Robot

Abstract

The invention relates to the technical field of robots, and solves or relieves the problems of large vibration and poor stability when a robot works. The invention discloses a robot. The robot comprises a base, a first arm, a second arm, a first driving mechanism and a second driving mechanism, the second arm is rotatably connected with the first arm and the base, the first driving mechanism is connected with the first arm, and the second driving mechanism is connected with the second arm; the first driving mechanism comprises a first sliding block and a first lead screw, and the first sliding block is driven to move relative to the first lead screw so as to drive the first arm to rotate relative to the second arm. The second driving mechanism comprises a second sliding block and a second lead screw, and the second sliding block is driven to move relative to the second lead screw so as to drive the second arm to rotate relative to the base. According to the robot, the rigidity of the robot is improved to a certain extent, and the problem that the machining quality and the machining efficiency of parts are affected due to large vibration and poor stability in the machining process of the robot is solved or eliminated.

Description

Technical Field

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

[0002] In related technologies, robots can replace machine tools to process parts, which can greatly increase the processing range and flexibility, realize in-situ processing of large parts such as aerospace, and significantly reduce processing costs. However, the rigidity of robots is usually lower than that of machine tools. The lack of rigidity leads to large vibration and poor stability during the robot processing process, thus affecting the quality and efficiency of part processing. Summary of the invention

[0003] The embodiments of the present invention provide a robot to solve at least one of the above-mentioned technical problems.

[0004] A robot according to an embodiment of the present invention comprises: Base; First arm; a second arm rotatably connected to the first arm and the base; a first driving mechanism, the first driving mechanism is connected to the first arm, the first driving mechanism comprises a first screw rod and a first slider, the first slider is connected to the first screw rod, the first arm is connected to one of the first slider and the first screw rod, and the first arm is driven to rotate relative to the second arm by driving the first slider to move relative to the first screw rod; A second driving mechanism, the second driving mechanism is connected to the second arm, the second driving mechanism includes a second screw rod and a second slider, the second slider is connected to the second screw rod, the second arm is connected to one of the second slider and the second screw rod, and the second arm is driven to rotate relative to the base by driving the second slider to move relative to the second screw rod.

[0005] In the above-mentioned robot, the first arm is driven to rotate relative to the second arm, and the second arm is driven to rotate relative to the base through the connection and relative movement between the screw rod and the slider. This can increase the rigidity of the robot to a certain extent, improve or eliminate the problems of large vibration and poor stability in the robot processing process, which affect the parts processing quality and processing efficiency.

[0006] In some embodiments, the first arm is disposed at one end of the second arm along the extension direction, and the base is disposed at the other end of the second arm along the extension direction.

[0007] In the above-mentioned robot, to a certain extent, the robot presents a compact layout in the extension direction, which is beneficial to reducing the occupied area and improving the space utilization.

[0008] In some embodiments, the first arm is connected to one of the first slider and the first screw rod through a connecting rod.

[0009] In the above robot, the first driving mechanism can drive the first arm to move via a connecting rod.

[0010] In some embodiments, the robot includes a first balancing member, the first arm is rotatably connected to the first balancing member via the first slider or the first screw rod, and the second arm is rotatably connected to the first balancing member.

[0011] In the above robot, the first arm and the second arm have higher transmission stiffness to a certain extent, and the four-bar linkage structure can play a role in transmitting power and maintaining the stability of the robot.

[0012] In some embodiments, the first balance member, the first arm, the second arm and a connecting rod form a four-bar structure, and the first arm is connected to one of the first slider and the first screw rod through the connecting rod.

[0013] In the above robot, the first arm and the second arm have relatively high transmission stiffness to a certain extent, and at the same time, the first arm can be driven to rotate relative to the second arm under the action of the four-bar linkage.

[0014] In some embodiments, the robot includes a counterweight connected to an end of the first balance member away from the first arm and the second arm.

[0015] In the above robot, it can be used to adjust the overall weight and center of gravity distribution of the first balancing member, thereby reducing the driving force required by the first driving mechanism to a certain extent.

[0016] In some embodiments, the counterweight is removable.

[0017] Among the above-mentioned robots, the adaptability and flexibility of the robots have been improved to a certain extent, meeting the operational requirements of the robots in different scenarios.

