Articulated robot

Abstract

The invention provides a multi-joint robot. The multi-joint robot comprises a base, a lifting mechanism, a connecting assembly, a first mechanical arm mechanism and a second mechanical arm mechanism. A mounting space and an opening which are communicated with each other are defined in the base; the lifting mechanism is arranged in the mounting space; the connecting assembly is installed outside the base and connected with the lifting mechanism and comprises a connecting piece and a dust cover. The connecting piece is connected with the lifting mechanism and does lifting motion along with the lifting mechanism; the dustproof cover covers the periphery of the connecting piece so as to stretch or contract along with the connecting piece, and one end of the dustproof cover is mounted on the base around the opening so as to seal the mounting space; the first mechanical arm mechanism is connected to the end, away from the lifting mechanism, of the connecting assembly. The second mechanical arm mechanism is connected to the end, away from the connecting assembly, of the first mechanical arm mechanism. By means of the mode, the multi-joint robot can be suitable for high-protection and high-cleanliness application scenes, and the tail end structure can be compact so that the multi-joint robot can be suitable for working scenes with narrow space.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a multi-joint robot. Background Art

[0002] With the rapid development of industrial automation, robot technology has been increasingly widely used in the field of industrial production. Among them, the Selective Compliance Assembly Robot Arm (SCARA) robot, with its characteristics of high speed and high precision, has been widely used in fields such as electronic product manufacturing, automobile assembly, plastic processing, pharmaceutical production, and food processing, and is specifically mainly used for material handling, loading and unloading, and assembly operations. Currently, the SCARA robots on the market generally adopt a four-axis drive structure. Its main body is mainly composed of a large arm and a small arm, and the horizontal movement of the X and Y axes is realized by a servo motor cooperating with a reducer. At the same time, the up and down movement of the Z axis and the rotational movement of the R axis are integrated at the end, so as to realize the multi-degree-of-freedom movement of the robot in three-dimensional space. Summary of the Invention

[0003] The main technical problem to be solved by this application is to provide a multi-joint robot that can be applicable to high-protection and high-cleanliness application scenarios, and can make the end structure compact to be applicable to working scenarios with narrow spaces.

[0004] To achieve the above object, this application provides a multi-joint robot, which includes a base, a lifting mechanism, a connecting component, a first robotic arm mechanism, and a second robotic arm mechanism; the base defines an installation space and is provided with an opening communicating with the installation space; the lifting mechanism is arranged in the installation space; the connecting component is installed outside the base at the opening and is connected to the lifting mechanism to perform a lifting movement under the drive of the lifting mechanism, and includes a connecting piece and a dust-proof cover; the connecting piece is connected to the lifting mechanism through the opening and makes a lifting movement along with the lifting mechanism; the dust-proof cover covers the periphery of the connecting piece to stretch or contract along with the lifting movement of the connecting piece, and one end is installed around the opening on the base to seal the installation space; the first robotic arm mechanism is connected to one end of the connecting component away from the lifting mechanism; the second robotic arm mechanism is connected to one end of the first robotic arm mechanism away from the connecting component.

[0005] Furthermore, the connecting component further includes an installation component and a rotating component; the installation component is arranged between the base and the dust-proof cover, wherein the dust-proof cover is installed on the base through the installation component; the rotating component is installed between the installation component and the dust-proof cover and is used to drive the dust-proof cover to rotate relative to the base.

[0006] Specifically, the lifting mechanism includes an adapter, a lifting power assembly, a lifting synchronous belt assembly, and a power conversion assembly; the adapter is connected to the connection assembly; the lifting power assembly is installed at the bottom of the base; the lifting synchronous belt assembly is connected to the lifting power assembly and is used to receive the power output by the lifting power assembly; the power conversion assembly is respectively connected to the lifting synchronous belt assembly and the adapter, and is used to receive the power transmitted by the lifting synchronous belt assembly and convert the motion output by the lifting synchronous belt assembly into a lifting motion to drive the adapter to lift and lower.

[0007] Further, the lifting mechanism further includes a guide rod and a stabilizer; the guide rod is installed on the base and has an extending direction parallel to the direction of the lifting motion; the stabilizer is arranged around the guide rod and is connected to the adapter, and is used to move along the guide rod with the adapter.

[0008] Further, the multi-joint robot further includes a rotating mechanism, the rotating mechanism is arranged in the installation space and is connected to the connection assembly, and is used to drive the first robotic arm mechanism to rotate through the connection assembly, and includes an adapter part, a rotating power assembly, and a rotating synchronous belt assembly; the adapter part is connected to the connection assembly and is used to drive the connection assembly to rotate; the rotating power assembly is installed at the bottom of the base; the rotating synchronous belt assembly is respectively connected to the rotating power assembly and the adapter part, and is used to receive the power output by the rotating power assembly and transmit it to the connection assembly through the adapter part.

