Robot with large working range

Abstract

The utility model discloses a robot with a large working range, which can cover a wide range in a cylindrical space through the coordinated movement of different rotary driving mechanisms and connecting rods under the conditions of the same degree of freedom and the same arm extension, effectively utilize the space and expand the working range to the greatest extent. The operation flexibility and efficiency of the robot are improved, and the application scene of the robot is greatly expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot with a large working range. Background Art

[0002] With the rapid development of automation and intelligent technology, robots are increasingly used in various fields. However, in practical applications, robots are often restricted by factors such as space limitations and mechanical structure limitations, resulting in limited working space and difficulty in adapting to various environments. When designing traditional robots, it is often necessary to make a trade-off between degrees of freedom, arm span and working range. With the same degrees of freedom and the same arm span, the working range of the robot is often limited by the mechanical structure, making it difficult to achieve a wider range of coverage. This results in the robot's lack of operational flexibility when facing a complex working environment, and it is difficult to adapt to various usage requirements. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a robot with a large working range, including a base, a column, a plurality of connecting rods and a rotation drive mechanism.

[0004] A rotary drive mechanism, one end of which is an output flange for realizing a rotary drive action, and the other end of which is a housing for realizing fixation; the rotary drive mechanism includes a first rotary drive mechanism, a second rotary drive mechanism, a third rotary drive mechanism, a fourth rotary drive mechanism, and a fifth rotary drive mechanism;

[0005] A column, comprising a linear joint, wherein the linear joint is connected to the first rotary drive mechanism and is used to drive the first rotary drive mechanism to move up and down;

[0006] The connecting rod includes a first connecting rod and a second connecting rod; the first rotation drive mechanism, the second rotation drive mechanism, the first connecting rod, the third rotation drive mechanism, the second connecting rod, the fourth rotation drive mechanism, and the fifth rotation drive mechanism are connected and arranged in sequence, and different working ranges of the robot are achieved by adjusting the rotation angle of each rotation drive mechanism.

[0007] Compared with the prior art, the beneficial effects brought by the utility model are:

[0008] The robot with a large working range provided by the utility model can cover a wide range in a cylindrical space through the coordinated movement of different rotary drive mechanisms and connecting rods under the same degree of freedom and the same arm span, effectively utilizing the space and maximally expanding the working range, and by optimizing the design of the rotary drive mechanism and the connecting rod, improving the coordinated movement ability between them, so that the robot can achieve more flexible operation in a limited space. This not only improves the robot's greater operational flexibility and efficiency, but also greatly expands its application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 This is a schematic diagram of the overall structure of a robot in one embodiment of the present application;

[0011] Figure 2 This is a schematic diagram of the distribution of various degrees of freedom of movement of the robot in one embodiment of the present application;

[0012] Figure 3 This is a schematic diagram of the overall structure of a robot in another embodiment of the present application;

[0013] Figure 4 This is a schematic diagram of the distribution of various degrees of freedom of movement of the robot in another embodiment of the present application. DETAILED DESCRIPTION

[0014] The content of the present invention can be more easily understood by referring to the following detailed description of the preferred implementation method of the present invention and the included embodiments. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by ordinary technicians in the field to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0016] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that those terms such as those defined in general dictionaries should be understood to have the same meaning as the meaning in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0017] In the description of the present utility model, the meaning of "and / or" means that the situations where each exists alone or both exist at the same time are included.

[0018] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply 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 a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0019] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] The utility model protects a robot with a large working range, such as Figure 1As shown, it includes a base 010, a column 020, a plurality of connecting rods and a rotation drive mechanism, wherein the rotation drive mechanism has an output flange at one end for realizing the rotation drive action and a shell at the other end for realizing fixation; the rotation drive mechanism includes a first rotation drive mechanism 030, a second rotation drive mechanism 042, a third rotation drive mechanism 052, a fourth rotation drive mechanism 062, and a fifth rotation drive mechanism 063; the column 020 includes a linear joint, which is connected to the first rotation drive mechanism 030 for driving the first rotation drive mechanism 030 to move up and down; the connecting rod includes a first connecting rod 040 and a second connecting rod 050; the first rotation drive mechanism 030, the second rotation drive mechanism 042, the first connecting rod 040, the third rotation drive mechanism 052, the second connecting rod 050, the fourth rotation drive mechanism 062, and the fifth rotation drive mechanism 063 are sequentially connected and arranged, and different working ranges of the robot are realized by adjusting the rotation angle of each rotation drive mechanism.

[0022] In a specific implementation, a linear joint output flange 021 is provided on the linear joint, and the linear joint output flange 021 is connected to the output flange of the first rotation drive mechanism 030 to drive the first rotation drive mechanism 030 to rotate relative to the linear joint.

