Vertical multi-joint universal robot

Abstract

The vertical multi-joint universal robot comprises a robot body and a safety alarm assembly, a front end execution arm is arranged at the front end of the robot body, a front end mounting seat is mounted on the front end execution arm, and the front end mounting seat is correspondingly connected into a tail end mounting table; the different tail end mounting tables are used for bearing different mechanical arms, the tail end mounting tables are inserted into the front end mounting base, and quick release mechanisms are arranged on the tail end mounting tables to achieve connection with the front end mounting base; the safety alarm assembly comprises a control panel, an LED indicating lamp, a buzzer, a pressure sensor and two point contact electric columns which are installed on the front end installation base. The mechanical grippers with different functions can be quickly replaced through the quick release mechanism to adapt to diversified operation scenes, meanwhile, the safety alarm assembly is carried, the tail end connection state can be sensed in real time, safety accidents are effectively avoided, and the monitoring accuracy and the operation safety are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of general robot technology, and in particular to a vertical multi-joint general robot. Background Technology

[0002] With the accelerated iteration of the global intelligent manufacturing industry, vertical joint robots have become core equipment in the field of industrial automation due to their superior three-dimensional spatial mobility. Currently, mainstream vertical joint robots generally adopt a multi-axis serial structure. Through the coordinated operation of the base, multiple sets of rotatable joints and the end effector, they can complete complex trajectory planning and pose adjustment, and are widely used in many fields such as automotive parts welding, 3C electronic precision assembly, and logistics cargo handling.

[0003] However, existing technologies still have significant shortcomings in practical applications. In terms of the universality and compatibility of end-point tools, the quick-release structure design of most products is not perfect enough. Either the operation is cumbersome and requires special tools, or the self-locking performance is insufficient, making it difficult to balance quick replacement and connection stability. In terms of operational safety protection, it is impossible to detect the loosening trend of end-point tools in advance, making it difficult to avoid safety accidents caused by end-point connection failures at the root. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention provides a vertical multi-joint universal robot that can quickly replace different functional mechanical grippers through a quick-release mechanism, adapting to diverse work scenarios. It is also equipped with a safety alarm component that can sense the end-effector connection status in real time, effectively avoiding safety accidents and significantly improving monitoring accuracy and operational safety.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a vertical multi-joint general-purpose robot, including a robot body and a safety alarm component. The front end of the robot body is provided with a front end execution arm, and a front end mounting base is installed on the front end execution arm. The front end mounting base is connected to the end mounting platform. Different end mounting platforms are used to support different robotic arms. The end mounting platform is inserted into the front end mounting base. The end mounting platform is provided with a quick-release mechanism to realize the connection with the front end mounting base. The safety alarm component includes a control board, LED indicator, buzzer, pressure sensor and two point contact terminals mounted on the front mounting base. The control board integrates a control chip, current sampling resistor, comparator, signal amplifier and communication module. The end mounting platform is equipped with a U-shaped copper alloy terminal and a stainless steel pressure bar, which correspond to the pressure sensor and the two point contact terminals on the front mounting base, respectively.

[0006] As a preferred embodiment of the present invention, the robot body includes a base, a first robotic arm that rotates relative to the base is mounted on the base, a second robotic arm that rotates relative to the first robotic arm is mounted on the first robotic arm, a third robotic arm that rotates relative to the second robotic arm is mounted on the second robotic arm, a fourth robotic arm that rotates relative to the third robotic arm is mounted on the third robotic arm, and a front-end actuator arm that rotates relative to the fourth robotic arm is mounted on the fourth robotic arm.

[0007] As a preferred embodiment of the present invention, the end mounting platform includes a boss, a plug-in portion, and two side adjustment portions. The plug-in portion is fixedly connected to one side of the boss, and the two side adjustment portions are fixedly connected to the outer ring of the boss and communicate with the inside of the boss. The front mounting base has a slot and several slots communicating with the slot. The plug-in portion is inserted into the slot for initial positioning. A quick-release mechanism is provided between the boss, the plug-in portion, and the two side adjustment portions. The plug-in portion has a receiving cavity corresponding to the slot.

