Articulated robot

Abstract

The utility model provides a multi-joint robot. The multi-joint robot comprises a base, a lifting mechanism, a connecting assembly, a first mechanical arm mechanism and a second mechanical arm mechanism. A mounting space and an opening which are communicated with each other are defined in the base; the lifting mechanism is arranged in the mounting space; the connecting assembly is installed outside the base and connected with the lifting mechanism and comprises a connecting piece and a dust cover. The connecting piece is connected with the lifting mechanism and does lifting motion along with the lifting mechanism; the dustproof cover covers the periphery of the connecting piece so as to stretch or contract along with the connecting piece, and one end of the dustproof cover is mounted on the base around the opening so as to seal the mounting space; the first mechanical arm mechanism is connected to the end, away from the lifting mechanism, of the connecting assembly. The second mechanical arm mechanism is connected to the end, away from the connecting assembly, of the first mechanical arm mechanism. By means of the mode, the multi-joint robot can be suitable for high-protection and high-cleanliness application scenes, and the tail end structure can be compact so that the multi-joint robot can be suitable for working scenes with narrow space.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a multi-joint robot. Background Technology

[0002] With the rapid development of industrial automation, robotics is increasingly widely used in industrial production. Among them, Selective Compliance Assembly Robot Arms (SCARA) robots, with their high speed and precision, are widely used in electronics manufacturing, automobile assembly, plastics processing, pharmaceutical production, and food processing, primarily for material handling, loading / unloading, and assembly tasks. Currently, most SCARA robots on the market adopt a four-axis drive structure. Their main body consists of a large arm and a small arm, and they achieve horizontal movement along the X and Y axes through servo motors and reducers. Simultaneously, the end effector integrates vertical movement along the Z axis and rotational movement along the R axis, thus enabling multi-degree-of-freedom movement in three-dimensional space. Summary of the Invention

[0003] The main technical problem addressed by this application is to provide a multi-joint robot that is suitable for high-protection and high-cleanliness application scenarios, and that has a compact end effector structure to suit working environments with limited space.

[0004] To achieve the above objectives, this application provides a multi-joint robot, which includes a base, a lifting mechanism, a connecting component, a first robotic arm mechanism, and a second robotic arm mechanism. The base defines an installation space and has an opening communicating with the installation space. The lifting mechanism is disposed within the installation space. The connecting component is installed on the outside of the base at the opening and connected to the lifting mechanism to perform lifting and lowering movements under the drive of the lifting mechanism, and includes a connector and a dust cover. The connector is connected to the lifting mechanism through the opening and moves up and down with the lifting mechanism. The dust cover is disposed around the connector to stretch or contract with the lifting and lowering movements of the connector, and one end is installed around the opening on the base to close the installation space. The first robotic arm mechanism is connected to the end of the connecting component away from the lifting mechanism. The second robotic arm mechanism is connected to the end of the first robotic arm mechanism away from the connecting component.

[0005] Furthermore, the connecting assembly also includes a mounting assembly and a rotating assembly; the mounting assembly is disposed between the base and the dust cover, wherein the dust cover is mounted on the base via the mounting assembly; the rotating assembly is disposed between the mounting assembly and the dust cover, and is used to drive the dust cover to rotate relative to the base.

[0006] Specifically, the lifting mechanism includes an adapter, a lifting power component, a lifting synchronous belt component, and a power conversion component; the adapter is connected to the connecting component; the lifting power component is installed at the bottom of the base; the lifting synchronous belt component is connected to the lifting power component and is used to receive the power output by the lifting power component; the power conversion component is connected to the lifting synchronous belt component and the adapter respectively, and is used to receive the power transmitted by the lifting synchronous belt component and convert the motion output by the lifting synchronous belt component into lifting motion to drive the adapter to lift.

[0007] Furthermore, the lifting mechanism also includes a guide rod and a stabilizer; the guide rod is mounted on the base and has an extension direction parallel to the direction of the lifting movement; the stabilizer is disposed on the periphery of the guide rod and connected to the adapter, for moving along the guide rod with the adapter.

