阅读说明：本技术 一种六自由度机器人的关节结构 (Joint structure of six-degree-of-freedom robot ) 是由 程群超 王刻强 卢冬冬 刘啟惠 周文 于 2021-07-26 设计创作，主要内容包括：本发明涉及一种六自由度机器人的关节结构,包括三四轴本体、驱动装置、小臂、传动轴、五六轴本体；驱动装置设置在三四轴本体的第一连接端内；小臂的第一连接端与三四轴本体的第一连接端连接；传动轴的输入端与驱动装置的输出端连接；传动轴穿过小臂的内部；五六轴本体的第一连接端转动设置在小臂的第二连接端上；传动轴的输出端与五六轴本体的第一连接端连接。本发明的六自由度机器人的关节结构,通过将三四轴本体的驱动装置后置在三四轴本体上,有效降低六自由度机器人原来的二三轴的内部电机的负载率；通过将小臂固定在三四轴本体上,无需带动小臂旋转,四轴选型计算时仅需要考虑五六轴本体以及末端负载旋转的转动惯量。(The invention relates to a joint structure of a six-degree-of-freedom robot, which comprises a three-four-axis body, a driving device, a small arm, a transmission shaft and a five-six-axis body; the driving device is arranged in the first connecting end of the three-four shaft body; the first connecting end of the small arm is connected with the first connecting end of the three-four shaft body; the input end of the transmission shaft is connected with the output end of the driving device; the transmission shaft penetrates through the inner part of the small arm; the first connecting end of the five-six shaft body is rotatably arranged on the second connecting end of the small arm; the output end of the transmission shaft is connected with the first connecting end of the five-six shaft body. According to the joint structure of the six-degree-of-freedom robot, the driving device of the three-four-axis body is arranged on the three-four-axis body in a rear mode, so that the load rate of an internal motor of two and three axes of the original six-degree-of-freedom robot is effectively reduced; the small arm is fixed on the three-four-axis body, the small arm does not need to be driven to rotate, and only the five-six-axis body and the rotary inertia of the tail end load need to be considered during four-axis model selection calculation.)

1. A joint structure of a six-degree-of-freedom robot, comprising:

a three-four axis body (10);

the driving device is arranged in the first connecting end of the three-four-shaft body (10);

the first connecting end of the small arm (30) is connected with the first connecting end of the three-four-axis body (10);

the input end of the transmission shaft (40) is connected with the output end of the driving device; the transmission shaft (40) penetrates through the inner part of the small arm (30);

the connecting structure comprises a five-six shaft body (50), wherein a first connecting end of the five-six shaft body (50) is rotatably arranged on a second connecting end of the small arm (30); the output end of the transmission shaft (40) is connected with the first connecting end of the five-six shaft body (50).

2. The joint structure of a six-degree-of-freedom robot according to claim 1, wherein the transmission shaft (40) is a hollow structure with a through hole (41) in the middle.

3. The joint structure of a six-degree-of-freedom robot according to claim 1, further comprising a main bearing (61) and a bearing pressure plate (62); the first connecting end of the five-six shaft body (50) is positioned in the second connecting end of the small arm (30);

the main bearing (61) is arranged outside the first connecting end of the five-six shaft body (50) and inside the second connecting end of the small arm (30); the end face of the second connecting end of the small arm (30) is provided with a first mounting groove (31), the main bearing (61) is located in the first mounting groove (31), and the bearing pressing plate (62) is arranged on the end face of the second connecting end of the small arm (30) and presses the main bearing (61).

4. The joint structure of a six-degree-of-freedom robot according to claim 3, further comprising an auxiliary bearing (63); the auxiliary bearing (63) is arranged outside the output end of the transmission shaft (40) and inside the second connecting end of the small arm (30).

5. The joint structure of a six-degree-of-freedom robot according to claim 4, wherein two ring grooves (42) are formed on the outer surface of the transmission shaft (40) corresponding to the two ends of the auxiliary bearing (63); the steel wire retaining ring is characterized by further comprising two steel wire retaining rings (64), wherein the steel wire retaining rings (64) are sleeved on the corresponding annular grooves (42) and tightly push against the inner ring of the auxiliary bearing (63).