[0008] As a preferred embodiment of the present invention, the quick-release mechanism includes a rotating shaft rotatably connected to the inner side of the boss portion, a worm gear and a drive gear fixedly sleeved on the rotating shaft, a transmission shaft rotatably connected to the insertion portion and extending to the boss portion and the receiving cavity at both ends respectively, a driven gear fixedly sleeved on one end of the transmission shaft and meshing with the drive gear, a locking block fixedly sleeved on the other end of the transmission shaft and located in the receiving cavity, and a worm gear rotatably disposed between the two side adjustment portions and meshing with the worm gear.

[0009] As a preferred embodiment of the present invention, two point-contact terminals are connected to a current sampling resistor via wires. The U-shaped copper alloy terminal contacts the two point-contact terminals to form a closed energized circuit. The current sampling resistor is connected to a comparator and inputs a voltage signal to the non-inverting input of the comparator. The comparator outputs a high level to the GPIO pin of the control chip. The control chip detects the low-level signal from the comparator and triggers an LED indicator and a buzzer alarm.

[0010] As a preferred embodiment of the present invention, the stainless steel pressure rod contacts the pressure sensor to generate a load signal and transmits it to the signal amplifier. The signal amplifier amplifies the load signal and inputs it to the A / D conversion pin of the control chip. The control chip detects the load signal and triggers the LED indicator and the buzzer alarm.

[0011] As a preferred embodiment of the present invention, the control chip incorporates dual alarm logic: When a low-level comparator signal or a pressure load signal drops below 30% of its initial value is detected, a Level 1 emergency alarm is triggered; when only a pressure load signal drops to the 60%-30% range of its initial value is detected, a Level 2 warning is triggered; when both an abnormality in the power circuit and an abnormality in the pressure signal are detected simultaneously, a Level 1 emergency alarm is triggered directly, and a shutdown command is executed with priority.

[0012] As a preferred embodiment of the present invention, hexagonal adjustment heads are fixedly connected to both ends of the worm gear, and the end face of the hexagonal adjustment head is flush with the end face of the side adjustment part.

[0013] As a preferred embodiment of the present invention, the pressure sensor is a MEMS type pressure sensor, and the signal amplifier amplifies the input signal by 10 times and inputs it to the A / D conversion pin of the control chip.

[0014] As a preferred embodiment of the present invention, the first arm, the second arm, the third arm, the fourth arm and the front-end actuator arm are all driven by servo motors. The servo motors have built-in encoders and the positioning accuracy is not less than ±0.01°.

[0015] Compared with the prior art, the beneficial effects that this invention can achieve are: With the end-mounted platform combined with a quick-release mechanism driven by worm gears and worm wheels, the end-mounted platform carrying different functional mechanical claws can be quickly replaced without special tools. The assembly and disassembly process is simplified, reducing the operation threshold for maintenance personnel and the time spent on tool replacement. It can flexibly adapt to diverse operation needs such as assembly, handling, and welding, and greatly improve the robot's scenario reuse rate and versatility.

[0016] Through a dual safety mechanism of closed-loop power supply and pressure sensor monitoring, combined with the cross-validation alarm logic of the control chip, the connection status of the end-mounted platform can be sensed in real time, preventing safety accidents caused by the detachment of end tools from the source. The cross-validation mechanism significantly reduces the false alarm rate of a single signal and improves the accuracy of safety monitoring. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram showing the connection state between the end mounting platform and the front mounting base of the present invention; Figure 4 This is a three-dimensional schematic diagram of the front mounting base of the present invention; Figure 5 This is a three-dimensional schematic diagram of the end mounting platform of the present invention; Figure 6 This is a three-dimensional schematic diagram of the quick-release mechanism of the present invention; Figure 7 This is a cross-sectional view of the connection between the end mounting platform and the front mounting base of the present invention; Figure 8 This is a schematic diagram of the working process of the safety alarm component of the present invention; Figure 9 This is a schematic diagram of the logic control of the control chip of the present invention.