[0008] Furthermore, the multi-joint robot also includes a rotating mechanism, which is disposed in the installation space and connected to the connecting component. The rotating mechanism is used to drive the first robotic arm mechanism to rotate through the connecting component, and includes a transition part, a rotating power component, and a rotating timing belt component. The transition part is connected to the connecting component and is used to drive the connecting component to rotate. The rotating power component is installed at the bottom of the base. The rotating timing belt component is connected to the rotating power component and the transition part respectively, and is used to receive the power output by the rotating power component and transmit it to the connecting component through the transition part.

[0009] Specifically, the rotating synchronous belt assembly includes a first rotating synchronous pulley, a first rotating synchronous belt, a second rotating synchronous pulley, a third rotating synchronous pulley, a fourth rotating synchronous pulley, and a second rotating synchronous belt. The first rotating synchronous pulley is connected to the output end of the rotating power assembly to receive the power output by the rotating power assembly. One end of the first rotating synchronous belt is connected to the first rotating synchronous pulley to transmit the power received by the first rotating synchronous pulley from the rotating power assembly. The second rotating synchronous pulley is connected to the end of the second rotating synchronous belt away from the first rotating synchronous pulley and rotates with the first rotating synchronous pulley under the drive of the first rotating synchronous belt. The third rotating synchronous pulley is fixedly connected to the second rotating synchronous pulley to rotate synchronously with the second rotating synchronous pulley. The fourth rotating synchronous pulley is connected to an adapter. One end of the second rotating synchronous belt is connected to the third rotating synchronous pulley, and the other end is connected to the fourth rotating synchronous pulley to further transmit the power output by the rotating power assembly from the third rotating synchronous pulley to the fourth rotating synchronous pulley.

[0010] Specifically, the second robotic arm mechanism includes a second robotic arm, and the first robotic arm mechanism includes a first robotic arm, a first power assembly, and a first synchronous belt assembly; one end of the first robotic arm is connected to the connecting assembly, and the other end is connected to the second robotic arm; the first power assembly is located at the end of the first robotic arm near the connecting assembly; the first synchronous belt assembly is connected to the first power assembly and the second robotic arm respectively, and is used to receive the power output by the first power assembly to drive the second robotic arm to rotate.

[0011] Specifically, the first synchronous belt assembly includes a first synchronous pulley, a first synchronous belt, a second synchronous pulley, a third synchronous pulley, a fourth synchronous pulley, and a second synchronous belt; the first synchronous pulley is connected to the output end of the first power assembly to receive the power output by the first power assembly; one end of the first synchronous belt is connected to the first synchronous pulley to transmit the power received by the first synchronous belt from the first power assembly; the second synchronous pulley is connected to the end of the first synchronous belt away from the first synchronous pulley to rotate with the first synchronous pulley under the drive of the first synchronous belt; the third synchronous pulley is fixedly connected to the second synchronous pulley to rotate synchronously with the second synchronous pulley; the fourth synchronous pulley is connected to the second robotic arm; one end of the second synchronous belt is connected to the third synchronous pulley, and the other end is connected to the fourth synchronous pulley to further transmit the power output by the first power assembly from the third synchronous pulley to the fourth synchronous pulley to drive the second robotic arm to rotate.

[0012] Furthermore, the first robotic arm mechanism also includes a second power component and a second synchronous belt component; the second power component and the first power component are spaced apart on the first robotic arm; the second synchronous belt component is connected to the second power component and is used to receive the power output by the second power component; the second robotic arm mechanism also includes a third synchronous belt component, which is connected to the second synchronous belt component and is used to receive the power transmitted by the second synchronous belt component to drive the end effector of the multi-joint robot to rotate.

