Compact four-axis structure for six-axis robot

Abstract

The invention discloses a compact four-axis structure for a six-axis robot, relates to the technical field of robots, and aims to provide the compact four-axis structure for the six-axis robot, which is small in axial size, capable of meeting the compact design requirement of the robot and capable of avoiding the problems of abnormal sound and oil leakage. The compact four-axis structure for the six-axis robot comprises a large arm left part, a three-axis speed reducer, a four-axis structure part and a large arm right part, the four-axis structure part comprises a robot shell, a motor flange is arranged in the robot shell, a mounting hole of the motor flange is a kidney-shaped hole, a four-axis motor is arranged on the motor flange, and the three-axis speed reducer is arranged on the large arm right part. A driving belt wheel is installed on an output shaft of the four-shaft motor, a driven belt wheel is installed at the input end of the four-shaft speed reducer, a synchronous belt is installed on the driving belt wheel and the driven belt wheel, an external band-type brake is arranged on the output shaft of the four-shaft motor, and a tension adjusting mechanism is arranged on the lower portion of a motor flange.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a compact four-axis structure for a six-axis robot. Background Art

[0002] A robot is an automated device that can sense the environment, process information, and perform actions. It can assist or replace humans in completing various tasks. The application areas of robots are very diverse, involving industry, military, medical, education, entertainment, etc. Robots can complete welding, painting, assembly, handling, testing, reconnaissance, surveillance, combat, mine clearance and many other tasks. Therefore, their stability, flexibility and load are all factors that need to be considered when designing robots.

[0003] In the prior art, the common small-load six-axis robot arm, due to its small load, needs to have a compact structure to adapt to the factory environment, especially for the four-axis structure of the robot. However, the existing motors on the market integrate brakes and position sensors, which cannot meet the requirements of compact structure; at the same time, due to the need for internal wiring of the robot, the four-axis reducer generally adopts a hollow reducer, and the hollow hole of the reducer is used to pass the five-axis and six-axis motor harness, which results in the need for an offset connection between the four-axis motor and the reducer. The connection method mostly adopts gear connection. Due to the slight errors in the design and processing of the gears and the poor lubrication of the lubricating grease, it is very easy to cause problems such as abnormal gear noise and grease leakage, affecting the user experience. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a compact four-axis structure for a six-axis robot with a small axial size, which can meet the compact design requirements of the robot and avoid abnormal noise and oil leakage problems.

[0005] The present invention discloses a compact four-axis structure for a six-axis robot, comprising a left arm portion, a three-axis reducer, a four-axis structure portion and a right arm portion, wherein the four-axis structure portion comprises a robot shell, a motor flange is arranged inside the robot shell, a mounting hole of the motor flange is a waist-shaped hole, a four-axis motor is arranged on the motor flange, a driving pulley is arranged on the output shaft of the four-axis motor, a driven pulley is arranged on the input end of the four-axis reducer, synchronous belts are arranged on the driving pulley and the driven pulley, an external brake is arranged on the output shaft of the four-axis motor, and a tension adjustment mechanism is arranged at the lower part of the motor flange.

[0006] The present invention discloses a compact four-axis structure for a six-axis robot, which also includes a support bearing, a left part of a large arm, a three-axis reducer, a four-axis structural part, a support bearing and a right part of the large arm which are connected in sequence.

[0007] The present invention discloses a compact four-axis structure for a six-axis robot, wherein the shell of the four-axis reducer is mounted on the robot shell, and the output end of the four-axis reducer is connected to the robot end arm.

[0008] The present invention discloses a compact four-axis structure for a six-axis robot, wherein the external brake is located between a driving pulley and a four-axis motor, and the external brake is fixed on a motor flange.

[0009] The present invention discloses a compact four-axis structure for a six-axis robot, wherein the driving pulley is installed on a four-axis motor through a top screw, and a gap is left between the driving pulley and an external brake.

[0010] The present invention discloses a compact four-axis structure for a six-axis robot, wherein a square protrusion is arranged on the driving pulley, and the square protrusion matches with a square hole on an external holding brake.