[0009] Specifically, the rotating synchronous belt assembly includes a first rotating synchronous belt pulley, a first rotating synchronous belt, a second rotating synchronous belt pulley, a third rotating synchronous belt pulley, a fourth rotating synchronous belt pulley, and a second rotating synchronous belt; the first rotating synchronous belt pulley is connected to the output end of the rotating power assembly to receive the power output by the rotating power assembly; one end of the first rotating synchronous belt is connected to the first rotating synchronous belt pulley and is used to transmit the power received by the first rotating synchronous belt pulley from the rotating power assembly; the second rotating synchronous belt pulley is connected to the end of the second rotating synchronous belt far from the first rotating synchronous belt pulley and is used to rotate with the first rotating synchronous belt pulley under the drive of the first rotating synchronous belt; the third rotating synchronous belt pulley is fixedly connected to the second rotating synchronous belt pulley to rotate synchronously with the second rotating synchronous belt pulley; the fourth rotating synchronous belt pulley is connected to the adapter part; one end of the second rotating synchronous belt is connected to the third rotating synchronous belt pulley, and the other end is connected to the fourth rotating synchronous belt pulley, and is used to further transmit the power output by the rotating power assembly from the third rotating synchronous belt pulley to the fourth rotating synchronous belt pulley.

[0010] Specifically, the second robotic arm mechanism includes a second robotic arm, and the first robotic arm mechanism includes a first robotic arm, a first power assembly, and a first synchronous belt assembly; one end of the first robotic arm is connected to the connecting assembly, and the other end is connected to the second robotic arm; the first power assembly is located at one end of the first robotic arm close to the connecting assembly; the first synchronous belt assembly is respectively connected to the first power assembly and the second robotic arm, and is used to receive the power output by the first power assembly to drive the second robotic arm to rotate.

[0011] Specifically, the first synchronous belt assembly includes a first synchronous belt pulley, a first synchronous belt, a second synchronous belt pulley, a third synchronous belt pulley, a fourth synchronous belt pulley, and a second synchronous belt; the first synchronous belt pulley is connected to the output end of the first power assembly to receive the power output by the first power assembly; one end of the first synchronous belt is connected to the first synchronous belt pulley for transmitting the power received by the first synchronous belt from the first power assembly; the second synchronous belt pulley is connected to the end of the first synchronous belt far from the first synchronous belt pulley and is used to rotate with the first synchronous belt pulley under the drive of the first synchronous belt; the third synchronous belt pulley is fixedly connected to the second synchronous belt pulley to rotate synchronously with the second synchronous belt pulley; the fourth synchronous belt pulley is connected to the second robotic arm; one end of the second synchronous belt is connected to the third synchronous belt pulley, and the other end is connected to the fourth synchronous belt pulley for further transmitting the power output by the first power assembly from the third synchronous belt pulley to the fourth synchronous belt pulley to drive the second robotic arm to rotate.

[0012] Further, the first robotic arm mechanism further includes a second power assembly and a second synchronous belt assembly; the second power assembly and the first power assembly are spaced apart on the first robotic arm; the second synchronous belt assembly is connected to the second power assembly and is used to receive the power output by the second power assembly; the second robotic arm mechanism further includes a third synchronous belt assembly, and the third synchronous belt assembly is connected to the second synchronous belt assembly and is used to receive the power transmitted by the second synchronous belt assembly to drive the end working part of the multi-joint robot to rotate.

[0013] Specifically, the second synchronous belt assembly includes a first end synchronous pulley, a second end synchronous pulley, and a first end synchronous belt. The first end synchronous pulley is connected to the output end of the second power assembly. The second end synchronous pulley is connected to the third synchronous belt assembly. One end of the first end synchronous belt is connected to the first end synchronous pulley, and the other end is connected to the second end synchronous pulley, for transmitting the power output by the lifting power assembly from the first end synchronous pulley to the second end synchronous pulley. The third synchronous belt assembly includes a third end synchronous pulley, a second end synchronous belt, and a fourth end synchronous pulley. The third end synchronous pulley is fixedly connected to the second end synchronous pulley to rotate synchronously with the second end synchronous pulley. One end of the second end synchronous belt is connected to the third end synchronous pulley for transmitting the power of the third end synchronous pulley. The fourth end synchronous pulley is respectively connected to one end of the second end synchronous belt far from the third end synchronous pulley and the end working part, for rotating with the third synchronous pulley under the drive of the second end synchronous pulley to drive the end working part to rotate.

[0014] The beneficial effects of this application are as follows: Different from the prior art, the multi-joint robot of this application includes a base, a lifting mechanism, a connecting component, a first robotic arm mechanism, and a second robotic arm mechanism. The base defines an installation space and is provided with an opening communicating with the installation space. The lifting mechanism is arranged in the installation space. The connecting component is installed outside the base at the opening and is connected to the lifting mechanism to perform a lifting motion under the drive of the lifting mechanism, and includes a connecting piece and a dust cover. The connecting piece is connected to the lifting mechanism through the opening and moves up and down with the lifting mechanism. The dust cover covers the periphery of the connecting piece to stretch or contract with the up and down movement of the connecting piece, and one end is installed around the opening on the base to close the installation space. The first robotic arm mechanism is connected to one end of the connecting component far from the lifting mechanism. The second robotic arm mechanism is connected to one end of the first robotic arm mechanism far from the connecting component. In the above manner, the lifting mechanism is arranged in the base, and the internal wiring of the base can adopt a sealed design to ensure the reliability of the cable in a high-clean environment. Since a dust cover is provided at the opening of the base, it can prevent dust, debris, etc. from entering the installation space and affecting the normal operation of the lifting mechanism, improving the cleanliness of the robot, so as to meet the design requirements of high protection and high cleanliness, enabling the multi-joint robot to be applicable to high-protection and high-clean application scenarios. In addition, the lifting mechanism is further arranged in the base far from the end of the robot, which can greatly simplify the end structure of the robot, making the end structure compact, so as to be applicable to the working scenario with a narrow space. Description of the Drawings

