CN209579569U

CN209579569U - A kind of seven freedom cooperation robot

Info

Publication number: CN209579569U
Application number: CN201920104312.5U
Authority: CN
Inventors: 温宽昌; 李瑞峰
Original assignee: Fujian Quanzhou HIT Research Institute of Engineering and Technology
Current assignee: Fujian Quanzhou HIT Research Institute of Engineering and Technology
Priority date: 2019-01-22
Filing date: 2019-01-22
Publication date: 2019-11-05
Anticipated expiration: 2029-01-22

Abstract

Disclosed by the utility model is a kind of seven freedom cooperation robot, pedestal including being sequentially connected setting, first joint, second joint, first connecting rod, third joint, 4th joint, second connecting rod, 5th joint, 6th joint and the 7th joint, the upper flange connecting pin of the pedestal is fixedly connected with the motor output end in the first joint, the flanged ends in first joint is fixedly connected with the motor output end of second joint, the flanged ends of the second joint is mutually fixedly connected with the lower flange connecting pin of first connecting rod, the upper flange connecting pin of the first connecting rod is fixedly connected with the motor output end in third joint.The utility model is compared to traditional six-joint robot, increase additional axis robot may be implemented and hides certain specific targets, specific position is reached convenient for end effector, certain this particular job environment can be adapted to more flexiblely, improves the relevant comprehensive kinematic and dynamic modeling of robot.

Description

A kind of seven freedom cooperation robot

Technical field

The utility model relates to multi-freedom intelligent robot field, more specifically a kind of seven freedom cooperation Robot.

Background technique

Enterprise based on light industry needs a large amount of artificial progress operations, is badly in need of the introducing of robot automation's equipment to mention The production efficiency and quality of high factory, while reducing the recruitment cost of factory.But the working method master of traditional robot device Will be based on simple, duplicate working method, and light industry robot needs relatively high positioning accuracy, and to material Rigidity there are certain requirements, and have certain flexibility requirements for joint of robot, and limiting traditional robot, (such as shoes take in light industry Industry) application.

Traditional robot is generally up to six-freedom degree at present, wherein preceding three degree of freedom guidance clamp hand device is extremely Desired position, then three degree of freedom is used to determine the direction of end executive device, and there is height to rely on professional skill for robot Teaching, the programming operation of energy personnel, and simple and repetitive operation can only be engaged in structured environment mostly.These types Robot generally has the characteristics that positioning accuracy is high, speed is fast and High power output, at the same this kind of robot the degree of automation compared with Working efficiency with higher and economic benefit in high, the production relatively-stationary large enterprises of behavior, but the robot of these types The cost is relatively high, lacks flexibility and fast adaptability, and have certain risk, needs that operation is isolated.So this Type machine people enterprise's production when adjusting therewith caused by consumer goods market quickly changes, it appears flexibility is insufficient, dexterous Property and intelligence it is not strong, make large quantities of pairs of markets have significant contribution medium-sized and small enterprises to using robot carry out production hold passiveness Attitude.

In addition, although robot obtained great development and corresponding policy support in recent years, actually absolutely mostly The production work of number medium-sized and small enterprises is still completed by craft or traditional robot manipulator, and the intelligence degree of robot is also insufficient To replace the work that people's completion is intelligent, flexibility and technical ability are more demanding, in face of current production and life complicated and changeable Demand, cooperation robot technology cause the attention of more and more researchers and company.

Utility model content

Disclosed by the utility model is a kind of seven freedom cooperation robot, and main purpose is that the prior art is overcome to deposit Above-mentioned insufficient and disadvantage.