[0011] The present invention discloses a compact four-axis structure for a six-axis robot, wherein the tension adjustment mechanism comprises a traction screw, a threaded hole is arranged below a motor flange, the traction screw can pass through a robot housing and be installed in the threaded hole below the motor flange, and the traction screw contacts the robot housing.

[0012] The present invention discloses a compact four-axis structure for a six-axis robot, wherein a sealing screw plug is arranged outside the traction screw, and the sealing screw plug can be installed on the robot housing.

[0013] The difference between the compact four-axis structure for a six-axis robot of the present invention and the prior art is that the four-axis motor adopted in the compact four-axis structure for a six-axis robot of the present invention uses an external brake, and its axial size is smaller, meeting the compact design requirements of the robot; the four-axis reducer is a hollow reducer, and the four-axis motor and the four-axis reducer are offsetly connected by a synchronous belt connection, avoiding the problem of abnormal gear noise and oil leakage that is easily caused by the use of gear connection.

[0014] The compact four-axis structure for a six-axis robot of the present invention is further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a compact four-axis structure for a six-axis robot of the present invention;

[0016] Figure 2 A cross-sectional view of a compact four-axis structure for a six-axis robot according to the present invention;

[0017] Figure 3 It is a front view of a compact four-axis structure for a six-axis robot of the present invention;

[0018] Figure 4 for Figure 3 Middle AA section view;

[0019] Figure 5It is a structural schematic diagram of a tension adjustment mechanism in a compact four-axis structure for a six-axis robot of the present invention in an exploded view state;

[0020] Figure 6 It is a front view of a tension adjustment mechanism in a compact four-axis structure for a six-axis robot of the present invention in an exploded state;

[0021] Figure 7 for Figure 6 Middle CC section view;

[0022] The markings in the figure are as follows: 1-left part of the upper arm; 2-three-axis reducer; 3-four-axis structure; 4-support bearing; 5-right part of the upper arm; 6-fixing screw; 7-robot housing; 8-four-axis motor; 9-motor flange; 10-external brake; 11-driving pulley; 12-synchronous belt; 13-driven pulley; 14-sealing plug; 15-traction screw; 16-four-axis reducer. DETAILED DESCRIPTION

[0023] The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0024] Example

[0025] like Figure 1 and Figure 2 As shown, a compact four-axis structure for a six-axis robot of the present invention includes a left arm portion 1, a three-axis reducer 2, a four-axis structure portion 3, a support bearing 4 and a right arm portion 5. The above structures are connected in sequence from left to right, that is, after the left arm portion 1 and the three-axis reducer 2 are installed, the four-axis structure portion 3 is installed on the three-axis reducer 2, and then the support bearing 4 and the right arm portion 5 are connected to the four-axis structure portion 3, and finally the belt is adjusted to a suitable tensioning force through the belt tensioning tooling.

[0026] like Figure 3 and Figure 4 As shown, the four-axis structure part 3 includes a robot housing 7, and a motor flange 9 is fixedly installed inside the robot housing 7 by fixing screws 6. The mounting holes of the fixing screws 6 on the motor flange 9 are waist-shaped holes, so that the position of the motor flange 9 can be adjusted up and down during installation, thereby adjusting the length of the synchronous belt 12 and adjusting the tension of the synchronous belt 12.

[0027] The four-axis motor 8 is mounted on the motor flange 9, and a driving pulley 11 is mounted on the output shaft of the four-axis motor 8. A driven pulley 13 is mounted on the input end of the four-axis reducer 16 by screws, and a synchronous belt 12 is mounted on the driving pulley 11 and the driven pulley 13. The housing of the four-axis reducer 16 is fixedly mounted on the robot housing 7 by screws, and the output end of the four-axis reducer 16 is connected to the robot end arm (not shown in the figure).

[0028] An external brake 10 is also installed on the output shaft of the four-axis motor 8, and the external brake 10 is located between the driving pulley 11 and the four-axis motor 8. The external brake 10 is fixed on the motor flange 9 like the four-axis motor 8. The present invention adopts the external brake 10 solution, and the built-in brake is not integrated in the four-axis motor 8, which can shorten the axial length between the motor and the driving pulley 11 and meet the compact structure requirements.

