High-precision dexterous joint type robot

Abstract

The utility model discloses a high precision dexterous joint type robot, including connecting subassembly, movable subassembly, linkage subassembly and adjusting subassembly, movable subassembly is provided on the inner side of connecting subassembly, linkage subassembly is provided above movable subassembly, the adjusting subassembly is provided below connecting subassembly, through the setting of connecting rod, the linkage subassembly is provided above the connecting subassembly. When the robot is used, a third motor drives a worm to drive the worm gear to rotate, the worm gear drives the connecting rod to rotate synchronously, and the connecting rod drives the movable assembly and the linkage assembly to adjust the horizontal angle through the connecting assembly. The angle of the manipulator can be adjusted when the robot is used, so that the manipulator can be flexibly adjusted, articles in different shapes can be fetched, and the problem that the angle of the robot for fetching the articles is fixed and cannot be adjusted is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a high-precision dexterous joint robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as work or movement. They possess fundamental characteristics such as perception, decision-making, and execution, and can assist or even replace humans in dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] Chinese patent publication number CN210115912U discloses a planar articulated robot comprising a joint, a movable arm, an axis motor, a battery, and cables. The axis motor is connected to the battery via the cables to provide power and drive the movable arm to rotate around the joint. The planar articulated robot also includes a cable support member, which has a cable routing cavity and a battery cavity. The battery is installed in the battery cavity, and the cables pass through the cable routing cavity and are electrically connected to the battery. This utility model embodiment, by placing the battery that powers the axis motor inside the cable support member, not only facilitates the removal and maintenance of the battery but also effectively saves space in the base, making the base smaller and more compact.

[0004] The aforementioned patents have the following shortcomings: the robotic arms are all installed at a fixed angle and cannot be adjusted;

[0005] Therefore, we provide a high-precision dexterous articulated robot. Utility Model Content

[0006] The purpose of this invention is to address the aforementioned technical problems by providing a high-precision, dexterous articulated robot that can be flexibly adjusted to different angles to pick up objects.

[0007] In view of this, the present invention provides a high-precision dexterous articulated robot, including a connecting component, a movable component, a linkage component, and an adjustment component. The movable component is disposed inside the connecting component, the linkage component is disposed above the movable component, and the adjustment component is disposed below the connecting component.

[0008] The adjustment assembly includes a housing, a worm gear, a worm, a connecting rod, and a third motor. The housing is located below the connecting assembly, the worm gear is located inside the housing, the worm is located on one side of the worm gear and is connected by serrated meshing, the connecting rod is located above the worm gear, and the worm is driven by the third motor, which is located on one side of the housing.

[0009] Preferably, the connecting assembly includes a connecting plate, a mounting plate, a protective shell, and a support frame. The mounting plate is disposed below the connecting plate, and one end of the mounting plate is connected to the connecting rod. The protective shell is disposed below the mounting plate, and the support frame is disposed below the protective shell. The mounting plate is connected to the movable component.

[0010] Preferably, the movable component includes a movable plate, a first gear, a second gear, and a first motor. The movable plate is disposed inside the mounting plate, the first gear is disposed below the movable plate, the second gear is disposed on one side of the first gear and connected by serrated meshing, the second gear is disposed inside the protective shell, the second gear is driven by the first motor, the first motor is disposed on one side of the protective shell, and the upper part of the movable plate is installed and connected to the linkage component.

[0011] Preferably, the linkage assembly includes a linkage plate, a mainspring belt, a mainspring spring, and a second motor. The linkage plate is disposed above the movable plate, the mainspring belt is disposed on one side of the linkage plate, the mainspring spring is disposed inside another set of protective shells, and the mainspring spring is driven by the second motor, which is disposed on one side of the other set of protective shells.

[0012] Preferably, one end of the mainspring strip is fixedly connected to the linkage plate, the other end of the mainspring strip is installed and connected to the mainspring spring, and the mainspring spring is rotatably connected to the protective shell.

[0013] Preferably, the housing is provided with an opening for the connecting rod to pass through, one end of the connecting rod is rotatably connected to the connecting assembly, and the other end of the connecting rod is installed and connected to the worm gear.

[0014] Preferably, one end of the support frame is provided with a connecting sleeve, and is installed and connected to the adjustment component through the connecting sleeve, while the other end of the support frame is fixedly connected to the protective shell.

