Hybrid transmission six-axis robot arm

Abstract

The present invention discloses a six-axis mechanical arm with hybrid transmission, including: a base; a first motor, arranged below the base and connected to the base by transmission; a second motor, fixed on the base; a third motor, fixed on the base and horizontally opposite to the second motor; a large arm assembly, wherein the first end of the large arm assembly is connected to the second motor by transmission; a small arm assembly, wherein the first end of the small arm assembly is hinged with the second end of the large arm assembly so that the small arm assembly can rotate around a third axis; a transmission assembly, wherein the first end of the transmission assembly is connected to the second motor by transmission, and the second end of the transmission assembly is connected to the small arm assembly by transmission, and the transmission assembly is configured to transmit the rotational force output by the third motor to the small arm assembly to drive the small arm assembly to rotate; a wrist assembly, wherein the wrist assembly includes a fourth motor, a fifth connecting frame, a fifth motor, a sixth connecting frame and a sixth motor. The present invention achieves the technical effect of reducing the torque demand for the first motor and the torque demand for the second motor.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a six-axis mechanical arm with hybrid transmission. Background Art

[0002] Most existing robotic arms are directly driven by motors and reducers, and the connecting rods are mostly metal rods, such as UR5, Siling Robot, etc. The main problem is that the second motor and the third motor, namely the shoulder joint motor and the elbow joint torque requirements are relatively high, because the second motor, namely the shoulder joint motor, has the longest lever arm and needs to bear the weight of four motors and the connecting rods between them; the second is the elbow joint motor, which has the longest lever arm and needs to bear the weight of three motors and the connecting rods between them. Summary of the invention

[0003] The main purpose of the present invention is to provide a hybrid transmission six-axis robot arm to solve the problem in the related art that the movement of the upper arm and the lower arm of the six-axis robot arm requires high torque of some motors.

[0004] In order to achieve the above object, the present invention provides a hybrid transmission six-axis robot arm, comprising:

[0005] Base;

[0006] A first motor is disposed below the base and is drivingly connected to the base, and the first motor is used to drive the base to rotate around a first axis;

[0007] A second motor is fixed on the base;

[0008] A third motor, fixed on the base and horizontally opposite to the second motor;

[0009] A boom assembly, wherein a first end of the boom assembly is drivingly connected to the second motor, and the second motor is used to drive the boom assembly to rotate around a second axis;

[0010] A small arm assembly, wherein a first end of the small arm assembly is hinged to a second end of the large arm assembly so that the small arm assembly can rotate about a third axis;

[0011] A transmission assembly, wherein a first end of the transmission assembly is transmission-connected to the second motor, a second end of the transmission assembly is transmission-connected to the small arm assembly, and the transmission assembly is configured to transmit the rotational force output by the third motor to the small arm assembly to drive the small arm assembly to rotate;

[0012] A wrist assembly, the wrist assembly includes a fourth motor, a fifth connecting frame, a fifth motor, a sixth connecting frame and a sixth motor, the fourth motor is fixedly mounted on the second end of the forearm assembly, the fifth connecting frame is fixedly mounted on the output end of the fourth motor, the fifth motor is fixedly mounted on the fifth connecting frame, the sixth connecting frame is fixedly mounted on the output end of the fifth motor, and the sixth motor is fixedly mounted on the sixth connecting frame.

[0013] Further, the boom assembly includes a boom, a first connecting frame and a second connecting frame;

[0014] The first connecting frame and the second connecting frame are respectively fixed to the first end and the second end of the upper arm;

[0015] The first connecting frame is located between the second motor and the third motor, and the first end of the first connecting frame is drivingly connected to the second motor;

[0016] The first end of the small arm assembly is hinged to the second connecting frame.

[0017] Further, the forearm assembly includes a forearm, a third connecting frame and a fourth connecting frame;

[0018] The third connecting frame and the fourth connecting frame are fixedly mounted on the first end and the second end of the forearm respectively;

[0019] The third connecting frame is hinged to the second connecting frame, and the wrist assembly is connected to the fourth connecting frame.