6. The joint structure of a six-degree-of-freedom robot according to claim 5, wherein a second mounting groove (32) is provided in the second connecting end of the small arm (30), and the auxiliary bearing (63) is located in the second mounting groove (32); the device also comprises a gasket (65) and a clamp spring (66) for the hole; establish with jump ring (66) inlays in the hole on the medial surface of second mounting groove (32), install between jump ring (66) and auxiliary bearing (63) for the hole packing ring (65), tight together in the top of jump ring (66) and second mounting groove (32) for the hole packing ring (65) and auxiliary bearing (63).

7. The joint structure of a six-degree-of-freedom robot according to claim 6, further comprising a five-axis flange (70); the five-axis flange (70) is arranged on the end face of the first connecting end of the five-six-axis body (50); the five-axis flange structure is characterized by further comprising a plurality of plug screws (80), wherein each plug screw (80) is arranged on the five-axis flange (70), and each plug screw (80) is connected with the output end of the transmission shaft (40).

8. The joint structure of a six-degree-of-freedom robot according to claim 7, further comprising a wire conduit (90); the wire passing pipe (90) is arranged on the driving device and is used for a cable to pass through; the wire passing pipe (90) and the transmission shaft (40) are coaxially arranged.

9. The joint structure of a six-degree-of-freedom robot according to claim 8, wherein the driving means comprises a motor (21) and a speed reducer (22); the output end of the motor (21) is connected with the input end of the speed reducer (22), and the output end of the speed reducer (22) is connected with the input end of the transmission shaft (40); the wire passing pipe (90) is arranged in the speed reducer (22).

10. The joint structure of a six-degree-of-freedom robot according to claim 6, wherein the main bearing (61) is a cross roller bearing or a tapered roller bearing or a double row angular contact bearing; the auxiliary bearing (63) is a needle bearing, a roller bearing, a deep groove ball bearing or an angular contact ball bearing.

Technical Field

The invention relates to the technical field of robots, in particular to a joint structure of a six-degree-of-freedom robot.

Background

At present, the four-axis structure of a large-arm extended small-and-medium-load six-degree-of-freedom robot mainly adopts two schemes, namely: the four-axis motor is arranged in front of the speed reducer, and the four-axis speed reducer is directly connected with the five-axis body to drive the five-six axis and the load to rotate; scheme II: the four-axis speed reducer adopts a conventional three-four-axis integrated structure, the small arm and the five-six axis are fixed, the output end of the four-axis speed reducer is connected with the small arm to drive the small arm to the tail end load structure to rotate, the bending moment of the structure directly acts on the four-axis speed reducer, and measures such as reducing the three-axis rotating speed, reducing the tail end load or increasing the model of the speed reducer are adopted to ensure that the bending moment borne by the four-axis speed reducer is within the parameter requirement range.

In the two schemes disclosed at present, the bending moment borne by the speed reducer is required to be considered within a parameter requirement range during four-axis model selection calculation.

In addition, the disclosed first scheme is that a four-axis motor and a speed reducer are simultaneously mounted on the small arm, so that the structure is complex, and the processing difficulty is high; according to the disclosed scheme, the gravity center of a structure from a three-shaft body of the robot to a load is close to the tail end, the rotational inertia of the part of the structure is related to the mass m and the square of the distance r from the mass center to the three-shaft rotation axis, so that the torque required by starting and stopping the three shafts is large, the load factor of a motor is high, and the rotating speed cannot be further increased;

in the second disclosed scheme, parameters such as the rotating speed of the three shafts or the tail end load are reduced due to the limitation of bearable bending moment parameters of the four-shaft speed reducer.

Disclosure of Invention

Based on this, the invention aims to overcome the defects and shortcomings in the prior art and provide a joint structure of a six-degree-of-freedom robot.