[0018] In some embodiments, the robot includes a second balancing member, the second balancing member includes a first part and a second part, the first part is rotatably connected to the base, the second part is rotatably connected to the second arm, and the second part is telescopically connected to the first part.

[0019] In the above robot, the second balancing member can balance the torque generated by the second arm, thereby ensuring the working stability of the robot to a certain extent.

[0020] In some embodiments, the second balancing member includes at least one of the following: a cylinder, an elastic component.

[0021] In the above robot, the driving force required by the second driving mechanism is reduced to a certain extent.

[0022] In some embodiments, the robot includes a third driving mechanism, wherein the third driving mechanism connects the second arm and the base, and the third driving mechanism is used to drive the second arm to rotate relative to the base.

[0023] In the above robot, the motion range of the second arm can be further expanded.

[0024] In some embodiments, the robot includes a turntable, the turntable is connected to the third driving mechanism, and the first driving mechanism, the second driving mechanism and the second arm are arranged on the turntable.

[0025] In the above robot, the third driving mechanism can drive all the mechanisms arranged on the turntable to rotate relative to the base.

[0026] In some embodiments, the robot includes a wrist joint connected to an end of the first arm away from the second arm, and the wrist joint includes a three-axis driving mechanism.

[0027] In the above robot, the wrist joint of the robot can have three degrees of freedom.

[0028] Additional aspects and advantages of the embodiments 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

[0029] 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 2 is another schematic diagram of the structure of the robot according to the embodiment of the present invention.

[0030] Description of main component reference numerals: The first driving mechanism -10, the first screw rod -13, the first slider -16, the second driving mechanism -20, the second screw rod -23, the second slider -26, the third driving mechanism -30, the three-axis driving mechanism -40, the fourth driving mechanism -43, the fifth driving mechanism -46, the sixth driving mechanism -49, the first arm -50, the second arm -55, the wrist joint -60, the connecting rod -65, the first balancing member -70, the counterweight block -75, the second balancing member -80, the first part -83, the second part -86, the base -90, the turntable -95, the robot -100. DETAILED DESCRIPTION

[0031] 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.

[0032] 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 the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0033] 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 or an electrical connection. It can be directly connected or indirectly connected 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.

[0034] 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.

[0035] The disclosure herein provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described herein. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself 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 may appreciate the application of other processes and / or the use of other materials.

[0036] See also Figure 1 and Figure 2 , an embodiment of the present invention provides a robot 100. The robot 100 includes a base 90, a first arm 50, a second arm 55, a first driving mechanism 10, and a second driving mechanism 20. The second arm 55 is rotatably connected to the first arm 50 and the base 90. The first driving mechanism 10 is connected to the first arm 50, and the first driving mechanism 10 includes a first screw rod 13 and a first slider 16, the first slider 16 is connected to the first screw rod 13, and the first arm 50 is connected to one of the first slider 16 and the first screw rod 13, and the first slider 16 is driven to move relative to the first screw rod 13 to drive the first arm 50 to rotate relative to the second arm 55. The second driving mechanism 20 is connected to the second arm 55, and the second driving mechanism 20 includes a second screw rod 23 and a second slider 26, the second slider 26 is connected to the second screw rod 23, and the second arm 55 is connected to one of the second slider 26 and the second screw rod 23, and the second slider 26 is driven to move relative to the second screw rod 23 to drive the second arm 55 to rotate relative to the base 90.

[0037] In the above-mentioned robot 100, the first arm 50 is driven to rotate relative to the second arm 55, and the second arm 55 is driven to rotate relative to the base 90 through the connection and relative movement between the screw rod and the slider. This can increase the rigidity of the robot 100 to a certain extent, improve or eliminate the problem of large vibration and poor stability during the processing of the robot 100, which affects the processing quality and efficiency of the parts.

[0038] Specifically, the robot 100 is a machine device that can automatically perform work. Robots include but are not limited to humanoid robots, robotic arms, etc. Optionally, please combine Figure 1 and Figure 2, the robot 100 can be a mechanical arm used in the field of industrial automation. The robot 100 includes a base 90, a first arm 50 and a second arm 55, and the base 90 is used to provide stable support for the robot 100. Optionally, the base 90 can have a mobile function, such as a wheeled or tracked base 90, so that the robot 100 can be mobile in different environments. The base 90 can also be fixed. The first arm 50 and the second arm 55 are both important components of the robot 100 mechanical arm structure. Optionally, in one embodiment, the first arm 50, the second arm 55 and the base 90 are rotatably connected in turn through a rotating mechanism including but not limited to a bearing, a rotating shaft, etc., so that the first arm 50 and the second arm 55 can move flexibly on the base 90, so that the robot 100 can adapt to different working environments and operating requirements.

