Driving assembly and multi-axis robot

Abstract

The invention relates to the technical field of industrial robots, and discloses a driving assembly and a multi-axis robot. The motor is provided with a first transmission shaft, and the first transmission shaft is sleeved with a first synchronous belt wheel; the speed reducer is connected with the motor through a synchronous belt, the speed reducer is provided with a second transmission shaft, the second transmission shaft is sleeved with a second synchronous belt wheel, the first synchronous belt wheel and the second synchronous belt wheel are sleeved with the synchronous belt, the second transmission shaft is provided with a hollow cavity, and a cable penetrates through the hollow cavity; and the tensioning structure is arranged on the supporting structure and used for tensioning the synchronous belt. The motor and the speed reducer are connected through the synchronous belt and the synchronous belt wheel, so that the connecting mode is simple, the cost is low, the second transmission shaft of the speed reducer is arranged to be provided with the hollow cavity, cables can penetrate through the hollow cavity, the wiring difficulty is reduced, and due to the arrangement of the tensioning structure, the transmission efficiency is improved. And the transmission stability of the motor and the speed reducer is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a drive assembly and a multi-axis robot. Background Art

[0002] The six-axis freedom robot is a highly flexible and versatile industrial robot. The six-axis freedom robot has six degrees of freedom, corresponding to the six joint axes of the robot. These joint axes are driven by motors and can achieve various complex motion trajectories. Therefore, the six-axis freedom robot has a wide range of applications in many fields.

[0003] Generally, at each joint of a six-axis robot, the motor and reducer are connected by flange connection and gear connection. These structures have high installation requirements. The machining accuracy of the parts will lead to error accumulation during the transmission process, affecting the transmission accuracy and stability. At the same time, it is not convenient for maintenance, has high operating noise and high cost. In addition, considering the special requirements of welding robots, that is, welding gun cables, air pipes, and other cables need to pass through the inside of the robot and directly connect to the actuator at the end of the robot, the traditional connection method between the motor and the solid reducer is limited in space, which increases the complexity of wiring cables and air pipes, and increases the difficulty and cost of wiring. Summary of the invention

[0004] In view of this, the present invention provides a drive assembly and a multi-axis robot to solve the problems of high cost, inconvenient maintenance and difficult wiring of the connection method between the motor and the reducer of the multi-axis robot.

[0005] In a first aspect, the present invention provides a drive assembly for a multi-axis robot, comprising:

[0006] Support structure;

[0007] A motor is disposed on a first side of the support structure, wherein the motor has a first transmission shaft, and a first synchronous pulley is sleeved on the first transmission shaft;

[0008] A reducer is arranged at a distance on one side of the motor, the reducer is connected to the motor through a synchronous belt, the reducer has a second transmission shaft, a second synchronous pulley is sleeved on the second transmission shaft, the synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley, the second transmission shaft has a hollow cavity, and the hollow cavity is used for passing cables;

[0009] The tensioning structure is arranged on the supporting structure and is used for tensioning the synchronous belt.

[0010] Beneficial effects: By setting the motor and the reducer to adopt a connection method of a synchronous belt and a synchronous pulley, the connection method of the motor and the reducer is simpler and low in cost, and the connection method of the synchronous belt and the synchronous pulley has the advantages of low cost, flexible speed adjustment, good load-bearing capacity and adaptability, good shock-absorbing and buffering effect, and easy installation and maintenance. By setting the second transmission shaft of the reducer to have a hollow cavity, the hollow cavity can be used to thread cables, which improves the simplicity of wiring such as welding gun cables and air pipes, reduces the difficulty of wiring, and optimizes the spatial structure. At the same time, since a tensioning structure is set, the tensioning structure can tension the synchronous belt when the synchronous belt is relaxed, thereby ensuring the stability of transmission between the motor and the reducer.

[0011] In an optional embodiment, the tensioning structure includes a driving member;

[0012] The driving assembly comprises a mounting structure, the mounting structure is fixedly connected to the motor, and the mounting structure is used to be slidably disposed on the supporting structure under the drive of the driving member.

[0013] Beneficial effect: By setting up a mounting structure fixedly connected to the motor, the driving member can move the position of the motor by driving the sliding of the mounting structure, thereby achieving a tensioning effect on the synchronous belt, making the tensioning operation easier to achieve and the structure simpler.

