Multi-joint robot for narrow space

Abstract

The utility model provides a multi-joint robot for a narrow space, which comprises a base, a first joint is arranged on the base, a second joint is arranged on the first joint, a third joint is arranged on the second joint, a fourth joint is arranged on the third joint, a fifth joint is arranged on the fourth joint, and the fifth joint is arranged on the fifth joint. And a sixth joint is arranged on the fifth joint. The height of the first joint is adjusted by driving the first joint to slide in the sliding groove a, and the rotary driving piece a drives the first joint to rotate in the sliding groove a through the transmission assembly; the rotary driving part b drives the third joint to rotate, the linear driving part b drives the fourth joint to slide in the sliding groove b and adjust the position of the fourth joint, and the rotary driving part c drives the gear c to rotate and drives the fourth joint to rotate in the sliding groove b. Compared with a tandem type vertical six-axis robot, the multi-joint robot saves more space.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multi-joint robot for use in confined spaces. Background Technology

[0002] A serial vertical six-axis robot is an industrial robot with six rotatable joints, or axes, arranged along a continuous robotic arm. This configuration mimics the structure of a human arm and is therefore sometimes referred to as a "six-degree-of-freedom" robot. Each joint (axis) allows the robotic arm to move in a specific direction, and by coordinating the movements of all joints, the robot's end effector can reach almost any location within the workspace and operate at different angles and orientations.

[0003] In many scenarios where automation is implemented, the narrow working space, large height difference of the working surface, and deep working depth make it difficult to use existing serial vertical six-axis robots. To address these issues, we propose a multi-joint robot for narrow spaces. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a multi-joint robot for use in confined spaces. The robot adjusts the height of the first joint by driving it to slide within a groove a. A rotary drive a drives the first joint to rotate within the groove a via a transmission assembly. A rotary drive b drives the third joint to rotate, and a linear drive b drives the fourth joint to slide within the groove b, adjusting its position. A rotary drive c drives gear c to rotate, further rotating the fourth joint within the groove b. This design is suitable for operations in confined spaces, and compared to a serial vertical six-axis robot, it saves more space at the same work point.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A multi-joint robot for use in confined spaces includes a base, a first joint on the base, a second joint on the first joint, a third joint on the second joint, a fourth joint on the third joint, a fifth joint on the fourth joint, and a sixth joint on the fifth joint.

[0007] The bottom of the first joint is provided with a linear drive component a, the output end of the linear drive component a is rotatably connected to the base, the base is provided with a sliding groove a, the first joint is slidably disposed in the sliding groove a, a rotary drive component a is installed in the sliding groove a, and the output end of the rotary drive component a is connected to the output end of the linear drive component a through a transmission assembly.

[0008] The transmission assembly includes gear a, which is mounted on the output end of the linear drive a, and gear b is mounted on the output end of the rotary drive a, wherein gear a and gear b mesh.

[0009] The second joint is provided with a rotation drive component b, and the output end of the rotation drive component b is connected to the third joint.

[0010] The third joint has a groove b, the fourth joint slides in the groove b, a linear drive b is installed in the groove b, a motion disk is installed at the output end of the linear drive b, and the fourth joint is rotatably mounted on the motion disk.

[0011] A groove is formed in the fourth joint, and a gear ring is installed in the groove. A rotary drive component c is installed on the moving disk. A gear c is installed at the output end of the rotary drive component c, and the gear c meshes with the gear ring. A rotary drive component d is installed in the fifth joint, and the output end of the rotary drive component d is connected to the sixth joint. The transmission assembly includes a transmission wheel a installed at the output end of the linear drive component a, and a transmission wheel b installed at the output end of the rotary drive component a. The transmission wheels a and b are connected by a belt drive. A mechanical gripper is installed on the sixth joint.

[0012] The beneficial effects of this utility model are as follows:

[0013] (1) This utility model drives the first joint to slide in the slide groove a by linear drive a to adjust the height of the first joint. Rotary drive a drives the first joint to rotate in the slide groove a through the transmission component. Rotary drive b drives the third joint to rotate. Linear drive b drives the fourth joint to slide in the slide groove b to adjust the position of the fourth joint. Rotary drive c drives the gear c to rotate. Since the gear c meshes with the gear ring, it drives the fourth joint to rotate in the slide groove b. It can be used for narrow space operations. At the same work point, this multi-joint robot saves more space than the serial vertical six-axis robot.

