An industrial seven-axis robot

Abstract

The utility model discloses a kind of industrial seven-axis robots, it is related to robot technical field, including base, main arm, auxiliary arm, mounting seat, rotary device, first motor, second motor and third motor, the upper end of base is rotatably provided with main arm, the upper end of main arm is rotatably provided with auxiliary arm, one end of auxiliary arm is provided with mounting seat, first motor and rotary device are set on mounting seat, first motor drives rotary device, one end of rotary device is provided with flange, second motor and third motor are set on rotary device, second motor and third motor drive flange respectively. In the utility model, first motor, second motor and third motor are used to drive small arm cooperatively, compared with traditional single motor drive, driving torque is greatly improved, the resistance brought by large load can be easily overcome, so that small arm can still rotate normally under heavy load.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an industrial seven-axis robot. Background Technology

[0002] In the process of modern industrial automation, seven-axis robots play a crucial role. With their flexibility and precision, they are widely used in many fields such as automobile manufacturing, electronic equipment production, and machining, undertaking various tasks such as welding, assembly, and material handling, effectively improving production efficiency and reducing labor costs.

[0003] When a robot is working, it needs to be equipped with corresponding tools. Conventional tools are quickly switched using a quick-change disc. Each tool has its own power module, and the robot drives the tool's movement via transmission signals, air supply, and hydraulic pressure through a pipeline package. However, the tool's own power module increases its weight. In this invention, according to the requirements of the working conditions, the power source on the tool side is placed on the robot body, that is, the robot adds a drive axis, which can effectively reduce the weight of the tool's power source, effectively reduce the tool's weight, and increase the effective weight that the robot can hold. Utility Model Content

[0004] The purpose of this invention is to provide an industrial seven-axis robot to solve the above-mentioned technical problems.

[0005] The technical solution adopted in this utility model is as follows:

[0006] An industrial seven-axis robot includes a base, a main arm, a secondary arm, a mounting base, a rotary device, a first motor, a second motor, and a third motor. The main arm is rotatably mounted on the upper end of the base, and the secondary arm is rotatably mounted on the upper end of the main arm. The mounting base is located at one end of the secondary arm. The first motor and the rotary device are mounted on the mounting base. The first motor drives the rotary device. A flange is located at one end of the rotary device. The second motor and the third motor are mounted on the rotary device, and the second motor and the third motor drive the flange, respectively.

[0007] Preferably, the mounting base is provided with a first transmission mechanism, and the first motor is connected to the rotary device through the first transmission mechanism.

[0008] Preferably, the rotary device is provided with a second transmission mechanism, and the second motor and the third motor are respectively connected to the flange through the second transmission mechanism.

[0009] As a further preferred embodiment, the first transmission mechanism includes a driving gear, an intermediate gear, and a driven gear. The driving gear is disposed on the output shaft of the first motor. The driven gear is connected to the rotary device. The intermediate gear meshes with the driving gear and the driven gear.

[0010] As a further preferred embodiment, the device also includes a first mounting plate, a first connecting shaft, and a second connecting shaft. The first mounting plate is disposed inside the mounting base. One end of the first connecting shaft and the second connecting shaft are respectively connected to the first mounting plate via a first bearing. The intermediate gear is mounted on the first connecting shaft, the driven gear is mounted on the second connecting shaft, and the other end of the second connecting shaft is connected to the rotary device.

[0011] As a further preferred embodiment, the diameter of the driven gear is larger than the diameter of the intermediate gear, and the diameter of the intermediate gear is larger than the diameter of the driving gear.

[0012] As a further preferred embodiment, the second transmission mechanism includes a mounting plate, a transmission shaft, and a gear assembly. The mounting plate is connected to the rotary device, one end of the transmission shaft passes through the mounting plate and is connected to the flange, and the second motor and the third motor are connected to the other end of the transmission shaft through the gear assembly.