[0023] In a specific embodiment, the housing of the second rotation drive mechanism 042 is connected to one end of the first connecting rod 040, and the output flange of the second rotation drive mechanism 042 is connected to the housing of the first rotation drive mechanism 030, so as to drive the first connecting rod 040 to rotate along with the output flange of the second rotation drive mechanism 042; the other end of the first connecting rod 040 is connected to the output flange of the third rotation drive mechanism 052, and the housing of the third rotation drive mechanism 052 is connected to one end of the second connecting rod 050, so as to drive the second connecting rod 050 to rotate along with the output flange of the third rotation drive mechanism 052; the other end of the second connecting rod 050 is connected to the output flange of the fourth rotation drive mechanism 062, and the housing of the fourth rotation drive mechanism 062 is connected to the housing of the fifth rotation drive mechanism 063, so as to drive the fifth rotation drive mechanism 063 to follow the fourth rotation drive mechanism 062 to produce a rotational movement relative to the second connecting rod 050. The first rotation drive mechanism 030, the second rotation drive mechanism 042, the third rotation drive mechanism 052, the fourth rotation drive mechanism 062, and the fifth rotation drive mechanism 063 are all controlled by motors alone, and are internally integrated with motor drivers, motors, absolute encoders, incremental encoders, brakes, and reducers, and their output flanges have one degree of rotational freedom relative to the housing. Specifically, the distribution diagram of each degree of rotational freedom of the robot is as follows: Figure 2The robot provided in this embodiment only includes the first connecting rod 040 and the second connecting rod 050, and the wrist is flexible and the cost is low.

[0024] In a specific embodiment, Figure 3 As shown, the connecting rod further includes a third connecting rod 060 , and the third connecting rod 060 is disposed between the fourth rotation driving mechanism 062 and the fifth rotation driving mechanism 063 .

[0025] In a specific embodiment, the housing of the fourth rotation drive mechanism 062 is connected to one end of the third connecting rod 060 , and when the output flange of the fourth rotation drive mechanism 062 rotates, it drives the third connecting rod 060 to generate a rotational motion relative to the second connecting rod 050 .

[0026] In a specific embodiment, the housing of the fifth rotation drive mechanism 063 is connected to the other end of the third connecting rod 060, and the output flange of the fifth rotation drive mechanism 063 is connected to the fourth connecting rod 070. When the output flange of the fifth rotation drive mechanism 063 rotates, it drives the fourth connecting rod 070 to rotate together. Specifically, the distribution diagram of each rotational degree of freedom of the robot is as follows: Figure 4 shown.

[0027] In a specific implementation, the base 010 is fixedly mounted on a bottom surface or a work platform.

[0028] In a specific embodiment, it also includes a driving power supply, which provides power to the motor driver and the motor of each rotating drive mechanism.

[0029] Compared with the prior art, under the conditions of the same degrees of freedom and the same arm span, the robot provided in the present application can cover a wide range within a cylindrical space through the coordinated movement of different rotational drive mechanisms and connecting rods, effectively utilizing the space and maximizing the working range, which not only improves the robot's greater operational flexibility and efficiency, but also greatly expands its application scenarios.

[0030] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot with a large working range, characterized in that: It includes a base, a column, a plurality of connecting rods and a rotating drive mechanism. A rotary drive mechanism, one end of which is an output flange for realizing a rotary drive action, and the other end of which is a housing for realizing fixation; the rotary drive mechanism includes a first rotary drive mechanism, a second rotary drive mechanism, a third rotary drive mechanism, a fourth rotary drive mechanism, and a fifth rotary drive mechanism; A column, comprising a linear joint, wherein the linear joint is connected to the first rotary drive mechanism and is used to drive the first rotary drive mechanism to move up and down; The connecting rod includes a first connecting rod and a second connecting rod; the first rotation drive mechanism, the second rotation drive mechanism, the first connecting rod, the third rotation drive mechanism, the second connecting rod, the fourth rotation drive mechanism, and the fifth rotation drive mechanism are connected and arranged in sequence, and different working ranges of the robot are achieved by adjusting the rotation angle of each rotation drive mechanism.

2. A robot with a large working range according to claim 1, characterized in that: A linear joint output flange is provided on the linear joint, and the linear joint output flange is connected to the output flange of the first rotary drive mechanism, so as to drive the first rotary drive mechanism to rotate relative to the linear joint.

3. A robot with a large working range according to claim 2, characterized in that: The housing of the second rotation drive mechanism is connected to one end of the first rotation drive mechanism, and the output flange of the second rotation drive mechanism is connected to the housing of the first rotation drive mechanism, so as to drive the first connecting rod to rotate along with the output flange of the second rotation drive mechanism; the other end of the first connecting rod is connected to the output flange of the third rotation drive mechanism, and the housing of the third rotation drive mechanism is connected to one end of the second connecting rod, so as to drive the second connecting rod to rotate along with the output flange of the third rotation drive mechanism; the other end of the second connecting rod is connected to the output flange of the fourth rotation drive mechanism, and the housing of the fourth rotation drive mechanism is connected to the housing of the fifth rotation drive mechanism, so as to drive the fifth rotation drive mechanism to follow the fourth rotation drive mechanism to produce a rotational movement relative to the second connecting rod.

4. A robot with a large working range according to claim 1, characterized in that: The base is fixedly installed on the bottom surface or the working platform.

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