Robot

Abstract

The utility model relates to a robot. The robot comprises a base, a first driving module, a first joint arm, a second joint arm, a second driving module and a tail end driving module. The first driving module is arranged on the base so as to form a first preassembling module together with the base. The first joint arm is rotatably connected to the base and is in transmission connection with the first driving module, and the second joint arm is rotatably connected to the first joint arm. The second driving module is arranged on the second joint arm and is in transmission connection with the first joint arm. The tail end driving module is arranged on the second joint arm, and the tail end driving module, the second driving module and the second joint arm jointly form a second preassembling module; the second preassembling module is connected to the first preassembling module through the first joint arm. When the robot is assembled, assembling of all modular assemblies can be completed in parallel, and the assembling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot. Background Art

[0002] SCARA robot (assembly robot) is a cylindrical coordinate industrial robot. As an important branch of the industrial robot field, it has been widely used in many industry scenarios, such as automobile manufacturing, new energy, semiconductors, hardware processing, etc., due to its fast operation cycle, easy deployment, small space occupation, and the fact that it only has four axes, which is cheaper than the traditional six-axis. SCARA robots are mainly used in heavy-duty applications. Limited by the requirements of heavy-duty design indicators, the weight of the whole machine is usually relatively large, and the related transmission parts and structural parts are relatively bulky. Therefore, the design must fully consider the production and assembly processability and the convenience of later maintenance.

[0003] The structure of the existing SCARA robot is connected in series from the front end to the end of each joint. Due to structural limitations, when assembling the whole machine, one must wait until one joint is assembled before installing the components after the joint. The assembly tasks are serial, time-consuming, and the assembly and maintenance efficiency is low. Utility Model Content

[0004] An embodiment of the present application provides a robot.

[0005] The embodiment of the present application provides a robot, including a base, a first drive module, a first joint arm, a second joint arm, a second drive module and a terminal drive module. The first drive module is arranged on the base to form a first pre-installed module together with the base. The first joint arm is rotatably connected to the base and is transmission-connected to the first drive module, and the second joint arm is rotatably connected to the first joint arm. The second drive module is arranged on the second joint arm and is transmission-connected to the first joint arm. The terminal drive module is arranged on the second joint arm, and the terminal drive module, the second drive module and the second joint arm together form a second pre-installed module; the second pre-installed module is connected to the first pre-installed module through the first joint arm.

[0006] In some optional examples, the first drive module includes a first motor, a first connecting member and a first reducer, the first reducer is connected to the output end of the first motor, the first connecting member is connected to the first reducer, and the first articulated arm is transmission-connected to the first reducer.

[0007] In some optional examples, the base has a top surface and a bottom surface facing each other, the bottom surface is used to support the robot in the place of use, the base is provided with a first mounting cavity and a first mounting hole, the first mounting cavity is located between the top surface and the bottom surface, the first mounting hole is arranged on the top surface and connects the first mounting cavity and the outside of the base, the aperture of the first mounting hole is smaller than the outer diameter of the first connecting member and larger than the outer diameter of the first motor, when the first motor is accommodated in the first mounting cavity, the first connecting member is connected to the base and shields the first mounting hole.

[0008] In some optional examples, the first articulated arm has an inner cavity, and the first articulated arm is connected to the top surface of the base so that the first reducer is accommodated in the inner cavity.

[0009] In some optional examples, the second drive module includes a second motor, a second connecting member and a second reducer, the second reducer is connected to the output end of the second motor, the second connecting member is connected to the second reducer, and the first articulated arm is transmission-connected to the second reducer.

[0010] In some optional examples, the second joint arm is provided with a second mounting cavity and a second mounting hole, the second mounting hole connects the second mounting cavity and the outside of the second joint arm, the aperture of the second mounting hole is smaller than the outer diameter of the second connecting member and larger than the outer diameter of the second reducer, when the second motor is accommodated in the second mounting cavity, the second connecting member is connected to the second joint arm, and the second reducer is exposed to the outside of the second mounting cavity through the second mounting hole.

[0011] In some optional examples, the first articulated arm has an inner cavity, and one end of the first articulated arm away from the base is connected to the second articulated arm so that the second reducer is accommodated in the inner cavity.