[0013] As a further preferred embodiment, the gear assembly includes a first gear, a second gear, a third gear, and a fourth gear. The other end of the transmission shaft is provided with the first gear and the second gear. The output shaft of the second motor is provided with the third gear, and the output shaft of the third motor is provided with the fourth gear. The first gear meshes with the third gear, and the second gear meshes with the fourth gear.

[0014] As a further preferred embodiment, the diameter of the first gear is greater than the diameter of the second gear, the diameter of the second gear is greater than the diameter of the fourth gear, and the diameter of the fourth gear is greater than the diameter of the third gear.

[0015] Preferably, the seven-axis robot also includes a fourth motor, a fifth motor, a sixth motor, and a seventh motor. The main arm includes a first main arm and a second main arm. The first main arm is rotatably mounted on the upper end of the base, and the second main arm is rotatably mounted on the upper end of the first main arm. The fourth motor is mounted on the base and is drivenly connected to the first main arm. The fifth motor is mounted on one side of the upper end of the first main arm and is drivenly connected to the second main arm. The upper end of the second main arm is equipped with a connecting seat and a sixth motor, which is connected to the connecting seat. The other end of the auxiliary arm is connected to one side of the connecting seat, and the seventh motor is mounted on one side of the connecting seat. A gear assembly is installed inside the connecting seat, and the seventh motor is connected to the other end of the auxiliary arm through the gear assembly.

[0016] The above technical solution has the following advantages or beneficial effects:

[0017] (1) In this utility model, the first motor, the second motor and the third motor are used to drive the forearm. Compared with the traditional single motor drive, the driving torque is greatly improved, which can easily overcome the resistance caused by the large load, so that the forearm can still rotate normally under heavy load.

[0018] (2) In this utility model, by setting the first transmission mechanism and the second transmission mechanism, not only is the torque of the motor amplified, but the stability of power transmission is also ensured. Under heavy load, the forearm can operate smoothly, reducing the shaking and jamming caused by excessive load, making the robot more reliable when handling or operating heavy objects, and reducing the risk of damage to equipment and workpieces caused by unstable movement. Attached Figure Description

[0019] Figure 1 This utility model relates to a three-dimensional industrial seven-axis robot. Figure 1 ;

[0020] Figure 2 This utility model relates to a three-dimensional industrial seven-axis robot. Figure 2 ;

[0021] Figure 3 This is a schematic diagram of the internal structure of the mounting base in this utility model;

[0022] Figure 4 This is a schematic diagram of the internal structure of the rotary device in this utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the second motor, the third motor, and the second transmission mechanism in this utility model. Figure 1 ;

[0024] Figure 6 This is a schematic diagram of the structure of the second motor, the third motor, and the second transmission mechanism in this utility model. Figure 2 .

[0025] In the diagram: 1. Base; 2. Main arm; 201. First main arm; 202. Second main arm; 3. Auxiliary arm; 4. Mounting seat; 5. Rotating device; 501. Outer shell; 502. Columnar structural component; 6. First motor; 7. Second motor; 8. Third motor; 9. Flange; 10. First transmission mechanism; 1001. Drive gear; 1002. Intermediate gear; 1003. Driven gear; 1004. First mounting plate; 1005. First bearing; 11. Second transmission mechanism; 1101. Mounting plate; 1102. Drive shaft; 1103. First gear; 1104. Second gear; 1105. Third gear; 1106. Fourth gear; 12. Fourth motor; 13. Fifth motor; 14. Sixth motor; 15. Seventh motor; 16. Connecting seat. Detailed Implementation