A joint structure of a six-degree-of-freedom robot comprises a three-four-axis body, a driving device, a small arm, a transmission shaft and a five-six-axis body;

the driving device is arranged in the first connecting end of the three-four shaft body;

the first connecting end of the small arm is connected with the first connecting end of the three-four shaft body;

the input end of the transmission shaft is connected with the output end of the driving device; the transmission shaft penetrates through the inner part of the small arm;

the first connecting end of the five-six shaft body is rotatably arranged on the second connecting end of the small arm; the output end of the transmission shaft is connected with the first connecting end of the five-six shaft body.

According to the joint structure of the six-degree-of-freedom robot, the driving device of the three-four-axis body is arranged on the three-four-axis body in a rear mode, so that the load rate of an internal motor of two and three axes of the original six-degree-of-freedom robot is effectively reduced;

the small arm is fixed on the three-four-axis body, so that the small arm does not need to be driven to rotate, the four-axis model selection calculation only needs to consider the five-six-axis body and the moment of inertia of the tail end load rotation, the load rate of the three-four-axis body can be reduced, or a smaller motor and a smaller speed reducer model can be selected;

the invention can partially modify by means of the three-axis and four-axis bodies and the small arms of the conventional six-degree-of-freedom robot, thereby improving the three-axis speed and the tail end load parameters, avoiding the need of re-opening the mold, and reducing the development time and cost of a new machine type.

Furthermore, the transmission shaft is of a hollow structure, and a through hole is formed in the middle of the transmission shaft.

The beneficial effect who adopts above-mentioned further scheme is through setting up the through-hole at the transmission shaft, can make things convenient for the inside line of walking of robot, the protection electric wire.

Further, the device also comprises a main bearing and a bearing pressure plate; the first connecting end of the five-six shaft body is positioned in the second connecting end of the small arm;

the main bearing is arranged outside the first connecting end of the five-six shaft body and inside the second connecting end of the small arm; the end face of the second connecting end of the small arm is provided with a first mounting groove, the main bearing is located in the first mounting groove, and the bearing pressing plate is arranged on the end face of the second connecting end of the small arm and presses the main bearing tightly.

Further, the device also comprises an auxiliary bearing; the auxiliary bearing is arranged outside the output end of the transmission shaft and in the second connecting end of the small arm.

The further scheme has the advantages that one end of the main bearing is positioned through the first mounting groove of the small arm, the other end of the main bearing is positioned through the bearing pressing plate, and the axial position of the main bearing is determined; the output end of the driving device of the three-four-shaft body is connected with the five-six-shaft body through the transmission shaft, the small arm and the five-six-shaft body rotate relatively, the main bearing and the auxiliary bearing are arranged at the position, close to the five-six-shaft body, of the small arm and are used for bearing bending moments of the five-six-shaft body and a tail end load, so that the driving device of the three-four-shaft body does not need to consider bearing bending moments during model selection, only torque needs to be considered, a speed reducer and a motor with smaller models can be selected, the cost of the whole machine is reduced, and meanwhile, the load of two or three shafts of the original six-freedom-degree robot can be effectively reduced.

Furthermore, two ring grooves are formed in the outer surface of the transmission shaft corresponding to two ends of the auxiliary bearing; the auxiliary bearing further comprises two steel wire retaining rings, wherein the steel wire retaining rings are sleeved on the corresponding annular grooves and tightly push against the inner ring of the auxiliary bearing.

The beneficial effect of adopting above-mentioned further scheme is that, set up two steel wire retaining rings of recess installation respectively on the transmission shaft diameter for confirm auxiliary bearing inner race axial position.

Furthermore, a second mounting groove is formed in the second connecting end of the small arm, and the auxiliary bearing is located in the second mounting groove; the clamp spring for the hole and the gasket are also included; the hole clamp spring is embedded in the inner side face of the second mounting groove, the gasket is mounted between the hole clamp spring and the auxiliary bearing, and the hole clamp spring and the second mounting groove jointly prop against the gasket and the auxiliary bearing.

