Seven-axis industrial robot

Abstract

The utility model discloses a seven-axis industrial robot, which belongs to the technical field of industrial robots and is characterized in that the outer end of a first operating arm is connected with a second operating arm in a folding manner through a third rotating shaft and a fourth rotating shaft, the outer end of the second operating arm is provided with a sixth rotating shaft which is rotatably connected with a six-axis connecting plate, a seventh rotating shaft is arranged in the six-axis connecting plate, and a servo motor is arranged in a protective cover; a harmonic speed reducer is installed at the output end of the servo motor, a harmonic speed reducer flange plate is installed at the bottom of the harmonic speed reducer, a motor installation plate is installed on the harmonic speed reducer flange plate, the motor installation plate is driven to rotate through a seventh rotating shaft, and the base, the first operation arm, the second operation arm and the protective cover are of a seven-shaft connection structure. The first rotating shaft avoids the situation that the fourth rotating shaft and the sixth rotating shaft are coaxial, meanwhile, the problem of singular points is avoided, the action of the robot is more flexible, the problem of zero-crossing alarm of a fifth rotating shaft machine is solved, and compared with a robot scheme for avoiding the singular points of the fourth rotating shaft and the sixth rotating shaft in the market, the price is lower, and machining and assembling are easier.

Description

Technical Field

[0001] The utility model relates to a seven-axis industrial robot, belonging to the technical field of industrial robots. Background Art

[0002] For example, an industrial robot disclosed in application number: CN108687755B includes a base, a linear drive, and one or more arms. The movement between the base and the arm, and between the arms connected in the form of joints relies on the linear drive to provide power and control. The two ends of the linear drive are respectively hinged to the base or the arm directly or indirectly through the hinged connecting rods. A limit block for controlling the swing amplitude of the connecting rod or the linear drive can also be provided on the base or the arm. When the swing angle of the robot arm is large enough to a certain angle, the connecting rod touches the limit block and turns, and the force application point of the linear drive on the arm is converted to the hinge point between the linear drive and the connecting rod, which effectively makes the output axis of the linear drive deviate from the center of the robot joint, avoids the swing torque provided to the segmented arm from attenuating with the increase of the swing angle, and improves the load capacity of the robot.

[0003] Based on the search and analysis, the existing technology still has deficiencies:

[0004] Traditional six-axis robots generally have singular points. The singular points are too large during reproduction, which weakens the flexibility of the robot and makes it impossible to achieve continuous motion operation. Therefore, a seven-axis industrial robot is needed to solve the above shortcomings. Utility Model Content

[0005] The main purpose of the utility model is to provide a seven-axis linkage type industrial robot.

[0006] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0007] A seven-axis industrial robot comprises a base, on which a first operating arm and a second operating arm are rotatably and foldably connected;

[0008] The outer end is installed with a protective cover and the rotating shaft six is ​​fixedly connected by a six-axis connecting plate, a servo motor is installed in the protective cover, a harmonic reducer is installed at the output end of the servo motor, a rotating shaft seven is installed at the lower end of the harmonic reducer, a harmonic reducer flange plate is installed on the rotating shaft seven, and a motor mounting plate is installed on the harmonic reducer flange plate;

[0009] A six-axis group is installed between the base, the first operating arm and the second operating arm.

[0010] Preferably, the six-axis group includes a first axis, a second axis, a third axis, a fourth axis, a fifth axis and a sixth axis;

[0011] The base and operating arm 1 are connected by rotating and folding through rotating shaft 1 and rotating shaft 2, the operating arm 1 and operating arm 2 are connected by rotating shaft 3 and rotating shaft 4, the operating arm 2 and the protective cover are connected by rotating shaft 5 and rotating shaft 6, and the bottom of the protective cover is equipped with rotating shaft 7 for rotation connection.

[0012] Preferably, the first rotating shaft is rotationally connected to the second rotating shaft and the first operating arm, and the second rotating shaft is foldably connected to the first operating arm.

[0013] Preferably, the operating arm 1 is foldably connected to the rotating shaft 4 and the operating arm 2, and the rotating shaft 4 is rotationally connected to the operating arm 2.

[0014] Preferably, the operating arm 2 is foldably connected to the rotating shaft 6 via the rotating shaft 5, and the rotating shaft 6 is rotationally connected to the six-axis connecting plate.

[0015] Preferably, the motor mounting plate and the harmonic reducer flange plate are rotatably connected to the protective cover via a rotating shaft seven.