[0039] In the related technology, most robots adopt the series connection form, and their joints are directly driven by motors and reducers. The types of reducers commonly used in robots include RV reducers, harmonic reducers and conventional gear transmissions. However, due to the limited stiffness of these reducers, the stiffness of this transmission configuration is relatively low. This insufficient stiffness will cause the robot to produce large vibrations and poor stability during the processing process, which in turn limits the robot's processing capabilities, adversely affects the processing quality and efficiency of parts, and makes it difficult for the robot to meet high-precision processing requirements.

[0040] In the embodiment of the present invention, the robot 100 includes a first driving mechanism 10 and a second driving mechanism 20. The first driving mechanism 10 is connected to the first arm 50 and is used to drive the first arm 50 to rotate relative to the second arm 55. The second driving mechanism 20 is connected to the second arm 55 and is used to drive the second arm 55 to rotate relative to the base 90. Figure 1 and Figure 2 The first driving mechanism 10 and the second driving mechanism 20 may include a screw mechanism. The screw mechanism has a high load capacity and can withstand a large force and torque, which can improve the rigidity of the robot 100 to a certain extent.

[0041] In one embodiment, the first arm 50 is connected to the first slider 16 of the first driving mechanism 10. When the first screw rod is driven to rotate, the first slider 16 performs linear motion along the axial direction of the first screw rod 13 to drive the first arm 50 to rotate relative to the second arm 55. In one embodiment, the first arm 50 is connected to the first screw rod 13 of the first driving mechanism 10. For example, the first arm 50 can be hinged to one end of the first screw rod 13, and the first slider 16 can be fixed. When the first screw rod 13 is driven to rotate, the first screw rod 13 performs linear motion along the axial direction of the first slider 16 to drive the first arm 50 to rotate relative to the second arm 55.

[0042] In one embodiment, the second arm 55 is connected to the second slider 26 of the second driving mechanism 20. When the second screw rod 23 is driven to rotate, the second slider 26 performs linear motion along the axial direction of the second screw rod 23 to drive the second arm 55 to rotate relative to the base 90. In one embodiment, the first arm 50 is connected to the first screw rod 13 of the first driving mechanism 10. For example, the second arm 55 can be hinged to one end of the second screw rod 23, and the second slider 26 can be fixed. When the second screw rod 23 is driven to rotate, the second screw rod 23 performs linear motion along the axial direction of the second slider 26 to drive the second arm 55 to rotate relative to the base 90.

[0043] exist Figure 1 and Figure 2 In the illustrated embodiment, the first driving mechanism 10 can drive the first arm 50 to rotate relative to the second arm 55 along the pitch axis of the robot 100, and the second driving mechanism 20 can drive the second arm 55 to rotate relative to the base 90 along the pitch axis of the robot 100. In other embodiments, the first driving mechanism 10 can drive the first arm 50 to rotate relative to the second arm 55 along the roll axis or the yaw axis of the robot 100, and the second driving mechanism 20 can drive the second arm 55 to rotate relative to the base 90 along the roll axis or the yaw axis of the robot 100. The axis along which the first driving mechanism 10 drives the first arm 50 to rotate relative to the second arm 55 along the robot 100 and the axis along which the second driving mechanism 20 drives the second arm 55 to rotate relative to the base 90 along the robot 100 can be the same or different.

[0044] Optionally, in one embodiment, the first slider 16 and the second slider 26 may be a screw nut, which is sleeved on the screw. When the screw rotates, the screw nut can move linearly relative to the screw along the axial direction of the screw, thereby driving the first arm 50 and the second arm 55 to move.

[0045] Optionally, in one embodiment, the first slider 16 and the second slider 26 are respectively connected to the screw nuts sleeved on the first screw rod 13 and the second screw rod 23, and the screw nuts can move linearly along the axial direction of the screw rod, thereby driving the first slider 16 and the second slider 26 to move, and then driving the first arm 50 and the second arm 55 to move.