The beneficial effect who adopts above-mentioned further scheme is that, auxiliary bearing divide into interior outer lane two parts, but the outer lane axial is free activity, and auxiliary bearing outer lane one side is fixed a position through forearm second mounting groove, and the outer lane opposite side is fixed a position through packing ring and hole jump ring, and the packing ring makes the hole jump ring axial displacement certain distance, avoids inboard and the retaining ring of jump ring to interfere, confirms the axial position of auxiliary bearing outer lane.

Further, the device also comprises a five-axis flange; the five-axis flange is arranged on the end face of the first connecting end of the five-six shaft body; the five-axis flange is characterized by further comprising a plurality of plug screws, wherein each plug screw is arranged on the five-axis flange and is connected with the output end of the transmission shaft.

The beneficial effect of adopting above-mentioned further scheme is that, five-axis flange can set up the through-hole, and the transmission shaft output can set up the blind hole and the screw hole of certain length, and the polished rod position that uses the stopper to beat the screw passes five-axis flange and the epaxial blind hole of transmission and fixes a position and transmits, and the screw hole position and the epaxial screw hole of transmission are connected and are carried out axial positioning.

Furthermore, the wire passing pipe is also included; the wire passing pipe is arranged on the driving device and is used for a cable to pass through; the wire passing pipe is coaxial with the transmission shaft.

The beneficial effect who adopts above-mentioned further scheme is, through setting up the spool, make things convenient for the inside line of walking of robot, the protection electric wire.

Further, the driving device comprises a motor and a speed reducer; the output end of the motor is connected with the input end of the speed reducer, and the output end of the speed reducer is connected with the input end of the transmission shaft; the wire passing pipe is arranged in the speed reducer.

Further, the main bearing is a cross roller bearing or a tapered roller bearing or a double-row angular contact bearing; the auxiliary bearing is a needle bearing, a roller bearing, a deep groove ball bearing or an angular contact ball bearing.

The auxiliary bearing is a bearing which mainly bears radial load, such as a single or a plurality of needle roller bearings, deep groove ball bearings or angular contact ball bearings, and the main bearing is a bearing which can bear large bending moment, such as a cross roller bearing, a tapered roller bearing or a double-row angular contact bearing.

For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic structural diagram of a joint structure of a six-degree-of-freedom robot according to the present invention;

FIG. 2 is a schematic view of the internal structure of the joint structure of the six-DOF robot according to the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

fig. 4 is a partially enlarged view of fig. 2 at B.

In the figure: 10. a three-four axis body; 21. a motor; 22. a speed reducer; 30. a small arm; 31. a first mounting groove; 32. a second mounting groove; 40. a drive shaft; 41. a through hole; 42. a ring groove; 50. a body of five-six axes; 61. a main bearing; 62. a bearing pressure plate; 63. an auxiliary bearing; 64. a steel wire retainer ring; 65. a gasket; 66. a clamp spring for the hole; 70. a five-axis flange; 80. plugging and screwing screws; 90. a wire passing pipe.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that in the description of the present application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application. The terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, i.e. a feature defined as "first", "second" may explicitly or implicitly include one or more of such features. Further, unless otherwise specified, "a plurality" means two or more.

It should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "hollow" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1 to 4, the joint structure of a six-degree-of-freedom robot in the present embodiment includes a three-four-axis body 10, a driving device, a small arm 30, a transmission shaft 40, a five-six-axis body 50, a main bearing 61, a bearing pressing plate 62, an auxiliary bearing 63, a five-axis flange 70, and a wire passing pipe 90;

specifically, the driving device is arranged in the first connecting end of the three-four-axis body 10;

specifically, the first connecting end of the small arm 30 is connected with the first connecting end of the three-four-axis body 10;

specifically, the input end of the transmission shaft 40 is connected with the output end of the driving device; the transmission shaft 40 passes through the inner part of the small arm 30;