[0026] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0027] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Figure 1 This utility model relates to a three-dimensional industrial seven-axis robot. Figure 1 ; Figure 2 This utility model relates to a three-dimensional industrial seven-axis robot. Figure 2 ; Figure 3This is a schematic diagram of the internal structure of the mounting base in this utility model; Figure 4 This is a schematic diagram of the internal structure of the rotary device in this utility model; Figure 5 This is a schematic diagram of the structure of the second motor, the third motor, and the second transmission mechanism in this utility model. Figure 1 ; Figure 6 This is a schematic diagram of the structure of the second motor, the third motor, and the second transmission mechanism in this utility model. Figure 2 Please see Figures 1 to 6 The diagram illustrates a preferred embodiment of an industrial seven-axis robot, comprising a base 1, a main arm 2, a secondary arm 3, a mounting base 4, a rotary mechanism 5, a first motor 6, a second motor 7, and a third motor 8. The main arm 2 is rotatably mounted on the upper end of the base 1, and the secondary arm 3 is rotatably mounted on the upper end of the main arm 2. The mounting base 4 is located at one end of the secondary arm 3. The first motor 6 and the rotary mechanism 5 are mounted on the mounting base 4. The first motor 6 drives the rotary mechanism 5. A flange 9 is located at one end of the rotary mechanism 5. The second motor 7 and the third motor 8 are mounted on the rotary mechanism 5, and the second motor 7 and the third motor 8 drive the flange 9 respectively. In this embodiment, the structure of the secondary arm 3 of the seven-axis robot is improved. The flange 9 is driven jointly by the second motor 7 and the third motor 8, which significantly increases the driving torque of the arm compared to traditional single-motor drive. Furthermore, the joint torque output by the second motor 7 and the third motor 8 better copes with the resistance caused by larger loads, ensuring that the arm can still rotate normally under heavy loads. Especially in industrial production, for heavy parts that cannot be moved by a single motor drive, the multi-motor driven forearm of this robot can easily complete the handling task, effectively improving the robot's working ability under heavy load conditions. In this embodiment, flange 9 is used for connection to external structures.

[0030] In this embodiment, the seven-axis robot also includes a fourth motor 12, a fifth motor 13, a sixth motor 14, and a seventh motor 15. The main arm 2 includes a first large arm 201 and a second large arm 202. The first large arm 201 is rotatably mounted on the upper end of the base 1, and the second large arm 202 is rotatably mounted on the upper end of the first large arm 201. The fourth motor 12 is mounted on the base 1 and is drivenly connected to the first large arm 201 to drive the first large arm 201 to rotate. The fifth motor 15 is mounted on one side of the upper end of the first large arm 201. 3. The fifth motor 13 is connected to the second main arm 202 for driving its rotation. A connecting seat 16 and a sixth motor 14 are located at the upper end of the second main arm 202. The sixth motor 14 is connected to the connecting seat 16 for driving its rotation. The other end of the auxiliary arm 3 is connected to one side of the connecting seat 16. A seventh motor 15 is located on one side of the connecting seat 16. A gear assembly is located inside the connecting seat 16. The seventh motor 15 is connected to the other end of the auxiliary arm 3 via the gear assembly for driving its rotation. The gear assembly is an existing structure. The transmission connection methods between the fourth motor 12 and the first main arm 201, the fifth motor 13 and the second main arm 202, and the sixth motor 14 and the connecting seat are all existing technologies and will not be described in detail here.

[0031] In this embodiment, the second motor 7 and the third motor 8 can work simultaneously or independently. By setting up the first motor 6, the second motor 7, the third motor 8, the fourth motor 12, the fifth motor 13, the sixth motor 14 and the seventh motor 15, seven actions of the seven-axis robot can be realized.

[0032] Furthermore, in a preferred embodiment, a first transmission mechanism 10 is provided inside the mounting base 4, and the first motor 6 is connected to the rotary device 5 through the first transmission mechanism 10. The first transmission mechanism 10 includes a driving gear 1001, an intermediate gear 1002, and a driven gear 1003. The driving gear 1001 is mounted on the output shaft of the first motor 6, the driven gear 1003 is connected to the rotary device 5, and the intermediate gear 1002 meshes with the driving gear 1001 and the driven gear 1003. Simultaneously, a first mounting plate 1004 is provided inside the mounting base 4. One end of a first connecting shaft and a second connecting shaft are respectively connected to the first mounting plate 1004 through a first bearing 1005. The intermediate gear 1002 is mounted on the first connecting shaft, and the driven gear 1003 is mounted on the second connecting shaft. The other end of the second connecting shaft is connected to the rotary device 5. Through multi-stage gear transmission, not only can torque be amplified, but power transmission can also be made smoother. In this embodiment, the other end of the first connecting shaft is connected to the inner wall of the mounting base 4 through a second bearing.

