Robot

Abstract

The invention discloses a robot. The robot comprises a small arm, a large arm, a connecting rod, a balance rod, a first linear driving device and a first driving rod. One end of the big arm is rotatably connected with the small arm; one end of the connecting rod is rotatably connected with one end of the small arm; one end of the balance rod is rotatably connected with one end, far away from the small arm, of the large arm; the first linear driving device comprises a first moving part; one end of the first driving rod is rotatably connected with the first moving part, and the other end of the first driving rod is rotatably connected with the balance rod; and the first linear driving device is configured to drive the first moving part to linearly move so as to drive the small arm to rotate relative to the large arm under the limitation of the connecting rod and the balance rod through the first driving rod. According to the mode that high-rigidity linear motion is converted into rotation, the transmission rigidity between the large arm and the small arm is increased, the stability of the robot in the machining process is improved, and the machining quality and machining efficiency of parts are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot. Background Art

[0002] In modern manufacturing, the application of robotics technology is gradually replacing traditional machine tool processing methods, especially in the field of parts processing. Robots can replace machine tools to process parts, which can not only significantly expand the processing range and improve the flexibility of processing, but also realize the in-situ processing of large and medium-sized parts in high-precision fields such as aerospace.

[0003] In the related art, a rotary drive mechanism, such as a rotary motor, is provided between the upper arm and the lower arm of the robot, and the upper arm and the lower arm are driven to perform pitch motion by the rotary motor. However, this method of driving the upper arm and the lower arm to perform pitch motion by means of a rotary motor makes the robot have low rigidity, resulting in large vibration and poor stability during the operation of the robot, which affects the processing quality of the parts and may reduce the processing efficiency. Summary of the invention

[0004] The present invention provides a robot to solve at least one of the above-mentioned technical problems.

[0005] The robot of the embodiment of the present invention comprises a forearm, a large arm, a connecting rod, a balancing rod, a first linear drive device and a first driving rod. One end of the large arm is rotatably connected to the forearm; one end of the connecting rod is rotatably connected to one end of the forearm; the balancing rod is rotatably connected to one end of the connecting rod away from the small arm, and one end of the balancing rod is rotatably connected to one end of the large arm away from the small arm; the first linear drive device comprises a first moving member; one end of the first driving rod is rotatably connected to the first moving member, and the other end of the first driving rod is rotatably connected to the balancing rod; the first linear drive device is configured to drive the first moving member to move linearly, so as to drive the forearm to rotate relative to the large arm under the restriction of the connecting rod and the balancing rod through the first driving rod.

[0006] If the load of the forearm is directly transferred to the upper arm, this will result in a lower rigidity of the upper arm. In the robot of the embodiment of the present invention, the upper arm, the forearm, the connecting rod and the balance rod can constitute a four-bar linkage. Therefore, the load on the forearm can also be transferred to other parts through the connecting rod, so that the force on the upper arm can be reduced, thereby improving the transmission rigidity of the robot. At the same time, the first linear drive device can drive the forearm to rotate by driving the first movable member to move linearly. This method of converting high-rigidity linear motion into rotation greatly increases the transmission rigidity between the upper arm and the forearm, thereby increasing the overall rigidity of the robot, thereby reducing the vibration during the robot processing, and improving the stability of the robot during the processing, thereby improving the processing quality and efficiency of the parts.

[0007] In some embodiments, the forearm includes a first connecting part and a second connecting part, the first connecting part and the second connecting part are located at opposite ends of the forearm and are coaxially arranged, the first connecting part is sleeved with a first bearing, the second connecting part is sleeved with a second bearing, the upper arm is rotatably connected to the first connecting part via the first bearing, and the upper arm is rotatably connected to the second connecting part via the second bearing.

[0008] In some embodiments, the balance pole and the end of the connecting rod away from the forearm are hinged by a first connecting axis, and the balance pole and the other end of the first driving rod are hinged by a second connecting axis, and the first connecting axis and the second connecting axis are coaxially arranged.

[0009] In some embodiments, the first linear drive device further includes a first fixed member, and the first movable member performs linear motion relative to the first fixed member.

[0010] In some embodiments, the first fixed member includes a first guide rail, the first movable member includes a first slider, and the first linear drive device also includes a first drive assembly and a first motor. The first motor drives the first drive assembly to move linearly, thereby driving the first slider to move linearly on the first guide rail.

[0011] In some embodiments, the first driving assembly includes a first screw rod and a first nut, the first nut is connected to the first slider, and the first nut and the first slider are both sleeved on the first screw rod.

[0012] In some embodiments, the first linear drive device further includes a first reducer, which is connected to the first motor and is used to transmit power of the first motor, thereby driving the first slider to move linearly on the first guide rail.

[0013] In some embodiments, the robot also includes a second linear drive device and a second drive rod, the second linear drive device includes a second movable member, one end of the second drive rod is rotatably connected to an end of the upper arm away from the lower arm, and the other end of the second drive rod is rotatably connected to the second movable member, and the second linear drive device is configured to drive the second movable member to move linearly so as to drive the upper arm to rotate through the second drive rod.

[0014] In some embodiments, the second linear drive device further includes a second fixed member, and the second movable member performs linear motion relative to the second fixed member.

[0015] In some embodiments, the second fixed member includes a second guide rail, the second movable member includes a second slider, and the second linear drive device also includes a second drive assembly and a second motor. The second motor drives the second drive assembly to move linearly, thereby driving the second slider to move linearly on the second guide rail.

[0016] In some embodiments, the second driving assembly includes a second screw rod and a second nut, the second nut is connected to the second slider, and the second nut and the second slider are both sleeved on the second screw rod.

[0017] In some embodiments, the second linear drive device further includes a second reducer, which is connected to the second motor, and is used to transmit power of the second motor, thereby driving the second slider to move linearly on the second guide rail.

[0018] In some embodiments, the robot further includes a turntable and a base, the turntable is rotatably connected to the base, and one end of the upper arm away from the lower arm is rotatably connected to the turntable.

[0019] In some embodiments, the turntable includes a mounting plane, which is parallel to a horizontal plane. The first linear drive device and the second linear drive device are both mounted on the mounting plane and are inclined relative to the horizontal plane.