[0046] The first driving mechanism 10 can convert the linear motion of the first slider 16 or the first screw rod 13 into the rotational motion of the first arm 50 and the second arm 55, and the second driving mechanism 20 can convert the linear motion of the second slider 26 or the second screw rod 23 into the rotational motion of the second arm 55, which can reduce the overall inertia and vibration of the robot 100, thereby increasing the stiffness of the robot 100 and the first arm 50 and the second arm 55 to a certain extent, and improving the stability of the robot 100's processing operation.

[0047] It can be understood that the first drive mechanism 10 and the second drive mechanism 20 can work independently or in coordination, and the working states of the first drive mechanism 10 and the second drive mechanism 20 can be controlled according to actual working requirements, thereby achieving more complex motion effects.

[0048] In some embodiments, the first arm 50 is disposed at one end of the second arm 55 along the extension direction, and the base 90 is disposed at the other end of the second arm 55 along the extension direction.

[0049] In this way, the robot 100 presents a compact layout in the extension direction to a certain extent, which is beneficial to reducing the floor space and improving space utilization.

[0050] Specifically, please combine Figure 1 and Figure 2 In one embodiment, the first arm 50, the second arm 55 and the base 90 are rotatably connected in sequence through bearings, the first arm 50 is arranged at one end of the second arm 55 along the extension direction, and the base 90 is arranged at the other end of the second arm 55 along the extension direction, that is, the first arm 50 is arranged at one end of the second arm 55 away from the base 90, and the base 90 is close to the ground or other fixed supports. Such a design enables the robot 100 to flexibly move and grab parts on the production line, while maintaining the stability and compactness of the structure to a certain extent, which is conducive to reducing the floor space.

[0051] In some embodiments, the first arm 50 is connected to one of the first slider 16 and the first screw rod 13 via a connecting rod 65 .

[0052] In this way, the first driving mechanism 10 can drive the first arm 50 to move through the connecting rod 65 .

[0053] Specifically, in the embodiment shown in the figure, the first arm 50 is connected to the first slider 16 of the first driving mechanism 10 through the connecting rod 65, and the first slider 16 can drive the connecting rod 65 to move when it moves linearly along the axial direction of the first screw rod 13, thereby driving the first arm 50 to rotate relative to the second arm 55. In one embodiment, the first arm 50 is connected to the first screw rod 13 of the first driving mechanism 10 through the connecting rod 65, and the first screw rod 13 can drive the connecting rod 65 to move when it moves linearly along the axial direction of the first slider 16, thereby driving the first arm 50 to rotate relative to the second arm 55.

[0054] In some embodiments, the robot 100 includes a first balancing member 70 , the first arm 50 is rotatably connected to the first balancing member 70 via a first slider 16 or a first screw rod 13 , and the second arm 55 is rotatably connected to the first balancing member 70 .

[0055] In this way, the first balance member 70 can balance the torque generated by the first arm 50, ensuring the working stability of the robot 100 to a certain extent, and the first driving mechanism 10, the first balance member 70 and the base 90 can form a stable triangular structure, so that the first arm 50 has a higher transmission stiffness.

[0056] Specifically, based on the moment balance principle, the robot 100 includes a first balance member 70 that forms a balance with the first arm 50. The moment is the product of the force and the lever arm, and the moment shows the rotational effect of the force. When the first arm 50 of the robot 100 rotates relative to the second arm 55, the weight of the first arm 50 will generate a gravity moment, causing the second arm 55 to tend to fall downward. The first balance bar 70 is rotatably connected to the forearm through the first slider 16 or the first screw 13. This connection method allows the first balance bar 70 to rotate relative to the first arm 50 within a certain range through the first screw 13, so that the gravity moment generated by the first arm 50 can be dynamically balanced.

[0057] In one embodiment, please combine Figure 1 and Figure 2 , the first arm 50 is connected to the first slider 16 through the connecting rod 65, and the first balance piece 70 is rotatably connected to the first slider 16. When the first slider 16 moves along the axial direction of the first screw rod 13, it can drive the first arm 50 to rotate relative to the second arm 55. The first balance piece 70 is rotatably connected to the first slider 16 and the second arm 55, so that when the first slider 16 moves along the axial direction of the first screw rod 13, it can drive the first balance piece 70 to rotate relative to the first arm 50 and the second arm 55, and the rotation direction is opposite to the movement direction of the first arm 50. Because when the first slider 16 drives the first arm 50 to move, due to the existence of the load carried by the first arm 50, the center of gravity position of the robot 100 as a whole will change. Therefore, in order to maintain the balance of the robot 100, the first balance piece 70 needs to move in the opposite direction accordingly to offset the center of gravity offset caused by the movement of the first arm 50, thereby balancing the torque generated by the first arm 50.