[0033] In this embodiment, the diameter of the driven gear 1003 is larger than the diameter of the intermediate gear 1002, and the diameter of the intermediate gear 1002 is larger than the diameter of the driving gear 1001. This arrangement can improve the transmission ratio between the gears, so that the power of the first motor 6 can be transmitted to the rotary device 5 more effectively, thereby enhancing the stability and reliability of the drive.

[0034] Furthermore, in a preferred embodiment, the rotary device 5 is internally equipped with a second transmission mechanism 11, through which the second motor 7 and the third motor 8 are respectively connected to the flange 9. The rotary device 5 includes a housing 501, which is L-shaped. A cylindrical structural member 502 is internally disposed within the housing 501 and is bolted to the housing 501. The other end of the second connecting shaft is connected to the cylindrical structural member 502. The positions of the second motor 7 and the third motor 8 can be found in [reference needed]. Figure 1 and Figure 4 As shown. The second motor 7 and the third motor 8 are both connected to the housing 501 by bolts, while the first motor 6 is connected to the mounting base 4 by bolts. The second motor 7 is located below the third motor 8.

[0035] In this embodiment, the second transmission mechanism 11 includes a mounting plate 1101, a transmission shaft 1102, and a gear assembly. The mounting plate 1101 is connected to the rotary device 5. One end of the transmission shaft 1102 passes through the mounting plate 1101 and is connected to the flange 9. The second motor 7 and the third motor 8 are connected to the other end of the transmission shaft 1102 through the gear assembly. The gear assembly includes a first gear 1103, a second gear 1104, a third gear 1105, and a fourth gear 1106. The other end of the transmission shaft 1102 is provided with the first gear 1103 and the second gear 1104. The output shaft of the second motor 7 is provided with the third gear 1105, and the output shaft of the third motor 8 is provided with the fourth gear 1106. The first gear 1103 meshes with the third gear 1105, and the second gear 1104 meshes with the fourth gear 1106. The diameter of the first gear 1103 is larger than that of the second gear 1104, the diameter of the second gear 1104 is larger than that of the fourth gear 1106, and the diameter of the fourth gear 1106 is larger than that of the third gear 1105. This arrangement allows the gears to form a certain transmission ratio, and in conjunction with the cooperation of the second motor 7 and the third motor 8, provides a stable and powerful driving force for the flange 9, further improving the driving performance of the boom under heavy loads. In this embodiment, the mounting plate 1101 is connected to the outer casing 501 by bolts, and the flange 9 is connected to the mounting plate 1101 by bolts.

[0036] In this embodiment, the coordinated arrangement of the first motor 6, the second motor 7, and the third motor 8, along with the first transmission mechanism 10 and the second transmission mechanism 11, not only is the load-bearing capacity of the forearm improved, but the stability and accuracy of the seven-axis robot during operation are also enhanced. The first motor 6, the second motor 7, and the third motor 8 are connected to the robot's control system. By controlling the coordinated operation of each motor through the control system, the forces on the forearm during movement can be better balanced, reducing vibrations and deviations caused by uneven loads or motion inertia, thereby improving the robot's working accuracy.

[0037] In this embodiment, servo motors are provided on the base 1, main arm 2 and auxiliary arm 3. Since this structure is an existing structure, it will not be further limited here.

[0038] In this embodiment, the first motor 6, the second motor 7, and the third motor 8 are all servo motors.