The technical solution adopted in the utility model is as follows:

A kind of seven freedom cooperation robot, pedestal, the first joint, second joint, first including being sequentially connected setting Connecting rod, third joint, the 4th joint, second connecting rod, the 5th joint, the 6th joint and the 7th joint, the top method of the pedestal Blue connecting pin is fixedly connected with the motor output end in the first joint, the flanged ends in first joint and the electricity of second joint Machine output end is fixedly connected, and the lower flange connecting pin of the flanged ends of the second joint and first connecting rod is mutually fixed to be connected It connects, the upper flange connecting pin of the first connecting rod is fixedly connected with the motor output end in third joint, the flange in the third joint Connecting pin is fixedly connected with the motor output end in the 4th joint, the flanged ends in the 4th joint and the lower part method of second connecting rod Blue connecting pin is fixed, and the upper flange connecting pin of the second connecting rod is fixedly connected with the flanged ends in the 5th joint, and the 5th The motor output end in joint is fixedly connected with the flanged ends in the 6th joint, and the motor output end in the 6th joint and the 7th closes The flanged ends of section is fixedly connected, and the motor output end in the 7th joint is fitted with peripheral Auxiliary equipment；

Each intra articular is integrated to be equipped with motor driver, motor, absolute value encoder, incremental encoder, system Dynamic device and retarder, and the one end in each joint is motor output end, the output torque of the motor output end is for joint Rotation, the other end in joint are the flanged ends for drive connection；

It further include control module, which includes ups power, computer console and safe I/O sensor, In, ups power is used to provide power supply to the computer console and safe I/O sensor, and the computer console passes through CAN Bus matches corresponding control connection setting with the integrally disposed motor driver of each intra articular and motor respectively, The safe I/O sensor is connected with a teaching machine, and the computer console is connect with the teaching machine phase control.

Further, USB, LAN and USB interface are additionally provided on the computer console.

Further, the pedestal, the first joint, second joint, first connecting rod, third joint, the 4th joint, second connect Bar, the 5th joint, the 6th joint and each corresponding connection parts in the 7th joint are respectively adopted sealing ring and carry out exclusion seal setting.

Further, first joint is identical with the structure of second joint, and the torque of output is maximum, third joint and The structure in the 4th joint is identical, and the torque of output is taken second place, and the 5th joint, the 6th joint are identical with the structure in the 7th joint, The torque of output is minimum.

It further, further include third connecting rod and a joint connector, which is connected to the 5th joint and the 6th Between joint, the flanged ends at the third connecting rod both ends is matched with the motor output end in the 5th joint and the 6th joint respectively Connection, the joint connector are connected between third joint and second connecting rod, the flanged ends point at the joint connector both ends It is not connected with the flanged ends in third joint and second connecting rod, and the 4th joint is connected with the 5th joint, and the 4th closes The motor output end of section is connected with the flanged ends of second connecting rod；First joint is identical as the structure of second joint, Its torque exported is maximum, and the output torque in third joint is taken second place, the 4th joint, the 5th joint, the 6th joint and the 7th joint Structure it is identical, the torque of output is minimum.

It further, further include third connecting rod and a joint connector, which is connected to the 6th joint and joint Between connector, the flanged ends at the third connecting rod both ends flanged ends phase with the 6th joint and joint connector respectively Connection, the joint connector are connected between third connecting rod and the 7th joint, the flanged ends at the joint connector both ends It is connected respectively with the flanged ends of third connecting rod and the 7th joint；First joint is identical with second joint structure, The torque of output is maximum, and the third joint is identical with the structure in the 4th joint, and the torque of output is taken second place, and the described 5th closes Section, the 6th joint and the structure in the 7th joint are identical, and the torque of output is minimum.

Further, it is additionally provided with aviation plug interface on the pedestal, is used for power supply power supply line, CAN bus and sensing The cabling of device uses.

It further, further include driving power, which is respectively the motor driver and electricity in each joint Machine provides power supply.

By the above-mentioned description to the utility model it is found that compared to the prior art, utility model has the advantages that

1, the utility model is compared to traditional six-joint robot, increases additional axis robot may be implemented and hide certain spies Fixed target reaches specific position convenient for end effector, can adapt to certain this particular job environment more flexiblely, improves The relevant comprehensive kinematic and dynamic modeling of robot.