[0058] In one embodiment, the first arm 50 is connected to the first screw rod 13 through the connecting rod 65, the first balance member 70 is rotatably connected to the first screw rod 13, and the first screw rod 13 can move axially along the screw hole of the first slider 16. The first balance member 70 is rotatably connected to the first screw rod 13 and is rotatably connected to the second arm 55, so that when the first screw rod 13 moves axially along the screw hole of the first slider 16, the first balance member 70 can be driven to rotate relative to the first arm 50 and the second arm 55, and the movement direction is opposite to the movement direction of the first arm 50.

[0059] Furthermore, the transmission stiffness of the first drive mechanism 10 is relatively high, and the first screw 13 of the first drive mechanism 10 is rotatably connected to the base 90, so that the connectable structure (hinge structure) between the first drive mechanism 10, the first balance member 70 and the base 90 can form a stable triangular structure, so that the first arm 50 has a relatively high transmission stiffness, thereby improving the overall stiffness of the robot 100 to a certain extent.

[0060] Optionally, the first balance member 70 may be a balance bar.

[0061] In some embodiments, the first balance member 70 , the first arm 50 , the second arm 55 and the connecting rod 65 form a four-bar structure, and the first arm 50 is connected to one of the first slider 16 and the first screw rod 13 through the connecting rod 65 .

[0062] In this way, the first arm 50 and the second arm 55 have higher transmission stiffness to a certain extent, and at the same time, the four-link structure 65 can play a role in transmitting power and maintaining the stability of the robot 100.

[0063] Specifically, in one embodiment, please combine Figure 1 and Figure 2 , the first arm 50 is rotatably connected to the first slider 16 through the connecting rod 65, the first balance piece 70 is rotatably connected to the first slider 16, and is rotatably connected to the second arm 55, so that the first arm 50, the connecting rod 65, the first balance piece 70 and the second arm 55 form a four-bar structure. When the first slider 16 moves along the axial direction of the first screw rod 13, it can drive the first balance piece 70 to rotate relative to the first arm 50 and the second arm 55, and the first arm 50 is pushed to rotate relative to the second arm 55 under the action of the four-bar structure. Therefore, power can be transmitted through the four-bar structure, and the movement stability and flexibility of the robot 100 are improved to a certain extent.

[0064] In one embodiment, the first arm 50 is rotatably connected to the first screw rod 13 through the connecting rod 65, and the first balance member 70 is rotatably connected to the first screw rod 13 and rotatably connected to the second arm 55, so that the first arm 50, the connecting rod 65, the first balance member 70 and the second arm 55 constitute a four-bar structure. When the first screw rod 13 moves axially along the screw hole of the first slider 16, it can drive the first balance member 70 to rotate relative to the first arm 50 and the second arm 55, and the first arm 50 is pushed to rotate relative to the second arm 55 under the action of the four-bar structure. Therefore, power can be transmitted through the four-bar structure, and the motion stability and flexibility of the robot 100 are improved to a certain extent.

[0065] Among them, the transmission stiffness of the first driving mechanism 10 and the second driving mechanism 20 is relatively high. Optionally, the first screw rod 13 of the first driving mechanism 10 is rotatably connected to the base 90, and the second screw rod 23 of the second driving mechanism 20 is rotatably connected to the base 90, so that a stable triangular structure is formed between the first driving mechanism 10, the first balance member 70 and the base 90, and the second driving mechanism 20, the second arm 55 and the base 90 form a stable triangular structure, so that the first arm 50 and the second arm 55 have a higher transmission stiffness, thereby improving the stability of the four-bar structure to a certain extent.

[0066] In some embodiments, the robot 100 includes a counterweight 75 connected to an end of the first balance member 70 away from the first arm 50 and the second arm 55 .

[0067] In this way, the counterweight 75 can be used to adjust the overall weight and center of gravity distribution of the first balancing member 70 , thereby reducing the driving force required by the first driving mechanism 10 to a certain extent.