[0013] Specifically, the second synchronous belt assembly includes a first end synchronous pulley, a second end synchronous pulley, and a first end synchronous belt; the first end synchronous pulley is connected to the output end of the second power assembly; the second end synchronous pulley is connected to the third synchronous belt assembly; one end of the first end synchronous belt is connected to the first end synchronous pulley, and the other end is connected to the second end synchronous pulley, for transmitting the power output by the second power assembly from the first end synchronous pulley to the second end synchronous pulley; the third synchronous belt assembly includes a third end synchronous pulley, a second end synchronous belt, and a fourth end synchronous pulley; the third end synchronous pulley is fixedly connected to the second end synchronous pulley to rotate synchronously with the second end synchronous pulley; one end of the second end synchronous belt is connected to the third end synchronous pulley to transmit the power of the third end synchronous pulley; the fourth end synchronous pulley is connected to the end of the second end synchronous belt away from the third end synchronous pulley and the end working part, respectively, for rotating with the second end synchronous pulley under the drive of the third end synchronous pulley, thereby driving the end working part to rotate.

[0014] The beneficial effects of this application are as follows: Unlike existing technologies, the multi-joint robot of this application includes a base, a lifting mechanism, a connecting component, a first robotic arm mechanism, and a second robotic arm mechanism. The base defines an installation space and has an opening communicating with the installation space. The lifting mechanism is located within the installation space. The connecting component is installed outside the base at the opening and connected to the lifting mechanism to perform lifting movements under the drive of the lifting mechanism, and includes a connector and a dust cover. The connector is connected to the lifting mechanism through the opening and moves up and down with the lifting mechanism. The dust cover is installed around the connector to stretch or contract with the lifting movement of the connector, and one end is installed around the opening on the base to seal the installation space. The first robotic arm mechanism is connected to the end of the connecting component away from the lifting mechanism. The second robotic arm mechanism is connected to the end of the first robotic arm mechanism away from the connecting component. In the above method, the lifting mechanism is located within the base, and the internal wiring of the base can adopt a sealed design to ensure the reliability of the cables in a high-cleanliness environment. Because the base has a dust cover at the opening, it can prevent dust, debris and other contaminants from entering the installation space and affecting the normal operation of the lifting mechanism, thus improving the cleanliness of the robot and meeting the design requirements of high protection and high cleanliness, so that the multi-joint robot can be used in high protection and high cleanliness application scenarios. In addition, the lifting mechanism is further set in the base away from the end of the robot, which can greatly simplify the end structure of the robot and make the end structure compact, so that it can be used in work scenarios with limited space. Attached Figure Description

[0015] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0016] Figure 1 This is a structural schematic diagram of one embodiment of the multi-joint robot of this application;

[0017] Figure 2 This is a partial structural schematic diagram of one embodiment of the multi-joint robot of this application;

[0018] Figure 3 This is a partial structural cross-sectional view of one embodiment of the multi-joint robot of this application;

[0019] Figure 4 This is a partial structural cross-sectional view of one embodiment of the multi-joint robot of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0021] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0022] Please see Figures 1 to 3 This application provides a multi-joint robot. In one embodiment, the multi-joint robot includes a base 10, a first robotic arm mechanism 20, a second robotic arm mechanism 30, a lifting mechanism 40, and a connecting assembly 60.

[0023] The base 10 provides support and a mounting foundation for the multi-joint robot. It contains an internal mounting space 10a to accommodate the lifting mechanism 40 and other components. The top of the base 10 has an opening 10b that communicates with the mounting space 10a, facilitating the connection of the lifting mechanism 40 to external structures and enabling power transmission.

[0024] Specifically, the base 10 can be composed of a base plate 11, side plates 12, and a top plate 13, which are fixed together by bolts or welding to form the aforementioned installation space 10a. An opening 10b can be formed on the top plate 13 of the base 10, meaning that the installation space 10a can communicate with the outside world through the opening 10b on the top plate 13 of the base 10. Openings can be machined on the side plates 12 to reduce weight and facilitate subsequent internal maintenance and repair.