[0014] In an optional embodiment, at least one sliding channel is provided on the mounting structure;

[0015] The driving assembly includes a locking member, and the locking member is used to pass through the sliding channel when the synchronous belt is tensioned to fix the mounting structure on the supporting structure.

[0016] Beneficial effects: By setting a sliding channel on the mounting structure, the mounting structure can move relative to the sliding channel, the structure is simpler, and the sliding channel can provide a guide for the sliding of the mounting structure. After the synchronous belt is tensioned, it can also be locked by a locking piece to ensure the tensioning effect and prevent the synchronous belt from further loosening.

[0017] In an optional embodiment, the sliding channel is an elongated hole;

[0018] And / or, the sliding channels are provided with two, respectively provided on both sides of the first transmission shaft;

[0019] And / or, at least two locking members are provided, respectively disposed on both sides of the first transmission shaft.

[0020] Beneficial effects: By setting the sliding channel as a long strip hole, the sliding space setting of the installation structure is simpler; by setting two sliding channels, respectively arranged on both sides of the first transmission shaft, the sliding is smoother, and locking parts are arranged on both sides of the first transmission shaft, which can make the fixation more secure and improve the fixation reliability.

[0021] In an optional embodiment, the tensioning structure includes:

[0022] The tensioning frame is fixedly connected to the supporting structure. The tensioning frame is provided with an assembly hole. The driving member is passed through the assembly hole. Two ends of the driving member extend out of two sides of the assembly hole respectively, one end is used to abut against the mounting structure, and the other end is used for external force operation.

[0023] Beneficial effect: By fixing the tensioning frame on the supporting structure, when the driving member moves relative to the tensioning frame, the assembly hole provided on the tensioning frame can provide a guide for the movement of the driving member, and because the two ends of the driving member extend out of the two sides of the assembly hole respectively, it is convenient for the driving member to abut against the mounting structure and to be operated by external force.

[0024] In an optional embodiment, the mounting structure is located between the supporting structure and the first synchronous pulley, the mounting structure is provided with a through hole, and the first transmission shaft is penetrated through the through hole.

[0025] Beneficial effect: By arranging the mounting structure between the supporting structure and the first synchronous pulley, a through hole for passing the first transmission shaft is provided on the mounting structure, so that the first synchronous pulley, the motor and the mounting structure can be arranged as an integral structure, and the occupation of additional space can be reduced.

[0026] In an optional embodiment, a center line of the first transmission axis and a center line of the second transmission axis are parallel and not collinear.

[0027] Beneficial effect: By setting the center line of the first transmission axis and the center line of the second transmission axis to be parallel and non-collinear, that is, the motor and reducer offset setting, the spatial layout and structural design can be optimized, and the flexibility of motor installation can be improved, so that the motor can adapt to more diverse installation conditions and space restrictions. When the drive assembly is used in a multi-axis robot, a reasonable motor offset can improve the static and dynamic balance of the multi-axis robot arm and meet the operating conditions of the multi-axis robot.

[0028] In an optional embodiment, a wire passing structure is provided in the hollow cavity, and the wire passing structure is used to pass the cable.

[0029] In an optional embodiment, a fixing piece is provided at the end of the wire-passing structure close to the second synchronous belt pulley, and the fixing piece is used to fix the second synchronous belt pulley and the second transmission shaft.

[0030] Beneficial effect: By arranging a wire-passing structure in the hollow cavity, it is convenient to thread the cables, and the wire-passing structure can support the reducer and the second synchronous pulley. At the same time, a fixing part is arranged at the end of the wire-passing structure close to the second synchronous pulley, and the fixing part can fix the second synchronous pulley and the second transmission shaft, which can avoid adding a structure specifically for fixing the second synchronous pulley, making the overall structure simpler and ensuring the stability of the operation of the reducer and the second synchronous pulley.

[0031] In an optional embodiment, a cable hole is provided on the support structure, and the cable hole is arranged close to the motor and is used for passing the cable of the motor.

[0032] Beneficial effect: By arranging the wire holes on the supporting structure and arranging the wire holes close to the motor, it is convenient to pass the cables of the motor, thereby reducing the complexity and cost of the cable arrangement of the motor.

[0033] In an optional embodiment, the drive assembly includes:

[0034] A wire feeder is disposed on a second side of the support structure, wherein the second side is different from the first side.