[0020] In some embodiments, the end of the upper arm away from the lower arm includes a third connecting part and a fourth connecting part, the third connecting part and the fourth connecting part are located at opposite ends of the upper arm and are coaxially arranged, the third connecting part is provided with a third bearing, the fourth connecting part is provided with a fourth bearing, the turntable is rotatably connected to the third connecting part via the third bearing, and the turntable is rotatably connected to the fourth connecting part via the fourth bearing.

[0021] In some embodiments, the end of the upper arm away from the lower arm is hinged to the turntable via a third connecting axis, one end of the balance rod is hinged to the end of the upper arm away from the lower arm via a fourth connecting axis, and the third connecting axis and the fourth connecting axis are coaxially arranged.

[0022] In some embodiments, the robot also includes a mounting member and a balancing cylinder, one end of the mounting member is fixedly connected to the turntable, the other end of the mounting member is rotatably connected to the balancing cylinder, and one end of the balancing cylinder away from the mounting member is rotatably connected to an end of the upper arm away from the lower arm.

[0023] In some embodiments, the robot further includes a wrist joint connected to an end of the forearm away from the upper arm.

[0024] In some embodiments, the robot further includes a counterweight block connected to an end of the balance bar away from the upper arm.

[0025] In some embodiments, the balancing rod includes a first rod and a second rod, the first rod and the second rod are located on opposite sides of the connecting rod, and one end of the first rod away from the main arm and one end of the second rod away from the main arm are both connected to the counterweight block.

[0026] In certain embodiments, the upper arm, the lower arm, the connecting rod and the balancing rod form a four-bar linkage mechanism with opposite sides of equal length.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a robot according to an embodiment of the present invention; Figure 2 is another structural schematic diagram of a robot according to an embodiment of the present invention; Figure 3 is another structural schematic diagram of a robot according to an embodiment of the present invention; Figure 4 is a partial cross-sectional view of a robot according to an embodiment of the present invention; Figure 5 is another partial cross-sectional view of the robot according to the embodiment of the present invention; Figure 6 is a schematic structural diagram of a first linear drive device according to an embodiment of the present invention; Figure 7 is another structural schematic diagram of a robot according to an embodiment of the present invention; Figure 8 is another structural schematic diagram of a robot according to an embodiment of the present invention; Fig. 9 4 is a schematic structural diagram of a second linear drive device according to an embodiment of the present invention.

[0029] Description of reference numerals: Robot 100; small arm 10; large arm 20; connecting rod 30; balancing rod 40; first linear drive device 50; first moving member 51; first driving rod 60; first connecting portion 11; second connecting portion 12; first bearing 101; second bearing 102; first connecting shaft 103; second connecting shaft 104; first fixing member 52; first guide rail 520; first slider 510; first driving assembly 53; first motor 54; first screw rod 530; first nut 531; first reducer 55; second linear drive device 70; second driving Rod 80; second movable member 71; second fixed member 72; second guide rail 720; second slider 710; second drive assembly 73; second motor 74; second screw rod 730; second nut 731; second reducer 75; turntable 90; base 105; mounting plane 91; third connecting portion 21; fourth connecting portion 22; third bearing 106; fourth bearing 107; third connecting shaft 108; fourth connecting shaft 109; mounting member 110; balancing cylinder 111; wrist joint 112; counterweight 113; first rod 41; second rod 42. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0034] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0035] Please refer to Figure 1 , Figure 2 and Figure 3 . The robot 100 of the embodiment of the present invention includes a forearm 10, a large arm 20, a connecting rod 30, a balancing rod 40, a first linear drive device 50 and a first driving rod 60. One end of the large arm 20 is rotatably connected to the forearm 10; one end of the connecting rod 30 is rotatably connected to one end of the forearm 10; the balancing rod 40 is rotatably connected to one end of the connecting rod 30 away from the small arm 10, and one end of the balancing rod 40 is rotatably connected to one end of the large arm 20 away from the small arm 10; the first linear drive device 50 includes a first moving member 51; one end of the first driving rod 60 is rotatably connected to the first moving member 51, and the other end of the first driving rod 60 is rotatably connected to the balancing rod 40; the first linear drive device 50 is configured to drive the first moving member 51 to move linearly, so as to drive the forearm 10 to rotate relative to the large arm 20 under the restriction of the connecting rod 30 and the balancing rod 40 through the first driving rod 60.

[0036] If the load of the forearm 10 is directly transferred to the upper arm 20, this will result in a lower rigidity of the upper arm 20. In the robot 100 of the embodiment of the present invention, the upper arm 20, the forearm 10, the connecting rod 30 and the balancing rod 40 can constitute a four-bar linkage. Therefore, the load on the forearm 10 can also be transferred to other parts through the connecting rod 30, so that the force on the upper arm 20 can be reduced, thereby improving the transmission rigidity of the robot 100. At the same time, the first linear drive device 50 can drive the forearm 10 to rotate by driving the first movable member 51 to move linearly. This method of converting high-rigidity linear motion into rotation greatly increases the transmission rigidity between the upper arm 20 and the forearm 10, thereby increasing the overall rigidity of the robot 100, thereby reducing the vibration of the robot 100 during processing, and improving the stability of the robot 100 during processing, thereby improving the processing quality and processing efficiency of parts.

[0037] Specifically, the robot 100 may be an industrial robot 100 used for assembly, welding, and the like on a production line. The forearm 10 is the part of the robot 100 that is close to the end effector (such as a gripper, welding gun, etc.), and is used to carry the end effector and perform fine motion operations. The robot 100 may be used in Figure 2 and Figure 3 The two states shown in the figure can be moved to achieve different operation requirements. Figure 2 and Figure 3 The robot 100 may be in other states as shown, and the embodiments of the present invention are not limited to this.

[0038] The upper arm 20 is the main supporting part in the arm structure of the robot 100, which plays the role of supporting and transmitting force. The upper arm 20 is rotatably connected to the lower arm 10. For the rotation requirement within a plane, the rotatable connection between the upper arm 20 and the lower arm 10 can be hinged. Of course, the rotatable connection between the upper arm 20 and the lower arm 10 can also be achieved in other ways, which is not limited in the embodiments of the present invention.