[0025] The first robotic arm mechanism 20 and the second robotic arm mechanism 30 are the core motion components of the multi-joint robot in this embodiment. They work together to achieve precise positioning and movement of the robot. The first robotic arm mechanism 20 is the robot's main support arm mechanism, connecting the base 10 and the second robotic arm mechanism 30, and providing a wide range of horizontal movement. The second robotic arm mechanism 30 is the robot's secondary arm mechanism, capable of further extending the range of motion based on the first robotic arm mechanism 20, and able to precisely position the end effector. Furthermore, the end effector of the second robotic arm mechanism 30 can be equipped with tools such as grippers or suction cups for performing tasks such as grasping and assembly.

[0026] The lifting mechanism 40 is disposed within the mounting space 10a of the base 10 and is connected to the first robotic arm mechanism 20 and the second robotic arm mechanism 30 via the connecting component 60. Specifically, the lifting mechanism 40 may include related drive mechanisms such as motors to directly or indirectly output lifting power to drive the connecting component 60, the first robotic arm mechanism 20, the second robotic arm mechanism 30, etc., to perform lifting movements.

[0027] The connecting component 60 is disposed outside the base 10, with one end connected to the lifting mechanism 40 through the opening 10b of the base 10, and the other end connected to the first robotic arm mechanism 20, for transmitting the movement of the lifting mechanism 40. Specifically, the connecting component 60 may include a connector 61 and a dust cover 62.

[0028] One end of the connector 61 is connected to the lifting mechanism 40 through the opening 10b of the base 10, and the other end is connected to the first robotic arm mechanism 20. It moves up and down with the lifting mechanism 40 to output the lifting motion of the lifting mechanism 40 to the first robotic arm mechanism 20, thereby driving the first robotic arm mechanism 20 to move up and down.

[0029] The dust cover 62 is placed around the connector 61, with one end mounted on the base 10 around the opening 10b of the base 10, thereby partially enclosing the installation space 10a. The dust cover 62 can be made of flexible material, which can stretch or contract with the lifting and lowering movement of the connector 61 to adapt to the lifting and lowering movement.

[0030] It should be noted that in related technologies, the Z-axis lifting mechanism 40 of a multi-joint robot is exposed to the external space, making it prone to particulate contamination, and the overall protective design is difficult. In this embodiment, the lifting mechanism 40 is housed in the base 10, and the internal wiring of the base 10 can be sealed to ensure the reliability of the cables in a high-cleanliness environment. Since a dust cover 62 is provided at the opening 10b of the base 10, dust and debris can be prevented from entering the installation space 10a, affecting the normal operation of the lifting mechanism 40, and improving the cleanliness of the robot. This meets the design requirements for high protection and high cleanliness, enabling the multi-joint robot to be suitable for high-protection and high-cleanliness applications.

[0031] Furthermore, the multi-joint robots in related technologies have certain limitations in structural design. Their Z-axis is usually integrated into the end effector, resulting in a large end effector structure that is difficult to adapt to confined working environments, thus limiting their application in compact work scenarios. In this embodiment, the lifting mechanism 40 is set in the base 10, which is far from the robot's end effector, thereby greatly simplifying the robot's end effector structure and making it compact, suitable for work scenarios with limited space.

[0032] Please see Figure 2 In one embodiment, the lifting mechanism 40 includes a lifting power assembly 41, a lifting synchronous belt assembly 42, a power conversion assembly 43, and an adapter 44.

[0033] The lifting power assembly 41 is mounted on the base plate 11 of the base 10, specifically on a mounting plate mounted on the base plate 11. The lifting power assembly 41 can be a motor, such as a servo motor or a stepper motor, used to provide the power required for lifting movements.

[0034] The lifting synchronous belt assembly 42 is connected to the output end of the lifting power assembly 41 and is used to receive the power output by the lifting power assembly 41. Specifically, the lifting power assembly 41, such as a motor, can output rotational motion to the input end of the lifting synchronous belt assembly 42, such as a synchronous pulley, through the connection between the two.

