Seven-axis modular robot

Abstract

The utility model provides a seven-axis modular robot, which comprises a base, a plurality of joint modules, a plurality of switching structures and a tool output flange, by optimizing the layout and axis relation of each joint module, the robot is enabled to have larger working space by adjusting the angle and position of each joint under the condition of not changing the position of the base; in addition, under the condition that the horizontal radius is increased, elbow interference is not increased, flexible operation can be achieved in a more complex space environment, and interference and collision are avoided.

Description

Technical Field

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

[0002] With the development of industrial automation, robotics technology has been widely used in various fields. Traditional robots have demonstrated excellent performance in many scenarios, but when faced with more complex and delicate tasks, they are prone to interference, and their flexibility and accessibility still need to be improved. Utility Model Content

[0003] The technical problem to be solved by the embodiments of the present utility model is to provide a seven-axis modular robot to solve the self-interference phenomenon of traditional robots during movement, thereby improving the flexibility and working stability of the robot.

[0004] In order to solve the above technical problems, the utility model provides a seven-axis modular robot, including a base, multiple joint modules, multiple adapter structures and a tool output flange.

[0005] The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, a sixth joint module, and a seventh joint module in sequence; the adapter structure includes a first adapter structure, a second adapter structure, and a third adapter structure; the base is connected to the first joint module, the first joint module is connected to the second joint module through the first adapter structure, and the axes of the second joint module and the first joint module are arranged parallel in space and do not overlap; the second joint module is connected to the third joint module, and the third joint module is connected to the The fourth joint module is connected, and the second joint module is perpendicular to the axis of the third joint module and the fourth joint module; the fourth joint module is connected to the fifth joint module, and the fifth joint module is perpendicular to and intersects with the axis of the fourth joint module; the fifth joint module is connected to the sixth joint module through the third adapter structure, and the sixth joint module is connected to the seventh joint module, and the sixth joint module is perpendicular to and intersects with the axis of the fifth joint module and the seventh joint module; the seventh joint module is connected to the tool output flange for connecting and driving various tools or actuators.

[0006] Furthermore, the transition structure is a straight cylindrical structure or an angle-adjustable connection structure.

[0007] Furthermore, the adjustable angle connection structure at least includes a transition elbow, a connecting rod and other structural components; the connecting rod includes a straight connecting rod or a bent connecting rod.

[0008] Furthermore, the joint module includes a joint body, an output end face and a connecting end face; the first adapter structure is an adjustable angle connection structure, including a adapter elbow and a connecting rod; the base is connected to the output end face of the first joint module, the connecting end face of the first joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the connecting end face of the second joint module, and the axes of the two connecting faces of the first adapter structure intersect at right angles; the second adapter structure is an adjustable angle connection structure, including a adapter elbow and a connecting rod; the output end face of the second joint module is connected to the connecting end face of the third joint module, and the output end face of the third joint module is connected to the adapter elbow. One end is connected, the other end of the adapter elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connecting end face of the fourth joint module, and the axes of the two connecting faces of the second adapter structure intersect at right angles; the third adapter structure is a straight cylindrical structure; the output end face of the fourth joint module is connected to the connecting end face of the fifth joint module, the output end face of the fifth joint module is connected to one end of the third adapter structure, and the other end of the third adapter structure is connected to the connecting end face of the sixth joint module; the output end face of the sixth joint module is connected to the connecting end face of the seventh joint module; the output end face of the seventh joint module is connected to the tool output flange, which is used to connect and drive various tools or actuators.

[0009] Furthermore, the adapter elbow and connecting rod are of an integrated structure or a separate structure.

[0010] Furthermore, the joint modules have the same structure, and both include a motor driver, a motor, a reducer, a drive circuit, a brake and an encoder.

[0011] The utility model provides a seven-axis modular robot. By optimizing the layout and axis relationship of each joint module, the robot can have a larger working space by adjusting the angle and position of each joint without changing the base position. Moreover, when the horizontal radius becomes larger, the elbow interference does not increase, and the robot can operate flexibly in a more complex spatial environment to avoid interference and collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 This is a schematic structural diagram of the seven-axis modular robot described in an embodiment of the present utility model. Detailed implementation manners

[0014] The content of the present utility model can be more easily understood by referring to the following detailed description of the preferred implementation methods of the present utility model and the included embodiments. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present utility model belongs. In case of conflict, the definitions in this specification shall prevail.

[0015] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0016] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as generally understood by those of ordinary skill in the art to which the present utility model belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as herein.

[0017] In the description of the present utility model, the meaning of "and / or" includes both the case of each individual existence and the case of simultaneous existence of both.