[0039] The connecting rod 30 is a rod-shaped structure for connecting different components. The connecting rod 30 can play the role of transmitting force and constraining movement in the structure of the robot 100. The relative movement between different components can be achieved through the rotatable connection at both ends of the connecting rod 30. For the rotation requirement within a plane, the rotatable connection between the connecting rod 30 and the forearm 10 can be a hinge. Of course, the rotatable connection between the connecting rod 30 and the forearm 10 can also be achieved in other ways, and the embodiments of the present invention are not limited to this.

[0040] The balancing rod 40 is a rod-shaped component used for balancing and transmitting force, and plays a balancing role in the structure of the robot 100. When the first driving rod 60 drives the balancing rod 40 to swing, the balancing rod 40 can evenly transmit the force to the connecting rod 30 and the upper arm 20, thereby driving the lower arm 10 to rotate and ensuring the stability of the entire movement process.

[0041] The balancing bar 40 can apply a pulling force to the forearm 10 through the connecting rod 30, and this pulling force can be balanced with the weight of the forearm 10 itself and the load at one end of the forearm 10. The connecting rod 30 can be connected to the area between the two ends of the balancing bar 40. For the rotation requirement within a plane, the rotatable connection between the balancing bar 40 and the boom 20 and between the balancing bar 40 and the connecting rod 30 can be hinged. Of course, the rotatable connection between the balancing bar 40 and the boom 20 and between the balancing bar 40 and the connecting rod 30 can also be achieved by other methods, which are not limited in the embodiments of the present invention.

[0042] The first linear drive device 50 is a drive device that can generate linear motion. The first linear drive device 50 may include a power source (such as a motor, etc.), a screw nut mechanism and other components, and can convert energy into linear motion output through the input of electrical energy or other energy.

[0043] The first movable member 51 is a component directly involved in the linear motion in the first linear drive device 50, and can be connected to the output end of the power source in the first drive device, and perform linear motion under the action of the power source. In different linear drive devices, the structural form of the first movable member 51 is also different. For example, in the first linear drive device 50 driven by a cylinder, the first movable member 51 can be the piston rod of the cylinder; in the first linear drive device 50 driven by a hydraulic cylinder, the first movable member 51 can be the piston rod of the hydraulic cylinder; in the first linear drive device 50 driven by an electric lead screw nut mechanism, the first movable member 51 can be a nut that cooperates with the lead screw thread.

[0044] The first driving rod 60 is a rod-shaped component for transmitting power. One end of the first driving rod 60 is rotatably connected to the first moving member 51, and the other end is rotatably connected to the balancing rod 40. The power of the first linear driving device 50 is transmitted to the balancing rod 40 through the swinging motion of the first driving rod 60, thereby driving the small arm 10 to rotate. The first driving rod 60 can be designed as a high-strength alloy steel driving rod to withstand a large torque.

[0045] For the rotation requirement in one plane, the rotatable connection between the first drive rod 60 and the first moving member 51 and between the first drive rod 60 and the balancing pole 40 can be hinged. Of course, the rotatable connection between the first drive rod 60 and the first moving member 51 and between the first drive rod 60 and the balancing pole 40 can also be achieved by other means, which is not limited in the embodiments of the present invention.

[0046] A rotatable connection refers to a relative rotation connection between two components achieved through structures such as bearings and joints, allowing one component to rotate freely relative to another component within a certain angle range while transmitting force and torque.

[0047] In one embodiment, when it is necessary to drive the small arm 10 to rotate, the power source of the first linear drive device 50 is energized to generate a linear thrust to push the first movable member 51 to move. The linear motion of the first movable member 51 can be transmitted to the first driving rod 60 through a universal joint, so that the first driving rod 60 swings. The other end of the first driving rod 60 can be connected to the balance bar 40 through a joint bearing, and the balance bar 40 swings around the connection point with the large arm 20 under the swinging action of the first driving rod 60. The swing of the balance bar 40 further drives the connecting rod 30 to move, and the connecting rod 30 and the small arm 10 can be connected through a joint bearing. Under the restriction of the connecting rod 30 and the balance bar 40, the small arm 10 rotates around the connection point with the large arm 20.

[0048] Please refer to Figure 4 In some embodiments, the forearm 10 includes a first connecting portion 11 and a second connecting portion 12, which are located at opposite ends of the forearm 10 and are coaxially arranged, a first bearing 101 is sleeved on the first connecting portion 11, and a second bearing 102 is sleeved on the second connecting portion 12, the upper arm 20 is rotatably connected to the first connecting portion 11 through the first bearing 101, and the upper arm 20 is rotatably connected to the second connecting portion 12 through the second bearing 102.

[0049] In this way, the overturning stiffness of the forearm 10 can be increased, thereby increasing the overall stiffness of the robot 100 .

[0050] Specifically, the first connection portion 11 may be a boss structure with an outer cylindrical surface, and the outer diameter of the first connection portion 11 may match the inner diameter of the first bearing 101. The second connection portion 12 may also be a boss structure with an outer cylindrical surface, and the outer diameter of the second connection portion 12 may match the inner diameter of the second bearing 102. The first bearing 101 and the second bearing 102 may be selected from different types of bearings, such as deep groove ball bearings, tapered roller bearings, etc., according to specific application requirements.

[0051] The coaxial arrangement of the first connection portion 11 and the second connection portion 12 means that the central axes of the first connection portion 11 and the second connection portion 12 overlap. Figure 4 The dotted line a in the figure shows the central axis of the first connecting portion 11 and the second connecting portion 12. It should be noted that this is only a schematic diagram for easy understanding and cannot be used as a limitation on the embodiments of the present invention.

[0052] Please refer to Figure 5 In some embodiments, the balancing rod 40 is hinged to one end of the connecting rod 30 away from the forearm 10 via a first connecting shaft 103, and the balancing rod 40 is hinged to the other end of the first driving rod 60 via a second connecting shaft 104, and the first connecting shaft 103 and the second connecting shaft 104 are coaxially arranged.

[0053] In this way, the overall space occupied by the first connecting shaft 103 and the second connecting shaft 104 can be reduced, thereby making the structure of the entire robot 100 more compact and improving space utilization.