[0035] Specifically, the lifting synchronous belt assembly 42 includes a first lifting synchronous belt pulley 421, a second lifting synchronous belt pulley 422, and a lifting synchronous belt 423. The first lifting synchronous belt pulley 421 is connected to the output end of the lifting power assembly 41, and the second lifting synchronous belt pulley 422 is connected to the power conversion assembly 43. One end of the lifting synchronous belt 423 is connected to the first lifting synchronous belt pulley 421, and the other end is connected to the second lifting synchronous belt pulley 422, transmitting the rotational motion output by the lifting power assembly 41 to the power conversion assembly 43.

[0036] Furthermore, the power conversion component 43 is connected to the lifting synchronous belt component 42 to receive the power transmitted by the lifting synchronous belt component 42 and convert the motion output by the lifting synchronous belt component 42 into lifting motion.

[0037] The adapter 44 is a connecting component between the power conversion assembly 43 and the connecting assembly 60, used to transmit the lifting motion output by the power conversion assembly 43 to the connecting assembly 60. Specifically, the adapter 44 can be a plate-like structure and is directly or indirectly connected to the connecting assembly 60.

[0038] Specifically, the power conversion component 43 can be a ball screw, which can be fixedly connected to the second lifting synchronous pulley 422. When the second lifting synchronous pulley 422 rotates, the rotary motion is converted into linear motion through the ball screw, thereby realizing the vertical linear motion of the adapter 44 in the Z-axis direction, i.e., the lifting motion.

[0039] Furthermore, in one embodiment, the lifting mechanism 40 further includes a guide rod 45 and a stabilizer 46. The guide rod 45 is mounted on the base 10 and has an extension direction parallel to the direction of the lifting motion output by the power conversion assembly 43. The stabilizer 46 is disposed around the guide rod 45 and connected to the adapter 44, for moving along the guide rod 45 with the adapter 44. That is, the stabilizer 46 is a sliding guide rod assembly, one end of which is connected to the adapter 44, and the other end covers the guide rod 45, thereby reducing the swaying or offset of the adapter 44 during the lifting process and improving the stability of the multi-joint robot during operation. Specifically, the stabilizer 46 can be a linear bearing, the guide rod 45 can be parallel to the ball screw, and both sides of the adapter 44 are fixed to the linear bearing. The linear bearing can move up and down linearly along the guide rod 45 in the Z-axis direction, thereby improving the stability of the lifting part mounting plate in the Z-axis direction and reducing vibration.

[0040] In one embodiment, the multi-joint robot further includes a rotation mechanism 50. This rotation mechanism 50 is disposed within the mounting space 10a and connected to a connecting assembly 60, for driving the first robotic arm mechanism 20 to rotate via the connecting assembly 60, such as rotating around the base 10. The rotation mechanism 50 includes a transition section 51, a rotation power assembly 52, and a rotation timing belt assembly 53.

[0041] Specifically, the rotation power component 52 is installed at the bottom of the base 10, that is, on the base plate 11 of the base 10. It can be a motor, such as a servo motor or a stepper motor, to provide the power required for rotational movement.

[0042] The rotating synchronous belt assembly 53 is connected to the rotating power assembly 52 and the adapter 51 respectively, and is used to receive the power output by the rotating power assembly 52 and transmit it to the connecting assembly 60 through the adapter 51.

[0043] In one embodiment, the rotating timing belt assembly 53 includes a first rotating timing belt pulley 531, a first rotating timing belt 532, a second rotating timing belt pulley 533, a third rotating timing belt pulley 534, a fourth rotating timing belt pulley 535, and a second rotating timing belt 536.