[0035] Beneficial effect: By arranging the wire feeder on the second side of the support structure, the wire feeder and the motor are arranged on different sides of the support structure, which can prevent interference between the arrangements of the wire feeder and the motor, and further optimize the spatial layout and structural design.

[0036] In a second aspect, the present invention further provides a multi-axis robot, comprising:

[0037] The drive assembly described above.

[0038] Beneficial effects: Since the multi-axis robot includes the above-mentioned driving assembly, it has the same effects as the above-mentioned driving assembly and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A front view of a driving assembly according to an embodiment of the present invention;

[0041] Figure 2 It is the rear view of the supporting structure;

[0042] Figure 3 for Figure 1 A right side view of the wire feeder with the drive assembly removed is shown;

[0043] Figure 4 for Figure 3 The cross-sectional view along the AA direction;

[0044] Figure 5 for Figure 3 A partial enlarged view of

[0045] Figure 6 A schematic diagram of the installation structure.

[0046] Description of reference numerals:

[0047] 1. Support structure; 101. Wire hole;

[0048] 2. Motor; 201. First transmission shaft;

[0049] 3. The first synchronous pulley;

[0050] 4. Reducer;

[0051] 5. Second synchronous pulley;

[0052] 6. Synchronous belt;

[0053] 7. Mounting structure; 701. Sliding channel; 702. Through hole; 703. Mounting hole;

[0054] 8. Locking parts;

[0055] 9. Tensioning structure; 901. Tensioning frame; 902. Driving member;

[0056] 10. Wire passing structure; 1001. Fixing parts;

[0057] 11. Synchronous pulley pressure plate;

[0058] 12. Wire feeder;

[0059] 13. Side cover. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0061] Generally, at each joint of a six-axis robot, the motor and reducer are connected by flange connection and gear connection. These structures have high installation requirements, and the machining accuracy of the parts will lead to error accumulation during the transmission process, affecting the transmission accuracy and stability. At the same time, they are not convenient for maintenance, have high operating noise, and are relatively expensive. In addition, considering the special requirements of the welding robot, that is, the welding gun cable, air pipe, and other cables need to pass through the inside of the welding robot and directly connect to the actuator at the end of the welding robot, the traditional connection method between the motor and the solid reducer is limited in space, which increases the complexity of the wiring of cables and air pipes, and increases the difficulty and cost of wiring.

[0062] In the related art, the connection method between the motor and the reducer is replaced by a connection method using a synchronous belt and a synchronous pulley. However, in actual use, the synchronous belt is easy to loosen, resulting in poor stability of the connection between the motor and the reducer.

[0063] In order to solve the above problems, the applicant provides a driving component and a multi-axis robot.

[0064] Combine the following Figures 1 to 6 , describing an embodiment of the present invention.

[0065] According to an embodiment of the present invention, on the one hand, a drive assembly is provided for a multi-axis robot, comprising:

[0066] Support structure 1;

[0067] The motor 2 is arranged on the first side of the supporting structure 1. The motor 2 has a first transmission shaft 201. The first transmission shaft 201 is sleeved with a first synchronous pulley 3.

[0068] The reducer 4 is arranged at one side of the motor 2, and the reducer 4 is connected to the motor 2 through a synchronous belt 6. The reducer 4 has a second transmission shaft, and the second transmission shaft is sleeved with a second synchronous pulley 5. The synchronous belt 6 is sleeved on the first synchronous pulley 3 and the second synchronous pulley 5. The second transmission shaft has a hollow cavity, and the hollow cavity is used for passing cables;

[0069] The tensioning structure 9 is arranged on the supporting structure 1 and is used for tensioning the synchronous belt 6 .

[0070] By configuring the motor 2 and the reducer 4 to adopt a connection method using a synchronous belt and a synchronous pulley, the connection method between the motor 2 and the reducer 4 is simpler and of low cost, and the connection method using the synchronous belt and the synchronous pulley has the advantages of low cost, flexible speed adjustment, good load-bearing capacity and adaptability, good shock-absorbing and buffering effects, and easy installation and maintenance. By configuring the second transmission shaft of the reducer 4 to have a hollow cavity, the hollow cavity can be used to thread cables, thereby improving the simplicity of wiring such as welding gun cables and air pipes, reducing the difficulty of wiring, and optimizing the spatial structure. At the same time, since a tensioning structure 9 is provided, the tensioning structure 9 can tension the synchronous belt 6 when the synchronous belt 6 is relaxed, thereby ensuring the stability of transmission between the motor 2 and the reducer 4.

