Novel multi-axis robot
By adopting the joint module structure in multi -shaft robots, the bearing of the bearing use of the bearing is used to solve the problem of overweight burden on traditional robots, improve the rigidity of the robot and the life of the reducer, and reduce the manufacturing cost.
Patent Information
- Application Number
- CN202420339706.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-23
- Publication Date
- 2025-01-28
- Estimated Expiration
- 2034-02-23
AI Technical Summary
Traditional industrial robots carry the torque and bending moment of joints through reducers, resulting in excessive burden on reducers, high rigidity requirements, affecting life, and different connection methods of each joint, resulting in poor versatility of parts and increasing manufacturing costs.
The new multi -axis robot structure is adopted, where the joint module includes joint module shells and bases, internal rotating power sources and reducers, and transmitting bending momentum through the first and second bearing to reduce the bending moment of the reducer and improve the rigidity of the robot.
Reduced the bending moment assumed by the reducer, improved the accuracy and life of the reducer, enhanced the overall rigidity of the robot, and reduced the difficulty and cost of assembly.
Smart Images
Figure CN222405781U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of multi-axis robot structures, in particular to the field of transmission mechanism structures therein. Background Art
[0002] Traditional industrial robots use reducers to carry the torque and bending moment of each joint, and are generally driven by external motors. When installing the robot, the reducer, motor and joint components need to be connected separately. The connection process has high requirements for the gear meshing condition. If you are not careful, the robot will have abnormal noises, oil leakage and other abnormalities, and the installation requirements are high. In addition, the bending moment at the joint carried by the reducer increases the burden on the reducer, greatly increases the rigidity requirements for the reducer, and affects the life of the reducer. The connection methods of each joint are different, and each joint needs to be designed separately, which leads to poor versatility of parts and increases the manufacturing cost of the robot. Utility Model Content
[0003] In view of the above problems, the utility model proposes a novel multi-axis robot, which overcomes the defect that the torque and bending moment of the existing industrial robot are all borne by the reducer, which has high requirements for the reducer, and improves the rigidity of the robot.
[0004] The technical solution of the utility model is: comprising a plurality of structural members that are rotatably connected in sequence, and the adjacent structural members are connected by a joint module 7, wherein the joint module 7 comprises a rotatably connected joint module housing 8 and a joint module base 12;
[0005] A rotary power source (usually a motor in a robot) and a reducer 9 are fixedly installed in the joint module base 12. The output shaft of the rotary power source is fixedly connected to the input end of the reducer 9, and the output end of the reducer 9 is connected to the joint module housing 8 through a spline.
[0006] The joint module housing 8 and the joint module base 12 are fixedly connected to two adjacent structural members respectively.
[0007] The joint module housing 8 is sleeved on the joint module base 12, and a first bearing 10 and a second bearing 11 are coaxially arranged between the joint module housing 8 and the joint module base 12. In this way, the joint module housing 8 and the joint module base 12 are connected by the first bearing 10 and the second bearing 11. During the operation of the robot, the bending moment received by the joint is transmitted to the joint module base 12 by the joint module housing 8 through the first bearing 10 and the second bearing 11. At the same time, the output end of the reducer is connected to the swivel 1 by a spline, leaving a gap in the radial direction, so the output end of the reducer is not subjected to force in the radial direction. Therefore, the reducer only needs to provide the torque of the robot joint movement without bearing the bending moment, which ensures the accuracy of the reducer and improves the life of the reducer.
[0008] In addition, the space between the joint module housing 8 and the joint module base 12 can also form a reserved oil chamber, which prevents the lubricating oil of the reduction device 8 from leaking from the output end.
[0009] Furthermore, there is a mounting hole at the end of the structural member, and the joint module housing 8 and the joint module base 12 in the joint module 7 are respectively inserted into the mounting holes of two adjacent structural members for fixing. Thus, the joint module 7 is inserted into the interior of the structural member to effectively reduce the size of the cantilever beam and concentrate the force between the first bearing 10 and the second bearing 11.
[0010] Specifically, the multi-axis robot includes a base 1, a swivel seat 2, a large arm 3, a transfer seat 4, a small arm 5 and a wrist body 6 as structural parts;
[0011] The joint module base 12 in the first joint module is connected to the base 1, and the joint module housing 8 is connected to the swivel seat 2, so as to realize the rotation of the first joint;
[0012] The joint module base 12 in the second joint module is connected to the swivel base 2, and the joint module housing 8 is connected to the upper arm 3, so as to realize the rotation of the second joint;
[0013] The joint module base 12 in the third joint module is connected to the upper arm 3, and the joint module housing 8 is connected to the adapter 4, so as to realize the rotation of the third joint;
[0014] The joint module base 12 in the fourth joint module is connected to the adapter 4, and the joint module housing 8 is connected to the forearm 5, so as to realize the rotation of the fourth joint;
[0015] The joint module base 12 in the fifth joint module is connected to the forearm 5, and the joint module housing 8 is connected to the wrist body 6, so as to realize the rotation of the fifth joint;
[0016] The joint module base 12 in the sixth joint module is connected to the wrist body 6, and the joint module shell 8 is connected to the end flange to realize the rotation of the sixth joint.