[0054] Specifically, the first connecting shaft 103 can be used to transmit rotational motion, and can also be used to bear various loads generated during the movement of the balancing pole 40 and the connecting rod 30. The second connecting shaft 104 can be used to transmit rotational motion, and can also be used to bear various loads generated during the movement of the balancing pole 40 and the first driving rod 60. Both the first connecting shaft 103 and the second connecting shaft 104 can be made of high-strength alloy steel material, and the surface is hardened to improve wear resistance and fatigue resistance.

[0055] The coaxial arrangement of the first connecting shaft 103 and the second connecting shaft 104 means that the central axes of the first connecting shaft 103 and the second connecting shaft 104 overlap. Figure 5 As shown, the first connecting shaft 103 and the second connecting shaft 104 may also be the same shaft, and the first connecting shaft 103 and the second connecting shaft 104 are part of the balancing pole 40 . Figure 5 The dotted line b in FIG. 1 shows the central axis of the first connecting shaft 103 and the second connecting shaft 104. It should be noted that this is only a schematic diagram for easy understanding and cannot be used as a limitation on the embodiments of the present invention.

[0056] Please refer to Figure 1 and Figure 6 In some embodiments, the first linear drive device 50 further includes a first fixed member 52 , and the first movable member 51 performs linear motion relative to the first fixed member 52 .

[0057] In this way, the first fixing member 52 can provide a moving path for the first moving member 51 , thereby making the movement of the first moving member 51 more stable.

[0058] Specifically, the first fixing member 52 is a component in the first linear drive device 50 for fixing and supporting the first moving member 51, and for guiding the first moving member 51 to perform linear motion. The first fixing member 52 can be a guide rail, a cylinder, etc., and its structure and size can be designed according to the motion requirements of the first moving member 51.

[0059] Please refer to Figure 1 and Figure 6 In some embodiments, the first fixed member 52 includes a first guide rail 520 , the first movable member 51 includes a first slider 510 , and the first linear drive device 50 also includes a first drive assembly 53 and a first motor 54 . The first motor 54 drives the first drive assembly 53 to move linearly, thereby driving the first slider 510 to move linearly on the first guide rail 520 .

[0060] In this way, the coordinated movement of the first guide rail 520 and the first slider 510 has high stability, which improves the stability of the small arm 10 during rotation, thereby improving the stability of the robot 100 during processing. In addition, the first guide rail 520 provides a stable movement path, and the movement of the first slider 510 on the first guide rail 520 ensures the accuracy and repeatability of the linear motion.

[0061] Specifically, the first motor 54 can be a stepper motor, a servo motor, etc., which is selected according to the control accuracy and response speed requirements. The first motor 54 drives the first slider 510 to move linearly on the first guide rail 520 through the first drive assembly 53. The rotational motion of the first motor 54 is converted into the linear motion of the first slider 510 through the first drive assembly 53.

[0062] The first guide rail 520 is a rail for guiding the linear motion of the first slider 510. The first guide rail 520 can be made of different materials and structures, such as a steel guide rail, an aluminum alloy guide rail, etc. The first drive rod 60, the first linear drive device 50, the small arm 10 and the balance bar 40 can form a crank slider mechanism, so that the first linear drive device 50 drives the balance bar 40 to rotate, thereby driving the small arm 10 to rotate relative to the large arm 20 through the four-bar linkage.

[0063] The first driving assembly 53 may be a assembly such as a screw-nut mechanism, a gear rack mechanism, etc., which can convert the rotational motion of the first motor 54 into the linear motion of the first slider 510 .

[0064] Please refer to Figure 1 and Figure 6 In some embodiments, the first driving assembly 53 includes a first screw rod 530 and a first nut 531 . The first nut 531 is connected to the first slider 510 . The first nut 531 and the first slider 510 are both sleeved on the first screw rod 530 .

[0065] Thus, compared with other transmission methods (such as belts or chains), the transmission method through the first screw rod 530 and the first nut 531 has higher rigidity, thereby providing a linear motion with higher rigidity, thereby increasing the transmission rigidity between the upper arm 20 and the lower arm 10, thereby increasing the overall rigidity of the robot 100. In addition, since the transmission method through the first screw rod 530 and the first nut 531 has higher efficiency, the power of the first motor 54 can be more effectively converted into linear motion, reducing energy loss.

[0066] Specifically, the first screw rod 530 can be driven to rotate by the first motor 54 , thereby driving the first nut 531 to perform linear motion along the axis of the first screw rod 530 .

[0067] The first slider 510 can move linearly along the first guide rail 520 under the drive of the first nut 531. The first slider 510 and the first nut 531 can be connected by thread connection, welding, etc.

[0068] Please refer to Figure 1 and Figure 6 In some embodiments, the first linear drive device 50 further includes a first reducer 55 , which is connected to the first motor 54 , and is used to transmit power of the first motor 54 , thereby driving the first slider 510 to move linearly on the first guide rail 520 .

[0069] In this way, due to the gear ratio of the first reducer 55, the high-speed and low-torque motion of the first motor 54 can be converted into a low-speed and high-torque motion, which is beneficial for the first motor 54 to drive the first slider 510 to move linearly on the first guide rail 520. In addition, the first reducer 55 can bear most of the load, thereby protecting the first motor 54 from overload and premature wear, thereby extending the service life of the first motor 54.

[0070] Specifically, the first reducer 55 can be used to reduce the rotation speed and increase the torque, and can include transmission elements such as gears, belts or chains. The first reducer 55 can be connected to the output shaft of the first motor 54. The first reducer 55 can convert the high-speed, low-torque output of the first motor 54 into a low-speed, high-torque output to meet the movement requirements of the first slider 510.

[0071] Please refer to Figure 1 , Figure 7 and Figure 8 In some embodiments, the robot 100 further includes a second linear drive device 70 and a second drive rod 80, the second linear drive device 70 includes a second movable member 71, one end of the second drive rod 80 is rotatably connected to an end of the upper arm 20 away from the lower arm 10, and the other end of the second drive rod 80 is rotatably connected to the second movable member 71, and the second linear drive device 70 is configured to drive the second movable member 71 to move linearly, so as to drive the upper arm 20 to rotate through the second drive rod 80.

