Five-joint robot and control method thereof

Abstract

The invention discloses a five-joint robot and a control method thereof. The five-joint robot comprises four mechanical arms connected in sequence and a joint assembly used for driving the mechanicalarms to move, and each mechanical arm comprises a base, a main mechanical arm body, a first horizontal arm, a second horizontal arm, a wrist arm and a rotating part; the main mechanical arm bodies arearranged on the bases and used for achieving movement in the vertical direction; the first horizontal arms are connected with the main mechanical arm bodies and used for achieving rotation in the horizontal rotation; the second horizontal arms are connected with the first horizontal arms and used for achieving rotation in the horizontal rotation; the wrist arms are arranged at the tail ends of the second horizontal arms and used for achieving rotation in the vertical direction; the rotating parts are arranged at the tail ends of the wrist arms and used for achieving axial rotation. Accordingto the five-joint robot, height positioning is achieved through ascending and descending movement of the main mechanical arm bodies, positioning of the horizontal plane at any position is achieved through horizontal rotation of the first horizontal arms and second horizontal arms, flexible space operation is comprehensively achieved by combining movement of the wrist arms and rotating parts, and the control precision is high.

Description

Technical field [0001] The invention relates to the technical field of robots, in particular to a five-joint robot and a control method thereof. Background technique [0002] The development of robotics technology is gradual, but at present, four-axis and six-axis robots are widely used in the market, and five-axis robots have relatively few industrial applications. The four-axis robot has a simple structure and low cost, but its flexibility is also poor, and the application occasions are greatly limited; while the six-axis robot has six degrees of freedom and is widely used, but relatively speaking, the cost has increased a lot. In fact, in actual industrial applications, some workplaces do not require six degrees of freedom. The use of six-joint robots will not only increase costs but also cause waste of resources. However, four-joint robots cannot meet their work requirements, so a A five-axis robot with flexibility and low cost. [0003] Such as figure 1 As shown, the existin...

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a five-joint robot and its control method for the above-mentioned defects of the prior art, aiming to solve the problems of low flexibility and high cost of the five-joint robot in the prior art

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