[0071] Specifically, the support structure 1 in this embodiment is a rotary joint of a multi-axis robot, and the drive assembly is responsible for providing rotational motion in a specific direction.

[0072] The tensioning structure 9 in this embodiment includes a driving member 902 ; the driving assembly includes a mounting structure 7 , the mounting structure 7 is fixedly connected to the motor 2 , and the mounting structure 7 is used to be slidably disposed on the supporting structure 1 under the drive of the driving member 902 .

[0073] By providing a mounting structure 7 fixedly connected to the motor 2, the driving member 902 can move the position of the motor 2 by driving the sliding of the mounting structure 7, thereby achieving a tensioning effect on the synchronous belt 6, making the tensioning operation easier to achieve and the structure simpler.

[0074] As a convertible embodiment, the mounting structure 7 may not be provided, but the driving member 902 of the tensioning structure 9 may be connected to the motor 2, such as the first synchronous pulley 3 or the first transmission shaft 201 on the motor 2, to drive the motor 2 to slide relative to the supporting structure 1, thereby achieving the tensioning of the synchronous belt 6 mounted on the motor 2 and the reducer 4.

[0075] Specifically, the mounting structure 7 is a motor mounting plate.

[0076] like Figure 6 As shown, the mounting structure 7 in this embodiment is provided with two sliding channels 701 ; the driving assembly includes a locking member 8 , which is used to pass through the sliding channel 701 when the synchronous belt 6 is tensioned, so as to fix the mounting structure 7 on the supporting structure 1 .

[0077] By setting a sliding channel 701 on the mounting structure 7, the mounting structure 7 can move relative to the sliding channel 701, the structure is simpler, and the sliding channel 701 can provide a guide for the sliding of the mounting structure 7. After the synchronous belt 6 is tensioned, it can also be locked by the locking piece 8 to ensure the tensioning effect and prevent the synchronous belt 6 from further loosening.

[0078] As a convertible embodiment, it is also possible that there is one, three, or more sliding channels 701.

[0079] Specifically, the locking member 8 is a screw. As a convertible embodiment, the locking member 8 can also be a bolt or other fixed connection member.

[0080] Specifically, the sliding channel 701 is a long strip hole, which makes the sliding space setting of the mounting structure 7 simpler. As a convertible embodiment, the sliding channel 701 can also be a plurality of non-connected small circular holes, and the locking member 8 is fixedly connected to the corresponding small circular hole at which the synchronous belt 6 is located when being tensioned.

[0081] like Figure 6 As shown, two sliding channels 701 are respectively arranged on both sides of the first transmission shaft 201, and four locking members 8 are provided, each of which is a group of two, and two groups of locking members 8 are respectively arranged on both sides of the first transmission shaft 201. Specifically, the two sliding channels 701 are respectively arranged on the upper and lower sides of the first transmission shaft 201. By providing two sliding channels 701, respectively arranged on both sides of the first transmission shaft 201, the sliding is made smoother, and the locking members 8 are arranged on both sides of the first transmission shaft 201, which can make the fixation more firm and improve the fixation reliability.

[0082] Of course, in other embodiments, two locking members 8 may be provided, one on each side of the first transmission shaft 201; or, a greater number of locking members 8 may be provided, which are evenly provided on both sides of the first transmission shaft 201; or, when only one sliding channel 701 is provided, only one locking member 8 may be provided.

[0083] like Figure 5 As shown, the tensioning structure 9 in this embodiment includes:

[0084] The tensioning frame 901 is fixedly connected to the supporting structure 1. An assembly hole is provided on the tensioning frame 901. A driving member 902 is passed through the assembly hole. Two ends of the driving member 902 extend out of both sides of the assembly hole respectively, one end is used to abut against the mounting structure 7, and the other end is used for external force operation.

[0085] By fixing the tensioning frame 901 on the supporting structure 1, when the driving member 902 moves relative to the tensioning frame 901, the assembly hole set on the tensioning frame 901 can provide a guide for the movement of the driving member 902, and because the two ends of the driving member 902 extend out of the two sides of the assembly hole respectively, it is convenient for the driving member 902 to abut against the mounting structure 7 and to be operated by external force.