[0020] Further, the transmission assembly includes a first transmission part, a second transmission part and a third transmission part;

[0021] The first transmission part is arranged on the first connecting frame and is transmission-connected to the third motor;

[0022] The third transmission part is arranged on the third connecting frame and is transmission-connected to the forearm;

[0023] Two ends of the second transmission part are transmission-connected to the first transmission part and the second transmission part respectively.

[0024] Furthermore, a hollow channel is provided in the upper arm, and the channel extends along the length direction of the upper arm. The second transmission part is provided in the channel, and two ends of the second transmission part extend out of the channel and are respectively connected to the first transmission part and the second transmission part in transmission.

[0025] Furthermore, the first connecting frame is provided with a hollow first cavity, the first cavity is communicated with the channel, and the first transmission part is arranged in the first cavity and is transmission-connected to the third motor.

[0026] Furthermore, the third connecting frame is provided with a hollow third cavity, the third cavity is communicated with the channel, and the third transmission part is arranged in the third cavity and is transmission-connected to the third connecting frame.

[0027] Further, the first transmission part includes a first shaft and a first winding shaft;

[0028] The two ends of the first shaft are hinged to the two sides of the first connecting frame, one end of the first shaft passes through the first connecting frame and is drivingly connected to the third motor; the first winding shaft is sleeved and fixed on the first shaft;

[0029] The third transmission part comprises a second shaft and a second winding shaft, the two ends of the second shaft are hinged to the second connecting frame, the second shaft is fixedly connected to the third connecting frame; the second winding shaft is sleeved and fixed on the second shaft;

[0030] The second transmission part comprises a transmission rope, a first end of the transmission rope is sleeved on the first winding shaft, and a second end of the transmission rope is sleeved on the second winding shaft.

[0031] Furthermore, the second connecting frame and the third connecting frame are extended from one end of the second shaft and are provided with a second rotary encoder.

[0032] Furthermore, both the upper arm and the lower arm are made of carbon fiber hollow tubes.

[0033] In an embodiment of the present invention, a base is provided; a first motor is provided below the base and is transmission-connected to the base, the first motor is used to drive the base to rotate around a first axis; a second motor is fixed on the base; a third motor is fixed on the base and is horizontally opposite to the second motor; a large arm assembly, a first end of the large arm assembly is transmission-connected to the second motor, the second motor is used to drive the large arm assembly to rotate around the second axis; a small arm assembly, a first end of the small arm assembly is hinged to the second end of the large arm assembly so that the small arm assembly can rotate around the third axis; a transmission assembly, a first end of the transmission assembly is transmission-connected to the second motor, a second end of the transmission assembly is transmission-connected to the small arm assembly, and the transmission assembly is configured to be able to drive the third motor The output rotational force is transmitted to the forearm assembly to drive the forearm assembly to rotate; the wrist assembly is arranged at the second end of the forearm assembly, and the wrist assembly is configured to output three-axis motion, so that the second motor and the third motor are arranged horizontally opposite to each other on the base so that the movements of the two motors do not affect each other, and at the same time, the second motor and the third motor are close to the first motor, thereby reducing the force arm between the third motor and the first motor. In addition, the third motor no longer serves as a load for the second motor, thereby achieving the technical effect of reducing the torque demand for the first motor and the torque demand for the second motor, thereby solving the problem in the related technology that the movement of the upper arm and the lower arm of the six-axis robot arm has high torque requirements for some motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and advantages of the present invention become more obvious. The accompanying drawings of the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 is a schematic diagram of the axial structure of a robot arm according to an embodiment of the present invention;

[0036] Figure 2 is a schematic diagram of the side view structure of a mechanical arm according to an embodiment of the present invention;