[0015] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become readily understandable. In the drawings, several embodiments of the present disclosure are shown by way of example and not limitation, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0016] Figure 1 is a schematic structural diagram of an embodiment of a multi-joint robot of the present application;

[0017] Figure 2 is a schematic partial structural diagram of an embodiment of a multi-joint robot of the present application;

[0018] Figure 3 is a sectional view of a partial structure of an embodiment of a multi-joint robot of the present application;

[0019] Figure 4 is a sectional view of a partial structure of an embodiment of a multi-joint robot of the present application. Detailed Embodiments

[0020] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present disclosure.

[0021] The following will describe in detail the specific embodiments of the present disclosure with reference to the accompanying drawings.

[0022] Please refer to Figures 1 to 3 , the present application provides a multi-joint robot. In one embodiment, the multi-joint robot includes a base 10, a first robotic arm mechanism 20, a second robotic arm mechanism 30, a lifting mechanism 40, and a connecting component 60.

[0023] Among them, the base 10 provides support and an installation foundation for the multi-joint robot, and an installation space 10a is defined inside it for accommodating the lifting mechanism 40 and other components. An opening 10b communicating with the installation space 10a is provided at the top of the base 10, facilitating the connection of the lifting mechanism 40 to an external structure and realizing power transmission.

[0024] Specifically, the base 10 can be fixedly formed by a bottom plate 11, side plates 12, a top plate 13, etc. through bolts or welding, etc., and together form the above-mentioned installation space 10a. Among them, the opening 10b can be provided on the top plate 13 of the base 10, that is to say, the installation space 10a can communicate with the outside through the opening 10b on the top plate 13 of the base 10. Openings can be processed on the side plates 12 for weight reduction and to facilitate subsequent internal maintenance and repair.

[0025] The first robotic arm mechanism 20 and the second robotic arm mechanism 30 are the core moving components of the multi-joint robot in this embodiment, and the two work together to achieve the precise positioning and movement of the robot. Among them, the first robotic arm mechanism 20 is the main support arm mechanism of the robot, connecting the base 10 to the second robotic arm mechanism 30 and providing a large range of horizontal movement. The second robotic arm mechanism 30 is the secondary arm mechanism of the robot, which can further expand the movement range on the basis of the first robotic arm mechanism 20 and can accurately position the end effector. And tools such as grippers and suction cups can be installed at the end of the second robotic arm mechanism 30 for performing tasks such as grasping and assembling.

[0026] The lifting mechanism 40 is arranged in the installation space 10a of the base 10 and is connected to the first robotic arm mechanism 20 and the second robotic arm mechanism 30 through the connecting component 60. Specifically, the lifting mechanism 40 may include relevant drive mechanisms such as motors to directly or indirectly output lifting power and drive the connecting component 60, the first robotic arm mechanism 20, the second robotic arm mechanism 30, etc. to perform lifting movement.

[0027] The connecting component 60 is arranged outside the base 10, one end is connected to the lifting mechanism 40 through the opening 10b of the base 10, and the other end is connected to the first robotic arm mechanism 20 for transmitting the movement of the lifting mechanism 40. Specifically, the connecting component 60 may include a connecting member 61 and a dust cover 62.

[0028] Among them, one end of the connecting member 61 is connected to the lifting mechanism 40 through the opening 10b of the base 10, and the other end is connected to the first robotic arm mechanism 20 and moves up and down with the lifting mechanism 40 to output the lifting movement of the lifting mechanism 40 to the first robotic arm mechanism 20, thereby driving the first robotic arm mechanism 20 to perform lifting movement.

[0029] The dust cover 62 covers the periphery of the connecting member 61, and one end is installed on the base 10 around the opening 10b of the base 10 to enclose the installation space 10a to a certain extent. The dust cover 62 can be made of flexible material and is stretched or contracted as the connecting member 61 moves up and down, so as to adapt to the lifting movement.

[0030] It should be noted that in the related art, the Z-axis lifting mechanism 40 of the multi-joint robot is exposed in the external space, which is prone to particle contamination and difficult to design the overall protection. In this embodiment, the lifting mechanism 40 is arranged in the base 10, and the internal wiring of the base 10 can adopt a sealed design to ensure the reliability of the cable in a high-clean environment. Since a dust cover 62 is provided at the opening 10b of the base 10, it can prevent dust, debris, etc. from entering the installation space 10a and affecting the normal operation of the lifting mechanism 40, improving the cleanliness of the robot, so as to meet the design requirements of high protection and high cleanliness, enabling the multi-joint robot to be applicable to high-protection and high-clean application scenarios.