[0012] In some optional examples, the end drive module includes a support member, a spline drive assembly, a screw drive assembly and an output member, the support member is arranged in the second articulated arm, the spline drive assembly and the screw drive assembly are both arranged in the support member, the end drive module is connected to the second articulated arm through the support member, and the output member is transmission-connected to the spline drive assembly and the screw drive assembly.

[0013] In some optional examples, the first drive module is used to drive the first articulated arm to rotate around a first axis relative to the base; the second drive module is used to drive the second articulated arm to rotate around a second axis relative to the first articulated arm; the spline drive assembly is used to drive the output member to rotate around a third axis relative to the support member, and the screw drive assembly is used to drive the output member to move along a third axis relative to the support member; the first axis is parallel to the second axis and the third axis.

[0014] In some optional examples, the robot also includes a wiring harness assembly, which is arranged in the base, the first joint arm and the second joint arm in sequence, and the wiring harness assembly is electrically connected to the first drive module, the second drive module and the end drive module.

[0015] Compared with the prior art, when assembling the robot provided in the embodiment of the present application, the first pre-installed module can be assembled first. First, the base is fixed on the workbench in the robot application environment, and then the first drive module is installed on the base to complete the assembly of the first pre-installed module. While the first pre-installed module is assembled, the second pre-installed module can also be assembled synchronously, and the second drive module and the end drive module are installed on the second articulated arm. After the first pre-installed module and the second pre-installed module are assembled, the first articulated arm is installed on the base of the first pre-installed module, and is transmission-connected to the first drive module. Finally, the second pre-installed module is installed on the first articulated arm, so that the second articulated arm is rotationally connected to the first articulated arm, and the second drive module is transmission-connected to the first articulated arm. The modular setting of the robot provided in the embodiment of the present application can complete the assembly of each modular component in parallel during assembly, which greatly saves assembly time and improves assembly efficiency compared to the serially assembled robot; each module can be directly replaced when maintaining the machine, saving time and trouble. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of a robot provided in one embodiment of the present application.

[0019] Figure 3 yes Figure 2 Schematic diagram of the internal structure of the robot shown.

[0020] Figure 4 yes Figure 2 A schematic structural diagram of the base of the robot shown.

[0021] Figure 5 yes Figure 2 A schematic structural diagram of the first driving module of the robot is shown.

[0022] Figure 6 yes Figure 2 A schematic structural diagram of the second drive module of the robot shown.

[0023] Explanation of reference numerals: 100, robot; 101, joint body; 103, actuator; 10, base; 11, first pre-installed module; 12, first mounting portion; 121, top surface; 123, bottom surface; 125, first mounting cavity; 127, first mounting hole; 14, first wire holder; 141, first connecting portion; 143, first partition; 20, first driving module; 21, first motor; 23, first connecting member; 25, first reducer; 30, first joint arm; 32, inner cavity; 40, second articulated arm; 41, second pre-installed module; 412, second mounting cavity; 414, second mounting hole; 43, second wire holder; 432, second connecting part; 434, second partition; 45, second mounting part; 50, second drive module; 52, second motor; 54, second connecting member; 56, second reducer; 60, end drive module; 61, support member; 63, spline drive assembly; 65, screw drive assembly; 67, output member; 70, wiring harness assembly. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0025] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0026] See also Figure 1, an embodiment of the present application provides a robot 100. This specification does not limit the specific type of the robot 100. For example, the robot 100 may be an industrial robotic arm robot or a collaborative robot. In this embodiment, the robot 100 is a cylindrical coordinate industrial robot. The robot 100 may include a joint body 101, an end drive module 60, and an execution end 103. The end drive module 60 is connected between the joint body 101 and the execution end 103, and is used to drive the execution end 103 to move relative to the joint body 101 under the drive of the joint body 101. This specification does not limit the specific type of the execution end 103. The execution end 103 may be a joint of the robot 100, such as a wrist joint or an elbow joint. The execution end 103 may also be a tooling fixture.