[0016] Beneficial technical effects of the utility model:

[0017] The utility model provides a seven-axis industrial robot, the device consists of a base, an operating arm one, an operating arm two and a six-axis connecting plate, the rotating shaft one and the rotating shaft two on the base are rotatably connected to the operating arm one, the outer end of the operating arm one is folded and connected to the operating arm two through the rotating shaft three and the rotating shaft four, the outer end of the operating arm two is equipped with a rotating shaft six and is rotatably connected to the six-axis connecting plate, the six-axis connecting plate is equipped with a rotating shaft seven, a servo motor is installed in the protective cover, a harmonic reducer is installed at the output end of the servo motor, a harmonic reducer flange plate is installed at the bottom of the harmonic reducer, a motor mounting plate is installed on the harmonic reducer flange plate, the motor mounting plate is driven to rotate by the rotating shaft seven, the base, the operating arm one, the operating arm two and the protective cover are a seven-axis connection structure, and the rotating shaft one avoids the situation that the rotating shaft four and the rotating shaft six are coaxial, and at the same time avoids the problem of singularity points, so that the robot's movement is more flexible, and the problem of zero-crossing alarm of the rotating shaft five machine is solved. Compared with the robot solution on the market that avoids the singularity points of the rotating shaft four and the rotating shaft six, the price is lower and the processing and assembly are simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of a seven-axis industrial robot according to a preferred embodiment of the utility model;

[0019] Figure 2 A schematic diagram of a seven-axis structure of a preferred embodiment of a seven-axis industrial robot according to the utility model;

[0020] Figure 3 A side view of a seven-axis structure of a preferred embodiment of a seven-axis industrial robot according to the utility model;

[0021] Figure 4 A schematic diagram of a seven-axis three-dimensional structure of a preferred embodiment of a seven-axis industrial robot according to the utility model;

[0022] Figure 5 The figure is a side view of the overall three-dimensional structure of a preferred embodiment of a seven-axis industrial robot according to the utility model.

[0023] In the figure: 1. Base; 2. Shaft 1; 3. Shaft 2; 4. Shaft 3; 5. Shaft 4; 6. Shaft 5; 7. Shaft 6; 8. Shaft 7; 9. Six-axis connecting plate; 10. Protective cover; 11. Servo motor; 12. Harmonic reducer; 13. Motor mounting plate; 14. Harmonic reducer flange plate. DETAILED DESCRIPTION

[0024] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is further described in detail below in conjunction with embodiments and drawings, but the implementation methods of the present invention are not limited thereto.

[0025] like Figure 1 - Figure 5 As shown, a seven-axis industrial robot provided in this embodiment includes a base 1, on which a first operating arm 15 and a second operating arm 16 are rotatably and foldably connected;

[0026] The outer end of 16 is installed with 10, the protective cover 10 and the rotating shaft six 7 are fixedly connected by the six-axis connecting plate 9, a servo motor 11 is installed in the protective cover 10, a harmonic reducer 12 is installed at the output end of the servo motor 11, a rotating shaft seven 8 is installed at the lower end of the harmonic reducer 12, a harmonic reducer flange plate 14 is installed on the rotating shaft seven 8, and a motor mounting plate 13 is installed on the harmonic reducer flange plate 14;

[0027] A six-axis group is installed between the base 1, the operating arm 15 and the operating arm 2 16.

[0028] The six-axis group includes axis 1 2, axis 2 3, axis 3 4, axis 4 5, axis 5 6 and axis 6 7;

[0029] The base 1 and the operating arm 15 are rotatably and foldably connected by the rotating shaft 1 2 and the rotating shaft 2 3, the operating arm 15 and the operating arm 2 16 are foldably and rotatably connected by the rotating shaft 3 4 and the rotating shaft 4 5, the operating arm 2 16 and the protective cover 10 are foldably and rotatably connected by the rotating shaft 5 6 and the rotating shaft 6 7, and the protective cover 10 is rotatably connected with the rotating shaft 7 8 installed at the bottom.

[0030] The rotating shaft 1 2 is rotationally connected to the rotating shaft 2 3 and the operating arm 1 15 , and the rotating shaft 2 3 is foldably connected to the operating arm 1 15 .

[0031] The operating arm 15 is foldably connected to the rotating shaft 4 5 and the operating arm 2 16, and the rotating shaft 4 5 is rotationally connected to the operating arm 2 16.

[0032] The operating arm 2 16 is foldably connected to the rotating shaft 6 7 via the rotating shaft 5 6 , and the rotating shaft 6 7 is rotationally connected to the six-axis connecting plate 9 .

[0033] The motor mounting plate 13 and the harmonic reducer flange plate 14 are rotatably connected to the protective cover 10 via a rotating shaft 7 8 .