[0037] Figure 3 is a schematic cross-sectional structural diagram of a first connecting frame according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a connection structure between a second connection frame and a third connection frame according to an embodiment of the present invention;

[0039] Figure 5 is a cross-sectional schematic diagram of the connection between the second connecting frame and the third connecting frame according to an embodiment of the present invention;

[0040] Figure 6 is a schematic structural diagram of a wrist assembly according to an embodiment of the present invention;

[0041] Among them, 1 is the first motor, 2 is the second motor, 3 is the third motor, 4 is the base, 5 is the upper arm assembly, 501 is the upper arm, 502 is the first connecting frame, 5020 is the first cavity, 503 is the second connecting frame, 5030 is the second cavity, 504 is the channel, 6 is the transmission assembly, 601 is the first transmission part, 6010 is the first axis, 6011 is the first winding shaft, 602 is the third transmission part, 6020 is the second axis, 6021 is the second winding shaft, 7 is the forearm assembly, 701 is the forearm, 702 is the third connecting frame, 7020 is the third cavity, 703 is the fourth connecting frame, 8 is the wrist assembly, 801 is the fourth motor, 802 is the fifth motor, 803 is the sixth motor, 804 is the fifth connecting frame, 805 is the sixth connecting frame, 9 is the encoder, 10 is the tensioning shaft, and 11 is the tensioning wheel. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged under appropriate circumstances to facilitate the embodiments of the present invention described herein.

[0044] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "inner", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0045] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0046] In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In addition, the term "plurality" shall mean two or more.

[0048] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] To solve relevant technical problems, such as Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a hybrid transmission six-axis robot arm, comprising:

[0050] Base 4;

[0051] A first motor 1 is disposed below the base 4 and is transmission-connected to the base 4. The first motor 1 is used to drive the base 4 to rotate around a first axis;

[0052] The second motor 2 is fixed on the base 4;

[0053] The third motor 3 is fixed on the base 4 and horizontally opposite to the second motor 2;

[0054] A boom assembly 5, wherein a first end of the boom assembly 5 is transmission-connected to a second motor 2, and the second motor 2 is used for driving the boom assembly 5 to rotate around a second axis;

[0055] A small arm assembly 7, wherein a first end of the small arm assembly 7 is hinged to a second end of the large arm assembly 5 so that the small arm assembly 7 can rotate about a third axis;

[0056] A transmission assembly 6, wherein a first end of the transmission assembly 6 is transmission-connected to the second motor 2, and a second end of the transmission assembly 6 is transmission-connected to the arm assembly 7, and the transmission assembly 6 is configured to transmit the rotational force output by the third motor 3 to the arm assembly 7 to drive the arm assembly 7 to rotate;

[0057] The wrist assembly 8 is arranged at the second end of the forearm assembly 7, and the wrist assembly 8 is configured to output three-axis motion.

[0058] In the present embodiment, the six-axis robot arm mainly includes six motors, a large arm 501 and a small arm 701, and the six motors can output rotational motion in one direction respectively, and the large arm 501 and the small arm 701 are connected in an articulated manner. Among the six motors, a first motor 1, a second motor 2 and a third motor 3, and a wrist assembly 8 are included, wherein the wrist assembly 8 includes three motors connected in series. Among the first motor 1, the second motor 2 and the third motor 3, the first motor 1 can drive the second motor 2, the third motor 3, the large arm 501, the small arm 701 and the wrist assembly 8 to rotate, the second motor 2 serves as a shoulder joint motor, and the third motor 3 serves as an elbow joint motor. In other words, the second motor 2 can drive the large arm 501, the small arm 701 and the wrist assembly 8 to rotate, and the third motor 3 can drive the small arm 701 and the wrist assembly 8 to rotate.