[0027] Please also see Figure 2 and Figure 3 , the joint body 101 may include a base 10, a first drive module 20, a first joint arm 30, a second joint arm 40 and a second drive module 50. The base 10 may be arranged on a workbench in the application environment of the robot 100, and is used to install other structures of the robot 100. The first drive module 20 is arranged on the base 10 and forms a first pre-installed module 11 together with the base 10. The first joint arm 30 is rotatably connected to the base 10 and is transmission-connected to the first drive module 20. The second joint arm 40 is rotatably connected to the first joint arm 30. The second drive module 50 is arranged on the second joint arm 40 and is transmission-connected to the first joint arm 30. The end drive module 60 is arranged on the second joint arm 40, and the end drive module 60, the second drive module 50 and the second joint arm 40 together form a second pre-installed module 41, and the second pre-installed module 41 is connected to the first pre-installed module 11 through the first joint arm 30.

[0028] The "pre-assembled module" can be understood as a collection of modules pre-assembled together during the assembly process of the modules of the robot 100. For example, the first pre-assembled module 11 is a collection of the first drive module 20 and the base 10 pre-assembled together. During the assembly process of the robot 100, the first drive module 20 and the base 10 can be assembled together first, and then assembled with other parts. Correspondingly, the second pre-assembled module 41 is a collection of the end drive module 60, the second drive module 50 and the second articulated arm 40 pre-assembled together. During the assembly process of the robot 100, the end drive module 60, the second drive module 50 and the second articulated arm 40 are assembled together first, and then assembled with other parts (such as the first pre-assembled module 11).

[0029] When assembling the robot 100 provided in the embodiment of the present application, the first pre-installed module 11 can be assembled first. First, the base 10 is fixed on the workbench in the application environment of the robot 100, and then the first drive module 20 is installed on the base 10 to complete the assembly of the first pre-installed module 11. While the first pre-installed module 11 is assembled, the second pre-installed module 41 can also be assembled synchronously, and the second drive module 50 and the end drive module 60 can be installed on the second joint arm 40. After the first pre-installed module 11 and the second pre-installed module 41 are assembled, the first joint arm 30 is then installed on the base 10 of the first pre-installed module 11, and is transmission-connected to the first drive module 20, and finally the second pre-installed module 41 is installed on the first joint arm 30, so that the second joint arm 40 is rotationally connected to the first joint arm 30, and the second drive module 50 is transmission-connected to the first joint arm 30, thereby completing the assembly of the joint body 101 of the robot 100, and finally the execution end 103 can be installed on the output end of the end drive module 60.

[0030] The robot 100 provided in the embodiment of the present application is modularly configured, and the assembly of each modular component can be completed in parallel during assembly, which greatly saves assembly time and improves assembly efficiency compared to a serially assembled robot; each module can be directly replaced during machine maintenance, saving time and effort.

[0031] See also Figure 4 In this embodiment, the base 10 is usually fixedly connected to the workbench in the application scenario of the robot 100, and is used to install other structures of the robot 100. The base 10 may include a first mounting portion 12 and a first wire seat 14. The first mounting portion 12 is used to be fixedly connected to the workbench, and the first mounting portion 12 has a top surface 121 and a bottom surface 123 opposite to each other, and the bottom surface 123 is used to support the use place of the robot 100. Among them, the "bottom surface 123" can be understood as a side surface of the first mounting portion 12 fixed and in contact with the workbench in the application scenario, and the "top surface 121" is a side surface of the first mounting portion 12 away from the aforementioned workbench. The first mounting portion 12 is provided with a first mounting cavity 125 and a first mounting hole 127, the first mounting cavity 125 is located between the top surface 121 and the bottom surface 123, the first mounting hole 127 is provided on the top surface 121, and the first mounting hole 127 connects the first mounting cavity 125 and the outside of the base 10.

[0032] The first cable seat 14 is connected to the top surface 121 of the first mounting portion 12. The first cable seat 14 is set to a hollow structure and communicates with the first mounting cavity 125, which is used for routing cables of the robot 100. This specification does not limit the specific structure of the first cable seat 14. As an example, the first cable seat 14 may include a first connecting portion 141 and a first partition 143. The first connecting portion 141 is connected to the first mounting portion 12 and protrudes relative to the top surface 121 of the first mounting portion 12. The first partition 143 is connected to one end of the first connecting portion 141 away from the first mounting portion 12. The first partition 143 protrudes relative to the side wall of the first connecting portion 141 to be arranged relative to the first mounting portion 12.