[0086] As a convertible implementation, the tensioning frame 901 may not be provided on the supporting structure 1, but the driving member 902 may be manually operated to adjust the position of the mounting structure 7 only when the synchronous belt 6 needs to be tensioned.

[0087] Specifically, the driving member 902 is an adjusting screw, and the assembly hole is a screw hole. In this way, when an external force is applied to the end of the adjusting screw, the adjusting screw can be manually rotated to realize the movement of the driving installation structure 7, thereby driving the motor 2 to move outward, increasing the distance between the motor 2 and the reducer 4, and realizing the tensioning of the synchronous belt 6. When the synchronous belt 6 is tensioned, the position of the adjusting screw can also be locked by a nut to ensure the continuous tensioning of the synchronous belt 6 and prevent the synchronous belt 6 from loosening during the rotation of the motor. As a convertible embodiment, the driving member 902 can also be a driving rod, and the assembly hole is a smooth through hole. The external force pushes the driving rod to move, thereby driving the movement of the driving installation structure 7, and realizing the tensioning of the synchronous belt 6. When the synchronous belt 6 is tensioned, the buckle can be clamped to the driving rod by an additional fixed structure such as the buckle provided on the tensioning frame 901 to fix the position of the driving rod, so as to ensure the continuous tensioning of the synchronous belt 6.

[0088] like Figure 5 As shown, the tensioning structure 9 in this embodiment is arranged between the motor 2 and the reducer 4. Since there is a spacing space between the motor 2 and the reducer 4, by arranging the tensioning structure 9 between the motor 2 and the reducer 4, the spacing space can be reasonably utilized, the space utilization rate is improved, and the tensioning structure 9 is prevented from being arranged in other spaces to occupy additional space, thereby reducing the volume of the overall structure and making the overall structure more compact.

[0089] Of course, in other embodiments, the tensioning structure 9 may be arranged at other positions of the support structure 1, such as the side of the motor 2 away from the reducer 4. In this case, the mounting structure 7 can be pulled toward the side away from the reducer 4 by the tensioning structure 9 to achieve tensioning of the synchronous belt 6.

[0090] The mounting structure 7 in this embodiment is located between the supporting structure 1 and the first synchronous pulley 3 . A through hole 702 is provided on the mounting structure 7 . The first transmission shaft 201 is passed through the through hole 702 .

[0091] By arranging the mounting structure 7 between the supporting structure 1 and the first synchronous pulley 3, a through hole 702 for penetrating the first transmission shaft 201 is provided on the mounting structure 7, so that the first synchronous pulley 3, the motor 2 and the mounting structure 7 can be arranged as an integral structure and the occupation of additional space can be reduced.

[0092] As a convertible implementation, the mounting structure 7 may also be arranged on a side of the first synchronous pulley 3 away from the supporting structure 1 .

[0093] To further ensure connection reliability, Figure 6 As shown, the mounting structure 7 is provided with four mounting holes 703, and the mounting holes 703 are evenly distributed at the four corners of the through hole 702. After the mounting structure 7 adjusts the tension of the synchronous belt 6, four clamping screws are respectively fastened at the four mounting holes 703 to fix the mounting structure 7 and the support structure 1 as a whole. As a convertible embodiment, it is also possible that the mounting structure 7 is not provided with the mounting holes 703, or the specific number of the mounting holes 703 can be adjusted according to actual needs, and no excessive restrictions are made here.

[0094] like Figure 3 and Figure 5 As shown, the center line of the first transmission axis 201 and the center line of the second transmission axis in this embodiment are parallel and not colinear.

[0095] By setting the center line of the first transmission axis 201 and the center line of the second transmission axis to be parallel and non-collinear, that is, the motor 2 and the reducer 4 are offset, the spatial layout and structural design can be optimized, and the flexibility of the installation of the motor 2 can be improved, so that the motor 2 can adapt to more diverse installation conditions and space restrictions. When the drive assembly is used in a multi-axis robot, a reasonable motor offset can improve the static and dynamic balance of the multi-axis robot arm and meet the operating conditions of the multi-axis robot.