[0059] When the six motors are simply connected in series, firstly, the third motor 3 is located at the far end of the big arm 501, and the lever arm with the first motor 1 is at least the length of the big arm 501. Secondly, after the third motor 3 is connected to the far end of the big arm 501, the third motor 3 also serves as the load of the second motor 2. The second motor 2 also needs to be able to drive the third motor 3 to rotate. At the same time, the lever arm between the third motor 3 and the second motor 2 is also at least the length of the big arm 501. It can be seen that when this configuration is adopted, the torque requirements for the first motor 1 and the second motor 2 are relatively high, and larger and more expensive motors need to be configured.

[0060] To this end, the position of the third motor 3 is adjusted in this embodiment. The third motor 3 is no longer connected to the far end of the boom 501, but the third motor 3 is lowered to the position of the base 4 and horizontally opposed to the second motor 2. Specifically, corresponding to this embodiment, the first motor 1 is installed at the lower end of the base 4. The first motor 1 can be directly connected to the base 4 and also drives the base 4 to rotate around the first axis. The second motor 2 is horizontally installed on the base 4 and connected to the first end of the boom assembly 5, thereby driving the boom assembly 5 to rotate around the second axis. The third motor 3 is also horizontally installed on the base 4 and distributed relative to the second motor 2. The forearm assembly 7 is hinged at the second end of the boom assembly 5. The forearm assembly 7 needs to be driven by the third motor 3. Since the third motor 3 is no longer directly connected to the forearm assembly 7, and there is at least a distance of the boom assembly 5 between the forearm assembly 7, the rotational force of the third motor 3 needs to be transmitted to the forearm assembly 7 through the transmission assembly 6.

[0061] Since in this embodiment, the third motor 3 is only used to drive the small arm assembly 7 to rotate, and the movement between the third motor 3 and the second motor 2 and the large arm assembly 5 does not interfere with each other, so from a structural point of view, although the second motor 2 and the third motor 3 are both installed on the base 4, the second motor 2 and the large arm assembly 5 can rotate relative to the third motor 3. The third motor 3 is connected to the small arm assembly 7 through a transmission assembly 6, and the transmission assembly 6 is configured to transmit the rotational force output by the third motor 3 to the small arm assembly 7 to drive the small arm assembly 7 to rotate. In this embodiment, the transmission assembly 6, as a device capable of realizing long-distance transmission, can adopt a structure that can be realized in the relevant technology, such as a transmission shaft with gears at both ends, or a transmission wheel, a transmission belt, etc., which is not limited in this embodiment. In order to further reduce the motion interference between the second motor 2 and the third motor 3, the second motor 2 and the third motor 3 are coaxially arranged.

[0062] The wrist assembly 8 is mounted on the second end of the forearm assembly 7. Figure 1 and Figure 6 As shown, in one embodiment, the wrist assembly 8 includes three fourth motors 801, fifth motors 802 and sixth motors 803 connected in series. Specifically, the wrist assembly 8 includes a fourth motor 801, a fifth connecting frame 804, a fifth motor 802, a sixth connecting frame 805 and a sixth motor 803. The fourth motor 801 is fixed to the second end of the arm assembly 7, the fifth connecting frame 804 is fixed to the output end of the fourth motor 801, the fifth motor 802 is fixed to the fifth connecting frame 804, the sixth connecting frame 805 is fixed to the output end of the fifth motor 802, and the sixth motor 803 is fixed to the sixth connecting frame 805. The output shafts of the three motors are perpendicular to each other and intersect at one point. This arrangement is convenient for kinematic calculations.

[0063] First, in the present invention, the third motor 3 and the second motor 2 are both installed on the base 4, which is relatively close to the first motor 1, so the lever arm between the third motor 3 and the first motor 1 is reduced. Although the third motor 3 still serves as the load of the first motor 1, the torque requirement for the third motor 3 is reduced after the lever arm is reduced, and the operation stability is improved. Secondly, after the third motor 3 is lowered and installed on the base 4, the third motor 3 and the second motor 2 are separated, and the movements of the two do not affect each other, so that the third motor 3 is no longer a load for the second motor 2, the torque requirement for the second motor 2 is also reduced, and the operation stability is improved. Based on this, the present invention achieves the technical effect of reducing the torque demand for the first motor 1 and the torque demand for the second motor 2, and improving the stability of the robot movement, thereby solving the problem of high torque requirements for some motors in the movement of the upper arm 501 and the lower arm 701 of the six-axis robot in the related art.