[0033] The base 10 can be integrally formed by casting to ensure high structural strength and transmission stability. Therefore, although the first mounting portion 12 and the first wire-passing seat 14 use different names to refer to different parts of the base 10, these names should not be regarded as limitations on the structure of the base 10. These names are made only for the convenience of description. For example, the connection between the first mounting portion 12 and the first wire-passing seat 14 can be an integrally formed connection structure, and there may be no obvious dividing line between the first mounting portion 12 and the first wire-passing seat 14. In other embodiments, the base 10 can be formed by assembly connection to reduce the difficulty of preparation and increase the convenience of assembly. For example, the first mounting portion 12 and the first wire-passing seat 14 can be independently prepared and assembled together by fasteners to form the overall structure of the base 10. In this embodiment, the connection between the first connecting portion 141 and the first mounting portion 12 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the first partition 143 is independently prepared and connected to the first connecting portion 141 by fasteners during assembly.

[0034] Please also see Figure 3 , Figure 4 and Figure 5In this embodiment, the first drive module 20 is installed in the first installation cavity 125 through the first installation hole 127. The first drive module 20 may include a first motor 21, a first connecting member 23 and a first reducer 25. The first reducer 25 is connected to the output shaft of the first motor 21, and the first connecting member 23 is connected to the first reducer 25. The first motor 21 is installed in the first installation cavity 125, and the first reducer 25 is located outside the first installation cavity 125 so as to be connected to the first joint arm 30. In this embodiment, the aperture of the first installation hole 127 is smaller than the outer diameter of the first connecting member 23 and larger than the outer diameter of the first motor 21, so that the first motor 21 can be installed in the first installation cavity 125 from the first installation hole 127 on the top surface 121 of the first installation portion 12; the first connecting member 23 is connected to the first installation portion 12 and will not be embedded in the first installation cavity 125 due to the limitation of the first installation hole 127, so that the output end of the first reducer 25 is located outside the first installation cavity 125.

[0035] This specification does not limit the specific structure of the first connecting member 23. The first connecting member 23 can be a connecting flange, a connecting ring, a connecting protrusion, etc. that is sleeved outside the first reducer 25. In this embodiment, the first connecting member 23 is a connecting flange, and the first connecting member 23 and the first mounting portion 12 are connected by bolts.

[0036] When assembling the first pre-installed module 11, first fix the bottom surface 123 of the base 10 to the workbench, then insert the first drive module 20 into the first mounting hole 127 from the top surface 121, embed the first motor 21 into the first mounting cavity 125, overlap the first connecting member 23 on the top surface 121 and cover the first mounting hole 127, and then connect it to the first mounting portion 12 by bolts. The output end of the first reducer 25 protrudes from the top surface 121. In order to facilitate the installation of the first drive module 20 and the first articulated arm 30, the first partition 143 of the base 10 can be removed first or installed last. The aperture of the first mounting hole 127, the outer diameter of the first connecting member 23 and the outer diameter of the first motor 21 are set so that the first drive module 20 can be installed from the top of the base 10, and there is no need to flip the base 10 during installation. Compared with the traditional robot that needs to flip the base to install the motor from the bottom, it greatly improves the installation efficiency and reduces the installation process.

[0037] In this embodiment, the first articulated arm 30 is connected to the base 10 and is transmission-connected to the first drive module 20, and the first drive module 20 is used to drive the first articulated arm 30 to rotate relative to the base 10 around the first axis X. When the robot 100 is in use, the base 10 is fixed on the workbench, and the first axis X intersects with the plane where the workbench is located, for example, the first axis X is roughly perpendicular to the plane where the workbench is located. One end of the first articulated arm 30 is rotatably connected between the first partition 143 and the first mounting portion 12, and the first partition 143 and the first mounting portion 12 are respectively located on opposite sides of the first articulated arm 30 to jointly clamp the first articulated arm 30. The first partition 143 and the first mounting portion 12 jointly clamp the first articulated arm 30, indirectly providing a pulling force to resist the bending moment to the first articulated arm 30, thereby improving the stability of the installation and operation of the first articulated arm 30 and improving the overall rigidity of the robot 100.

[0038] The first articulated arm 30 has an inner cavity 32, and the first articulated arm 30 is connected to the top surface 121 so that the first reducer 25 is accommodated in the inner cavity 32, and the first articulated arm 30 is connected to the output end of the first reducer 25. The first partition 143 is connected to the first articulated arm 30, and the connecting part of the two is provided with a connecting hole so that the inner cavity of the first partition 143 is connected to the inner cavity 32 of the first articulated arm 30, so as to facilitate the cable routing of the robot 100. When installing the first articulated arm 30, the first articulated arm 30 can be first connected to the first driving module 20 by transmission, and finally the first partition 143 is connected to the first connecting part 141 and the first articulated arm 30.