[0015] Compared with the prior art, this utility model provides a high-precision dexterous joint robot, which has the following beneficial effects:

[0016] 1. This utility model, through the setting of a connecting rod, enables the coordinated use of components such as the worm gear, the worm wheel, and the third motor. The connecting rod is fixedly connected to the worm wheel, and one end of the connecting rod is rotatably connected to the connecting plate in the connecting assembly. When the robot is in use, the third motor drives the worm gear to rotate, and the worm wheel drives the connecting rod to rotate synchronously. The connecting rod, through the connecting assembly, drives the movable assembly and the linkage assembly to adjust the horizontal angle, allowing the robot's hand to adjust its angle during use, thus enabling flexible adjustment and the picking up of items of different shapes.

[0017] 2. This utility model, through the setting of the support frame, enables the cooperative use of parts such as the mounting plate and the protective shell. The mounting plate is installed and connected to the adjustment component, one end of the support frame is installed and connected to the adjustment component, and the other end is fixedly connected to the protective shell. When in use, the inner side of the protective shell is provided with a shock-absorbing pad. By using the protective shell and the support frame, the overall rigidity of the robot is improved during use, reducing deformation and vibration during movement, thereby improving positioning accuracy and repeatability.

[0018] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This utility model has a simple structure and is easy to operate. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a high-precision dexterous articulated robot proposed in this utility model.

[0020] Figure 2 This is a schematic diagram of the telescopic and unfolding structure of a high-precision dexterous joint robot proposed in this utility model;

[0021] Figure 3 This is a schematic diagram of the moving and linkage components of a high-precision dexterous articulated robot proposed in this utility model.

[0022] Figure 4 This is a schematic diagram of the adjustment component structure of a high-precision dexterous joint robot proposed in this utility model.

[0023] In the diagram: 1. Connecting assembly; 11. Connecting plate; 12. Mounting plate; 13. Protective shell; 14. Support frame; 2. Movable assembly; 21. Movable plate; 22. First gear; 23. Second gear; 24. First motor; 3. Linkage assembly; 31. Linkage plate; 32. Spring belt; 33. Spring spring; 34. Second motor; 4. Adjustment assembly; 41. Outer shell; 42. Worm gear; 43. Worm; 44. Connecting rod; 45. Third motor. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] Example 1: As Figures 1-4 As shown, a high-precision dexterous articulated robot includes a connecting component 1, a movable component 2, a linkage component 3, and an adjustment component 4. The movable component 2 is disposed inside the connecting component 1, the linkage component 3 is disposed above the movable component 2, and the adjustment component 4 is disposed below the connecting component 1.

[0027] The adjusting assembly 4 includes a housing 41, a worm gear 42, a worm 43, a connecting rod 44, and a third motor 45. The housing 41 is located below the connecting assembly 1. The worm gear 42 is located inside the housing 41. The worm 43 is located on one side of the worm gear 42 and is connected by serrated meshing. The connecting rod 44 is located above the worm gear 42. The worm 43 is driven by the third motor 45, which is located on one side of the housing 41.

[0028] First, the connecting rod 44 is fixedly connected to the worm gear 42. One end of the connecting rod 44 is rotatably connected to the connecting plate 11 in the connecting assembly 1. When the robot is in use, the third motor 45 drives the worm gear 43 to rotate the worm gear 42. The worm gear 42 drives the connecting rod 44 to rotate synchronously. The connecting rod 44 drives the movable assembly 2 and the linkage assembly 3 through the connecting assembly 1 to adjust the horizontal angle, so that the robot's hand can be adjusted during use, thus allowing for flexible adjustment and enabling the picking up of items of different shapes.

[0029] Example 2: Figures 1-4 As shown, a high-precision dexterous articulated robot has a connecting component 1 including a connecting plate 11, a mounting plate 12, a protective shell 13, and a support frame 14. The mounting plate 12 is located below the connecting plate 11, and one end of the mounting plate 12 is connected to the connecting rod 44. The protective shell 13 is located below the mounting plate 12, and the support frame 14 is located below the protective shell 13. The mounting plate 12 is connected to the movable component 2.

[0030] The movable component 2 includes a movable plate 21, a first gear 22, a second gear 23, and a first motor 24. The movable plate 21 is located inside the mounting plate 12. The first gear 22 is located below the movable plate 21. The second gear 23 is located on one side of the first gear 22 and is connected by serrated meshing. The second gear 23 is located inside the protective shell 13 and is driven by the first motor 24, which is located on one side of the protective shell 13. The upper part of the movable plate 21 is installed and connected to the linkage component 3.

[0031] The linkage assembly 3 includes a linkage plate 31, a spring belt 32, a spring 33, and a second motor 34. The linkage plate 31 is located above the movable plate 21, the spring belt 32 is located on one side of the linkage plate 31, and the spring 33 is located inside another set of protective shells 13. The spring 33 is driven by the second motor 34, which is located on one side of the other set of protective shells 13.