2, the utility model is combined and is constituted by modular each joint component and connecting component, and self weight is than gently, being not required to There is firm heavy pedestal, move and dispose with can be convenient, and can be realized dragging teaching, collision detection, flexibility control The functions such as system processed can protect mankind colleague to escape injury, play outstanding collaboration with flexible joint and lightweight structure Working efficiency.

3, the utility model it is man-machine can seamless delivery interface, robot is passed to by man-machine passing interface, thus It realizes the technical ability transmitting of people, and controller integrated control may be implemented, meanwhile, I/O interface is sufficient, optimization layout, conveniently moving, And support off-line programing and online programming, guiding function is programmed, the accessible motion of mechanical arm can be determined with real time algorithm Path.

4, the utility model uses closed design, and all cables pass through from robot interior, facilitates maintenance and maintenance, together When can according to practical function, carry out secondary development, to meet the complicated case of specific operating condition.

5, the utility model can have cooperative relationship flexible with operator, utilize the technical ability flexibility and robot of people Homework precision and efficiency combine, and have not only met the production task amount of factory, but also guarantee product quality, while the technical ability of people being deposited Storage reduces equipment to the dependence of people, to realize the automation and intelligence of production.It can further ensure that operating personnel pacifies Entirely, it reduces labor intensity, improves working efficiency, better meet medium-sized and small enterprises demand, be that future robot technology continues to develop Requirement.

Detailed description of the invention

Fig. 1 is the control structure schematic diagram of the utility model.

Fig. 2 is the structural schematic diagram of the utility model embodiment one.

Fig. 3 is the side structure schematic view of Fig. 2.

Fig. 4 is the structural schematic diagram of the utility model embodiment two.

Fig. 5 is the side structure schematic view of Fig. 4.

Fig. 6 is the structural schematic diagram of the utility model embodiment three.

Fig. 7 is the side structure schematic view of Fig. 6.

Specific embodiment

Explanation is with reference to the accompanying drawings to further explain specific embodiment of the present utility model.

Embodiment one

As shown in Figure 1, Figure 2 and Figure 3, a kind of seven freedom cooperates robot, including be sequentially connected setting pedestal 1, the One joint 2, second joint 3, first connecting rod 4, third joint 5, the 4th joint 6, second connecting rod 7, the 5th joint 8, the 6th joint 9 With the 7th joint 10, the upper flange connecting pin of the pedestal 1 is fixedly connected with the motor output end in the first joint 2, and described The flanged ends in one joint 2 is fixedly connected with the motor output end of second joint 3, the flanged ends of the second joint 3 It is mutually fixedly connected with the lower flange connecting pin of first connecting rod 4, the upper flange connecting pin and third joint 5 of the first connecting rod 4 Motor output end be fixedly connected, the flanged ends in the third joint 5 is fixedly connected with the motor output end in the 4th joint 6, The flanged ends in the 4th joint 6 is fixed with the lower flange connecting pin of second connecting rod 7, the upper flange of the second connecting rod 7 Connecting pin is fixedly connected with the flanged ends in the 5th joint 8, the motor output end in the 5th joint 8 and the method in the 6th joint 9 Blue connecting pin is fixedly connected, and the motor output end in the 6th joint 9 is fixedly connected with the flanged ends in the 7th joint 10, this The motor output end in seven joints 10 is fitted with peripheral Auxiliary equipment；

Further, the pedestal 1, the first joint 2, second joint 3, first connecting rod 4, third joint 5, the 4th joint 6, The progress of sealing ring 11 is respectively adopted in second connecting rod 7, the 5th joint 8, the 6th joint 9 and each corresponding connection parts in the 7th joint 10 Exclusion seal setting.

Further, first joint 2 is identical with the structure of second joint 3, and the torque of output is maximum, third joint 5 is identical with the structure in the 4th joint 6, output torque take second place, the 5th joint 8, the 6th joint 9 and the 7th joint 10 structure Identical, the torque of output is minimum.