[0039] In this embodiment, the second joint arm 40 is connected to one end of the first joint arm 30 away from the base 10, and the second drive module 50 is transmission-connected between the second joint arm 40 and the first joint arm 30. The second drive module 50 is used to drive the second joint arm 40 to rotate relative to the first joint arm 30 around the second axis Y. When the robot 100 is in use, the base 10 is fixed on the workbench, and the second axis Y intersects with the plane where the workbench is located. For example, the second axis Y is substantially perpendicular to the plane where the workbench is located. In this embodiment, the first axis X is parallel to the second axis Y.

[0040] The second articulated arm 40 may include a second mounting portion 45 and a second cable holder 43. The second mounting portion 45 is provided with a second mounting cavity 412 and a second mounting hole 414. The second mounting hole 414 is provided at one end of the second articulated arm 40 close to the first articulated arm 30 and communicates with the second mounting cavity 412 and the outside of the second articulated arm 40. The second cable holder 43 is connected to a side of the second articulated arm 40 close to the first articulated arm 30. The second cable holder 43 is provided with a hollow structure and communicates with the second mounting cavity 412, and is used for routing cables of the robot 100.

[0041] The present specification does not limit the specific structure of the second wire-passing seat 43. As an example, the second wire-passing seat 43 may include a second connecting portion 432 and a second partitioning portion 434. The second connecting portion 432 is connected to the bottom of the second mounting portion 45 (the side of the second mounting portion 45 close to the first articulated arm 30) and protrudes relative to the bottom. The second partitioning portion 434 is connected to one end of the second connecting portion 432 away from the second mounting portion 45. The second partitioning portion 434 protrudes relative to the side wall of the second connecting portion 432 to be arranged at a relative interval with the second mounting portion 45.

[0042] In this embodiment, the connection between the second connecting portion 432 and the second mounting portion 45 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the second partition 434 is prepared independently and connected to the second connecting portion 432 by fasteners during assembly.

[0043] Please also see Figure 3 and Figure 6 , the second drive module 50 is installed in the second mounting cavity 412 through the second mounting hole 414, and the second drive module 50 may include a second motor 52, a second connecting member 54 and a second reducer 56. The second reducer 56 is connected to the output shaft of the second motor 52, and the second connecting member 54 is connected to the second reducer 56. The second motor 52 is installed in the second mounting cavity 412, and the second reducer 56 is located outside the second mounting cavity 412 to facilitate connection to the first articulated arm 30. In this embodiment, the aperture of the second mounting hole 414 is smaller than the outer diameter of the second connecting member 54 and larger than the outer diameter of the second reducer 56. In order to facilitate installation, the second mounting portion 45 adopts a split connection structure. Specifically, the second mounting portion 45 may include an upper cover and a body, and the upper cover and the body are connected by fasteners. During installation, the upper cover is opened first, and the second driving module 50 is inserted from the upper side of the body into the second mounting hole 414. The outer diameter of the second reducer 56 is smaller than the outer diameter of the second mounting hole 414, so the second reducer 56 extends out of the second mounting portion 45 through the second mounting hole 414. The outer diameter of the second connecting member 54 is larger than the aperture of the second mounting hole 414, so the second connecting member 54 is clamped in the body of the second mounting portion 45 and covers the second mounting hole 414. After the second connecting member 54 is fixed to the body of the second mounting portion 45, the cover of the second mounting portion 45 is covered on the body and fixedly connected.

[0044] This specification does not limit the specific structure of the second connecting member 54. The second connecting member 54 can be a connecting flange, a connecting ring, a connecting protrusion, etc. that is sleeved outside the second reducer 56. In this embodiment, the second connecting member 54 is a connecting flange, and the second connecting member 54 and the second mounting portion 45 are connected by bolts.