[0068] Specifically, please combine Figure 1 and Figure 2 The first arm 50 is rotatably connected to the first slider 16 through the connecting rod 65, and the first balance piece 70 is rotatably connected to the first slider 16. When the first slider 16 moves along the axial direction of the first screw rod 13, it can drive the first arm 50 to rotate relative to the second arm 55, and at the same time drive the first balance piece 70 to rotate relative to the first arm 50 and the second arm 55. The movement direction is opposite to the movement direction of the first arm 50, so that the torque generated by the first arm 50 can be balanced, so that the robot 100 maintains overall balance when working. The counterweight block 75 is arranged at one end of the first balance piece 70 away from the first arm 50 and the second arm 55. Its function is to adjust the center of gravity position of the entire system to achieve a better balancing effect, and reduce the overall moment of inertia of the system, thereby reducing the driving force required by the first driving mechanism 10.

[0069] In some embodiments, the counterweight 75 is removable.

[0070] In this way, the adaptability and flexibility of the robot 100 are improved to a certain extent, meeting the operational requirements of the robot 100 in different scenarios.

[0071] Specifically, please combine Figure 1 and Figure 2The counterweight block 75 is arranged at one end of the first balancing member 70 away from the first arm 50 and the second arm 55. The counterweight block 75 is detachably mounted on the first balancing member 70, and can be used to adjust the weight and the center of gravity position of the balance bar according to the load weight carried by the first arm 50, so that it can form a balance with the first arm 50 together with the first balancing member 70, so as to meet the requirements of the robot 100 to maintain stability and accuracy when performing various tasks in different scenarios, thereby improving the adaptability and flexibility of the robot 100 to a certain extent.

[0072] The weight of the counterweight 75 is related to the weight of the load carried by the first arm 50. By adjusting the weight of the counterweight 75, it is possible to ensure that the robot 100 can maintain balance under different loads. The weight of the counterweight 75 can be specifically limited according to actual conditions, and the present invention does not make any specific limitations on this.

[0073] In some embodiments, the robot 100 includes a second balancing member 80, which includes a first part 83 and a second part 86, wherein the first part 83 is rotatably connected to the base 90, the second part 86 is rotatably connected to the second arm 55, and the second part 86 is telescopically connected to the first part 83.

[0074] In this way, the second balancing member 80 can balance the torque generated by the second arm 55 , thereby ensuring the working stability of the robot 100 to a certain extent.

[0075] Specifically, please combine Figure 1 and Figure 2 , the first part 83 of the second balancing member 80 is rotatably connected to the base 90 of the robot 100, the second part 86 is rotatably connected to the second arm 55, the first part 83 is connected to the second part 86, and the second part can be extended relative to the first part 83, so that the second part 86 moves relative to the first part 83, thereby changing the position of the second part 86 relative to the base 90 and the second arm 55, and then generating a balancing torque. Based on the principle of moment balance, the second arm 55 will generate a torque during movement, and the second balancing member 80 generates a balancing torque that is equal to the torque of the second arm 55 and opposite in direction by adjusting the second part 86 to extend relative to the first part 83, thereby balancing the torque of the second arm 55, so that the robot 100 maintains overall balance when working. The second balancing member 80 can adjust the state of the second part 86 in real time as the second arm 55 moves, thereby maintaining a dynamic balance with the torque of the second arm 55.

[0076] In some embodiments, the second balancing member 80 includes at least one of the following: a cylinder, and an elastic component.

[0077] In this way, the driving force required by the second driving mechanism 20 is reduced to a certain extent.

[0078] Specifically, in Figure 1 and Figure 2 In the embodiment, the second balance member 80 includes a cylinder, the first part 83 of the second balance member 80 may be a cylinder body, the second part 86 may be a piston, the cylinder body is rotatably connected to the base 90, the second part 86 is rotatably connected to the second arm 55, and the piston can be extended and retracted relative to the cylinder body and generate the required balancing torque. When the second drive mechanism 20 drives the second arm 55 to rotate relative to the base 90, the second arm 55 will generate a torque, and the robot 100 can control the opening degree of the pump in the cylinder to change the pressure of the gas in the cylinder body, thereby generating a torque that is balanced with the torque of the upper arm, which can reduce the driving force required by the second drive mechanism 20 to a certain extent.

