (233), wherein the input shaft of the first planetary reducer (232) is fixedly connected to the output shaft of the first servo motor (231), and the first driving helical gear (233) is fixedly connected to the output shaft of the first planetary reducer (232); The first driving bevel gear (233) and the first driven bevel gear (222) are meshed and connected in the turntable base (211), so as to be suitable for the first driving component (23) to drive the first rotating structure (22) to perform horizontal rotational motion; The first servo motor (231) and the first planetary reducer (232) are vertically connected to the turntable base (211), the first active helical gear (233) is located in the turntable base (211), and the lower end surface of the turntable base (211) is fixedly connected to the lower end surface of the base sleeve (221) so as to enable the turntable seat (21) to rotate horizontally along with the first rotating structure (22).

3. The six-degree-of-freedom articulated robot according to claim 2, characterized in that: The turntable base (211) comprises a first drive mounting slot (2111) and a first rotation mounting slot (2112) provided on the turntable base body, wherein the first rotation mounting slot (2112) is located at the center of the turntable base body, and the first drive mounting slot (2111) is located near one side of the first rotation mounting slot (2112); The top of the first rotating structure (22) is suitable for being inserted into the first rotating installation groove (2112), and the bottom of the first driving assembly (23) is suitable for being inserted into the first driving installation groove (2111).

4. The six-degree-of-freedom articulated robot according to claim 2, characterized in that: The second rotating joint (3) includes a second servo motor (31) and a second planetary reducer (32), and the side of the second planetary reducer (32) away from the second servo motor (31) is fixedly connected to the second rotating mounting seat (212), the input shaft of the second planetary reducer (32) is connected to the second servo motor (31), and the output shaft of the second planetary reducer (32) is connected to the boom assembly (4), so that the second rotating joint (3) drives the boom assembly (4) to rotate.

5. The six-degree-of-freedom articulated robot according to claim 4, characterized in that: The boom assembly (4) comprises a boom (41), a boom lower connecting structure (42) and a boom upper connecting structure (43), wherein the boom lower connecting structure (42) is arranged on a side of the boom (41) close to the second planetary reducer (32) so as to be fixedly connected to the output shaft of the second planetary reducer (32), and the boom upper connecting structure (43) is arranged on the same side as the other end of the boom (41) so as to be fixedly connected to the elbow assembly (5); The boom (41) includes a boom body (411), a boom lower mounting seat (412) integrally connected to the lower end of the boom body (411), and a boom upper mounting seat (413) integrally connected to the upper end of the boom body (411), wherein the boom lower mounting seat (412) is suitable for fixed connection with the end face of the second planetary reducer (32), and the boom upper mounting seat (413) is suitable for fixed connection with the elbow assembly (5); The upper arm lower connection structure (42) includes an upper arm lower end cover (421), a first wire-passing bearing seat (422) and a first deep groove ball bearing (423), wherein the first wire-passing bearing seat (422) and the first deep groove ball bearing (423) are suitable for being sleeved in the turntable wiring groove (213), and the upper arm lower end cover (421) is suitable for being covered on the upper arm lower mounting seat (412); The upper arm connection structure (43) comprises an upper arm end cover (431) and an adjustment pad (432), wherein the adjustment pad (432) is mounted on the elbow assembly (5), and the upper arm end cover (431) is adapted to be mounted on the upper arm mounting seat (413).

6. The six-degree-of-freedom articulated robot according to claim 1, characterized in that: The forearm assembly (6) comprises a forearm (61), a forearm lower connection structure (62), a forearm upper connection structure (63), a five-axis drive assembly (64) and a six-axis drive assembly (65), one end of the forearm lower connection structure (62) is connected to the bottom of the forearm (61), and the other end is fixedly connected to the four-axis reducer pulley assembly (525); The forearm upper connecting structure (63) includes a first side transmission structure (631) and a second side transmission structure (632) installed on both sides of the top end of the forearm (61); the five-axis drive assembly (64) and the six-axis drive assembly (65) are respectively installed in parallel and opposite directions inside the forearm (61); and the five-axis drive assembly (64) is suitable for driving the first side transmission structure (631) to move, and the six-axis drive assembly (65) is suitable for driving the second side transmission structure (632) to move.

7. The six-degree-of-freedom articulated robot according to claim 6, characterized in that: The five-axis drive assembly (64) comprises a five-axis servo motor (641), a five-axis drive wheel (642) and a five-axis synchronous belt (643), wherein the five-axis drive wheel (642) is connected to the output shaft of the five-axis servo motor (641), and one end of the five-axis synchronous belt (643) is wrapped around the five-axis synchronous belt (643); The first-side transmission structure (631) comprises a five-axis driven pulley (6311), a five-axis reducer fixing seat (6312), a five-axis harmonic reducer (6313) and a five-axis synchronous pulley shaft (6314); the input shaft of the five-axis harmonic reducer (6313) is connected to the five-axis driven pulley (6311); the five-axis reducer fixing seat (6312) is sleeved between the five-axis driven pulley (6311) and the five-axis harmonic reducer (6313); the five-axis reducer fixing seat (6312) is connected to the inner surface of the small arm (61); and the output shaft of the five-axis harmonic reducer (6313) is connected to the five-axis synchronous pulley shaft (6314); The second side transmission structure (632) comprises a six-axis driven pulley (6321), a six-axis transmission shaft outer seat (6322), a six-axis transmission bearing (6323), a six-axis transmission shaft inner seat (6324), a six-axis transmission shaft (6325), a first bevel gear (6326) and a harmonic reduction component (6327); the six-axis transmission shaft (6325) is provided with the six-axis driven pulley (6321), the six-axis transmission shaft outer seat (6322), the six-axis transmission bearing (6323), the six-axis transmission shaft inner seat (6324) and the first bevel gear (6326) in sequence from the side away from the first side transmission structure (631); and the harmonic reduction component (6327) is installed above between the first side transmission structure (631) and the second side transmission structure (632); The harmonic reduction component (6327) includes a second bevel gear (63271), a bearing clamping ring (63272), a bevel gear shaft connector (63273), a six-axis harmonic reducer (63274) and an output flange (63275) installed in sequence from bottom to top. The second bevel gear (63271) is installed at one end of the harmonic reduction component (6327) close to the first bevel gear (6326), and the second bevel gear (63271) is meshed with the first bevel gear (6326).

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