[0045] The first articulated arm 30 is connected to the second mounting portion 45 so that the second reducer 56 is accommodated in the second mounting cavity 412. The first articulated arm 30 is transmission-connected to the second reducer 56. When the second motor 52 is started, since the first articulated arm 30 is connected to the base 10, and the base 10 is fixed to the workbench, the second reducer 56 drives the second articulated arm 40 to rotate relative to the first articulated arm 30. The end of the first articulated arm 30 away from the base 10 is rotatably connected between the second partition 434 and the second mounting portion 45. The second partition 434 and the second mounting portion 45 are respectively located on opposite sides of the first articulated arm 30 to jointly clamp the first articulated arm 30. The second partition 434 and the second mounting portion 45 jointly clamp the first articulated arm 30, indirectly providing a pulling force to resist the bending moment to the first articulated arm 30, thereby improving the stability of the installation and operation of the first articulated arm 30 and improving the overall rigidity of the robot 100.

[0046] In this embodiment, the end drive module 60 may include a support member 61, a spline drive assembly 63, a screw drive assembly 65 and an output member 67. The support member 61 is disposed in the second articulated arm 40, the spline drive assembly 63 and the screw drive assembly 65 are both disposed on the support member 61, the end drive module 60 is connected to the second articulated arm 40 through the support member 61, and the output member 67 is transmission-connected to the spline drive assembly 63 and the screw drive assembly 65. The spline drive assembly 63 is used to drive the output member 67 to rotate around the third axis Z relative to the support member 61, and the screw drive assembly 65 is used to drive the output member 67 to move along the third axis Z relative to the support member 61. The first axis X, the second axis Y, and the third axis Z are all parallel to each other.

[0047] The spline drive assembly 63 and the screw drive assembly 65 are both connected to the second articulated arm 40 through the support member 61. The support member 61 can be detachably connected to the second articulated arm 40, so that the end drive module 60 can be removed from the second articulated arm 40 as a whole and is independent of the second articulated arm 40. Due to the independence of the end drive module 60, when the whole machine is assembled, the assembly of the end drive module 60 can be carried out in parallel with the assembly of other modules (such as the assembly of the first pre-installed module 11), which greatly improves the operating efficiency during production. During maintenance and replacement, other end drive components can also be directly replaced to improve maintenance efficiency and save labor costs. The spline drive assembly 63 and the screw drive assembly 65 can be debugged independently without relying on the second articulated arm 40, and can be installed after ensuring that there are no abnormal problems, which greatly reduces the failure rate during the debugging of the whole machine.

[0048] When assembling the whole machine, first fix the first mounting portion 12 of the base 10 on the workbench, then install the first drive module 20 on the first mounting portion 12, and then fix the first joint arm 30 and the output end of the first reducer 25 of the first drive module 20. After the first joint arm 30 and the first reducer 25 are connected, install the first partition 143 on the first connecting portion 141 and the first joint arm 30 to complete the installation of the first pre-installed module 11 and the first joint arm 30. During the installation of the above modules, the end drive module 60 can be assembled simultaneously, and then the end drive module 60 and the second drive module 50 are installed on the second joint arm 40 to complete the assembly of the second pre-installed module 41. Finally, install the second pre-installed module 41 on the first joint arm 30 to complete the installation of the joint body 101 of the robot 100. The whole process is flexible and efficient.

[0049] In this embodiment, the robot 100 may further include a harness assembly 70, which is sequentially arranged in the base 10, the first articulated arm 30 and the second articulated arm 40, and the harness assembly 70 is electrically connected to the first drive module 20, the second drive module 50 and the end drive module 60. This specification does not limit the specific structure of the harness assembly 70, for example, the harness assembly 70 may include a cable and an interface panel, and the interface panel may be arranged on the side wall of the base 10 or on the side wall of the second articulated arm 40. The cable is arranged in the first installation cavity 125 and is electrically connected to the first motor 21, and the cable extends into the inner cavity 32 of the first articulated arm 30 through the first wire seat 14, and then enters the second installation cavity 412 of the second articulated arm 40 through the second wire seat 43, and is electrically connected to the second motor 52, the spline drive assembly 63 and the screw drive assembly 65, and the cable may also be electrically connected to the interface panel.