[0079] In one embodiment, the second balancing member 80 includes an elastic component, the first part 83 can be a rigid part, and the second part can be an elastic part. When the load moment acts on the elastic part, the elastic part will be elastically deformed, thereby absorbing and storing energy. The degree of elastic deformation is proportional to the magnitude of the load moment, so the elastic component can generate a moment that is balanced with the moment of the second arm 55. Optionally, the elastic part can be a spring. One end of the spring is connected to the rigid part, and the other end is rotatably connected to the second arm 55. The rigid part is rotatably connected to the base 90, and a balancing moment can be generated by the expansion and contraction of the spring.

[0080] Optionally, in other embodiments, the second balancing member 80 may include a hydraulic cylinder. When the second drive mechanism 20 drives the second arm 55 to rotate relative to the base 90, the second arm 55 will generate a torque, and the robot 100 can control the opening degree of the valve in the hydraulic cylinder to change the pressure of the liquid in the cylinder, thereby generating a torque that is balanced with the torque of the upper arm, which can reduce the driving force required by the second drive mechanism 20 to a certain extent.

[0081] In other embodiments, the second balancing member 80 includes any two or any three of a pneumatic cylinder, an elastic component and a hydraulic cylinder. Optionally, the pneumatic cylinder and / or the hydraulic cylinder can be used as the main balancing force source, while the elastic component provides additional support and buffering.

[0082] In some embodiments, the robot 100 includes a third driving mechanism 30 , which connects the second arm 55 and the base 90 , and is used to drive the second arm 55 to rotate relative to the base 90 .

[0083] In this way, the motion range of the second arm 55 can be further expanded.

[0084] Specifically, please combine Figure 1 and Figure 2, a third driving mechanism 30 is provided on the base 90 of the robot 100, and the second arm 55 is connected to the base 90 via the third driving mechanism 30, so that the third driving mechanism 30 can drive the second arm 55 to rotate relative to the base 90, and the first arm 50 can rotate relative to the second arm 55, thereby further increasing the range of motion of the second arm 55, and improving the working area and flexibility of the robot 100 to a certain extent. Optionally, the rotation axis of the second driving mechanism 20 driving the second arm 55 to rotate relative to the base 90 is different from the rotation axis of the third driving mechanism 30 driving the second arm 55 to rotate relative to the base 90. Figure 1 and Figure 2 In the illustrated embodiment, the rotation axis of the second arm 55 driven by the second drive mechanism 20 to rotate relative to the base 90 is the pitch axis of the robot 100, and the rotation axis of the second arm 55 driven by the third drive mechanism 30 to rotate relative to the base 90 is the yaw axis of the robot 100. It can be understood that in other embodiments, the rotation axis of the second arm 55 driven by the second drive mechanism 20 to rotate relative to the base 90 is one of the pitch axis, roll axis, and yaw axis of the robot 100, and the rotation axis of the second arm 55 driven by the third drive mechanism 30 to rotate relative to the base 90 is another one of the pitch axis, roll axis, and yaw axis of the robot 100.

[0085] In some embodiments, the robot 100 includes a turntable 95 , which is connected to the third driving mechanism 30 , and the first driving mechanism 10 , the second driving mechanism 20 , and the second arm 55 are disposed on the turntable 95 .

[0086] In this way, the third driving mechanism 30 can drive all the mechanisms disposed on the turntable 95 to rotate relative to the base 90 .

[0087] Specifically, please combine Figure 1 and Figure 2 The base 90 is provided with a turntable 95, and the turntable 95 is connected to the third driving mechanism 30, so that the turntable 95 is rotatably connected to the base 90 through the third driving mechanism 30, so that the third driving mechanism 30 can drive the turntable 95 to rotate relative to the base 90. The first driving mechanism 10, the second driving mechanism 20 and the second arm 55 are arranged on the turntable 95, so that when the third driving mechanism 30 drives the turntable 95 to rotate, it can drive the first driving mechanism 10, the second driving mechanism 20 and the second arm 55 to rotate relative to the base 90.

[0088] Optionally, the transmission stiffness of the first drive mechanism 10 and the second drive mechanism 20 is relatively high, and the first screw 13 of the first drive mechanism 10 is rotatably connected to the turntable 95, and the second screw 23 of the second drive mechanism 20 is rotatably connected to the turntable 95, so that a stable triangular structure is formed between the first drive mechanism 10, the first balance member 70 and the turntable 95, and the second drive mechanism 20, the second arm 55 and the turntable 95 form a stable triangular structure, so that the first arm 50 and the second arm 55 have a higher transmission stiffness, thereby improving the stability of the four-bar structure to a certain extent.