[0072] In this way, the second linear drive device 70 can drive the upper arm 20 to rotate by driving the second movable part 71 to move linearly. This method of converting high-rigidity linear motion into rotation greatly increases the transmission stiffness between the upper arm 20 and the lower arm 10, thereby increasing the overall stiffness of the robot 100, thereby reducing the vibration of the robot 100 during the processing process, and improving the stability of the robot 100 during the processing process, thereby improving the processing quality and efficiency of the parts.

[0073] Specifically, the robot 100 can Figure 7 and Figure 8 The two states shown in the figure can be moved to achieve different operation requirements. Figure 7 and Figure 8 The robot 100 may be in other states as shown, and the embodiments of the present invention are not limited to this.

[0074] The second driving rod 80 is a rod-shaped component for transmitting power, and one end of the second driving rod 80 is rotatably connected with the second moving member 71, and the other end is rotatably connected with the big arm 20. The power of the second linear drive device 70 is transmitted to the big arm 20 by the swinging motion of the second driving rod 80, and the big arm 20 is driven to rotate. For the rotation demand in a plane, the rotatable connection between the second driving rod 80 and the big arm 20 and between the second driving rod 80 and the second moving member 71 can be hinged. Of course, the rotatable connection between the second driving rod 80 and the big arm 20 and between the second driving rod 80 and the second moving member 71 can also be realized by other ways, and the embodiments of the present invention are not limited to this. The second driving rod 80 can drive the rotation of the big arm 20, and realizes a wide range of posture adjustment.

[0075] The second linear drive device 70 is a drive device that can generate linear motion. The second linear drive device 70 may include a power source (such as a motor, etc.), a screw nut mechanism and other components, and can convert energy into linear motion output through the input of electrical energy or other energy.

[0076] The second movable member 71 is a component directly involved in the linear motion in the second linear drive device 70, and can be connected to the output end of the power source in the second drive device, and perform linear motion under the action of the power source. In different linear drive devices, the structural form of the second movable member 71 is also different. For example, in the second linear drive device 70 driven by a cylinder, the second movable member 71 can be the piston rod of the cylinder; in the second linear drive device 70 driven by a hydraulic cylinder, the second movable member 71 can be the piston rod of the hydraulic cylinder; in the second linear drive device 70 driven by an electric lead screw nut mechanism, the second movable member 71 can be a nut that cooperates with the lead screw thread.

[0077] In one embodiment, when the boom 20 needs to be driven to rotate, the power source of the second linear drive device 70 is energized to generate a linear thrust to push the second moving member 71 to move. The linear motion of the second moving member 71 can be transmitted to the second drive rod 80 through a universal joint, so that the second drive rod 80 swings. The second drive rod 80 can be connected to the end of the boom 20 away from the arm 10 through a joint bearing, and the boom 20 rotates under the swinging action of the second drive rod 80.

[0078] Please refer to Figure 1 and Fig. 9In some embodiments, the second linear drive device 70 further includes a second fixed member 72 , and the second movable member 71 performs linear motion relative to the second fixed member 72 .

[0079] In this way, the second fixing member 72 can provide a moving path for the second moving member 71 , thereby making the movement of the second moving member 71 more stable.

[0080] Specifically, the second fixing member 72 is a component in the second linear drive device 70 for fixing and supporting the second moving member 71, and for guiding the second moving member 71 to perform linear motion. The second fixing member 72 can be a guide rail, a cylinder, etc., and its structure and size can be designed according to the motion requirements of the second moving member 71.

[0081] Please refer to Figure 1 and Fig. 9 In some embodiments, the second fixing member 72 includes a second guide rail 720 , the second moving member 71 includes a second slider 710 , and the second linear drive device 70 also includes a second drive assembly 73 and a second motor 74 . The second motor 74 drives the second drive assembly 73 to move linearly, thereby driving the second slider 710 to move linearly on the second guide rail 720 .

[0082] In this way, the second guide rail 720 and the second slider 710 cooperate in motion with high stability, which improves the stability of the arm 20 during rotation, thereby improving the stability of the robot 100 during processing. In addition, the second guide rail 720 provides a stable motion path, and the motion of the second slider 710 on the second guide rail 720 ensures the accuracy and repeatability of the linear motion.

[0083] Specifically, the second motor 74 can be a stepper motor, a servo motor, etc., which is selected according to the control accuracy and response speed requirements. The second motor 74 drives the second slider 710 to move linearly on the second guide rail 720 through the second drive assembly 73. The rotational motion of the second motor 74 is converted into the linear motion of the second slider 710 through the second drive assembly 73.

[0084] The second guide rail 720 is a rail for guiding the linear motion of the second slider 710. The second guide rail 720 can be made of different materials and structures, such as a steel guide rail, an aluminum alloy guide rail, etc. The second drive rod 80, the second linear drive device 70, and the upper arm 20 can form a crank slider mechanism, so that the second linear drive device 70 drives the upper arm 20 to rotate.

[0085] The second driving assembly 73 can be a component such as a screw-nut mechanism, a gear rack mechanism, etc., which can convert the rotational motion of the second motor 74 into the linear motion of the second slider 710 .

[0086] Please refer to Figure 1and Fig. 9 In some embodiments, the second driving assembly 73 includes a second screw rod 730 and a second nut 731 , the second nut 731 is connected to the second slider 710 , and the second nut 731 and the second slider 710 are both sleeved on the second screw rod 730 .

[0087] Thus, compared with other transmission methods (such as belts or chains), the transmission method through the second screw rod 730 and the second nut 731 has higher rigidity, thereby providing a linear motion with higher rigidity, thereby increasing the transmission rigidity between the upper arm 20 and the lower arm 10, thereby increasing the overall rigidity of the robot 100. In addition, since the transmission method through the second screw rod 730 and the second nut 731 has higher efficiency, the power of the second motor 74 can be more effectively converted into linear motion, reducing energy loss.

[0088] Specifically, the second screw rod 730 can rotate under the drive of the second motor 74 , thereby driving the second nut 731 to perform linear motion along the axis of the second screw rod 730 .

[0089] The second slider 710 can move linearly along the second guide rail 720 under the drive of the second nut 731. The second slider 710 and the second nut 731 can be connected by thread connection, welding, etc.