[0050] In this embodiment, when assembling the robot 100, the first pre-installed module 11 can be assembled first. First, the base 10 is fixed on a workbench in the application environment of the robot 100, and then the first drive module 20 is installed on the base 10 to complete the assembly of the first pre-installed module 11. While the first pre-installed module 11 is being assembled, the second pre-installed module 41 can also be assembled synchronously, and the second drive module 50 and the end drive module 60 can be installed on the second articulated arm 40. After the first pre-installed module 11 and the second pre-installed module 41 are assembled, the first articulated arm 30 is then installed on the base 10 of the first pre-installed module 11, and is transmission-connected to the first drive module 20, and finally the second pre-installed module 41 is installed on the first articulated arm 30, so that the second articulated arm 40 is rotationally connected to the first articulated arm 30, and the second drive module 50 is transmission-connected to the first articulated arm 30.

[0051] The robot 100 provided in the embodiment of the present application is modularly configured, and the assembly of each modular component can be completed in parallel during assembly, which greatly saves assembly time and improves assembly efficiency compared to a serially assembled robot; each module can be directly replaced during machine maintenance, saving time and effort.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot, characterized in that: include: Base; A first driving module, disposed on the base to form a first pre-installed module together with the base; A first articulated arm, rotatably connected to the base and transmission-connected to the first driving module; A second articulated arm, rotatably connected to the first articulated arm; A second driving module is disposed on the second articulated arm and is transmission-connected to the first articulated arm; and an end drive module, wherein the end drive module is arranged on the second joint arm, and the end drive module, the second drive module and the second joint arm together form a second pre-installed module; The second pre-assembly module is connected to the first pre-assembly module via the first articulated arm.

2. The robot according to claim 1, characterized in that: The first driving module includes a first motor, a first connecting member and a first reducer, the first reducer is connected to the output end of the first motor, the first connecting member is connected to the first reducer, and the first articulated arm is transmission-connected to the first reducer.

3. The robot according to claim 2, characterized in that: The base has a top surface and a bottom surface facing each other, the bottom surface is used to support the robot in a place of use, the base is provided with a first mounting cavity and a first mounting hole, the first mounting cavity is located between the top surface and the bottom surface, the first mounting hole is arranged on the top surface and connects the first mounting cavity and the outside of the base, the aperture of the first mounting hole is smaller than the outer diameter of the first connecting member and larger than the outer diameter of the first motor, and when the first motor is accommodated in the first mounting cavity, the first connecting member is connected to the base and shields the first mounting hole.

4. The robot according to claim 3, characterized in that: The first joint arm has an inner cavity, and the first joint arm is connected to the top surface of the base so that the first reducer is accommodated in the inner cavity.

5. The robot according to claim 1, characterized in that: The second driving module includes a second motor, a second connecting member and a second reducer, the second reducer is connected to the output end of the second motor, the second connecting member is connected to the second reducer, and the first articulated arm is transmission-connected to the second reducer.

6. The robot according to claim 5, characterized in that: The second joint arm is provided with a second mounting cavity and a second mounting hole, the second mounting hole connects the second mounting cavity and the outside of the second joint arm, the aperture of the second mounting hole is smaller than the outer diameter of the second connecting piece and larger than the outer diameter of the second reducer, when the second motor is accommodated in the second mounting cavity, the second connecting piece is connected to the second joint arm, and the second reducer is exposed to the outside of the second mounting cavity through the second mounting hole.

7. The robot according to claim 6, characterized in that: The first joint arm has an inner cavity, and one end of the first joint arm away from the base is connected to the second joint arm so that the second reducer is accommodated in the inner cavity.

8. The robot according to claim 1, characterized in that: The end drive module includes a support member, a spline drive assembly, a screw drive assembly and an output member, the support member is arranged in the second articulated arm, the spline drive assembly and the screw drive assembly are both arranged on the support member, the end drive module is connected to the second articulated arm through the support member, and the output member is transmission-connected to the spline drive assembly and the screw drive assembly.

9. The robot according to claim 8, characterized in that The first drive module is used to drive the first articulated arm to rotate around a first axis relative to the base; the second drive module is used to drive the second articulated arm to rotate around a second axis relative to the first articulated arm; the spline drive assembly is used to drive the output member to rotate around a third axis relative to the support member, and the screw drive assembly is used to drive the output member to move along the third axis relative to the support member; the first axis is parallel to the second axis and the third axis.

10. The robot according to any one of claims 1 to 9, characterized in that: The robot also includes a wiring harness assembly, which is arranged in the base, the first joint arm and the second joint arm in sequence, and the wiring harness assembly is electrically connected to the first drive module, the second drive module and the end drive module.

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