[0064] like Figure 1 and Figure 2 As shown, in one embodiment of the boom assembly 5, the boom assembly 5 includes a boom 501, a first connecting frame 502 and a second connecting frame 503;

[0065] The first connecting frame 502 and the second connecting frame 503 are respectively fixed to the first end and the second end of the upper arm 501;

[0066] The first connecting frame 502 is located between the second motor 2 and the third motor 3, and the first end of the first connecting frame 502 is drivingly connected to the second motor 2;

[0067] The first end of the small arm assembly 7 is hinged to the second connecting frame 503 .

[0068] Specifically, it should be noted that in this embodiment, the first connecting frame 502 is installed at the first end of the boom 501 and is installed between the second motor 2 and the third motor 3. The output shaft of the second motor 2 is fixedly connected to the side of the first connecting frame 502, so that the second motor 2 can drive the first connecting frame 502 and the boom 501 to rotate. The second connecting frame 503 is fixed to the second end of the boom 501, and the first end of the small arm assembly 7 is hinged to the second connecting frame 503, which can be specifically hinged by the shaft and the bearing. In this embodiment, a part of the first connecting frame 502 is sleeved on the first end of the boom 501 and can be locked by bolts, and a part of the second connecting frame 503 is sleeved on the second end of the boom 501 and can be locked by bolts.

[0069] like Figure 1 and Figure 2 As shown, in one embodiment of the forearm assembly 7, the forearm assembly 7 includes a forearm 701, a third connecting frame 702 and a fourth connecting frame 703;

[0070] The third connecting frame 702 and the fourth connecting frame 703 are fixedly mounted on the first end and the second end of the small arm 701 respectively;

[0071] The third connecting frame 702 is hinged to the second connecting frame 503 , and the wrist assembly 8 is connected to the fourth connecting frame 703 .

[0072] Specifically, it should be noted that in this embodiment, the third connecting frame 702 is fixed to the first end of the forearm 701, and the third connecting frame 702 can be hinged with the second connecting frame 503 through the shaft and the bearing. The fourth connecting frame 703 is installed at the second end of the forearm 701, and a part of the third connecting frame 702 can be sleeved on the first end of the forearm 701 and locked by bolts. Similarly, a part of the fourth connecting frame 703 is sleeved on the second end of the forearm 701 and locked by bolts.

[0073] like Figure 1 As shown, in one implementation of the transmission assembly 6, since the transmission assembly 6 needs to realize motion transmission across a distance, in this embodiment, the transmission assembly 6 includes a first transmission part 601, a second transmission part and a third transmission part 602;

[0074] The first transmission part 601 is disposed on the first connecting frame 502 and is transmission-connected to the third motor 3;

[0075] The third transmission part 602 is disposed on the third connecting frame 702 and is transmission-connected to the small arm 701;

[0076] Both ends of the second transmission part are transmission-connected with the first transmission part 601 and the second transmission part respectively.

[0077] Specifically, it should be noted that, according to the position of the transmission assembly 6, the transmission assembly 6 is divided into three parts in this embodiment, namely the first transmission part 601, the second transmission part and the third transmission part 602. The first transmission part 601 is installed on the first connecting frame 502 and is transmission-connected to the third motor 3. The connection relationship between the third transmission part 602 and the first connecting frame 502 is hinged, and the movements of the two do not interfere with each other. By reasonably utilizing the space on the first connecting frame 502 to install the first transmission part 601, the overall structure of the robot arm can be made more compact. Similarly, the third transmission part 602 is installed on the third connecting frame 702 and is transmission-connected to the small arm 701. The two ends of the second transmission part are transmission-connected to the first transmission part 601 and the second transmission part respectively, and the second transmission part can be arranged along the length direction of the large arm 501.