[0018] Legend: 100. Robot body; 101. Front-end actuator arm; 102. Base; 103. First arm; 104. Second arm; 105. Third arm; 106. Fourth arm; 200. Safety alarm component; 201. Control board; 202. LED indicator; 203. Buzzer; 204. Pressure sensor; 205. Contact electrode; 206. Control chip; 207. Current sampling resistor; 208. Comparator; 209. Signal amplifier; 2010. Communication module; 2011, U-shaped copper alloy power terminal; 2012, stainless steel pressure rod; 300, front mounting base; 301, slot; 302, card slot; 400, end mounting platform; 401, boss; 402, plug-in part; 403, side adjustment part; 404, receiving cavity; 500, quick release mechanism; 501, rotating shaft; 502, worm gear; 503, driving gear; 504, transmission shaft; 505, driven gear; 506, locking block; 507, worm; 508, hexagonal adjustment head. Detailed Implementation

[0019] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0020] like Figures 1-9 As shown, this embodiment proposes a vertical multi-joint general-purpose robot, including a robot body 100 and a safety alarm component 200. The robot body 100 has a front-end execution arm 101 at its front end, and a front-end mounting base 300 is installed on the front-end execution arm 101. The front-end mounting base 300 is connected to an end mounting platform 400. Different end mounting platforms 400 are used to support different mechanical claws. The end mounting platform 400 is inserted into the front-end mounting base 300. The end mounting platform 400 is provided with a quick-release mechanism 500 to realize the connection with the front-end mounting base 300. The safety alarm component 200 includes a control board 201, an LED indicator 202, a buzzer 203, a pressure sensor 204, and two point-contact terminals 205 mounted on the front mounting base 300. The control board 201 integrates a control chip 206, a current sampling resistor 207, a comparator 208, a signal amplifier 209, and a communication module 2010. The end mounting platform 400 is equipped with a U-shaped copper alloy terminal 2011 and a stainless steel pressure rod 2012, which correspond to the pressure sensor 204 and the two point-contact terminals 205 on the front mounting base 300, respectively.

[0021] Specifically, a front mounting base 300 is installed on the front actuator arm 101, and different end mounting platforms 400 carry corresponding mechanical claws. They are connected by inserting into the front mounting base 300. The quick-release mechanism 500 of the end mounting platform 400 is used to fix it to the front mounting base 300, which is compatible with different types of mechanical claws and meets the diverse operation needs such as assembly, handling, and welding. At the same time, it has dual monitoring of electrical circuit and mechanical pressure to prevent the end mounting platform 400 with mechanical claws from falling off and causing safety accidents.

[0022] In a preferred embodiment of the present invention, the robot body 100 includes a base 102, a first arm 103 that rotates relative to the base 102 is mounted on the base 102, a second arm 104 that rotates relative to the first arm 103 is mounted on the first arm 103, a third arm 105 that rotates relative to the second arm 104 is mounted on the second arm 104, a fourth arm 106 that rotates relative to the third arm 105 is mounted on the third arm 105, and a front-end actuator arm 101 that rotates relative to the fourth arm 106 is mounted on the fourth arm 106.

[0023] Specifically, through the coordinated movement of multiple rotating joints, the three-dimensional spatial pose of the end effector is precisely adjusted, enabling it to complete complex spatial trajectory movements and adapt to high-end industrial scenarios such as narrow space operations and precision assembly.

[0024] In a preferred embodiment of the present invention, the end mounting platform 400 includes a boss portion 401, a plug portion 402, and two side adjustment portions 403. The plug portion 402 is fixedly connected to one side of the boss portion 401, and the two side adjustment portions 403 are fixedly connected to the outer ring of the boss portion 401 and communicate with the inside of the boss portion 401. The front mounting base 300 is provided with a slot 301 and a plurality of slots 302 communicating with the slot 301. The plug portion 402 is inserted into the slot 301 for initial positioning. The quick release mechanism 500 is disposed between the boss portion 401, the plug portion 402, and the two side adjustment portions 403. The plug portion 402 is provided with a receiving cavity 404 corresponding to the slot 302. The quick-release mechanism 500 includes a rotating shaft 501 rotatably connected to the inside of the boss portion 401, a worm gear 502 and a drive gear 503 fixedly sleeved on the rotating shaft 501, a drive shaft 504 rotatably connected to the insertion portion 402 and extending to the boss portion 401 and the receiving cavity 404 at both ends respectively, a driven gear 505 fixedly sleeved on one end of the drive shaft 504 and meshing with the drive gear 503, a locking block 506 fixedly sleeved on the other end of the drive shaft 504 and located in the receiving cavity 404, and a worm 507 rotatably disposed between the two side adjustment portions 403 and meshing with the worm gear 502. Hexagonal adjustment heads 508 are fixedly connected to both ends of the worm 507, and the end face of the hexagonal adjustment head 508 is flush with the end face of the side adjustment portion 403.