[0032] One end of the spring belt 32 is fixedly connected to the linkage plate 31, and the other end of the spring belt 32 is installed and connected to the spring spring 33. The spring spring 33 is rotatably connected to the protective shell 13.

[0033] The housing 41 has an opening for the connecting rod 44 to pass through. One end of the connecting rod 44 is rotatably connected to the connecting assembly 1, and the other end of the connecting rod 44 is installed and connected to the worm gear 42.

[0034] One end of the support frame 14 is provided with a connecting sleeve, and is installed and connected to the adjustment component 4 through the connecting sleeve. The other end of the support frame 14 is fixedly connected to the protective shell 13.

[0035] First, the mounting plate 12 is installed and connected to the adjustment component 4. One end of the support frame 14 is installed and connected to the adjustment component 4, and the other end is fixedly connected to the protective shell 13. When in use, the inner side of the protective shell 13 is provided with a shock-absorbing pad. By using the protective shell 13 and the support frame 14, the overall rigidity of the robot is improved during use, reducing deformation and vibration during movement, thereby improving positioning accuracy and repeatability. When the robot is in use, the first motor 24 drives the second gear 23 to rotate the first gear 22, causing the movable plate 21 to move at an angle on the mounting plate 12. At the same time, the second motor 34 drives the spring 33 to adjust the tension, causing the spring belt 32 to move the linkage plate 31. The movable component 2 and the linkage component 3 work together to grip and pick up items.

[0036] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A high-precision articulated robot comprising a connecting assembly (1), a moving assembly (2), a linkage assembly (3) and an adjusting assembly (4), characterized in that, The activity assembly (2) is arranged on the inner side of the connecting assembly (1), the linkage assembly (3) is arranged above the activity assembly (2), and the adjusting assembly (4) is arranged below the connecting assembly (1); The adjusting assembly (4) comprises a shell (41), a worm wheel (42), a worm (43), a connecting rod (44) and a third motor (45), the shell (41) is arranged below the connecting assembly (1), the worm wheel (42) is arranged in the shell (41), the worm (43) is arranged on one side of the worm wheel (42) and is connected through sawtooth engagement, the connecting rod (44) is arranged above the worm wheel (42), the worm (43) is driven by the third motor (45), and the third motor (45) is arranged on one side of the shell (41).

2. The high-precision articulated robot according to claim 1, wherein The connecting assembly (1) comprises a connecting plate (11), a mounting plate (12), a protective shell (13) and a support frame (14), the mounting plate (12) is arranged below the connecting plate (11), one end of the mounting plate (12) is connected with the connecting rod (44), the protective shell (13) is arranged below the mounting plate (12), the support frame (14) is arranged below the protective shell (13), and the mounting plate (12) is connected with the activity assembly (2).

3. The high-precision articulated robot according to claim 2, wherein The activity assembly (2) comprises an activity plate (21), a first gear (22), a second gear (23) and a first motor (24), the activity plate (21) is arranged on the inner side of the mounting plate (12), the first gear (22) is arranged below the activity plate (21), the second gear (23) is arranged on one side of the first gear (22) and is connected through sawtooth engagement, the second gear (23) is arranged in the protective shell (13), the second gear (23) is driven by the first motor (24), the first motor (24) is arranged on one side of the protective shell (13), and the upper side of the activity plate (21) is connected with the linkage assembly (3).

4. The high-precision articulated robot according to claim 3, wherein The linkage assembly (3) comprises a linkage plate (31), a clock spring (32), a clock spring (33) and a second motor (34), the linkage plate (31) is arranged above the activity plate (21), the clock spring (32) is arranged on one side of the linkage plate (31), the clock spring (33) is arranged in the other protective shell (13), the clock spring (33) is driven by the second motor (34), and the second motor (34) is arranged on one side of the other protective shell (13).

5. The high-precision articulated robot according to claim 4, wherein One end of the clock spring (32) is fixedly connected with the linkage plate (31), the other end of the clock spring (32) is connected with the clock spring (33), and the clock spring (33) is rotatably connected with the protective shell (13).

6. The high-precision articulated robot according to claim 1, wherein An opening through which the connecting rod (44) passes is arranged on the shell (41), one end of the connecting rod (44) is rotatably connected with the connecting assembly (1), and the other end of the connecting rod (44) is connected with the worm wheel (42).

7. The high-precision articulated robot according to claim 2, wherein One end of the support frame (14) is provided with a connecting sleeve, and the support frame (14) is connected with the adjusting assembly (4) through the connecting sleeve. The other end of the support frame (14) is fixedly connected with the protective shell (13).

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