[0078] In one embodiment, the first transmission part 601 and the third transmission part 602 are both gear sets, and the second transmission part is a transmission shaft. In another embodiment, the first transmission part 601 and the third transmission part 602 are both winding shafts, and the second transmission part is a traction rope. In yet another embodiment, the first transmission part 601 and the third transmission part 602 are both pulleys, and the second transmission part is a belt.

[0079] like Figure 2 As shown, in order to further improve the compactness of the overall structure of the robotic arm and reduce the torque requirements of the first motor 1 and the second motor 2, a hollow channel 504 is provided in the upper arm 501 in the present embodiment, and the channel 504 extends along the length direction of the upper arm 501. The second transmission part is provided in the channel 504, and both ends of the second transmission part extend out of the channel 504 and are respectively connected to the first transmission part 601 and the second transmission part for transmission.

[0080] Specifically, the arm 501 in this embodiment is set as a hollow tubular structure, which has a through channel 504 inside. Since the movement of the second transmission part does not interfere with the arm 501, the second transmission part can be installed in the channel 504. The two ends of the second transmission part extend out of the channel 504 and are connected to the corresponding first transmission part 601 and the second transmission part. This embodiment installs the second transmission part in the arm 501, which not only reduces the gravity of the arm 501 and reduces the torque demand for the first motor 1 and the second motor 2, but also reasonably utilizes the space and reduces the volume of the entire mechanical arm. After the second transmission part is hidden in the arm 501, the arm 501 also serves as a protective structure for the second transmission part, improving the stability of use.

[0081] Since the first connecting frame 502 is installed at the end of the big arm 501, the first transmission part 601 is installed on the first connecting frame 502, and the second transmission part is installed inside the big arm 501, in order to facilitate the connection between the first transmission part 601 and the second transmission part, in this embodiment, Figure 2 and Figure 3 As shown, the first connecting frame 502 is provided with a hollow first cavity 5020 , the first cavity 5020 is communicated with the channel 504 , and the first transmission part 601 is disposed in the first cavity 5020 and is transmission-connected to the third motor 3 .

[0082] Specifically, in this embodiment, a groove can be opened on the end of the first connecting frame 502 away from the upper arm 501 to form a first cavity 5020, at least a part of the first transmission part 601 can be installed in the third cavity 7020, and the other part of the first transmission part 601 is connected to the third motor 3.

[0083] Similarly, in this embodiment, if Figure 4As shown, the second connecting frame 503 is provided with a second cavity 5030, and the third connecting frame 702 is provided with a hollow third cavity 7020. The second cavity 5030 and the third cavity 7020 are connected with the channel 504, and the third transmission part 602 is arranged in the third cavity 7020 and is transmission-connected with the third connecting frame 702.

[0084] Specifically, in this embodiment, a groove is formed on the end of the second connecting frame 503 away from the upper arm 501 to form a second cavity 5030, and a groove is formed on the end of the third connecting frame 702 away from the lower arm 701 to form a third cavity 7020. At least a portion of the third transmission part 602 is installed in the third cavity 7020 and is also located in the second cavity 5030.

[0085] Since the third connecting frame 702 is hinged on the second connecting frame 503, the rotation of the forearm 701 needs to rotate around the rotation axis of the third connecting frame 702 and the second connecting frame 503, and the rotation of the forearm 701 needs to be driven by the third transmission part 602. Therefore, in order to improve the flexibility of the rotation of the forearm 701, a part of the third transmission part 602 in this embodiment also serves as the rotation axis of the third connecting frame 702 and the second connecting frame 503.