[0017] In the utility model, the joints of the robot are connected through joint modules, and the bending moment of each joint is borne by the joint module housing 8, the first bearing 10, the second bearing 11 and the joint module base 12. The reducer 9 only needs to transmit torque and does not need to bear bending moment, which increases the life of the reducer and the joint module, improves the rigidity of the robot, and improves the operating accuracy.
[0018] The joints of the multi-axis robot of the utility model are connected by joint modules. The joint modules can be used as a whole to directly assemble the robot. It is only necessary to connect the joint module housing 8 and the joint module base 12 to the swivel seat 2, the upper arm 3, the adapter seat 4 and other components by screws, thereby reducing the difficulty of robot assembly, reducing the decrease in robot accuracy caused by installation errors at the joints, and improving the reliability of the robot. The joint module is a hollow structure, and the robot harness can directly pass through the joint module, making the robot structure more compact and beautiful.
[0019] The utility model can select joint modules of different sizes and specifications according to performance parameters for installation, which is convenient for standardization and generalization of various parts of the robot, thereby reducing the production cost of the robot. Each axis of the multi-axis robot adopts joint modules with the same structure, making the robot structure simpler and more compact, reducing the difficulty of robot assembly, facilitating the standardization and generalization of various parts of the robot, and reducing the cost of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 This is a simplified structural diagram of this case.
[0021] Figure 2 This is a schematic diagram of the connection method of the joint module in this case.
[0022] Figure 3 It is a schematic diagram of the connection method of the prior art.
[0023] Figure 4 This is the appearance structure diagram of this case.
[0024] Figure 5 This is a schematic diagram of the joint module connection in the embodiment of this case.
[0025] Figure 6 It is a cross-sectional view of the connection between the output shaft of the reducer and the swivel seat;
[0026] In the figure, 1. base; 2. swivel seat; 3. upper arm; 4. adapter seat; 5. lower arm; 6. wrist body; 7. joint module; 8. joint module housing; 9. reducer; 10. first bearing; 11. second bearing; 12. joint module base; DETAILED DESCRIPTION
[0027] In order to clearly illustrate the technical features of this patent, this patent is elaborated in detail below through a specific implementation method and in combination with its accompanying drawings.
[0028] The present invention can be used for a multi-axis robot and is not limited to the six-axis robot in this embodiment. The connection method of each axis is the same, with the relatively fixed end connected to the joint module base 12 and the relatively rotating end, i.e. the output end, connected to the joint module housing 8.
[0029] The structural diagram of this case is as follows Figure 1 As shown, it is composed of a base 1, a swivel base 2, an upper arm 3, an adapter base 4, a lower arm 5, a wrist body 6 and a joint module 7 of each axis connection part.
[0030] The new multi-axis robot proposed in this case has a high rigidity structure. The rigidity of the joint connection parts of the robot is high, and the robot has high life, stability and precision. Figure 2 As shown in the figure, the joint module extends into the interior of the swivel seat, the big arm and other connecting parts, and is tightened with screws at the connecting end surface, and the bending moment is transmitted through two bearings to reduce the size of the cantilever beam. This structure has better stress resistance than the method of directly connecting the two connecting end surfaces. Figure 3 As shown, the overall rigidity of the robot is good.
[0031] In this case, each joint of the robot is connected by a joint module with the same structure but different performance parameters and sizes. The joint module is equipped with a reducer, motor, brake, encoder, etc.
[0032] The types of reducers, motors, brakes, and encoders are not unique, as long as the principle of this case is realized. The reducers include but are not limited to RV reducers, harmonic reducers, planetary reducers, cycloid reducers, worm reducers, etc. The motors include but are not limited to torque motors, servo motors, stepper motors, etc. The brakes include but are not limited to disc brakes, friction brakes, electromagnetic brakes, etc. The encoders include but are not limited to absolute encoders, incremental encoders, etc.