[0090] Please refer to Figure 1 and Fig. 9 In some embodiments, the second linear drive device 70 further includes a second reducer 75 , which is connected to the second motor 74 , and is used to transmit power of the second motor 74 , thereby driving the second slider 710 to move linearly on the second guide rail 720 .

[0091] In this way, due to the gear ratio of the second reducer 75, the high-speed low-torque motion of the second motor 74 can be converted into a low-speed high-torque motion, which is beneficial for the second motor 74 to drive the second slider 710 to move linearly on the second guide rail 720. In addition, the second reducer 75 can bear most of the load, thereby protecting the second motor 74 from overload and premature wear, thereby extending the service life of the second motor 74.

[0092] Specifically, the second reducer 75 can be used to reduce the rotation speed and increase the torque, and can include transmission elements such as gears, belts or chains. The second reducer 75 can be connected to the output shaft of the second motor 74. The second reducer 75 can convert the high-speed, low-torque output of the second motor 74 into a low-speed, high-torque output to meet the motion requirements of the second slider 710.

[0093] Please refer to Figure 1In some embodiments, the robot 100 further includes a turntable 90 and a base 105 , the turntable 90 is rotatably connected to the base 105 , and one end of the upper arm 20 away from the lower arm 10 is rotatably connected to the turntable 90 .

[0094] In this way, the second linear drive device 70 can drive the upper arm 20 to rotate by driving the second movable part 71 to move linearly. This method of converting high-rigidity linear motion into rotation greatly increases the transmission stiffness between the upper arm 20 and the turntable 90, thereby increasing the overall stiffness of the robot 100, thereby reducing the vibration of the robot 100 during the processing process, and improving the stability of the robot 100 during the processing process, thereby improving the processing quality and efficiency of the parts.

[0095] Specifically, the base 105 is the basic support structure of the robot 100. The base 105 can provide stable support for other components of the robot 100 to ensure that the robot 100 as a whole does not fall over during various operations. The shape and size of the base 105 can be set as required to adapt to different working environments and load requirements.

[0096] The turntable 90 can rotate relative to the base 105, and the turntable 90 can expand the working range of the robot 100, so that the robot 100 can work in multiple directions. The turntable 90 can be equipped with different rotation drive mechanisms, such as motor drive or hydraulic drive. The rotatable connection between the turntable 90 and the base 105 can be achieved by bearing connection, gear transmission, etc.

[0097] The arm 20 can be used to connect the arm 10 and the turntable 90. The arm 20 can achieve a wide range of movement through the rotatable connection with the turntable 90. For the rotation requirement within a plane, the rotatable connection between the arm 20 and the turntable 90 can be hinged. Of course, the rotatable connection between the arm 20 and the turntable 90 can also be achieved in other ways, which is not limited in the embodiments of the present invention.

[0098] Through the cooperation of the forearm 10, the first driving rod 60, the connecting rod 30, the balancing rod 40, the first linear driving device 50, the upper arm 20, the second driving rod 80, the second linear driving device 70 and the turntable 90, the robot 100 can have 6 degrees of freedom of movement.

[0099] Please refer to Figure 1 In some embodiments, the turntable 90 includes a mounting plane 91, the mounting plane 91 is parallel to the horizontal plane, and the first linear drive device 50 and the second linear drive device 70 are both mounted on the mounting plane 91 and are tilted relative to the horizontal plane.

[0100] In this way, since the first linear drive device 50 and the second linear drive device 70 are placed at an angle relative to the horizontal plane, the transmission angle of the first linear drive device 50 and the second linear drive device 70 relative to the horizontal plane is improved, which can increase the motion range of the first linear drive device 50 and the second linear drive device 70 and reduce the space occupied by the first linear drive device 50 and the second linear drive device 70 in the horizontal direction.

[0101] Specifically, the mounting plane 91 is a plane on the turntable 90 for mounting the first linear drive device 50 and the second linear drive device 70. The mounting plane 91 provides a stable mounting base for the first linear drive device 50 and the second linear drive device 70 to reduce the probability of the two drive devices being offset or vibrating during operation. The mounting plane 91 can be made of a precision-machined steel plate with a flat surface to reduce mounting errors.

[0102] Please refer to Figure 4 In some embodiments, one end of the upper arm 20 away from the lower arm 10 includes a third connecting portion 21 and a fourth connecting portion 22, which are located at opposite ends of the upper arm 20 and are coaxially arranged, a third bearing 106 is sleeved on the third connecting portion 21, and a fourth bearing 107 is sleeved on the fourth connecting portion 22. The turntable 90 is rotatably connected to the third connecting portion 21 via the third bearing 106, and the turntable 90 is rotatably connected to the fourth connecting portion 22 via the fourth bearing 107.

[0103] In this way, the overturning stiffness of the upper arm 20 can be increased, thereby increasing the overall stiffness of the robot 100 .

[0104] Specifically, the third connection portion 21 may be a boss structure with an outer cylindrical surface, and the outer diameter of the third connection portion 21 may match the inner diameter of the third bearing 106. The fourth connection portion 22 may also be a boss structure with an outer cylindrical surface, and the outer diameter of the fourth connection portion 22 may match the inner diameter of the fourth bearing 107. The coaxial arrangement of the third connection portion 21 and the fourth connection portion 22 means that the central axes of the third connection portion 21 and the fourth connection portion 22 overlap. The third bearing 106 and the fourth bearing 107 may select different types of bearings, such as deep groove ball bearings, tapered roller bearings, etc., according to specific application requirements.

[0105] The coaxial arrangement of the third connection portion 21 and the fourth connection portion 22 means that the central axes of the third connection portion 21 and the fourth connection portion 22 overlap. Figure 4 The dotted line c in FIG. 2 shows the central axis of the third connection portion 21 and the fourth connection portion 22. It should be noted that this is only a schematic diagram for easy understanding and cannot be used as a limitation on the embodiments of the present invention.

[0106] Please refer to Figure 4 In some embodiments, one end of the boom 20 away from the arm 10 is hinged to the turntable 90 via a third connecting shaft 108, one end of the balancing rod 40 is hinged to one end of the boom 20 away from the arm 10 via a fourth connecting shaft 109, and the third connecting shaft 108 and the fourth connecting shaft 109 are coaxially arranged.