[0025] Specifically, the insertion part 402 of the end mounting platform 400 is inserted into the slot 301 of the front mounting base 300 to achieve initial axial positioning. A universal hex wrench is inserted into the hexagonal adjusting head 508, and turning the wrench drives the worm gear 507 to rotate. The worm gear 507 drives the worm wheel 502 to rotate. The worm wheel 502 synchronously drives the driving gear 503 to rotate through the rotating shaft 501. The driving gear 503 meshes with the driven gear 505. The driven gear 505 drives the locking block 506 to rotate out of the receiving cavity 404 and into the locking groove 3 of the front mounting base 300 through the transmission shaft 504. Within 02, the mechanical locking of the end mounting platform 400 and the front mounting base 300 is achieved. The worm gear 507 is rotated in the opposite direction, the transmission chain moves in the opposite direction, and the locking block 506 rotates back to the receiving cavity 404, releasing the engagement with the slot 302, allowing the end mounting platform 400 to be pulled out directly. The transmission between the worm gear 507 and the worm wheel 502 makes the locking self-locking, preventing the end tool from accidentally loosening during high-speed movement or load operation, and enabling quick disassembly without the need for special and complex tools. It is convenient to replace different mechanical claws to meet the diverse operation needs of assembly, handling, welding, etc., and has good versatility.

[0026] In a preferred embodiment of the present invention, two point-contact terminals 205 are connected to a current sampling resistor 207 via wires. A U-shaped copper alloy terminal 2011 contacts the two point-contact terminals 205 to form a closed energized circuit. The current sampling resistor 207 is connected to a comparator 208 and inputs a voltage signal to the non-inverting input terminal of the comparator 208. The comparator 208 outputs a high level to the GPIO pin of the control chip 206. The control chip 206 detects the low-level signal from the comparator 208 and triggers an LED indicator 202 and a buzzer 203 to sound an alarm.

[0027] Specifically, when the end-mount platform 400 becomes loose or falls off, the U-shaped contact post separates from the point contact post 205, the circuit is broken, the current sampling resistor 207 has no voltage signal, the comparator 208 outputs a low level, and after the control chip 206 detects the low level signal, it immediately triggers the LED indicator 202 to flash and the buzzer 203 to sound an alarm. The alarm is triggered the instant the circuit is broken, without delay, directly reflecting the connection status of the end tool. Maintenance personnel can quickly determine whether the connection is normal by checking the continuity of the circuit.

[0028] In a preferred embodiment of the present invention, the stainless steel pressure rod 2012 contacts the pressure sensor 204 to generate a load signal and transmits it to the signal amplifier 209. The signal amplifier 209 amplifies the load signal and inputs it to the A / D conversion pin of the control chip 206. The control chip 206 detects the load signal and triggers the LED indicator 202 and the buzzer 203 to sound an alarm.

[0029] Specifically, when the end mounting platform 400 becomes loose, the pressure of the pressure rod on the pressure sensor 204 decreases, and the load signal drops below the threshold. After the control chip 206 detects the abnormal signal, it triggers the LED indicator 202 and the buzzer 203 to sound an alarm, thus enabling early monitoring of the loosening trend through pressure changes and avoiding sudden failures.

[0030] In a preferred embodiment of the present invention, the control chip 206 incorporates dual alarm logic: When a low-level signal from comparator 208 is detected or the pressure load signal drops below 30% of its initial value, a Level 1 emergency alarm is triggered; when only the pressure load signal drops to the 60%-30% range of its initial value, a Level 2 warning is triggered; when both an abnormality in the power circuit and an abnormality in the pressure signal are detected simultaneously, a Level 1 emergency alarm is triggered directly and a shutdown command is executed with priority.

[0031] Specifically, the control chip 206 simultaneously receives the level signal from the comparator 208 and the load signal from the pressure sensor 204, and performs cross-validation. If a low level is detected in the comparator 208 or the pressure signal is ≤30% of the initial value, a first-level emergency alarm is triggered. If only the pressure signal is detected in the range of 60%-30% of the initial value, a second-level warning is triggered. If both a circuit abnormality and a pressure signal abnormality are detected simultaneously, a first-level emergency alarm is directly triggered and a shutdown command is executed first. Cross-validation can avoid false alarms from a single signal, improve alarm accuracy, and prevent safety accidents caused by delays in logical judgment.