[0031] In addition, there are certain limitations in the structural design of the multi-joint robot in the related art. Its Z-axis is usually integrated at the end, resulting in a relatively large volume of the end structure, making it difficult to adapt to the working environment with a narrow space and restricting its application in compact working scenarios. In this embodiment, the lifting mechanism 40 is arranged in the base 10 far from the end of the robot, which can greatly simplify the end structure of the robot and make the end structure compact, so as to be applicable to the working scenario with a narrow space.

[0032] Please refer to Figure 2 , in one embodiment, the lifting mechanism 40 includes a lifting power component 41, a lifting synchronous belt component 42, a power conversion component 43 and an adapter 44.

[0033] Among them, the lifting power component 41 is installed on the bottom plate 11 of the base 10, and specifically can be located on the mounting plate installed on the bottom plate 11. The lifting power component 41 can specifically be a motor, such as a servo motor, a stepper motor, etc., for providing the power required for the lifting movement.

[0034] The lifting synchronous belt component 42 is connected to the output end of the lifting power component 41 for receiving the power output by the lifting power component 41. Specifically, the lifting power component 41, such as a motor, can output the rotational movement to the input end of the lifting synchronous belt component 42, such as a synchronous pulley, through the connection between the two.

[0035] Specifically, the lifting synchronous belt component 42 includes a first lifting synchronous pulley 421, a second lifting synchronous pulley 422 and a lifting synchronous belt 423. The first lifting synchronous pulley 421 is connected to the output end of the lifting power component 41, and the second lifting synchronous pulley 422 is connected to the power conversion component 43. One end of the lifting synchronous belt 423 is connected to the first lifting synchronous pulley 421, and the other end is connected to the second lifting synchronous pulley 422, transmitting the rotational movement output by the lifting power component 41 to the power conversion component 43.

[0036] Further, the power conversion component 43 is connected to the lifting synchronous belt component 42, and is configured to receive the power transmitted by the lifting synchronous belt component 42 and convert the motion output by the lifting synchronous belt component 42 into a lifting motion.

[0037] The adapter 44 is a connecting component between the power conversion component 43 and the connecting component 60, and is used to transmit the lifting motion output by the power conversion component 43 to the connecting component 60. Specifically, the adapter 44 can be a plate-like structure and is directly or indirectly connected to the connecting component 60.

[0038] Specifically, the power conversion component 43 can be a ball screw, which can be fixedly connected to the second lifting synchronous pulley 422. When the second lifting synchronous pulley 422 rotates, the rotary motion is converted into a linear motion through the ball screw, so as to realize the up-and-down linear motion of the adapter 44 in the Z-axis direction, that is, the lifting motion.

[0039] Further, in an embodiment, the lifting mechanism 40 further includes a guide rod 45 and a stabilizer 46. The guide rod 45 is installed on the base 10 and has an extending direction parallel to the direction of the lifting motion output by the power conversion component 43. The stabilizer 46 is disposed around the guide rod 45 and is connected to the adapter 44 for moving along the guide rod 45 with the adapter 44. That is to say, the stabilizer 46 is a sliding guide rod assembly, one end of which is connected to the adapter 44, and the other end wraps the guide rod 45, thereby reducing the shaking or deviation of the adapter 44 during the lifting process and improving the stability during the operation of the multi-joint robot. Specifically, the stabilizer 46 can be a linear bearing, the guide rod 45 can be parallel to the ball screw, both sides of the adapter 44 are fixedly connected to the linear bearing, and the linear bearing can move up and down linearly in the Z-axis direction along the guide rod 45, thereby improving the stability of the up-and-down linear motion of the lifting part mounting plate in the Z-axis direction and reducing the jitter.

[0040] In an embodiment, the multi-joint robot further includes a rotating mechanism 50. The rotating mechanism 50 is disposed in the installation space 10a and is connected to the connecting component 60, and is configured to drive the first robotic arm mechanism 20 to rotate through the connecting component 60, such as rotating around the base 10. The rotating mechanism 50 includes a transfer part 51, a rotating power component 52, and a rotating synchronous belt component 53.

[0041] Specifically, the rotating power component 52 is installed at the bottom of the base 10, that is, it can be installed on the bottom plate 11 of the base 10, and can specifically be a motor, such as a servo motor or a stepper motor, etc., for providing the power required for the rotating motion.

[0042] The rotating synchronous belt component 53 is respectively connected to the rotating power component 52 and the transfer part 51, and is configured to receive the power output by the rotating power component 52 and transmit it to the connecting component 60 through the transfer part 51.

[0043] In one embodiment, the rotating synchronous belt assembly 53 includes a first rotating synchronous belt pulley 531 , a first rotating synchronous belt 532 , a second rotating synchronous belt pulley 533 , a third rotating synchronous belt pulley 534 , a fourth rotating synchronous belt pulley 535 and a second rotating synchronous belt 536 .