[0107] In this way, the overall space occupied by the third connecting shaft 108 and the fourth connecting shaft 109 can be reduced, thereby making the structure of the entire robot 100 more compact and improving space utilization.

[0108] Specifically, the third connecting shaft 108 can be used to transmit the rotational motion and can also be used to bear various loads generated during the movement of the boom 20 and the turntable 90. The fourth connecting shaft 109 can be used to transmit the rotational motion and can also be used to bear various loads generated during the movement of the balance bar 40 and the boom 20. The third connecting shaft 108 and the fourth connecting shaft 109 can both be made of high-strength alloy steel material, and the surface is hardened to improve wear resistance and fatigue resistance.

[0109] The coaxial arrangement of the third connecting shaft 108 and the fourth connecting shaft 109 means that the central axes of the third connecting shaft 108 and the fourth connecting shaft 109 overlap. Figure 4 As shown, the third connecting shaft 108 and the fourth connecting shaft 109 may also be the same shaft, and the third connecting shaft 108 and the fourth connecting shaft 109 are part of the upper arm 20 . Figure 4 The dashed line c in FIG. 1 shows the central axis of the third connecting shaft 108 and the fourth connecting shaft 109. It should be noted that this is only a schematic diagram for easy understanding and cannot be used as a limitation on the embodiments of the present invention.

[0110] Please refer to Figure 1 and Figure 8 In some embodiments, the robot 100 further includes a mounting member 110 and a balancing cylinder 111, wherein one end of the mounting member 110 is fixedly connected to the turntable 90, the other end of the mounting member 110 is rotatably connected to the balancing cylinder 111, and one end of the balancing cylinder 111 away from the mounting member 110 is rotatably connected to one end of the upper arm 20 away from the lower arm 10.

[0111] In this way, when the upper arm 20 rotates clockwise or counterclockwise, the upper arm 20 will generate a torque due to the action of gravity or load. The balancing cylinder 111 acts like a spring and can provide a reverse pulling force to offset this torque. This offsetting effect enables the upper arm 20 to maintain balance during movement, reduces unstable factors caused by gravity or load, and can reduce the driving force required by the driving module. When the upper arm 20 does not generate torque, the direction of the pulling force just coincides with the axis of the balancing cylinder 111. At this time, the pulling force itself hardly generates torque, thereby reducing the influence of the balancing cylinder 111 on the upper arm 20 at this time.

[0112] Specifically, the mounting member 110 may be a bracket for mounting the balancing cylinder 111. The mounting member 110 may be used to maintain the stability of the balancing cylinder 111 during use. The mounting member 110 may be fixedly connected to the turntable 90 by threaded connection, welding, or the like.

[0113] For the rotation requirement in one plane, the rotatable connection between the mounting member 110 and the balancing cylinder 111 can be hinged. Of course, the rotatable connection between the mounting member 110 and the balancing cylinder 111 can also be achieved by other means, which is not limited in the embodiments of the present invention.

[0114] The balancing cylinder 111 may include a cylinder body, a piston, a spring, etc. The cooperation between the cylinder body and the piston can generate the required reaction force, while the spring is used to adjust the stiffness and response speed of the balancing cylinder 111 .

[0115] Please refer to Figure 1 In some embodiments, the robot 100 further includes a wrist joint 112 , which is connected to an end of the forearm 10 away from the upper arm 20 .

[0116] In this way, the wrist joint 112 can provide more degrees of freedom, so that the robot 100 can have a larger range of motion. In addition, since the transmission stiffness between the upper arm 20 and the lower arm 10 and between the upper arm 20 and the turntable 90 is increased, the end stiffness of the robot 100 can be increased, or the deformation ability of the wrist joint 112 relative to the base 105 is improved.

[0117] Specifically, the wrist joint 112 can connect the forearm 10 and the end effector. The wrist joint 112 itself can have three degrees of freedom of movement. The wrist joint 112 can be designed in various forms, such as a spherical joint or a rotary joint. The rotatable connection between the wrist joint 112 and the forearm 10 can be achieved by an articulated manner.

[0118] When in use, the turntable 90 rotates relative to the base 105, the upper arm 20 rotates relative to the turntable 90, the lower arm 10 rotates relative to the upper arm 20, and the wrist joint 112 rotates relative to the lower arm 10. When the transmission stiffness between the upper arm 20 and the turntable 90 and between the upper arm 20 and the lower arm 10 increases, the end stiffness of the robot 100 also increases. The end stiffness of the robot 100 refers to the ability of the wrist joint 112 to deform relative to the base 105.

[0119] Please refer to Figure 1 and Figure 2 In some embodiments, the robot 100 further includes a counterweight 113 , which is connected to an end of the balancing pole 40 away from the upper arm 20 .

[0120] In this way, the counterweight 113 can effectively offset the moment generated by gravity or load on the forearm 10. By connecting the counterweight 113 to the balance bar 40, a reverse moment can be generated, thereby reducing the moment that the forearm 10 needs to overcome during the movement, reducing the bending moment generated by the forearm 10 during the movement, and thus reducing the driving force required by the first linear drive device 50.

[0121] Specifically, the counterweight 113 may be connected to the end of the balancing rod 40 away from the boom 20 by means of threaded connection, welding, or the like.

[0122] Please refer to Figure 1 In some embodiments, the balancing rod 40 includes a first rod 41 and a second rod 42 , which are located on opposite sides of the connecting rod 30 , and one end of the first rod 41 away from the arm 20 and one end of the second rod 42 away from the arm 20 are both connected to the counterweight 113 .

[0123] In this way, by designing the balance rod 40 to include a first rod 41 and a second rod 42, and locating the first rod 41 and the second rod 42 on opposite sides of the connecting rod 30, this layout helps to evenly distribute the weight of the counterweight 113, thereby improving the ability of the counterweight 113 to offset the torque generated by the forearm 10 due to gravity or load.

[0124] Please refer to Figure 8 In certain embodiments, the upper arm 20, the lower arm 10, the connecting rod 30 and the balancing rod 40 form a four-bar linkage mechanism with opposite sides of equal length.