[0096] In this embodiment, a wire-passing structure 10 is provided in the hollow cavity, and the wire-passing structure 10 is used to pass cables. Specifically, the wire-passing structure 10 is a hollow wire-passing tube. As a convertible implementation, it is also possible that the wire-passing structure 10 is not provided, but the cables are directly passed through the hollow cavity.

[0097] like Figure 4 As shown, a fixing member 1001 is provided at the end of the wire-passing structure 10 close to the second synchronous pulley 5 , and the fixing member 1001 is used to fix the second synchronous pulley 5 and the second transmission shaft.

[0098] By setting a wire passing structure 10 in the hollow cavity, the cable is easily threaded, and the wire passing structure 10 can support the reducer 4 and the second synchronous pulley 5. At the same time, a fixing member 1001 is set at the end of the wire passing structure 10 close to the second synchronous pulley 5. The fixing member 1001 can fix the second synchronous pulley 5 to the second transmission shaft, avoiding the need to separately add a structure specifically for fixing the second synchronous pulley 5, making the overall structure simpler and ensuring the stability of the operation of the reducer 4 and the second synchronous pulley 5.

[0099] Specifically, the fixing member 1001 is a long strip plate with screw holes, and the second synchronous pulley 5 and the second transmission shaft are fixed by screws inserted into the screw holes. As a convertible embodiment, it is also possible that the fixing member 1001 is not provided at the end of the wire-passing structure 10, but a synchronous pulley pressure plate is directly provided to fix the second synchronous pulley 5. However, in this case, a through hole for passing the cable needs to be provided on the synchronous pulley pressure plate to prevent the synchronous pulley pressure plate from interfering with the wiring in the wire-passing structure 10. As a convertible embodiment, the fixing member 1001 may be a firmware block, or other forms of fixing members, and no excessive restrictions are made here.

[0100] For ease of installation, the fixing member 1001 is integrally formed at the end of the wire passing structure 10. As a convertible embodiment, the fixing member 1001 and the wire passing structure 10 may be separately provided and fixedly connected to the end of the wire passing structure 10, such as by welding the fixing member 1001 to the end of the wire passing structure 10.

[0101] In order to facilitate fixing the first synchronous pulley 3 on the motor 2, a synchronous pulley pressure plate 11 is provided on the outer side of the first synchronous pulley 3 in this embodiment.

[0102] Specifically, a screw hole is provided on the first transmission shaft 201 , and screws can be used to fix the synchronous pulley pressure plate 11 to the outside of the first synchronous pulley 3 , thereby achieving a fixed connection between the first synchronous pulley 3 and the first transmission shaft 201 .

[0103] like Figure 2 As shown, the support structure 1 in this embodiment is provided with a wire hole 101, which is arranged close to the motor 2 for passing the cable of the motor 2. Specifically, the cable of the motor 2 can be a power line, a power line, an encoding line, etc. of the motor, and no excessive restrictions are made here.

[0104] By providing the wire hole 101 on the support structure 1 and arranging the wire hole 101 close to the motor 2 , it is convenient to pass the cables of the motor 2 , thereby reducing the complexity and cost of arranging the cables of the motor 2 .

[0105] Of course, in other embodiments, the wire hole 101 may be arranged at other positions of the support structure 1, or, since the specific setting position of the wire hole 101 on the joint is mainly to complete the wiring of the cables of the motor 2, the design can be optimized according to the position and layout of the motor 2. Therefore, the specific setting position of the wire hole 101 is not limited, but can be adjusted according to actual needs.

[0106] like Figure 1 As shown, the driving component in this embodiment includes:

[0107] The wire feeder 12 is disposed on a second side of the support structure 1 , where the second side is different from the first side.

[0108] By arranging the wire feeder 12 on the second side of the support structure 1, the wire feeder 12 and the motor 2 are arranged on different sides of the support structure 1, which can prevent interference between the arrangements of the wire feeder 12 and the motor 2, and further optimize the spatial layout and structural design.

[0109] As a convertible implementation, when the space actually occupied by the drive assembly is large, or when the volume of the multi-axis robot is large, the wire feeder 12 and the motor 2 of the drive assembly may also be located on the same side of the support structure 1, without making too many restrictions here; or, for a multi-axis robot that does not require welding wire, the drive assembly may not include the wire feeder 12.