[0044] The first rotating synchronous belt pulley 531 is connected to the output end of the rotating power assembly 52, and specifically can be connected to the output shaft of the motor, so as to receive the power output by the rotating power assembly 52. ​​One end of the first rotating synchronous belt 532 is connected to the first rotating synchronous belt pulley 531, and the end thereof away from the first rotating synchronous belt pulley 531 is connected to the second rotating synchronous belt pulley 533, so that the first rotating synchronous belt 532 can transmit the power received by the first rotating synchronous belt pulley 531 from the rotating power assembly 52 to the second rotating synchronous belt pulley 533, so that the second rotating synchronous belt pulley 533 rotates with the first rotating synchronous belt pulley 531. The diameter and number of teeth of the second rotating synchronous belt pulley 533 match those of the first rotating synchronous belt pulley 531, so as to ensure the tension and transmission efficiency of the first rotating synchronous belt 532.

[0045] Further, the third rotating synchronous pulley 534 is fixedly connected to the second rotating synchronous pulley 533. Specifically, the two can be generally designed as an integral molding or fixedly connected by screw connection, welding, etc. to ensure that the two rotate synchronously. One end of the second rotating synchronous belt 536 is connected to the third rotating synchronous pulley 534, and the other end is connected to the fourth rotating synchronous pulley 535, so as to further transfer the power output by the rotating power component 52 from the third rotating synchronous pulley 534 to the fourth rotating synchronous pulley 535, thereby driving the fourth rotating synchronous pulley 535 to rotate. Similarly, the diameter and number of teeth of the fourth rotating synchronous pulley 535 match those of the third rotating synchronous pulley 534, ensuring the tension and transmission efficiency of the second rotating synchronous belt 536.

[0046] Specifically, the adapter 51 may be a cylindrical structure, and may be connected to the fourth rotating synchronous pulley 535 via a flange. Further, the cylindrical adapter 51 may be mounted on the plate adapter 44 in the lifting mechanism 40 via a flange, and the cylindrical adapter 51 may be further connected to the connecting member 61 in the connecting assembly 60, so that the lifting motion of the lifting mechanism 40 and the rotating motion of the rotating mechanism 50 may be transmitted to the connecting assembly 60, and then transmitted to the first robot arm mechanism 20.

[0047] See also Figure 3 In one embodiment, the connection assembly 60 further includes a mounting assembly 63 and a rotating assembly 64. The mounting assembly 63 is at least partially disposed between the base 10 and the dust cover 62, wherein the dust cover 62 is mounted on the base 10 through the mounting assembly 63. The rotating assembly 64 is mounted between the mounting assembly 63 and the dust cover 62, and is used to drive the dust cover 62 to rotate relative to the base 10.

[0048] Specifically, the mounting component 63 may include a mounting base 631, a first fixing member 632, and a second fixing member 633. The mounting base 631 may be located between the base 10 and the dust cover 62 and is mounted on the top of the base 10 at the opening 10b. It can be understood that the mounting base 631 is arranged in a ring shape around the opening 10b. The mounting base 631 and the base 10 may be fixedly connected. The first fixing member 632 is arranged at one end of the dust cover 62 close to the base 10 for fixing the dust cover 62 to the mounting base 631. The second fixing member 633 is arranged at one end of the dust cover 62 far from the base 10 for fixing the dust cover 62 to the top of the connecting member 61.

[0049] Furthermore, the rotating component 64 includes a rotating member 641 and a locking seat 642. Among them, the rotating member 641 is sleeved and installed around the mounting base 631. The locking seat 642 is sleeved and installed around the rotating member 641 and is located between the rotating member 641 and the first fixing member 632. That is, the dust cover is installed on the locking seat 642 through the first fixing member 632 and then installed on the mounting base 631. Among them, the locking seat 642 is used to rotate relative to the mounting base 631 driven by the rotating member 641 to adapt to the rotation of the rotating mechanism 50.

[0050] In an application scenario, the first fixing member 632 and the second fixing member 633 may be pipe clamps, the rotating member 641 may be a bearing, and the connecting member 61 may be a flange. Specifically, the mounting base 631 is fixed above the top plate 13 of the base 10. The inner ring of the bearing is matched with the mounting base 631 and is fixed on the mounting base 631 through the inner ring pressing plate of the bearing. The outer ring of the bearing is matched with the locking seat 642 and is fixed on the locking seat 642 through the outer ring pressing plate of the bearing. The upper and lower sides of the dust cover 62 are respectively locked to the flange and the locking seat 642 by pipe clamps. When the cylindrical adapter 44 rotates and moves up and down with the connecting component 60, the dust cover 62 can rotate and stretch simultaneously, achieving the sealing of the base 10 while ensuring the smoothness of rotation and lifting.

[0051] Please refer to Figure 4 , in an embodiment, the second robotic arm mechanism 30 includes a second robotic arm 31, and the first robotic arm mechanism 20 includes a first robotic arm 21, a first power component 22, and a first synchronous belt component 23.