[0014] (2) The transmission component of this utility model includes gear a, gear a is installed at the output end of linear drive a, and gear b is installed at the output end of rotary drive a. Gear a and gear b mesh, and rotary drive a drives gear b to rotate. Due to the meshing of gear a and gear b, linear drive a is driven to rotate, which in turn drives the first joint to rotate in the slide groove a.

[0015] (3) The transmission assembly of this utility model includes a transmission wheel a installed at the output end of the linear drive a, and a transmission wheel b installed at the output end of the rotary drive a. The transmission wheel a and the transmission wheel b are connected by a belt drive. The rotary drive a drives the transmission wheel a to rotate, and drives the transmission wheel b to rotate through the belt, thereby driving the linear drive a to rotate and causing the first joint to rotate in the slide groove a. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the first overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the second overall structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the third overall structure of the present utility model;

[0019] Figure 4 This is a schematic diagram of the first state of the transmission component of this utility model;

[0020] Figure 5 This is a schematic diagram of the second state of the transmission component of this utility model;

[0021] Figure 6 This is a schematic cross-sectional view of the third joint of this utility model;

[0022] Figure 7 This utility model Figure 6 Enlarged view of point A in the middle;

[0023] Figure 8 This is a diagram showing the state of the arm span after full retraction of the present invention;

[0024] Figure 9 This is a diagram showing the state of the arm span after the present invention is fully extended;

[0025] Figure 10 This is a state diagram of the application scenario of this utility model.

[0026] The figures in this application are labeled as follows: 1. Base; 2. First joint; 3. Second joint; 4. Third joint; 5. Fourth joint; 501. Groove; 502. Gear ring; 6. Fifth joint; 7. Sixth joint; 8. Linear drive a; 9. Slide a; 10. Rotary drive a; 11. Transmission assembly; 111. Gear a; 112. Gear b; 113. Transmission wheel a; 114. Transmission wheel b; 115. Belt; 12. Rotary drive b; 13. Slide b; 14. Linear drive b; 15. Moving disc; 16. Rotary drive c; 17. Gear c; 18. Rotary drive d. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] Example 1: As Figures 1-7 As shown, this embodiment provides a multi-joint robot for narrow spaces, including a base 1, a first joint 2 on the base 1, a second joint 3 on the first joint 2, a third joint 4 on the second joint 3, a fourth joint 5 on the third joint 4, a fifth joint 6 on the fourth joint 5, and a sixth joint 7 on the fifth joint 6.

[0030] The bottom of the first joint 2 is provided with a linear drive a8. The output end of the linear drive a8 is rotatably connected to the base 1. The base 1 is provided with a sliding groove a9. The first joint 2 is slidably disposed in the sliding groove a9. A rotary drive a10 is installed in the sliding groove a9. The output end of the rotary drive a10 is connected to the output end of the linear drive a8 through a transmission assembly 11.

[0031] The second joint 3 is provided with a rotary drive component b12. The output end of the rotary drive component b12 is connected to the third joint 4. The third joint 4 is provided with a slide groove b13. The fourth joint 5 slides in the slide groove b13. A linear drive component b14 is installed in the slide groove b13. A motion disk 15 is installed at the output end of the linear drive component b14. The fourth joint 5 is rotatably mounted on the motion disk 15.

[0032] The fourth joint 5 has a groove 501, in which a gear ring 502 is installed. A rotary drive component c16 is installed on the moving disk 15. A gear c17 is installed at the output end of the rotary drive component c16. The gear c17 meshes with the gear ring 502. A rotary drive component d18 is installed in the fifth joint 6. The output end of the rotary drive component d18 is connected to the sixth joint 7. A mechanical gripper is installed on the sixth joint 7.

[0033] The linear drive member a8 drives the first joint 2 to slide within the chute a9 to adjust the height of the first joint 2. The rotary drive member a10 drives the first joint 2 to rotate within the chute a9 through the transmission component 11. The rotary drive member b12 drives the third joint 4 to rotate. The linear drive member b14 drives the fourth joint 5 to slide within the chute b13 to adjust the position of the fourth joint 5. The rotary drive member c16 drives the gear c17 to rotate. Since the gear c17 meshes with the toothed ring 502, it drives the fourth joint 5 to rotate within the chute b13, and it can be applied to operations in narrow spaces. At the same operation point, this multi-joint robot saves more space compared to the serial vertical six-axis robot.