[0033] Taking the second joint as an example, the output end face of the joint module housing 8 is connected and fixed to the upper arm 3 by screws, and the flange end face of the joint module base 12 is connected and fixed to the swivel seat 2 by screws, thereby forming a robot joint. The reducer 9 in the joint module transmits the torque to the joint module housing 8, and the joint module housing 8 transmits it to the upper arm 3, thereby driving the upper arm 3 to rotate. The output shaft of the reducer 9 is connected to the joint module housing 8 by screws. The joint module housing 8 and the joint module base 12 are connected by the first bearing 10 and the second bearing 11. During the operation of the robot, the bending moment at the joint is transmitted from the joint module housing 8 to the joint module base 12 through the first bearing 10 and the second bearing 11. Therefore, the reducer only needs to provide the torque for the robot joint movement without bearing the bending moment, which ensures the accuracy of the reducer and improves the life of the reducer.
[0034] Taking the second joint as an example, the bending moment of the robot at this joint is transmitted from the joint module housing 8 to the joint module base 12 through the first bearing 10 and the second bearing 11, so as to avoid the reducer from being subjected to bending moment, thereby reducing the operating accuracy and improving the life of the reducer. The upper arm 3 installs the joint module housing 8 inside the upper arm 3 by digging holes. At the same time, the swivel 2 also embeds the joint module base 12 into the swivel 2 by digging holes and connects it through the flange on the joint module base, thereby reducing the size of the cantilever beam, concentrating the force between the first bearing 10 and the second bearing 11, and borne by the joint module housing 8 and the joint module base 12, thereby improving the rigidity of the robot.
[0035] Similarly, the joint module base 12 is connected to the base 1, and the joint module shell 8 is connected to the swivel 2 to realize the rotation of the first joint; the joint module base 12 is connected to the upper arm 3, and the joint module shell 8 is connected to the adapter 4 to realize the rotation of the third joint; the joint module base 12 is connected to the adapter 4, and the joint module shell 8 is connected to the forearm 5 to realize the rotation of the fourth joint; the joint module base 12 is connected to the forearm 5, and the joint module shell 8 is connected to the wrist body 6 to realize the rotation of the fifth joint; the joint module base 12 is connected to the wrist body 6, and the joint module shell 8 is connected to the end flange to realize the rotation of the sixth joint.
[0036] There are many specific implementation ways of the utility model. The above is only the preferred implementation mode of the utility model. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the utility model, and these improvements should also be regarded as the protection scope of the utility model.
Claims
1. A new type of multi-axis robot, characterized in that: It comprises a plurality of structural members that are rotatably connected in sequence, wherein adjacent structural members are connected via a joint module (7), wherein the joint module (7) comprises a rotatably connected joint module housing (8) and a joint module base (12); A rotary power source and a reducer (9) are fixedly installed in the joint module base (12); the output shaft of the rotary power source is fixedly connected to the input end of the reducer (9); and the output end of the reducer (9) is connected to the joint module housing (8) via a spline; The joint module housing (8) and the joint module base (12) are respectively fixedly connected to two adjacent structural members.
2. A novel multi-axis robot according to claim 1, characterized in that: The joint module housing (8) is sleeved on the joint module base (12), and a first bearing (10) and a second bearing (11) which are coaxially arranged are provided between the joint module housing (8) and the joint module base (12).
3. A novel multi-axis robot according to claim 1, characterized in that: A mounting hole is provided at the end of the structural member, and the joint module housing (8) and the joint module base (12) in the joint module (7) are respectively extended into and fixedly installed in the mounting holes of two adjacent structural members.
4. A novel multi-axis robot according to claim 1, characterized in that: The multi-axis robot comprises a base (1), a swivel seat (2), a large arm (3), a transfer seat (4), a small arm (5) and a wrist body (6) as structural parts; The joint module base (12) in the first joint module is connected to the base (1), and the joint module housing (8) is connected to the swivel seat (2), so as to realize the rotation of the first joint; The joint module base (12) in the second joint module is connected to the swivel seat (2), and the joint module housing (8) is connected to the upper arm (3), so as to realize the rotation of the second joint; The joint module base (12) in the third joint module is connected to the upper arm (3), and the joint module housing (8) is connected to the adapter (4), so as to realize the rotation of the third joint; The joint module base (12) in the fourth joint module is connected to the adapter (4), and the joint module housing (8) is connected to the forearm (5), so as to realize the rotation of the fourth joint; The joint module base (12) in the fifth joint module is connected to the forearm (5), and the joint module housing (8) is connected to the wrist body (6), so as to realize the rotation of the fifth joint; The joint module base (12) in the sixth joint module is connected to the wrist body (6), and the joint module housing (8) is connected to the end flange, so as to realize the rotation of the sixth joint.