[0052] Among them, the first robotic arm 21 and the second robotic arm 31 are part of the main structure of a multi-joint robot, one end is connected to the connecting component 60, and the other end is connected to the second robotic arm 31.

[0053] The first power assembly 22 is located at one end of the first robotic arm 21 close to the connection assembly 60. Specifically, it can be a motor, such as a servo motor or a stepper motor, etc., and is fixed to the first robotic arm 21 through a flange. It is used to provide the power required for the rotation of the second robotic arm 31, and through the connection with the first synchronous belt assembly 23, outputs the rotational motion to the first synchronous belt assembly 23.

[0054] The first synchronous belt assembly 23 is respectively connected to the first power assembly 22 and the second robotic arm 31, and is used to receive the power output by the first power assembly 22 to drive the second robotic arm 31 to rotate.

[0055] In an embodiment, the first synchronous belt assembly 23 includes a first synchronous belt pulley 231, a first synchronous belt 232, a second synchronous belt pulley 233, a third synchronous belt pulley 234, a fourth synchronous belt pulley 235, and a second synchronous belt 236.

[0056] Specifically, the first synchronous belt pulley 231 is connected to the output end of the first power assembly 22, and specifically can be connected to the output shaft of the motor, so as to receive the power output by the first power assembly 22. One end of the first synchronous belt 232 is connected to the first synchronous belt pulley 231, and the end thereof far from the first synchronous belt pulley 231 is connected to the second synchronous belt pulley 233. In this way, the first synchronous belt 232 can transmit the power received by the first synchronous belt pulley 231 from the first power assembly 22 to the second synchronous belt pulley 233, so that the second synchronous belt pulley 233 rotates with the first synchronous belt pulley 231. The diameter and number of teeth of the second synchronous belt pulley 233 match those of the first synchronous belt pulley 231 to ensure the tension and transmission efficiency of the first synchronous belt 232.

[0057] Further, the third synchronous belt pulley 234 is fixedly connected to the second synchronous belt pulley 233. Specifically, the two can generally be integrally formed or fixedly connected by means such as screwing or welding to ensure their synchronous rotation. One end of the second synchronous belt 236 is connected to the third synchronous belt pulley 234, and the other end is connected to the fourth synchronous belt pulley 235 to further transmit the power output by the first power assembly 22 from the third synchronous belt pulley 234 to the fourth synchronous belt pulley 235, thereby driving the fourth synchronous belt pulley 235 to rotate. Similarly, the diameter and number of teeth of the fourth synchronous belt pulley 235 match those of the third synchronous belt pulley 234 to ensure the tension and transmission efficiency of the second synchronous belt 236.

[0058] Further, in an embodiment, the first robotic arm mechanism 20 further includes a second power assembly 24 and a second synchronous belt assembly 25.

[0059] The second power assembly 24 is disposed on the first robotic arm 21, and specifically can be disposed on the side of the first power assembly 22 facing the second robotic arm 31. Specifically, the second power assembly 24 can be a motor, such as a servo motor or a stepper motor, etc., and is fixed to the first robotic arm 21 through a flange, and is used to provide the power required for the rotation of the end working part of the second robotic arm 31, and through the connection with the second synchronous belt assembly 25, outputs the rotational motion to the second synchronous belt assembly 25.

[0060] The second synchronous belt assembly 25 is connected to the second power assembly 24 and is used to receive the power output by the second power assembly 24. In order to further transmit the power output by the second power assembly 24 to the end working part of the multi-joint robot, the second robotic arm mechanism 30 further includes a third synchronous belt assembly 32, and this third synchronous belt assembly 32 is connected to the second synchronous belt assembly 25 and is used to receive the power transmitted by the second synchronous belt assembly 25 to drive the rotation of the end of the multi-joint robot.

[0061] In an embodiment, the second synchronous belt assembly 25 includes a first end synchronous belt pulley 251, a first end synchronous belt 252, and a second end synchronous belt pulley 253. The third synchronous belt assembly 32 includes a third end synchronous belt pulley 321, a fourth end synchronous belt pulley 322, and a second end synchronous belt 323.

[0062] Specifically, the first end synchronous belt pulley 251 is connected to the output end of the second power assembly 24, and specifically can be connected to the output shaft of the motor, so as to receive the power output by the second power assembly 24. One end of the first end synchronous belt 252 is connected to the first end synchronous belt pulley 251, and its end far from the first end synchronous belt pulley 251 is connected to the second end synchronous belt pulley 253. In this way, the first end synchronous belt 252 can transmit the power received by the first end synchronous belt pulley 251 from the second power assembly 24 to the second end synchronous belt pulley 253, so that the second end synchronous belt pulley 253 rotates with the first end synchronous belt pulley 251. The diameter and number of teeth of the second end synchronous belt pulley 253 are matched with those of the first end synchronous belt pulley 251 to ensure the tension and transmission efficiency of the first end synchronous belt 252.