[0029] The driving pulley 11 is installed on the four-axis motor 8 through a top screw, and a certain gap is left between it and the external brake 10 to prevent interference; a square protrusion is provided on the driving pulley 11, which cooperates with the square hole on the external brake 10 to stop the rotation of the motor by the external brake 10.

[0030] like Figure 5-Figure 7 As shown, a tension adjustment mechanism is installed at the lower part of the motor flange 9, and the tension adjustment mechanism includes a traction screw 15. The traction screw 15 cooperates with the fixing screw 6 to adjust the tension of the synchronous belt 12. A threaded hole is provided at the lower part of the motor flange 9, and the traction screw 15 can pass through the robot housing 7 and be installed in the threaded hole below the motor flange 9, and contact the robot housing 7. By rotating the traction screw 15, the installation position of the motor flange 9 can be pulled down, so as to adjust the length and tension of the synchronous belt 12. When adjusting the position of the motor flange 9, the fixing screw 6 passes through the motor flange 9 and is connected to the robot housing 7, but the fixing screw 6 is not locked, so that a gap is left between the fixing screw 6 and the motor flange 9, providing a guide for the position adjustment of the motor flange 9. After the position of the motor flange 9 is adjusted, the fixing screw 6 is locked to complete the adjustment of the tension of the synchronous belt 12. A sealing screw plug 14 is provided on the outside of the traction screw 15, and the sealing screw plug 14 is installed on the robot housing 7. When adjusting the tension of the synchronous belt 12, the sealing screw plug 14 can be removed, and after the adjustment is completed, the sealing screw plug 14 is installed on the robot housing 7 to ensure the sealing of the robot.

[0031] The four-axis motor adopted in the compact four-axis structure for a six-axis robot of the present invention only integrates a position sensor and uses an external brake. Compared with a motor that integrates both a position sensor and a built-in brake, its axial size is smaller, meeting the compact design requirements of the robot; the four-axis reducer adopted in the present invention is a hollow reducer, and the four-axis motor and the four-axis reducer are offsetly connected by a synchronous belt connection, avoiding the problem of abnormal gear noise and oil leakage that is easily caused by the use of gear connection.

[0032] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A compact four-axis structure for a six-axis robot, characterized in that: It includes the left part of the boom, a three-axis reducer, a four-axis structure and the right part of the boom. The four-axis structure includes a robot shell. A motor flange is arranged inside the robot shell. The mounting hole of the motor flange is a waist-shaped hole. A four-axis motor is arranged on the motor flange. A driving pulley is installed on the output shaft of the four-axis motor. A driven pulley is installed on the input end of the four-axis reducer. Synchronous belts are installed on the driving pulley and the driven pulley. An external brake is arranged on the output shaft of the four-axis motor. A tension adjustment mechanism is arranged at the lower part of the motor flange.

2. A compact four-axis structure for a six-axis robot according to claim 1, characterized in that: It also includes a supporting bearing, a left part of the boom, a three-axis reducer, a four-axis structural part, a supporting bearing and a right part of the boom, which are connected in sequence.

3. A compact four-axis structure for a six-axis robot according to claim 1, characterized in that: The shell of the four-axis reducer is installed on the robot shell, and the output end of the four-axis reducer is connected to the robot end arm.

4. A compact four-axis structure for a six-axis robot according to claim 1, characterized in that: The external brake is located between the driving pulley and the four-axis motor, and the external brake is fixed on the motor flange.

5. A compact four-axis structure for a six-axis robot according to claim 1, characterized in that: The driving pulley is installed on the four-axis motor through a top screw, and a gap is left between the driving pulley and the external brake.

6. A compact four-axis structure for a six-axis robot according to claim 1 or 5, characterized in that: The driving pulley is provided with a square protrusion, which matches with the square hole on the external brake.

7. A compact four-axis structure for a six-axis robot according to claim 1, characterized in that: The tension adjustment mechanism comprises a traction screw. A threaded hole is arranged below the motor flange. The traction screw can pass through the robot housing and be installed in the threaded hole below the motor flange. The traction screw contacts the robot housing.

8. A compact four-axis structure for a six-axis robot according to claim 7, characterized in that: A sealing screw plug is arranged outside the traction screw, and the sealing screw plug can be installed on the robot housing.

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