[0089] In some embodiments, the robot 100 includes a wrist joint 60 , which is connected to an end of the first arm 50 away from the second arm 55 , and the wrist joint 60 includes a three-axis driving mechanism 40 .

[0090] In this way, the wrist joint 60 of the robot 100 can have three degrees of freedom.

[0091] Specifically, one end of the first arm 50 away from the second arm 55 is connected to the connecting rod 65, and the other end is connected to the wrist joint 60. The wrist joint 60 includes a three-axis driving mechanism 40, which is responsible for driving the three degrees of freedom of the wrist joint 60. Figure 1 and Figure 2 The three-axis driving mechanism 40 includes a fourth driving mechanism 43, a fifth driving mechanism 46 and a sixth driving mechanism 49, which respectively control the three degrees of freedom of the wrist joint 60. The fourth driving mechanism 43, the fifth driving mechanism 46 and the sixth driving mechanism 49 are connected in sequence and work together to realize the three degrees of freedom of the wrist joint 60.

[0092] In one embodiment, the fourth drive mechanism 43 may be configured to control the roll motion of the wrist joint 60 , the fifth drive mechanism 46 may be configured to control the pitch motion of the wrist joint 60 , and the sixth drive mechanism may be configured to control the roll motion of the wrist joint 60 .

[0093] Optionally, the end of the wrist joint 60 may be connected to an actuator for more precise manipulation and positioning.

[0094] It is understandable that the first drive mechanism 10, the second drive mechanism 20, the third drive mechanism 30, the fourth drive mechanism 43, the fifth drive mechanism 46 and the sixth drive mechanism of the robot 100 can work independently or in coordination, thereby achieving more complex movement effects.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples 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.

[0096] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot, characterized in that: include: Base; First arm; a second arm rotatably connected to the first arm and the base; a first driving mechanism, the first driving mechanism is connected to the first arm, the first driving mechanism comprises a first screw rod and a first slider, the first slider is connected to the first screw rod, the first arm is connected to one of the first slider and the first screw rod, and the first arm is driven to rotate relative to the second arm by driving the first slider to move relative to the first screw rod; A second driving mechanism, the second driving mechanism is connected to the second arm, the second driving mechanism includes a second screw rod and a second slider, the second slider is connected to the second screw rod, the second arm is connected to one of the second slider and the second screw rod, and the second arm is driven to rotate relative to the base by driving the second slider to move relative to the second screw rod.

2. The robot according to claim 1, characterized in that: The first arm is arranged at one end of the second arm along the extending direction, and the base is arranged at the other end of the second arm along the extending direction.

3. The robot according to claim 1, characterized in that: The first arm is connected to one of the first slider and the first screw rod through a connecting rod.

4. The robot according to claim 1, characterized in that: The robot includes a first balancing member, the first arm is rotatably connected to the first balancing member via the first slider or the first screw rod, and the second arm is rotatably connected to the first balancing member.

5. The robot according to claim 4, characterized in that: The first balance member, the first arm, the second arm and a connecting rod form a four-bar structure, and the first arm is connected to one of the first slider and the first screw rod through the connecting rod.

6. The robot according to claim 4 or 5, characterized in that: The robot includes a counterweight block connected to an end of the first balancing member away from the first arm and the second arm.

7. The robot according to claim 6, characterized in that: The counterweight is detachable.

8. The robot according to claim 1, characterized in that: The robot comprises a second balancing member, which comprises a first part and a second part, wherein the first part is rotatably connected to the base, the second part is rotatably connected to the second arm, and the second part is telescopically connected to the first part.

9. The robot according to claim 8, characterized in that: The second balancing member includes at least one of the following: a cylinder and an elastic component.

10. The robot according to claim 1, characterized in that: The robot comprises a third driving mechanism, wherein the third driving mechanism connects the second arm and the base, and the third driving mechanism is used for driving the second arm to rotate relative to the base.

11. The robot according to claim 10, characterized in that: The robot comprises a turntable, the turntable is connected to the third driving mechanism, and the first driving mechanism, the second driving mechanism and the second arm are arranged on the turntable.

12. The robot according to claim 1, characterized in that: The robot comprises a wrist joint connected to an end of the first arm away from the second arm, and the wrist joint comprises a three-axis driving mechanism.

Images