[0063] Furthermore, the third end synchronous pulley 321 is fixedly connected to the second end synchronous pulley 253. Specifically, they can usually be integrally formed or fixedly connected by means such as screwing or welding to ensure synchronous rotation. Specifically, it can be fixedly connected to the connection part of the first robotic arm 21 and the second robotic arm 31 to rotate synchronously with the second end synchronous pulley 253. One end of the second end synchronous belt 323 is connected to the third end synchronous pulley 321, and the other end is connected to the fourth end synchronous pulley 322 to further transmit the power output by the second power component 24 from the third end synchronous pulley 321 to the fourth end synchronous pulley 322, thereby driving the fourth end synchronous pulley 322 to rotate. Similarly, the diameter and number of teeth of the fourth end synchronous pulley 322 match those of the third synchronous pulley 234 to ensure the tension and transmission efficiency of the second end synchronous belt 323. Further, a flange can be provided at the end and fixedly connected to the fourth end synchronous pulley 322 and rotate with the rotation of the fourth end synchronous pulley 322, thereby realizing the output of the rotational motion of the end working part.

[0064] It should be noted that in the structure of existing horizontally articulated robots, the transmission parts of the large and small arms generally adopt the scheme of a motor combined with a harmonic reducer or an RV reducer to achieve the transmission function. However, it should be pointed out that on the one hand, the price of harmonic reducers or RV reducers is relatively high, and this cost factor largely fails to meet the urgent needs of customers for cost reduction; on the other hand, in the actual production and assembly process of this scheme, due to various factors such as machining accuracy and assembly process, it is difficult to ensure its consistency, resulting in problems such as vibration and abnormal noise during the operation of the robot. These problems not only affect the normal operation of the robot but may also reduce the service life and working efficiency of the robot.

[0065] The multi-joint robot of the present application adopts a full synchronous belt drive scheme, which can demonstrate significant cost advantages in application scenarios with relatively small loads. This advantage can effectively meet the customer's demand for low cost, enabling the customer to obtain the functions of the robot without bearing excessive equipment costs, providing a more ideal choice for the customer in terms of cost control; in addition, through the optimization of the transmission structure, the occurrence probability of the above-mentioned vibration, abnormal noise and other problems can be effectively reduced, thereby improving the stability and reliability of the robot operation, ensuring that the robot can complete various tasks more smoothly and efficiently during the working process, extending the service life of the robot, and bringing a better user experience to the user.

[0066] In the foregoing description of this specification, unless otherwise clearly specified and defined, terms such as "fix", "install", "connect" or "couple" should be understood in a broad sense. For example, regarding the term "connect", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the communication inside two components or the interaction relationship between two components. Therefore, unless clearly specified otherwise in this specification, those skilled in the art can understand the specific meanings of the above terms in this application according to specific circumstances.

[0067] Based on the foregoing description of this specification, those skilled in the art can also understand the terms used as follows. For example, terms indicating orientation or positional relationships such as "upper", "lower", "front", "rear", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "center", "longitudinal", "transverse", "clockwise" or "counterclockwise" are based on the orientation or positional relationships shown in the drawings of this specification. They are only for the purpose of facilitating the description of the solutions of this application and simplifying the description, rather than explicitly or implicitly indicating that the devices or elements involved must have the specific orientation, be constructed and operate in the specific orientation. Therefore, the above terms indicating orientation or positional relationships cannot be understood or interpreted as limitations on the solutions of this application.

[0068] In addition, terms such as "first" or "second" used in this specification to refer to numbers or ordinals are only for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "a plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0069] Although this specification has shown and described multiple embodiments of this application, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art will think of many changes, alterations and alternative ways without departing from the spirit and scope of this application. It should be understood that various alternative solutions to the embodiments of this application described herein can be adopted in the process of practicing this application. The appended claims are intended to define the protection scope of this application and thus cover the module compositions, equivalents or alternative solutions within the scope of these claims.

Claims

1. A multi-joint robot, characterized in that, Comprising: A base, which defines an installation space and is provided with an opening communicating with the installation space; A lifting mechanism, which is arranged in the installation space; A connecting component, which is installed outside the base at the opening and is connected to the lifting mechanism to perform a lifting motion driven by the lifting mechanism, and includes: A connecting piece, which is connected to the lifting mechanism through the opening and moves up and down with the lifting mechanism; and A dust cover, which covers the periphery of the connecting piece to stretch or contract with the up and down movement of the connecting piece, and one end is installed around the opening on the base to close the installation space; A first robotic arm mechanism, which is connected to one end of the connecting component far away from the lifting mechanism; and A second robotic arm mechanism, which is connected to one end of the first robotic arm mechanism far away from the connecting component.

2. The multi-joint robot according to claim 1, wherein The connecting component further includes: An installation component, which is arranged between the base and the dust cover, wherein the dust cover is installed on the base through the installation component; and A rotating component, which is installed between the installation component and the dust cover and is used to drive the dust cover to rotate relative to the base.