[0086] like Figure 3 and Figure 4 As shown, in one embodiment of the first transmission part 601, the second transmission part and the third transmission part 602, the first transmission part 601 includes a first shaft 6010 and a first winding shaft 6011;

[0087] The two ends of the first shaft 6010 are hinged to the two sides of the first connecting frame 502, and one end of the first shaft 6010 passes through the first connecting frame 502 and is transmission-connected to the third motor 3; the first winding shaft 6011 is sleeved and fixed on the first shaft 6010; the third transmission part 602 includes a second shaft 6020 and a second winding shaft 6021, the two ends of the second shaft 6020 are hinged to the second connecting frame 503, and the second shaft 6020 is fixedly connected to the third connecting frame 702; the second winding shaft 6021 is sleeved and fixed on the second shaft 6020;

[0088] The second transmission part includes a transmission rope, a first end of the transmission rope is sleeved on the first winding shaft 6011 , and a second end of the transmission rope is sleeved on the second winding shaft 6021 .

[0089] Specifically, in this embodiment, both ends of the first shaft 6010 are hinged to the two side walls of the first cavity 5020 on the first connecting frame 502 through bearings, and one end of the first shaft 6010 passes through the side wall of the first cavity 5020 and is directly connected to the third motor 3. The first winding shaft 6011 is sleeved and fixed on the first shaft 6010, and the first winding shaft 6011 is located in the first cavity 5020 and corresponds to the lower end of the channel 504 of the upper arm 501. A plurality of winding grooves can be provided on the first winding shaft 6011, and the plurality of winding grooves are distributed along the axial direction.

[0090] In one connection mode of the second connecting frame 503 and the third connecting frame 702, a portion of the second connecting frame 503 is installed in the third cavity 7020 of the third connecting frame 702. The second shaft body 6020 is installed in the third cavity 7020, and is also partially located in the second cavity 5030. Both ends of the second shaft body 6020 are hinged to the two side walls of the second cavity 5030 through bearings, and both ends of the second shaft body 6020 extend out of the side walls of the second cavity 5030 and are fixedly connected to the side walls of the third cavity 7020, so that the rotation of the second shaft body 6020 can drive the third connecting frame 702 to rotate around the second connecting frame 503, and the second shaft body 6020 also serves as the rotation axis of the two connecting frames. The second winding shaft 6021 is sleeved and fixed on the second shaft body 6020. The second winding shaft 6021 is located in the second cavity 5030 and corresponds to the channel 504 on the upper arm 501. A plurality of winding grooves may be provided on the second winding shaft 6021, and the plurality of winding grooves are distributed along the axial direction.

[0091] The transmission rope is arranged in the channel 504 of the upper arm 501, and the two ends of the transmission rope are respectively sleeved in the winding groove of the first winding shaft 6011 and the winding groove of the second winding shaft 6021. In this embodiment, the rotation of the first winding shaft 6011 can drive the transmission rope to move, thereby driving the second winding shaft 6021 to rotate, and then driving the small arm 701 to rotate. In this embodiment, the transmission rope can also be replaced by a transmission belt, etc.

[0092] On this basis, a tensioning shaft 10 can be arranged on the second connecting frame 503, and a hinged tensioning wheel 11 can be arranged on the tensioning shaft 10. The tensioning wheel 11 is located in the second cavity 5030 and corresponds to the winding groove on the second winding shaft 6021. The position of the tensioning shaft 10 can be adjusted to adjust the fit degree and tensioning force between the transmission shaft and the second winding shaft 6021.

[0093] like Figure 4 As shown, the first shaft 6010 and the second shaft 6020 rotate synchronously during the rotational movement of the forearm 701. Therefore, in order to detect the rotation angle of the forearm 701 in real time for the convenience of angle control, in this embodiment, a second connecting frame 503 and a third connecting frame 702 are extended from one end of the second shaft 6020 and a second rotary encoder 9 is provided.

[0094] On the basis of the above implementation, in order to further reduce the load and torque requirements of the motor, both the upper arm 501 and the lower arm 701 are made of carbon fiber hollow tubes.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Within the spirit and principle of the present invention, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the present invention.

