Joint robot

Abstract

The utility model provides a joint robot which comprises a first joint assembly, a second joint assembly, a third joint assembly, a fourth joint assembly and an execution tail end. The first joint assembly comprises a base and a rotating base, and the rotating base is rotationally connected with the base. The second joint assembly comprises a second joint seat and a second joint arm, the second joint seat is fixedly connected with the rotating base, and the first end of the second joint arm is rotationally connected with the second joint seat; the third joint assembly comprises a third joint arm, and the third joint arm is rotationally connected with the second end of the second joint arm; the fourth joint assembly comprises a fourth joint seat, the fourth joint seat is rotationally connected with the second end of the third joint arm, and the execution tail end is arranged on the fourth joint seat; depending on the movement of the double parallelograms, it is ensured that the execution tail end can keep translational motion, and control over the articulated arm is simplified.

Description

Technical Field

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

[0002] Articulated robots are also called articulated mechanical arms or multi-joint robots. The movement of each joint is rotation, similar to a human arm. Articulated robots are one of the most common forms of industrial robots in today's industrial field, and are suitable for mechanical automation operations in many industrial fields. For example, automatic assembly, painting, handling, welding and other tasks. Among them, the execution end of the articulated robot usually maintains translation, for example, parallel to the ground stationary reference system, and when the joints of the articulated robot rotate, the execution end also needs to be controlled by motors and other means to keep it parallel to the ground stationary reference system, which increases the complexity of the structure and the difficulty of control. Utility Model Content

[0003] The purpose of the utility model is to provide an improved articulated robot in view of the deficiencies existing in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned object, the utility model provides a joint robot, comprising a first joint component, a second joint component, a third joint component, a fourth joint component and an execution end;

[0005] The first joint assembly includes a base and a rotating base, and the rotating base is rotatably connected to the base;

[0006] The second joint assembly includes a second joint seat and a second joint arm, the second joint seat is fixedly connected to the rotating base, and the first end of the second joint arm is rotatably connected to the second joint seat;

[0007] The third joint assembly includes a third joint arm, and the third joint arm is rotatably connected to the second end of the second joint arm;

[0008] The fourth joint assembly includes a fourth joint seat, the fourth joint seat is rotatably connected to the second end of the third joint arm, and the execution end is arranged on the fourth joint seat;

[0009] An angle adjustment component, the angle adjustment component includes an adjustment seat, an adjustment arm and a pull rod, the adjustment seat is provided with a first hinge point, a second hinge point and a third hinge point, the first hinge point of the adjustment seat is hinged to the second end of the second joint arm, the second hinge point of the adjustment seat is hinged to the first end of the adjustment arm, the second end of the adjustment arm is hinged to the second joint seat, the third hinge point of the adjustment seat is hinged to the first end of the pull rod, and the second end of the pull rod is hinged to the fourth joint seat; the adjustment arm and the second joint arm constitute two opposite sides of a first parallelogram, and the pull rod and the third joint arm constitute two opposite sides of a second parallelogram.

[0010] Furthermore, the first joint assembly also includes a first motor, which is disposed on the base and is transmission-connected to the rotating base.

[0011] Furthermore, the second joint assembly also includes a second motor, and the second motor is transmission-connected to the first end of the second joint arm.

[0012] Furthermore, the third joint assembly also includes a transmission arm, a linkage seat and a third motor. The linkage seat is rotatably set on the second joint seat, the two ends of the transmission arm are respectively rotatably connected to the linkage seat and the first end of the third joint arm, and the third motor is transmission-connected to the linkage seat.

[0013] Furthermore, the fourth joint assembly also includes a fourth motor, the fourth motor is disposed on the fourth joint seat, and the fourth motor is transmission-connected to the execution terminal.

[0014] Furthermore, the execution terminal is a mounting disk.

[0015] The above solution of the utility model has the following beneficial effects:

[0016] The articulated robot provided by the utility model ensures the flexibility of operation through the rotation setting of each joint, and at the same time relies on the movement of the double parallelogram. When the second articulated arm swings, the line between the first hinge point and the second hinge point and the ground stationary coordinate system are kept in translation (angle remains unchanged), so the line between the first hinge point and the third hinge point is also kept in translation, and the lines between the fourth articulated seat and the two hinge points of the pull rod and the third articulated arm are also kept in translation, so that the execution end on the fourth articulated seat is kept in translation. When the third articulated arm moves under the action of the third motor, the second parallelogram movement can also keep the execution end on the fourth articulated seat in translation, ensuring that the execution end can keep in translation, simplifying the control of the articulated arm;

[0017] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 Another schematic diagram of the overall structure of the utility model;

[0020] Figure 3 It is a schematic diagram of the angle adjustment component of the utility model.