[0034] The robot of the present utility model can be applied to operations in narrow spaces, such as Figure 10 shown. At the same operation point, this multi-joint robot saves more space compared to the serial vertical six-axis robot. The relationship is: L1 = K1, which is the arm reach of the robot at the operation point; L2 < K2, which is the distance between the axis of the robot base and the wall.

[0035] Embodiment 2

[0036] As Figure 4 shown, the same or corresponding components as in Embodiment 1 are labeled with the corresponding reference numerals of Embodiment 1. For the sake of simplicity, only the differences from Embodiment 1 will be described below. The difference between this Embodiment 2 and Embodiment 1 is that:

[0037] In this embodiment, the transmission component 11 includes a gear a111. The gear a111 is installed at the output end of the linear drive member a8. A gear b112 is installed at the output end of the rotary drive member a10. The gear a111 and the gear b112 mesh.

[0038] The rotary drive member a10 drives the gear b112 to rotate. Since the gear a111 and the gear b112 mesh, it drives the linear drive member a8 to rotate, and drives the first joint 2 to rotate within the chute a9.

[0039] Embodiment 3: As Figure 5 shown, the same or corresponding components as in Embodiment 1 are labeled with the corresponding reference numerals of Embodiment 1. For the sake of simplicity, only the differences from Embodiment 1 will be described below. The difference between this Embodiment 3 and Embodiment 1 is that:

[0040] In this embodiment, the transmission component 11 includes a transmission wheel a113 installed at the output end of the linear drive member a8. A transmission wheel b114 is installed at the output end of the rotary drive member a10. The transmission wheel a113 and the transmission wheel b114 are connected by a belt 115 in a transmission connection. The rotary drive member a10 drives the transmission wheel a113 to rotate, drives the transmission wheel b114 to rotate through the belt 115, drives the linear drive member a8 to rotate, and drives the first joint 2 to rotate within the chute a9.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-joint robot for use in confined spaces, comprising a base (1), characterized in that, The base (1) is provided with a first joint (2), the first joint (2) is provided with a second joint (3), the second joint (3) is provided with a third joint (4), the third joint (4) is provided with a fourth joint (5), the fourth joint (5) is provided with a fifth joint (6), and the fifth joint (6) is provided with a sixth joint (7). The bottom of the first joint (2) is provided with a linear drive a (8), the output end of the linear drive a (8) is rotatably connected to the base (1), the base (1) is provided with a sliding groove a (9), the first joint (2) is slidably disposed in the sliding groove a (9), a rotary drive a (10) is installed in the sliding groove a (9), and the output end of the rotary drive a (10) is connected to the output end of the linear drive a (8) through a transmission assembly (11).

2. A multi-joint robot for confined spaces according to claim 1, characterized in that, The transmission assembly (11) includes a gear a (111), which is mounted on the output end of the linear drive a (8), and a gear b (112) is mounted on the output end of the rotary drive a (10). The gear a (111) and the gear b (112) mesh.

3. A multi-joint robot for confined spaces according to claim 2, characterized in that, The second joint (3) is provided with a rotation drive b (12), and the output end of the rotation drive b (12) is connected to the third joint (4).

4. A multi-joint robot for confined spaces according to claim 3, characterized in that, The third joint (4) has a sliding groove b (13) inside, the fourth joint (5) slides in the sliding groove b (13), a linear drive b (14) is installed in the sliding groove b (13), a motion disk (15) is installed at the output end of the linear drive b (14), and the fourth joint (5) is rotatably mounted on the motion disk (15).

5. A multi-joint robot for confined spaces according to claim 4, characterized in that, The fourth joint (5) has a groove (501) and a toothed ring (502) is installed in the groove (501). A rotary drive component c (16) is installed on the moving disk (15). A gear c (17) is installed at the output end of the rotary drive component c (16). The gear c (17) meshes with the toothed ring (502).

6. A multi-joint robot for confined spaces according to claim 5, characterized in that, A rotary drive d (18) is installed inside the fifth joint (6), and the output end of the rotary drive d (18) is connected to the sixth joint (7).

7. A multi-joint robot for confined spaces according to claim 1, characterized in that, The transmission assembly (11) includes a transmission wheel a (113) installed at the output end of the linear drive a (8), and a transmission wheel b (114) installed at the output end of the rotary drive a (10). The transmission wheel a (113) and the transmission wheel b (114) are connected by a belt (115).

8. A multi-joint robot for confined spaces according to claim 1, characterized in that, A mechanical gripper is installed on the sixth joint (7).

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