[0032] In a preferred embodiment of the present invention, the pressure sensor 204 is a MEMS type pressure sensor 204, and the signal amplifier 209 amplifies the input signal by 10 times and inputs it to the A / D conversion pin of the control chip 206.

[0033] Specifically, the MEMS sensor has a resolution of up to 0.1 kPa. With 10x signal amplification, it can detect minute pressure changes of ≤2N. The amplified signal amplitude matches the input range of the 206A / D conversion pin of the control chip, ensuring the accuracy and reliability of the sampled data.

[0034] In a preferred embodiment of the present invention, the first arm 103, the second arm 104, the third arm 105, the fourth arm 106 and the front-end actuator arm 101 are all driven by servo motors. The servo motors have built-in encoders and the positioning accuracy is not less than ±0.01°.

[0035] Specifically, servo motors drive the rotation of each arm, and the built-in incremental encoders collect the motor rotation angle signals in real time and feed them back to the robot control system to form a closed-loop control, ensuring that the positioning accuracy of each joint is not less than ±0.01°, meeting the high-end requirements of precision assembly, electronic manufacturing, etc., and supporting the high-precision movement of the end tool under load, adapting to heavy-duty operation scenarios.

[0036] Based on the above, the working principle and usage process of this invention can be summarized as follows: Insert the insertion part 402 of the end mounting platform 400 carrying the target mechanical claw into the slot 301 of the front mounting base 300 to complete the initial positioning. Use a hex wrench to turn the hexagonal adjustment head 508 of the side adjustment part 403. Turning the wrench drives the worm gear 507 to rotate, causing the worm wheel 502 to rotate and drive the rotating shaft 501 to rotate the drive gear 503. The driven gear 505, which meshes with the drive gear 503, rotates accordingly and drives the transmission shaft 504 to rotate. The transmission shaft 504 drives the locking block 506 to rotate out of the receiving cavity 404 and lock into the slot 302 of the front mounting base 300, realizing the quick assembly and disassembly and self-locking fixation of the end mounting platform 400. Different mechanical claws can be replaced without special tools to complete assembly, handling, welding and other operations, meeting diverse operation needs. Simultaneously, the U-shaped copper alloy contact post 2011 and the point contact contact post 205 form a closed loop. The stainless steel pressure rod 2012 presses against the pressure sensor 204. The control chip 206 simultaneously receives the level signal from the comparator 208 and the load signal from the pressure sensor 204, performing cross-verification. If a low level is detected in the comparator 208 or the pressure signal is ≤30% of the initial value, a first-level emergency alarm is triggered. If only the pressure signal is detected in the range of 60%-30% of the initial value, a second-level warning is triggered. If both a loop abnormality and a pressure signal abnormality are detected simultaneously, a first-level emergency alarm is directly triggered, and a shutdown command is executed first. Cross-verification can avoid false alarms from a single signal, improve alarm accuracy, and prevent safety accidents caused by delays in logical judgment.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vertical multi-joint general-purpose robot, characterized in that, The system includes a robot body (100) and a safety alarm component (200). The robot body (100) has a front-end execution arm (101) at its front end. A front-end mounting base (300) is installed on the front-end execution arm (101). The front-end mounting base (300) is connected to an end mount (400). Different end mounts (400) are used to carry different mechanical claws. The end mount (400) is inserted into the front-end mounting base (300). The end mount (400) is provided with a quick-release mechanism (500) to connect with the front-end mounting base (300). The safety alarm component (200) includes a control board (201), an LED indicator (202), a buzzer (203), a pressure sensor (204), and two point-contact terminals (205) mounted on the front mounting base (300). The control board (201) integrates a control chip (206), a current sampling resistor (207), a comparator (208), a signal amplifier (209), and a communication module (2010). The end mounting platform (400) is equipped with a U-shaped copper alloy terminal (2011) and a stainless steel pressure rod (2012), which correspond to the pressure sensor (204) and the two point-contact terminals (205) on the front mounting base (300), respectively.