[0018] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0019] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0020] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0021] like Figure 1 As shown, the utility model provides a seven-axis modular robot, including a base 1, multiple joint modules, multiple adapter structures and a tool output flange 9.

[0022] The joint modules include: a first joint module 2, a second joint module 3, a third joint module 4, a fourth joint module 5, a fifth joint module 6, a sixth joint module 7, and a seventh joint module 8 in sequence; the adapter structure includes a first adapter structure 10, a second adapter structure 11, and a third adapter structure 12; the base 1 is connected to the first joint module 2, and the first joint module 2 is connected to the second joint module 3 through the first adapter structure 10, and the axes of the second joint module 3 and the first joint module 2 are arranged parallel in space and do not overlap; the second joint module 3 is connected to the third joint module 4, and the third joint module 4 is connected to the second adapter structure 11. The structure 11 is connected to the fourth joint module 5, and the second joint module 3 is perpendicular to the axis of the third joint module 4 and the fourth joint module 5; the fourth joint module 5 is connected to the fifth joint module 6, and the fifth joint module 6 is perpendicular to and intersects with the axis of the fourth joint module 5; the fifth joint module 6 is connected to the sixth joint module 7 through the third adapter structure 12, and the sixth joint module 7 is connected to the seventh joint module 8, and the sixth joint module 7 is perpendicular to and intersects with the axis of the fifth joint module 6 and the seventh joint module 8; the seventh joint module 8 is connected to the tool output flange 9 for connecting and driving various tools or actuators.

[0023] The seven-axis modular robot provided by the present invention effectively reduces the self-interference phenomenon of the robot arm during movement by optimizing the layout and axis relationship of each joint module; in particular, the design of the parallel and non-overlapping axes of the first joint module and the second joint module, as well as the vertical and intersecting layout between subsequent joint modules, ensures that the robot can smoothly execute complex trajectories and avoids operation interruption or damage caused by arm collision. The seven-axis modular robot provided by the present invention has seven joint modules with a large degree of freedom, which further increases the flexibility and accessibility of the end effector. Without changing the position of the base 1, by adjusting the angle and position of each joint, the workspace is generally larger, and it can operate flexibly in more complex spatial environments to avoid interference and collision.

[0024] In a preferred embodiment, the transition structure is a straight-tube structure or an adjustable-angle connection structure. The straight-tube structure is a simple and direct connection method, which is characterized in that the connection portion maintains a straight line shape without introducing additional angle changes.

[0025] In a preferred embodiment, the adjustable angle connection structure at least includes a transition elbow, a connecting rod and other structural components. It is used to achieve non-parallel or non-collinear connection of the axes between adjacent joint modules, and the specific composition of each adjustable angle connection structure may include a transition elbow, a connecting rod and other necessary structural components according to actual needs. The transition elbow is used to achieve the bending and turning of the axis, and its bending angle can be adjusted according to design requirements. The transition elbow usually has high strength and rigidity to ensure that no deformation or failure occurs when transmitting motion and force. The connecting rod connects the transition elbow and the adjacent joint modules, which can be a straight connecting rod or a bent connecting rod, depending on the connection requirements. Other structural components, such as fasteners, bearings, seals, etc., are used to strengthen the connection strength, reduce friction and wear, improve sealing performance, etc. It should be noted that the adjustable angle connection structure will not affect the overall operation of the robot.

[0026] In a preferred embodiment, the joint module includes a joint body, an output end face, and a connection end face; the first transfer structure 10 is an adjustable-angle connection structure, including a transfer elbow and a connecting rod; the base 1 is connected to the output end face of the first joint module 2, the connection end face of the first joint module 2 is connected to one end of the transfer elbow, the other end of the transfer elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connection end face of the second joint module 3, and the axes of the two connection faces of the first transfer structure 10 intersect at a right angle; the second transfer structure 11 is an adjustable-angle connection structure, including a transfer elbow and a connecting rod; the output end face of the second joint module 3 is connected to the connection end face of the third joint module 4, the output end face of the third joint module 4 is connected to one end of the transfer elbow, the other end of the transfer elbow is connected to one end of the connecting rod, the other end of the connecting rod is connected to the connection end face of the fourth joint module 5, and the axes of the two connection faces of the second transfer structure 11 intersect at a right angle; the third transfer structure 12 is a straight cylindrical structure; the output end face of the fourth joint module 5 is connected to the connection end face of the fifth joint module 6, the output end face of the fifth joint module 6 is connected to one end of the third transfer structure 12, the other end of the third transfer structure 12 is connected to the connection end face of the sixth joint module 7; the output end face of the sixth joint module 7 is connected to the connection end face of the seventh joint module 8; the output end face of the seventh joint module 8 is connected to the tool output flange 9 for connecting and driving various tools or actuators.