[0110] Specifically, Figure 1 As shown, a mounting platform is provided on the second side, such as the rear side, of the support structure 1, and the wire feeder 12 is fixedly connected to the mounting platform. The motor 2 and the reducer 4 are provided on the front side of the support structure 1 to prevent the installation positions of the motor 2 and the wire feeder 12 from interfering.

[0111] like Figure 1 As shown, the motor 2 and the reducer 4 in this embodiment are also provided with a side cover 13 on the outside. After the motor 2 and the reducer 4 are installed and the synchronous belt 6 is tensioned, the side cover 13 can be installed to make the overall structure of the multi-axis robot more beautiful. As a convertible embodiment, the side cover 13 may also be not provided.

[0112] The drive assembly in this embodiment can be assembled in the following manner:

[0113] First, the reducer 4 is installed on the support structure 1, and the second synchronous pulley 5 and the wire-passing structure 10 are installed at the input end of the reducer 4, wherein the wire-passing structure 10 can be used to support the reducer 4 and the second synchronous pulley 5, ensuring the stability of the operation of the reducer 4 and the second synchronous pulley 5, and the hollow structure of the wire-passing structure 10 facilitates the wiring of the robot harness and air pipe, etc., and optimizes the spatial structure of the robot, and then the mechanical transmission is completed by assembling the second synchronous pulley 5 and the synchronous belt 6;

[0114] Then, the tensioning frame 901 is locked on the supporting structure 1. The tensioning frame 901 and the driving member 902 are the main structures for adjusting the tension of the synchronous belt 6. The motor 2 and the mounting structure 7 are installed in the supporting structure 1. The clamping screw does not need to be locked to be positioned first. After the first synchronous pulley 3 is sleeved on the outside of the first transmission shaft 201 of the motor 2, the synchronous belt 6 is sleeved on the outside of the first synchronous pulley 3, and the synchronous pulley pressure plate 11 is used to lock it in the screw hole of the first transmission shaft 201 of the motor 2, and the first synchronous pulley 3 is installed; and the driving member 902 is pressed on one side of the mounting structure 7 by adjusting the locking length in the assembly hole of the tensioning frame 901, and the tension of the synchronous belt 6 is further adjusted. After the tension of the synchronous belt 6 is adjusted, the mounting structure 7 is locked on the supporting structure 1 by the locking member 8 and the clamping screw, and the side cover 13 is installed on the outside of the motor 2 and the reducer 4;

[0115] Then the wire feeder 12 is installed on the platform at the rear end of the support structure 1;

[0116] Finally, the cables and air pipes are passed through the wire-passing structure 10 , and the power line of the motor 2 is passed through the wire-passing hole 101 to complete the wiring.

[0117] According to an embodiment of the present invention, on the other hand, a multi-axis robot is provided, comprising:

[0118] The drive assembly described above.

[0119] Specifically, the multi-axis robot in this embodiment is a six-axis robot. As a convertible implementation, the multi-axis robot can also be a five-axis robot, a four-axis robot or other forms of multi-axis robots.

[0120] The six-axis robot in this embodiment is mainly used for welding, that is, a welding robot. As a convertible implementation method, the six-axis robot can also be used in other fields to achieve other functions, and there is no excessive restriction here.

[0121] The above-mentioned drive assembly can be installed at the four-axis joint of the six-axis robot. As a convertible implementation, the drive assembly can also be installed at the five-axis joint, or the three-axis joint, or other joints of the six-axis robot.

[0122] The multi-axis robot in this embodiment avoids the problem of interference between the motor 2 installed on the rear side of the support structure 1 and the wire feeder 12 by installing the motor 2 offset to the left front of the support structure 1, and the motor 2 and the reducer 4 are designed with an offset inclined structure. At the same time, an efficient layout is achieved in a limited space, thereby saving space utilization of the overall equipment and increasing the flexibility of the installation of the motor 2, so that the motor 2 can adapt to more diverse installation conditions and space limitations, and is also convenient for the installation of the wire feeder 12, thereby improving the welding work efficiency and welding stability.

[0123] At the same time, the motor 2 and the reducer 4 adopt a connection method of synchronous belt 6 and synchronous pulley. The synchronous belt 6 is driven to rotate by the rotation of the motor 2, and the power is transmitted to the input end of the reducer 4. For the adjustment of the tension of the synchronous belt 6, the long strip holes are designed on the mounting structure 7, so that the tension of the synchronous belt 6 can be flexibly adjusted within a certain range. The transmission method of the synchronous belt 6 is selected, which has the advantages of easy installation and maintenance, low cost, low noise and shock absorption.