[0039] In this embodiment, when the first motor 6 is working, it drives the drive gear 1001 to rotate. The drive gear 1001 drives the intermediate gear 1002 to rotate, and the intermediate gear 1002 drives the driven gear 1003 to rotate. The driven gear 1003 drives the second connecting shaft to rotate, which in turn drives the rotary device 5 to rotate, thereby driving the flange 9 to rotate. The second motor 7 and the third motor 8 work simultaneously, but their speed ratios are different. By adjusting the speed ratios, the second motor 7 and the third motor 8 can simultaneously drive the transmission shaft 1102 to rotate stably. When the second motor 7 and the third motor 8 work simultaneously, the second motor 7 drives the third gear 1105 to rotate the first gear 1103, while the third motor 8 drives the fourth gear 1106 to rotate the second gear 1104. This allows the first gear 1103 and the second gear 1104 to simultaneously drive the transmission shaft 1102 to rotate, and the transmission shaft 1102 can drive the flange 9 to rotate, thus applying greater torque to the flange 9.

[0040] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An industrial seven-axis robot, characterized in that, The device includes a base, a main arm, a secondary arm, a mounting base, a slewing device, a first motor, a second motor, and a third motor. The main arm is rotatably mounted on the upper end of the base, and the secondary arm is rotatably mounted on the upper end of the main arm. The mounting base is located at one end of the secondary arm. The first motor and the slewing device are mounted on the mounting base. The first motor drives the slewing device. A flange is located at one end of the slewing device. The second motor and the third motor are mounted on the slewing device, and the second motor and the third motor drive the flange, respectively.

2. The industrial seven-axis robot as described in claim 1, characterized in that, The mounting base is equipped with a first transmission mechanism, and the first motor is connected to the rotary device through the first transmission mechanism.

3. The industrial seven-axis robot as described in claim 1, characterized in that, The rotary device is equipped with a second transmission mechanism, and the second motor and the third motor are respectively connected to the flange through the second transmission mechanism.

4. The industrial seven-axis robot as described in claim 2, characterized in that, The first transmission mechanism includes a driving gear, an intermediate gear, and a driven gear. The driving gear is mounted on the output shaft of the first motor. The driven gear is connected to the rotary device. The intermediate gear meshes with the driving gear and the driven gear.

5. The industrial seven-axis robot as described in claim 4, characterized in that, It also includes a first mounting plate, a first connecting shaft, and a second connecting shaft. The first mounting plate is disposed inside the mounting base. One end of the first connecting shaft and the second connecting shaft are respectively connected to the first mounting plate through a first bearing. The intermediate gear is mounted on the first connecting shaft, the driven gear is mounted on the second connecting shaft, and the other end of the second connecting shaft is connected to the rotary device.

6. The industrial seven-axis robot as described in claim 4, characterized in that, The driven gear has a larger diameter than the intermediate gear, and the intermediate gear has a larger diameter than the driving gear.

7. The industrial seven-axis robot as described in claim 3, characterized in that, The second transmission mechanism includes a mounting plate, a transmission shaft, and a gear assembly. The mounting plate is connected to the rotary device. One end of the transmission shaft passes through the mounting plate and is connected to the flange. The second motor and the third motor are connected to the other end of the transmission shaft through the gear assembly.

8. The industrial seven-axis robot as described in claim 7, characterized in that, The gear assembly includes a first gear, a second gear, a third gear, and a fourth gear. The first gear and the second gear are provided at the other end of the transmission shaft. The third gear is provided on the output shaft of the second motor, and the fourth gear is provided on the output shaft of the third motor. The first gear meshes with the third gear, and the second gear meshes with the fourth gear.

9. The industrial seven-axis robot as described in claim 8, characterized in that, The diameter of the first gear is greater than the diameter of the second gear, the diameter of the second gear is greater than the diameter of the fourth gear, and the diameter of the fourth gear is greater than the diameter of the third gear.

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