As shown in Figures 2 and 3, robot is in the posture, the first joint 2, third joint 5, the 7th joint 10 its Joint rotary axis direction is parallel to each other, and second joint 3, the 4th joint 6, its joint rotary axis direction of the 5th joint 8 are parallel to each other； Furthermore its joint rotary axis direction is mutually perpendicular to the 6th joint 9 in the 5th joint 8, the 6th joint 9 and the 7th its joint of joint 10 Rotary axis direction is mutually perpendicular to.

Further, it is additionally provided with aviation plug interface on the pedestal 1, is used for power supply power supply line, CAN bus and sensing The cabling of device uses.

Embodiment two

As shown in Figure 1, Figure 4 and Figure 5, the present embodiment further includes that third connecting rod 12 and a joint connect compared with embodiment one Fitting 13, the third connecting rod 12 are connected between the 5th joint 8 and the 6th joint 9, the flanged joint at 12 both ends of third connecting rod End is in mating connection with the motor output end in the 5th joint 8 and the 6th joint 9 respectively, which is connected to third pass Between section 5 and second connecting rod 7, the flanged ends at 13 both ends of joint connector respectively with third joint 5 and second connecting rod 7 Flanged ends is connected, and the 4th joint 6 is connected with the 5th joint 8, and the motor output end in the 4th joint 6 and second connects The flanged ends of bar 7 is connected；First joint 2 is identical as the structure of second joint 3, and the torque of output is maximum, the The output torque in three joints 5 is taken second place, and the 4th joint 6, the 5th joint 8, the 6th joint 9 are identical with the structure in the 7th joint 10, The torque of output is minimum.Other structures are the same as example 1, and are just no longer repeated herein.

As shown in Figure 4 and Figure 5, robot is in the posture, the first joint 2, third joint 5, the 5th joint 8, Its joint rotary axis direction of seven joints 10 is parallel to each other, second joint 3, the 4th joint 6, its joint rotary shaft side of the 6th joint 9 To being parallel to each other.Joint connector 13 can carry out corresponding size adjusting according to the actual situation, in order to the first joint 2 and Whether the joints axes of seven joints 10 between the two are overlapped in the state position.

Embodiment three

As shown in Fig. 1, Fig. 6 and Fig. 7, the present embodiment further includes that third connecting rod 12 and a joint connect compared with embodiment one Fitting 13, the third connecting rod 12 are connected between the 6th joint 9 and joint connector 13, and the flange at 12 both ends of third connecting rod connects It connects end to be connected with the flanged ends in the 6th joint 9 and joint connector 13 respectively, the joint connector 13 is connected to the Between three-link 12 and the 7th joint 10, the flanged ends at 13 both ends of joint connector respectively with third connecting rod 12 and the 7th The flanged ends in joint 10 is connected；First joint 2 is identical with 3 structure of second joint, and the torque of output is maximum, institute State that third joint 5 is identical with the structure in the 4th joint 6, the torque of output is taken second place, the 5th joint 8, the 6th joint 9 and the The structure in seven joints 10 is identical, and the torque of output is minimum.Other structures are the same as example 1, and are just no longer repeated herein.

As shown in Figure 6 and Figure 7, robot is in the posture, the first joint 2, third joint 5, the 5th joint 8, Its joint rotary axis direction of seven joints 10 is parallel to each other, second joint 3, the 4th joint 6, its joint rotary shaft side of the 6th joint 9 To being parallel to each other.Joint connector 13 can carry out corresponding size adjusting according to the actual situation, in order to the 7th joint 10 with Whether the joints axes of the first joint 2 or the 5th joint 8 between the two are overlapped in the state position.

The above is only the specific embodiments of the present invention, but the design concept of the utility model is not limited merely to This, it is all that the utility model is improved with carrying out unsubstantiality using this design, it should belong to and invade the utility model protection The behavior of range.