[0034] like Figure 1 - Figure 4 As shown, the working process of a seven-axis industrial robot provided by this embodiment is as follows: the equipment is fixed by the base 1, and the base 1, the operating arm 1 15, the operating arm 2 16 and the protective cover 10 driving parts, such as the servo motor and the rotary motor, drive the rotating shaft 1 2, the rotating shaft 2 3, the rotating shaft 3 4, the rotating shaft 4 5, the rotating shaft 5 6, the rotating shaft 6 7 and the rotating shaft 7 8 to fold and rotate, so as to realize the seven-axis rotation operation, and realize the steering and folding operations by the cooperation of the two axes, which is more flexible and reduces the singularity points.

[0035] Example

[0036] like Figure 1 - Figure 5 As shown, the device consists of a base 1, an operating arm 15, an operating arm 2 16 and a six-axis connecting plate 9. The rotating shaft 1 2 and the rotating shaft 2 3 on the base 1 are rotatably connected to the operating arm 15. The outer end of the operating arm 15 is foldably connected to the operating arm 2 16 through the rotating shaft 3 4 and the rotating shaft 4 5. The outer end of the operating arm 2 16 is equipped with a rotating shaft 6 7 and is rotatably connected to the six-axis connecting plate 9. The six-axis connecting plate 9 is equipped with a rotating shaft 7 8. A servo motor 11 is installed in the protective cover 10. A harmonic reducer 12 is installed at the output end of the servo motor 11. The bottom of the harmonic reducer 12 A harmonic reducer flange plate 14 is installed, and a motor mounting plate 13 is installed on the harmonic reducer flange plate 14. The motor mounting plate 13 is driven to rotate by the rotating shaft 7 8. The base 1, the operating arm 15, the operating arm 2 16 and the protective cover 10 are a seven-axis connection structure, and the rotating shaft 1 2 avoids the situation that the rotating shaft 4 5 and the rotating shaft 6 7 are coaxial, and at the same time avoids the problem of singularity, so that the robot's movement is more flexible, and the problem of zero-crossing alarm of the rotating shaft 5 6 machine is solved. Compared with the robot solution on the market that avoids the singularity points of the rotating shaft 4 5 and the rotating shaft 6 7, the price is lower and the processing and assembly are simpler.

[0037] The above is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the scope disclosed by the present invention according to the technical solution and concept of the present invention, which fall within the protection scope of the present invention.

Claims

1. A seven-axis industrial robot, comprising a base (1), on which a first operating arm (15) and a second operating arm (16) are rotatably and foldably connected; Features: A protective cover (10) is installed at the outer end of the shaft (16), the protective cover (10) and the rotating shaft (7) are fixedly connected by a six-axis connecting plate (9), a servo motor (11) is installed in the protective cover (10), a harmonic reducer (12) is installed at the output end of the servo motor (11), a rotating shaft (8) is installed at the lower end of the harmonic reducer (12), a harmonic reducer flange plate (14) is installed on the rotating shaft (8), and a motor mounting plate (13) is installed on the harmonic reducer flange plate (14); A six-axis group is installed between the base (1), the first operating arm (15) and the second operating arm (16).

2. A seven-axis industrial robot according to claim 1, characterized in that: The six-axis group includes a rotating axis 1 (2), a rotating axis 2 (3), a rotating axis 3 (4), a rotating axis 4 (5), a rotating axis 5 (6) and a rotating axis 6 (7); The base (1) and the operating arm 1 (15) are connected by a rotating shaft 1 (2) and a rotating shaft 2 (3) in a foldable manner; the operating arm 1 (15) and the operating arm 2 (16) are connected by a rotating shaft 3 (4) and a rotating shaft 4 (5) in a foldable manner; the operating arm 2 (16) and the protective cover (10) are connected by a rotating shaft 5 (6) and a rotating shaft 6 (7) in a foldable manner; and the bottom of the protective cover (10) is provided with a rotating shaft 7 (8) for rotatable connection.

3. A seven-axis industrial robot according to claim 2, characterized in that: The rotating shaft 1 (2) is rotatably connected to the rotating shaft 2 (3) and the operating arm 1 (15), and the rotating shaft 2 (3) is foldably connected to the operating arm 1 (15).

4. A seven-axis industrial robot according to claim 3, characterized in that: The operating arm 1 (15) is foldably connected to the rotating shaft 4 (5) and the operating arm 2 (16), and the rotating shaft 4 (5) is rotationally connected to the operating arm 2 (16).

5. A seven-axis industrial robot according to claim 4, characterized in that: The operating arm 2 (16) and the rotating shaft 6 (7) are foldably connected via the rotating shaft 5 (6), and the rotating shaft 6 (7) is rotationally connected to the six-axis connecting plate (9).

6. A seven-axis industrial robot according to claim 5, characterized in that: The motor mounting plate (13) and the harmonic reducer flange plate (14) are rotatably connected to the protective cover (10) via the rotating shaft (8).

Images