3. The multi-joint robot according to claim 1, characterized in that, The lifting mechanism includes: An adapter, which is connected to the connecting component; A lifting power component, which is installed at the bottom of the base; A lifting synchronous belt component, which is connected to the lifting power component and is used to receive the power output by the lifting power component; and A power conversion component, which is respectively connected to the lifting synchronous belt component and the adapter, and is used to receive the power transmitted by the lifting synchronous belt component and convert the motion output by the lifting synchronous belt component into a lifting motion to drive the adapter to lift.

4. The multi-joint robot according to claim 3, wherein The lifting mechanism further includes: A guide rod, which is installed on the base and has an extending direction parallel to the direction of the lifting motion; and A stabilizing piece, which is arranged around the guide rod and is connected to the adapter to move along the guide rod with the adapter.

5. The multi-joint robot according to claim 1, characterized in that, It further includes a rotating mechanism, which is arranged in the installation space and is connected to the connecting component and is used to drive the first robotic arm mechanism to rotate through the connecting component, and includes: A transfer part, which is connected to the connecting component and is used to drive the connecting component to rotate; A rotating power component, which is installed at the bottom of the base; and A rotating synchronous belt component, which is respectively connected to the rotating power component and the transfer part and is used to receive the power output by the rotating power component and transmit it to the connecting component through the transfer part.

6. The multi-joint robot according to claim 5, wherein, The rotating synchronous belt component includes: A first rotating synchronous belt wheel, which is connected to the output end of the rotating power component to receive the power output by the rotating power component; A first rotating synchronous belt, one end of which is connected to the first rotating synchronous belt wheel and is used to transmit the power received by the first rotating synchronous belt wheel from the rotating power component; A second rotating synchronous belt wheel, which is connected to the end of the first rotating synchronous belt far away from the first rotating synchronous belt wheel and is used to rotate with the first rotating synchronous belt wheel driven by the first rotating synchronous belt; A third rotating synchronous belt wheel, which is fixedly connected to the second rotating synchronous belt wheel to rotate synchronously with the second rotating synchronous belt wheel; a fourth rotating synchronous pulley connected to the transfer portion; and The second rotating synchronous belt has one end connected to the third rotating synchronous pulley and the other end connected to the fourth rotating synchronous pulley, and is used to further transmit the power output by the rotating power component from the third rotating synchronous pulley to the fourth rotating synchronous pulley.

7. The multi-joint robot according to claim 1, wherein The second mechanical arm mechanism comprises a second mechanical arm, and the first mechanical arm mechanism comprises: A first mechanical arm, one end of which is connected to the connecting assembly, and the other end of which is connected to the second mechanical arm; A first power assembly is located at one end of the first mechanical arm close to the connecting assembly; and The first synchronous belt assembly is connected to the first power assembly and the second mechanical arm respectively, and is used to receive the power output by the first power assembly to drive the second mechanical arm to rotate.

8. The multi-joint robot according to claim 7, characterized in that, The first synchronous belt assembly comprises: A first synchronous pulley connected to an output end of the first power assembly to receive power output by the first power assembly; A first synchronous belt, one end of which is connected to the first synchronous pulley and is used to transmit power received by the first synchronous belt from the first power assembly; a second synchronous belt pulley connected to an end of the first synchronous belt away from the first synchronous belt pulley, and configured to rotate along with the first synchronous belt pulley under the drive of the first synchronous belt; A third synchronous belt pulley is fixedly connected to the second synchronous belt pulley so as to rotate synchronously with the second synchronous belt pulley; a fourth synchronous pulley connected to the second mechanical arm; and The second synchronous belt has one end connected to the third synchronous pulley and the other end connected to the fourth synchronous pulley, and is used to further transmit the power output by the first power component from the third synchronous pulley to the fourth synchronous pulley to drive the second robot arm to rotate.

9. The multi-joint robot according to claim 7, wherein The first mechanical arm mechanism also includes: A second power assembly is disposed on the first mechanical arm at a distance from the first power assembly; and A second synchronous belt assembly, connected to the second power assembly, for receiving power output by the second power assembly; The second robotic arm mechanism also includes a third synchronous belt assembly, which is connected to the second synchronous belt assembly and is used to receive power transmitted by the second synchronous belt assembly to drive the end working part of the multi-articular robot to rotate.

10. The multi-joint robot according to claim 9, characterized in that, The second synchronous belt assembly comprises: A first end synchronous pulley connected to the output end of the second power assembly; A second end synchronous belt pulley connected to the third synchronous belt assembly; and A first end synchronous belt, one end of which is connected to the first end synchronous belt pulley and the other end of which is connected to the second end synchronous belt pulley, for transmitting the power output by the lifting power assembly from the first end synchronous belt pulley to the second end synchronous belt pulley; The third synchronous belt assembly comprises: A third end synchronous belt pulley is fixedly connected to the second end synchronous belt pulley to rotate synchronously with the second end synchronous belt pulley; A second end synchronous belt, one end of which is connected to the third end synchronous belt pulley and is used to transmit power to the third end synchronous belt pulley; and The fourth end synchronous pulley is respectively connected to one end of the second end synchronous belt far from the third end synchronous pulley and the end working part, and is used to rotate with the third synchronous pulley under the drive of the second end synchronous pulley so as to drive the end working part to rotate.

Images