Claims

The robot 1. a kind of seven freedom cooperates, it is characterised in that: pedestal, the first joint, second including being sequentially connected setting Joint, first connecting rod, third joint, the 4th joint, second connecting rod, the 5th joint, the 6th joint and the 7th joint, the pedestal Upper flange connecting pin be fixedly connected with the motor output end in the first joint, the flanged ends and second in first joint The motor output end in joint is fixedly connected, the lower flange connecting pin phase of the flanged ends and first connecting rod of the second joint It is fixedly connected, the upper flange connecting pin of the first connecting rod is fixedly connected with the motor output end in third joint, the third joint Flanged ends be fixedly connected with the motor output end in the 4th joint, the flanged ends in the 4th joint and second connecting rod Lower flange connecting pin is fixed, and the upper flange connecting pin of the second connecting rod is fixedly connected with the flanged ends in the 5th joint, The motor output end in the 5th joint is fixedly connected with the flanged ends in the 6th joint, the motor output end in the 6th joint with The flanged ends in the 7th joint is fixedly connected, and the motor output end in the 7th joint is fitted with peripheral less important work and sets It is standby；

Each intra articular is integrated to be equipped with motor driver, motor, absolute value encoder, incremental encoder, brake And retarder, and the one end in each joint is motor output end, the output torque of the motor output end is used for the rotation in joint, The other end in joint is the flanged ends for drive connection；

It further include control module, which includes ups power, computer console and safe I/O sensor, wherein Ups power is used to provide power supply to the computer console and safe I/O sensor, and the computer console is total by CAN Line matches corresponding control connection setting, institute with the integrally disposed motor driver of each intra articular and motor respectively It states safe I/O sensor to be connected with a teaching machine, and the computer console is connect with the teaching machine phase control.
The robot 2. a kind of seven freedom according to claim 1 cooperates, it is characterised in that: on the computer console It is additionally provided with USB, LAN and USB interface.
The robot 3. a kind of seven freedom according to claim 1 cooperates, it is characterised in that: the pedestal, the first joint, Second joint, first connecting rod, third joint, the 4th joint, second connecting rod, the 5th joint, the 6th joint and the 7th joint it is each A corresponding connection parts are respectively adopted sealing ring and carry out exclusion seal setting.
The robot 4. a kind of seven freedom according to claim 2 cooperates, it is characterised in that: first joint and second The structure in joint is identical, and the torque of output is maximum, and third joint is identical with the structure in the 4th joint, the torque time of output It, the 5th joint, the 6th joint are identical with the structure in the 7th joint, and the torque of output is minimum.
The robot 5. a kind of seven freedom according to claim 2 cooperates, it is characterised in that: further include third connecting rod and one Joint connector, the third connecting rod are connected between the 5th joint and the 6th joint, which connects the flanged ends at both ends In mating connection with the motor output end in the 5th joint and the 6th joint respectively, which is connected to third joint and the Between two connecting rods, the flanged ends at the joint connector both ends flanged ends phase with third joint and second connecting rod respectively Connection, and the 4th joint is connected with the 5th joint, and the flanged ends of the motor output end in the 4th joint and second connecting rod It is connected；First joint is identical as the structure of second joint, and the torque of output is maximum, the output torque time in third joint It, the 4th joint, the 5th joint, the 6th joint are identical with the structure in the 7th joint, and the torque of output is minimum.
The robot 6. a kind of seven freedom according to claim 2 cooperates, it is characterised in that: further include third connecting rod and one Joint connector, the third connecting rod are connected between the 6th joint and joint connector, the flanged joint at the third connecting rod both ends End be connected respectively with the flanged ends in the 6th joint and joint connector, the joint connector be connected to third connecting rod with Between 7th joint, the flanged ends at the joint connector both ends flanged ends with third connecting rod and the 7th joint respectively It is connected；First joint is identical with second joint structure, and the torque of output is maximum, the third joint and the 4th joint Structure it is identical, output torque take second place, the structure in the 5th joint, the 6th joint and the 7th joint is identical, output Torque it is minimum.
The robot 7. a kind of seven freedom according to claim 1 cooperates, it is characterised in that: boat is additionally provided on the pedestal Blind plug interface, the cabling for power supply power supply line, CAN bus and sensor use.
The robot 8. a kind of seven freedom according to claim 1 cooperates, it is characterised in that: it further include driving power, it should Driving power is respectively that the motor driver in each joint and motor provide power supply.