more specifically, the transmission shaft 40 is a hollow structure, and a through hole 41 is formed in the middle;

specifically, the first connecting end of the penta-hexa shaft body 50 is rotatably arranged on the second connecting end of the small arm 30; the output end of the transmission shaft 40 is connected with the first connecting end of the five-six shaft body 50;

more specifically, the first connecting end of the body 50 is located inside the second connecting end of the small arm 30;

in the preferred embodiment, the main bearing 61 is disposed outside the first connection end of the five-six shaft body 50 and inside the second connection end of the small arm 30; the end face of the second connecting end of the small arm 30 is provided with a first mounting groove 31, the main bearing 61 is positioned in the first mounting groove 31, and the bearing pressing plate 62 is arranged on the end face of the second connecting end of the small arm 30 and presses the main bearing 61;

in the preferred embodiment, the auxiliary bearing 63 is disposed outside the output end of the transmission shaft 40 and inside the second connection end of the small arm 30; two ring grooves 42 are formed in the outer surface of the transmission shaft 40 corresponding to the two ends of the auxiliary bearing 63; the bearing further comprises two steel wire retainer rings 64, wherein the steel wire retainer rings 64 are sleeved on the corresponding annular grooves 42 and tightly push against the inner ring of the auxiliary bearing 63;

in the preferred embodiment, the clamp spring also comprises a gasket 65 and a hole clamp spring 66; a second mounting groove 32 is formed in the second connecting end of the small arm 30, and the auxiliary bearing 63 is located in the second mounting groove 32; the jump ring 66 for hole inlays and establishes on the medial surface of second mounting groove 32, packing ring 65 is installed between jump ring 66 for hole and auxiliary bearing 63, jump ring 66 for hole and second mounting groove 32 tightly push up packing ring 65 and auxiliary bearing 63 jointly.

In the preferred embodiment, the five-axis flange 70 is disposed on an end surface of the first connection end of the five-six shaft body 50; the five-axis flange comprises a five-axis flange 70, and is characterized by further comprising a plurality of driving screws 80, wherein each driving screw 80 is arranged on the five-axis flange 70, and each driving screw 80 is connected with the output end of the transmission shaft 40.

In the preferred embodiment, the wire conduit 90 is mounted on the driving device for passing the cable; the wire passing pipe 90 is coaxially arranged with the transmission shaft 40;

the driving device comprises a motor 21 and a speed reducer 22; the reducer 22 may be a hollow RV reducer 22 or a harmonic reducer 22; the output end of the motor 21 is connected with the input end of the speed reducer 22, and the output end of the speed reducer 22 is connected with the input end of the transmission shaft 40; the wire passing pipe 90 is arranged in the speed reducer 22;

the main bearing 61 is a bearing capable of bearing a large bending moment, such as a cross roller bearing, a tapered roller bearing or a double-row angular contact bearing; the auxiliary bearing 63 is a bearing which mainly bears radial load, such as a single or a plurality of needle bearings, roller bearings, deep groove ball bearings or angular contact ball bearings;

preferably, the motor 21 in the present embodiment is a servo motor 21, the reducer 22 is a hollow RV reducer 22, the auxiliary bearing 63 is a needle bearing, and the main bearing 61 is a cross roller bearing.

The working process of the embodiment:

the motor 21 drives the speed reducer 22 to move, so as to drive the transmission shaft 40 to rotate, and further drive the five-six shaft body 50 to rotate through the transmission shaft 40, and the three-four shaft body 10 and the small arm 30 are fixed and relatively static.

Compared with the prior art, the driving device of the three-four-axis body is arranged on the three-four-axis body in a rear mode, so that the load rate of an internal motor of two and three axes of the original six-degree-of-freedom robot is effectively reduced;

through fixing the forearm on three four-axis bodies, need not to drive the forearm rotation, only need consider the inertia of five six-axis bodies and terminal load rotation during four-axis lectotype calculation, can reduce the load factor of three four-axis bodies or can choose for use less motor and speed reducer model.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.