[0124] At the same time, the use of a hollow structure reducer 4 also makes it convenient for welding gun cables, air pipes and other cables to pass directly through the hollow cavity of the reducer 4 for wiring, thereby optimizing the space occupancy of the multi-axis robot structure, making the structure more compact, and reducing the difficulty and cost of wiring. At the same time, the design of the wire hole 101 on the support structure 1 also facilitates the wiring of the cables of the motor 2 and optimizes the wiring space. By setting the side cover 13, the overall appearance design is also beautified.

[0125] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A drive assembly for a multi-axis robot, characterized in that: include: Support structure (1); A motor (2) is arranged on a first side of the support structure (1), the motor (2) having a first transmission shaft (201), and a first synchronous pulley (3) is sleeved on the first transmission shaft (201); A reducer (4) is arranged at a distance on one side of the motor (2); the reducer (4) is connected to the motor (2) via a synchronous belt (6); the reducer (4) has a second transmission shaft, a second synchronous pulley (5) is sleeved on the second transmission shaft, the synchronous belt (6) is sleeved on the first synchronous pulley (3) and the second synchronous pulley (5); the second transmission shaft has a hollow cavity, and the hollow cavity is used for passing cables; A tensioning structure (9) is arranged on the supporting structure (1) and is used for tensioning the synchronous belt (6).

2. The drive assembly according to claim 1, characterized in that: The tensioning structure (9) comprises a driving member (902); The driving assembly comprises a mounting structure (7), wherein the mounting structure (7) is fixedly connected to the motor (2), and the mounting structure (7) is used to be slidably disposed on the supporting structure (1) under the drive of the driving member (902).

3. The drive assembly according to claim 2, characterized in that: The mounting structure (7) is provided with at least one sliding channel (701); The driving assembly comprises a locking member (8), and the locking member (8) is used to pass through the sliding channel (701) when the synchronous belt (6) is tensioned, so as to fix the mounting structure (7) on the supporting structure (1).

4. The drive assembly according to claim 3, characterized in that: The sliding channel (701) is a long strip-shaped hole; And / or, the sliding channels (701) are provided with two, respectively provided on both sides of the first transmission shaft (201); And / or, at least two locking members (8) are provided, respectively disposed on two sides of the first transmission shaft (201).

5. The drive assembly according to any one of claims 2 to 4, characterized in that: The tensioning structure (9) comprises: A tensioning frame (901) is fixedly connected to the supporting structure (1); an assembly hole is provided on the tensioning frame (901); the driving member (902) is inserted into the assembly hole; two ends of the driving member (902) extend out of two sides of the assembly hole respectively, one end is used to abut against the mounting structure (7), and the other end is used for external force operation.

6. The drive assembly according to any one of claims 2 to 4, characterized in that: The mounting structure (7) is located between the supporting structure (1) and the first synchronous pulley (3); a through hole (702) is provided on the mounting structure (7); and the first transmission shaft (201) is penetrated through the through hole (702).

7. The drive assembly according to any one of claims 1 to 4, characterized in that: The center line of the first transmission axis (201) and the center line of the second transmission axis are parallel and not collinear.

8. The drive assembly according to any one of claims 1 to 4, characterized in that: A wire passing structure (10) is provided in the hollow cavity, and the wire passing structure (10) is used for passing the cable.

9. The drive assembly according to claim 8, characterized in that: The end of the wire-passing structure (10) close to the second synchronous belt pulley (5) is provided with a fixing member (1001), and the fixing member (1001) is used to fix the second synchronous belt pulley (5) and the second transmission shaft.

10. The drive assembly according to any one of claims 1 to 4, characterized in that: The support structure (1) is provided with a wire hole (101), and the wire hole (101) is arranged close to the motor (2) and is used for passing the wires of the motor (2).

11. The drive assembly according to any one of claims 1 to 4, characterized in that: The drive assembly comprises: A wire feeder (12) is arranged on a second side of the support structure (1), the second side being different from the first side.

12. A multi-axis robot, characterized in that: include: A drive assembly as claimed in any one of claims 1 to 11.

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