[0021] [Description of Reference Numerals]

[0022] 10-first joint assembly; 11-base; 12-rotating base; 13-first motor; 20-second joint assembly; 21-second joint seat; 22-second joint arm; 23-second motor; 30-third joint assembly; 31-third joint arm; 32-transmission arm; 33-linkage seat; 34-third motor; 40-fourth joint assembly; 41-fourth joint seat; 42-fourth motor; 50-execution end; 60-angle adjustment assembly; 61-adjustment seat; 62-adjustment arm; 63-pull rod; 64-first hinge point; 65-second hinge point; 66-third hinge point. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are provided in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0028] like Figure 1 , Figure 2 As shown, an embodiment of the utility model provides an articulated robot, including a first joint assembly 10, a second joint assembly 20, a third joint assembly 30, a fourth joint assembly 40 and an execution end 50. Among them, the first joint assembly 10 includes a base 11 and a rotating base 12, the base 11 is used to support the entire articulated robot, the rotating base 12 is rotatably connected to the base 11 through a bearing, and a first motor 13 is provided on the base 11, and the first motor 13 (which may be equipped with a reducer) is transmission-connected to the rotating base 12 to drive the rotating base 12 to rotate around the first axis.

[0029] In this embodiment, the second joint assembly 20 includes a second joint seat 21 and a second joint arm 22. The second joint seat 21 is fixedly connected to the rotating base 12. The first end of the second joint arm 22 is rotatably connected to the second joint seat 21 through a bearing. A second motor 23 is also provided on the second joint seat 21. The second motor 23 (which may be equipped with a reducer) is transmission-connected to the first end of the second joint arm 22 to drive the second joint arm 22 to rotate around the second axis.

[0030] In this embodiment, the third joint assembly 30 includes a third joint arm 31, and the third joint arm 31 is rotatably connected to the second end of the second joint arm 22 at a position close to the first end through a bearing. At the same time, the third joint assembly 30 also includes a transmission arm 32, a linkage seat 33 and a third motor 34. Among them, the linkage seat 33 is rotatably arranged on the second joint seat 21, and the two ends of the transmission arm 32 are rotatably connected to the linkage seat 33 and the first end of the third joint arm 31, respectively. The third motor 34 (which may be equipped with a reducer) is transmission-connected to the linkage seat 33 to drive the linkage seat 33 to rotate around the third axis, thereby rotating the third joint arm 31 around the second end of the second joint arm 22 through the transmission arm 32.

[0031] It should be noted that the arrangement of the linkage seat 33, the third motor 34, etc. on the second joint seat 21 and transmission by the transmission arm 32 is more convenient for structural arrangement, and based on the lever principle, the rotation control of the third joint arm 31 can be smoother.

[0032] In this embodiment, the fourth joint assembly 40 includes a fourth joint seat 41 and a fourth motor 42. The fourth joint seat 41 is connected to the second end of the third joint arm 31, and the fourth motor 42 (which may be equipped with a reducer) is arranged on the fourth joint seat 41, which is transmission-connected to the execution end 50 to drive the execution end 50 to rotate around the fourth axis.

[0033] It should be noted that in this embodiment, the execution end 50 is a mounting plate, on which a suction cup, a finger cylinder, etc. may be mounted, and no specific limitation is made here. The mounting plate is driven to rotate by the fourth motor 42 to adjust the posture of the picked-up object.

[0034] As a preferred embodiment, the fourth joint seat 41 and the second end of the third joint arm 31 are also rotationally connected in this embodiment, and the angle of the fourth joint seat 41 relative to the second end of the third joint arm 31 is determined by relying on the angle adjustment component 60, thereby ensuring that the angle of the execution terminal 50 relative to the third joint arm 31 is appropriate. During the subsequent operation of the joint robot, when the third joint arm 31 and the second joint arm 22 rotate, the execution terminal 50 can maintain translation relative to the ground stationary coordinate system.