2. The vertical multi-joint general-purpose robot according to claim 1, characterized in that, The robot body (100) includes a base (102), on which a first arm (103) rotating relative to the base (102) is mounted. On the first arm (103) a second arm (104) rotating relative to the first arm (103) is mounted. On the second arm (104) a third arm (105) rotating relative to the second arm (104) is mounted. On the third arm (105) a fourth arm (106) rotating relative to the third arm (105) is mounted. On the fourth arm (106) a front-end actuator arm (101) rotating relative to the fourth arm (106) is mounted.

3. A vertical multi-joint general-purpose robot according to claim 1, characterized in that, The end mounting platform (400) includes a boss (401), a plug (402), and two side adjustment parts (403). The plug (402) is fixedly connected to one side of the boss (401). The two side adjustment parts (403) are fixedly connected to the outer ring of the boss (401) and communicate with the inside of the boss (401). The front mounting base (300) is provided with a slot (301) and several slots (302) communicating with the slot (301). The plug (402) is inserted into the slot (301) for initial positioning. The quick release mechanism (500) is provided between the boss (401), the plug (402), and the two side adjustment parts (403). The plug (402) is provided with a receiving cavity (404) corresponding to the slot (302).

4. A vertical multi-joint general-purpose robot according to claim 3, characterized in that, The quick-release mechanism (500) includes a rotating shaft (501) rotatably connected to the inside of the boss (401), a worm gear (502) and a drive gear (503) fixedly sleeved on the rotating shaft (501), a drive shaft (504) rotatably connected to the insertion part (402) and extending to the boss (401) and the receiving cavity (404) at both ends respectively, a driven gear (505) fixedly sleeved on one end of the drive shaft (504) and meshing with the drive gear (503), a locking block (506) fixedly sleeved on the other end of the drive shaft (504) and located in the receiving cavity (404), and a worm (507) rotatably disposed between the two side adjustment parts (403) and meshing with the worm gear (502).

5. A vertical multi-joint general-purpose robot according to claim 1, characterized in that, The two contact terminals (205) are connected to the current sampling resistor (207) through wires. The U-shaped copper alloy terminal (2011) contacts the two contact terminals (205) to form a closed energized circuit. The current sampling resistor (207) is connected to the comparator (208) and inputs the voltage signal to the non-inverting input terminal of the comparator (208). The comparator (208) outputs a high level to the GPIO pin of the control chip (206). The control chip (206) detects the low level signal of the comparator (208) and triggers the LED indicator (202) and the buzzer (203) to sound an alarm.

6. A vertical multi-joint general-purpose robot according to claim 5, characterized in that, The stainless steel pressure rod (2012) contacts the pressure sensor (204) to generate a load signal and transmits it to the signal amplifier (209). The signal amplifier (209) amplifies the load signal and inputs it to the A / D conversion pin of the control chip (206). The control chip (206) detects the load signal and triggers the LED indicator (202) and the buzzer (203) to sound an alarm.

7. A vertical multi-joint general-purpose robot according to claim 6, characterized in that, The control chip (206) has built-in dual alarm logic: When a low-level signal is detected from the comparator (208) or the pressure load signal drops below 30% of its initial value, a first-level emergency alarm is triggered; when only the pressure load signal drops to the range of 60%-30% of its initial value, a second-level warning is triggered; when both an abnormality in the power-on circuit and an abnormality in the pressure signal are detected simultaneously, a first-level emergency alarm is triggered directly and a shutdown command is executed first.

8. A vertical multi-joint general-purpose robot according to claim 4, characterized in that, The worm (507) is fixedly connected to two ends with hexagonal adjustment heads (508), and the end face of the hexagonal adjustment head (508) is flush with the end face of the side adjustment part (403).

9. A vertical multi-joint general-purpose robot according to claim 1, characterized in that, The pressure sensor (204) is a MEMS type pressure sensor (204), and the signal amplifier (209) amplifies the input signal by 10 times and inputs it to the A / D conversion pin of the control chip (206).

10. A vertical multi-joint general-purpose robot according to claim 2, characterized in that, The first arm (103), the second arm (104), the third arm (105), the fourth arm (106) and the front-end actuator (101) are all driven by servo motors. The servo motors have built-in encoders and the positioning accuracy is not less than ±0.01°.

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