[0125] In this way, the movement angles of the balancing pole 40 and the forearm 10 can be kept the same, which helps control the movement of the forearm 10 and helps the balancing effect of the balancing pole 40, so that an equal balance relationship can be maintained in any position.

[0126] Specifically, the connecting rod 30 and the boom 20 are of equal length, and the forearm 10 and the balancing rod 40 are of equal length. The connecting rod 30 and the forearm 10, the balancing rod 40 and the connecting rod 30, the balancing rod 40 and the boom 20, and the boom 20 and the forearm 10 can all be hinged.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0128] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that: The robot comprises: forearm; A large arm, one end of which is rotatably connected to the small arm; A connecting rod, one end of which is rotatably connected to one end of the forearm; A balancing rod, wherein the balancing rod is rotatably connected to an end of the connecting rod away from the small arm, and one end of the balancing rod is rotatably connected to an end of the upper arm away from the small arm; A first linear drive device, wherein the first linear drive device comprises a first moving member; a first driving rod, one end of which is rotatably connected to the first moving member, and the other end of which is rotatably connected to the balancing rod; The first linear drive device is configured to drive the first moving member to move linearly, so as to drive the small arm to rotate relative to the large arm under the restriction of the connecting rod and the balancing rod through the first driving rod.

2. The robot according to claim 1, characterized in that: The forearm includes a first connecting part and a second connecting part, the first connecting part and the second connecting part are located at opposite ends of the forearm and are coaxially arranged, the first connecting part is sleeved with a first bearing, the second connecting part is sleeved with a second bearing, the upper arm is rotatably connected to the first connecting part via the first bearing, and the upper arm is rotatably connected to the second connecting part via the second bearing.

3. The robot according to claim 1, characterized in that: The balancing rod is hinged to one end of the connecting rod away from the small arm through a first connecting shaft, and the balancing rod is hinged to the other end of the first driving rod through a second connecting shaft, and the first connecting shaft and the second connecting shaft are coaxially arranged.

4. The robot according to claim 1, characterized in that: The first linear drive device also includes a first fixed member, and the first movable member performs linear motion relative to the first fixed member.

5. The robot according to claim 4, characterized in that: The first fixed member includes a first guide rail, the first movable member includes a first slider, and the first linear drive device also includes a first drive assembly and a first motor. The first motor drives the first drive assembly to move linearly, thereby driving the first slider to move linearly on the first guide rail.

6. The robot according to claim 5, characterized in that: The first driving assembly includes a first screw rod and a first nut. The first nut is connected to the first sliding block. The first nut and the first sliding block are both sleeved on the first screw rod.

7. The robot according to claim 5, characterized in that: The first linear drive device also includes a first reducer, which is connected to the first motor and is used to transmit power of the first motor, thereby driving the first slider to move linearly on the first guide rail.

8. The robot according to claim 1, characterized in that: The robot also includes a second linear drive device and a second drive rod, the second linear drive device includes a second movable member, one end of the second drive rod is rotatably connected to an end of the upper arm away from the lower arm, and the other end of the second drive rod is rotatably connected to the second movable member, and the second linear drive device is configured to drive the second movable member to move linearly so as to drive the upper arm to rotate through the second drive rod.

9. The robot according to claim 8, characterized in that: The second linear drive device also includes a second fixed member, and the second movable member performs linear motion relative to the second fixed member.

10. The robot according to claim 9, characterized in that: The second fixed member includes a second guide rail, the second movable member includes a second slider, and the second linear drive device also includes a second drive assembly and a second motor. The second motor drives the second drive assembly to move linearly, thereby driving the second slider to move linearly on the second guide rail.

11. The robot according to claim 10, characterized in that: The second driving assembly includes a second screw rod and a second nut. The second nut is connected to the second slider. The second nut and the second slider are both sleeved on the second screw rod.

12. The robot according to claim 10, characterized in that: The second linear drive device also includes a second reducer, which is connected to the second motor and is used to transmit power of the second motor, thereby driving the second slider to move linearly on the second guide rail.

13. The robot according to claim 8, characterized in that: The robot also includes a turntable and a base, wherein the turntable is rotatably connected to the base, and one end of the upper arm away from the lower arm is rotatably connected to the turntable.

14. The robot according to claim 13, characterized in that: The turntable comprises a mounting plane, which is parallel to a horizontal plane. The first linear drive device and the second linear drive device are both mounted on the mounting plane and are inclined relative to the horizontal plane.

15. The robot according to claim 13, characterized in that: One end of the upper arm away from the lower arm includes a third connecting part and a fourth connecting part, the third connecting part and the fourth connecting part are located at opposite ends of the upper arm and are coaxially arranged, the third connecting part is sleeved with a third bearing, the fourth connecting part is sleeved with a fourth bearing, the turntable is rotatably connected to the third connecting part via the third bearing, and the turntable is rotatably connected to the fourth connecting part via the fourth bearing.

16. The robot according to claim 13, characterized in that: The end of the upper arm away from the lower arm is hinged to the turntable via a third connecting shaft, one end of the balance rod is hinged to the end of the upper arm away from the lower arm via a fourth connecting shaft, and the third connecting shaft and the fourth connecting shaft are coaxially arranged.

17. The robot according to claim 13, characterized in that: The robot also includes a mounting piece and a balancing cylinder, one end of the mounting piece is fixedly connected to the turntable, the other end of the mounting piece is rotatably connected to the balancing cylinder, and one end of the balancing cylinder away from the mounting piece is rotatably connected to one end of the upper arm away from the lower arm.

18. The robot according to claim 13, characterized in that: The robot further comprises a wrist joint, which is connected to an end of the forearm away from the upper arm.

19. The robot according to claim 1, characterized in that: The robot further comprises a counterweight block, wherein the counterweight block is connected to an end of the balancing rod away from the upper arm.

20. The robot according to claim 19, characterized in that The balancing rod comprises a first rod and a second rod, wherein the first rod and the second rod are located on opposite sides of the connecting rod, and an end of the first rod away from the upper arm and an end of the second rod away from the upper arm are both connected to the counterweight.

21. The robot according to claim 1, characterized in that The upper arm, the lower arm, the connecting rod and the balancing rod form a four-bar linkage mechanism with equal lengths of opposite sides.

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