[0027] In a preferred embodiment, the transfer elbow and the connecting rod are of an integral structure or a split structure. The integral structure means that the transfer elbow and the connecting rod are designed as a single integral part during the manufacturing process, and there is no clear demarcation line or detachable connection point between them. This structure is usually manufactured by processes such as casting, forging, or one-piece molding, and has the advantages of compact structure, good rigidity, and high transmission efficiency. It is suitable for occasions with high requirements for structural compactness, rigidity, and transmission efficiency. For example, between the robot joint modules that need to bear large loads or perform high-speed movements, using an integral structure of the transfer elbow and the connecting rod can ensure the stability and reliability of the connection. The split structure means that the transfer elbow and the connecting rod are designed as two independent parts and are connected together by some means (such as bolts, pins, etc.). This structure is convenient for disassembly and maintenance and also has a certain degree of flexibility. It is suitable for occasions that require frequent disassembly and maintenance, or when the connection requirements are diverse. For example, in a modular robot system, different joint modules may require connection structures with different angles and lengths, and at this time, using a split structure of the transfer elbow and the connecting rod is convenient for realizing customized design.

[0028] In a preferred embodiment, the joint modules have the same structure and each includes a motor driver, a motor, a speed reducer, a drive circuit, a brake, and an encoder.

[0029] For the seven-axis modular robot provided by the present utility model, by optimizing the layout and axis relationship of each joint module, the robot can have a larger working space by adjusting the angles and positions of each joint without changing the position of the base; and when the horizontal radius becomes larger, the elbow interference does not increase, enabling flexible operation in a more complex spatial environment and avoiding interference and collision.

[0030] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0031] The above embodiments only represent several implementation manners of the present utility model, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A seven-axis modular robot, characterized in that: Including base, multiple joint modules, multiple adapter structures and tool output flange, The joint modules include: a first joint module, a second joint module, a third joint module, a fourth joint module, a fifth joint module, a sixth joint module, and a seventh joint module in sequence; the transition structure includes a first transition structure, a second transition structure, and a third transition structure; the base is connected to the first joint module, the first joint module is connected to the second joint module via the first transition structure, and the axes of the second joint module and the first joint module are arranged parallel to each other in space and do not overlap; the second joint module is connected to the third joint module, and the third joint module is connected to the second transition structure. It is connected to the fourth joint module, and the second joint module is perpendicular to the axis of the third joint module and the fourth joint module; the fourth joint module is connected to the fifth joint module, and the fifth joint module is perpendicular to and intersects with the axis of the fourth joint module; the fifth joint module is connected to the sixth joint module through a third adapter structure, and the sixth joint module is connected to the seventh joint module, and the sixth joint module is perpendicular to and intersects with the axis of the fifth joint module and the seventh joint module; the seventh joint module is connected to the tool output flange for connecting and driving a tool or actuator.

2. The seven-axis modular robot according to claim 1, characterized in that: The transition structure is a straight cylindrical structure or an angle-adjustable connection structure.

3. The seven-axis modular robot according to claim 2, characterized in that: The angle-adjustable connection structure comprises at least a transfer elbow and a connecting rod; the connecting rod comprises a straight connecting rod or a bent connecting rod.

4. The seven-axis modular robot according to claim 3, characterized in that: The joint module includes a joint body, an output end face and a connection end face; the first adapter structure is an angle-adjustable connection structure, including an adapter elbow and a connecting rod; The base is connected to the output end face of the first joint module, the connection end face of the first joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the connection end face of the second joint module, and the axes of the two connection faces of the first adapter structure intersect at a right angle; The second transfer structure is an angle-adjustable connection structure, including a transfer elbow and a connecting rod; The output end face of the second joint module is connected to the connection end face of the third joint module, the output end face of the third joint module is connected to one end of the adapter elbow, the other end of the adapter elbow is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the connection end face of the fourth joint module, and the axes of the two connection faces of the second adapter structure intersect at a right angle; The third transfer structure is a straight cylindrical structure; The output end face of the fourth joint module is connected to the connection end face of the fifth joint module, the output end face of the fifth joint module is connected to one end of the third adapter structure, and the other end of the third adapter structure is connected to the connection end face of the sixth joint module; The output end face of the sixth joint module is connected to the connection end face of the seventh joint module; the output end face of the seventh joint module is connected to the tool output flange for connecting and driving a tool or actuator.

5. The seven-axis modular robot according to claim 4, characterized in that: The transition elbow and the connecting rod are of an integrated structure or a separate structure.

6. The seven-axis modular robot according to claim 5, characterized in that: The joint modules have the same structure and include a motor driver, a motor, a reducer, a drive circuit, a brake and an encoder.

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