[0035] At the same time Figure 3 As shown, the angle adjustment assembly 60 includes an adjustment seat 61, an adjustment arm 62 and a pull rod 63 (positive and negative screws). The adjustment seat 61 is provided with a first hinge point 64, a second hinge point 65 and a third hinge point 66. The first hinge point 64 of the adjustment seat 61 is hinged to the second end of the second joint arm 22, the second hinge point 65 of the adjustment seat 61 is hinged to the first end of the adjustment arm 62, the second end of the adjustment arm 62 is hinged to the second joint seat 21, the third hinge point 66 of the adjustment seat 61 is hinged to the first end of the pull rod 63, and the second end of the pull rod 63 is hinged to the fourth joint seat 41. Therefore, the adjustment arm 62 and the second joint arm 22 form two opposite sides of the first parallelogram, and the pull rod 63 and the third joint arm 31 form two opposite sides of the second parallelogram. When the second articulated arm 22 is swinging, the line between the first hinge point 64 and the second hinge point 65 and the ground stationary coordinate system are in translation (angle remains unchanged), so the line between the first hinge point 64 and the third hinge point 66 is also in translation, and the lines between the fourth joint seat 41 and the two hinge points of the pull rod 63 and the third articulated arm 31 are also in translation, so that the actuator end on the fourth joint seat 41 is in translation. When the third articulated arm 31 moves under the action of the third motor 34, the second parallelogram movement can also keep the actuator end 50 on the fourth articulated seat 41 in translation. Therefore, by setting two parallelograms, it is ensured that the actuator end 50 can keep in translation, simplifying the control of the articulated arm.

[0036] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0037] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A joint robot, characterized in that: It comprises a first joint assembly (10), a second joint assembly (20), a third joint assembly (30), a fourth joint assembly (40) and an execution end (50); The first joint assembly (10) comprises a base (11) and a rotating base (12), wherein the rotating base (12) is rotatably connected to the base (11); The second joint assembly (20) comprises a second joint seat (21) and a second joint arm (22), wherein the second joint seat (21) is fixedly connected to the rotating base (12), and the first end of the second joint arm (22) is rotatably connected to the second joint seat (21); The third joint assembly (30) comprises a third joint arm (31), and the third joint arm (31) is rotatably connected to the second end of the second joint arm (22); The fourth joint assembly (40) comprises a fourth joint seat (41), the fourth joint seat (41) is rotatably connected to the second end of the third joint arm (31), and the execution end (50) is arranged on the fourth joint seat (41); An angle adjustment component (60), the angle adjustment component (60) comprising an adjustment seat (61), an adjustment arm (62) and a pull rod (63), the adjustment seat (61) being provided with a first hinge point (64), a second hinge point (65) and a third hinge point (66), the first hinge point (64) of the adjustment seat (61) being hinged to the second end of the second joint arm (22), the second hinge point (65) of the adjustment seat (61) being hinged to the first end of the adjustment arm (62) The second end of the adjusting arm (62) is hinged to the second joint seat (21), the third hinge point (66) of the adjusting seat (61) is hinged to the first end of the pull rod (63), and the second end of the pull rod (63) is hinged to the fourth joint seat (41); the adjusting arm (62) and the second joint arm (22) form two opposite sides of a first parallelogram, and the pull rod (63) and the third joint arm (31) form two opposite sides of a second parallelogram.

2. The articulated robot according to claim 1, characterized in that: The first joint assembly (10) further comprises a first motor (13), wherein the first motor (13) is arranged on the base (11), and the first motor (13) is transmission-connected to the rotating base (12).

3. The articulated robot according to claim 1, characterized in that: The second joint assembly (20) further comprises a second motor (23), and the second motor (23) is drivingly connected to the first end of the second joint arm (22).

4. The articulated robot according to claim 1, characterized in that: The third joint assembly (30) further comprises a transmission arm (32), a linkage seat (33) and a third motor (34); the linkage seat (33) is rotatably arranged on the second joint seat (21); two ends of the transmission arm (32) are rotatably connected to the linkage seat (33) and the first end of the third joint arm (31) respectively; and the third motor (34) is transmission-connected to the linkage seat (33).

5. The articulated robot according to claim 1, characterized in that: The fourth joint assembly (40) further comprises a fourth motor (42), wherein the fourth motor (42) is arranged on the fourth joint seat (41), and the fourth motor (42) is transmission-connected to the execution end (50).

6. The articulated robot according to claim 1, characterized in that: The execution end (50) is a mounting plate.

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