Robot

Abstract

The invention relates to a robot. The robot comprises a frame, a large arm, a small arm, a tail end actuator, a connecting piece connected with the small arm in a rotating mode, a first connecting rod and a second connecting rod which are connected between the connecting piece and the small arm in turn, a third connecting rod connected with the frame and the connecting piece in the rotating mode, a driving connecting rod connected with the frame in the rotating mode, a driven connecting rod connected with the driving connecting rod and the small arm, a first driving component for driving the large arm, and a second driving component for driving the driving connecting rod, wherein the connecting piece, the first connecting rod, the second connecting rod and the small arm form a first parallelogram structure; the connecting piece, the large arm, the third connecting rod and the frame form a second parallelogram structure; the driving connecting rod, the driven connecting rod, the small arm, the large arm and the frame form a pentagonal structure; the tail end actuator is arranged on the second connecting rod; and the first driving component and the second driving component are arranged on the frame. The robot has the advantages that: the robot has a compact structure and is convenient to control.

Description

technical field [0001] The invention relates to a robot, in particular to a robot used in an industrial automation production line and capable of carrying out work such as handling and stacking. Background technique [0002] A conventional robot includes a plurality of sequentially connected mechanical arms, and the end effectors such as clamps, cutting tools and detectors can be installed on the end of the mechanical arms to perform various actions. Each mechanical arm realizes rotation around a certain rotation axis through a drive assembly. The driving assembly generally includes a motor arranged along the rotation axis of each robot arm and a reducer connected to the motor. The output end of the reducer drives the robot arm to move, so the size of each robot arm along its rotation axis is usually larger. Because the driving part is directly installed on the mechanical arm, each mechanical arm bears a large load during movement, so the moment of inertia becomes larger, w...

AI Technical Summary

Problems solved by technology

Because the driving part is directly installed on the mechanical arm, each mechanical arm bears a large load during movement, so the moment of inertia becomes larger, which makes it difficult to control the accuracy and speed of the mechanical arm

Moreover, the size of each mechanical arm along the direction of its respective rotation axis is relatively large, which increases the space occupied by the overall structure of the robot.

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