Claims

1. A hybrid transmission six-axis robot arm, characterized in that: include: Base; A first motor is disposed below the base and is drivingly connected to the base, and the first motor is used to drive the base to rotate around a first axis; A second motor is fixed on the base; A third motor, fixed on the base and horizontally opposite to the second motor; A boom assembly, wherein a first end of the boom assembly is drivingly connected to the second motor, and the second motor is used to drive the boom assembly to rotate around a second axis; A small arm assembly, wherein a first end of the small arm assembly is hinged to a second end of the large arm assembly so that the small arm assembly can rotate about a third axis; A transmission assembly, wherein a first end of the transmission assembly is transmission-connected to the third motor, a second end of the transmission assembly is transmission-connected to the small arm assembly, and the transmission assembly is configured to transmit the rotational force output by the third motor to the small arm assembly to drive the small arm assembly to rotate; A wrist assembly, the wrist assembly includes a fourth motor, a fifth connecting frame, a fifth motor, a sixth connecting frame and a sixth motor, the fourth motor is fixedly mounted on the second end of the small arm assembly, the fifth connecting frame is fixedly mounted on the output end of the fourth motor, the fifth motor is fixedly mounted on the fifth connecting frame, the sixth connecting frame is fixedly mounted on the output end of the fifth motor, and the sixth motor is fixedly mounted on the sixth connecting frame; the large arm assembly includes a large arm, a first connecting frame and a second connecting frame; The first connecting frame and the second connecting frame are respectively fixed to the first end and the second end of the upper arm; The first connecting frame is located between the second motor and the third motor, and the first end of the first connecting frame is drivingly connected to the second motor; The first end of the forearm assembly is hinged to the second connecting frame; the forearm assembly includes a forearm, a third connecting frame and a fourth connecting frame; The third connecting frame and the fourth connecting frame are fixedly mounted on the first end and the second end of the forearm respectively; The third connecting frame is hinged to the second connecting frame, and the wrist assembly is connected to the fourth connecting frame; the transmission assembly includes a first transmission part, a second transmission part and a third transmission part; A hollow channel is provided in the upper arm, and the channel extends along the length direction of the upper arm. The second transmission part is provided in the channel, and two ends of the second transmission part extend out of the channel and are respectively connected to the first transmission part and the second transmission part. The first transmission part includes a first shaft and a first winding shaft; The two ends of the first shaft are hinged to the two sides of the first connecting frame, one end of the first shaft passes through the first connecting frame and is drivingly connected to the third motor; the first winding shaft is sleeved and fixed on the first shaft; The third transmission part comprises a second shaft and a second winding shaft, the two ends of the second shaft are hinged to the second connecting frame, the second shaft is fixedly connected to the third connecting frame; the second winding shaft is sleeved and fixed on the second shaft; The second transmission part comprises a transmission rope, a first end of the transmission rope is sleeved on the first winding shaft, and a second end of the transmission rope is sleeved on the second winding shaft; The first winding shaft and the second winding shaft are provided with a plurality of winding grooves, and the plurality of winding grooves are distributed along the axial direction.

2. The hybrid transmission six-axis robot arm according to claim 1, characterized in that: The first connecting frame is provided with a hollow first cavity, the first cavity is communicated with the channel, and the first transmission part is arranged in the first cavity and is transmission-connected to the third motor.

3. The hybrid transmission six-axis robot arm according to claim 2, characterized in that: The third connecting frame is provided with a hollow third cavity, the third cavity is communicated with the channel, and the third transmission part is arranged in the third cavity and is transmission-connected with the third connecting frame.

4. The hybrid transmission six-axis robot arm according to claim 3, characterized in that: The second connecting frame and the third connecting frame are extended from one end of the second shaft and are provided with a second rotary encoder.

5. The hybrid transmission six-axis robot arm according to claim 1, characterized in that: The upper arm and the lower arm are both made of carbon fiber hollow tubes.

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