[0044] The first rotating synchronous pulley 531 is connected to the output end of the rotating power assembly 52, specifically to the output shaft of the motor, thereby receiving the power output from the rotating power assembly 52. ​​One end of the first rotating synchronous belt 532 is connected to the first rotating synchronous pulley 531, and the end away from the first rotating synchronous pulley 531 is connected to the second rotating synchronous pulley 533. In this way, the first rotating synchronous belt 532 can transmit the power received by the first rotating synchronous pulley 531 from the rotating power assembly 52 to the second rotating synchronous pulley 533, so that the second rotating synchronous pulley 533 rotates with the first rotating synchronous pulley 531. The diameter and number of teeth of the second rotating synchronous pulley 533 match those of the first rotating synchronous pulley 531 to ensure the tension and transmission efficiency of the first rotating synchronous belt 532.

[0045] Furthermore, the third rotating synchronous pulley 534 is fixedly connected to the second rotating synchronous pulley 533. Specifically, the two can typically be integrally molded or fixedly connected by screws, welding, or other methods to ensure synchronous rotation. One end of the second rotating synchronous belt 536 is connected to the third rotating synchronous pulley 534, and the other end is connected to the fourth rotating synchronous pulley 535, so as to further transmit the power output from the rotating power assembly 52 from the third rotating synchronous pulley 534 to the fourth rotating synchronous pulley 535, thereby driving the fourth rotating synchronous pulley 535 to rotate. Similarly, the diameter and number of teeth of the fourth rotating synchronous pulley 535 match those of the third rotating synchronous pulley 534 to ensure the tension and transmission efficiency of the second rotating synchronous belt 536.

[0046] Specifically, the adapter 51 can be a cylindrical structure, which can be connected to the fourth rotating synchronous pulley 535 via a flange. Further, the cylindrical adapter 51 can be mounted on the plate-shaped adapter 44 in the lifting mechanism 40 via a flange. The cylindrical adapter 51 is further connected to the connector 61 in the connecting assembly 60, thereby transmitting the lifting motion of the lifting mechanism 40 and the rotational motion of the rotating mechanism 50 to the connecting assembly 60, and then to the first robotic arm mechanism 20.

[0047] Please see Figure 3 In one embodiment, the connecting assembly 60 further includes a mounting assembly 63 and a rotating assembly 64. The mounting assembly 63 is at least partially disposed between the base 10 and the dust cover 62, wherein the dust cover 62 is mounted to the base 10 via the mounting assembly 63. The rotating assembly 64 is mounted between the mounting assembly 63 and the dust cover 62, and is used to drive the dust cover 62 to rotate relative to the base 10.

[0048] Specifically, the mounting assembly 63 may include a mounting base 631, a first fixing member 632, and a second fixing member 633. The mounting base 631 may be located between the base 10 and the dust cover 62, and is mounted on the top of the base 10 at the opening 10b. Understandably, the mounting base 631 is arranged in a ring around the periphery of the opening 10b. The mounting base 631 is fixedly connected to the base 10. The first fixing member 632 is located at the end of the dust cover 62 near the base 10, for fixing the dust cover 62 to the mounting base 631. The second fixing member 633 is located at the end of the dust cover 62 away from the base 10, for fixing the dust cover 62 to the top of the connector 61.

[0049] Furthermore, the rotating assembly 64 includes a rotating member 641 and a locking seat 642. The rotating member 641 is sleeved and installed around the mounting base 631. The locking seat 642 is sleeved and installed around the rotating member 641, and is located between the rotating member 641 and the first fixing member 632. That is, the dust cover is installed on the locking seat 642 via the first fixing member 632, and then on the mounting base 631. The locking seat 642 is used to rotate relative to the mounting base 631 under the drive of the rotating member 641 to accommodate the rotation of the rotating mechanism 50.

[0050] In one application scenario, the first fixing member 632 and the second fixing member 633 can be pipe clamps, the rotating member 641 can be a bearing, and the connecting member 61 can be a flange. Specifically, the mounting base 631 is fixed above the top plate 13 of the base 10. The inner ring of the bearing mates with the mounting base 631 and is fixed to the mounting base 631 by the bearing inner ring pressure plate. The outer ring of the bearing mates with the locking seat 642 and is fixed to the locking seat 642 by the bearing outer ring pressure plate. The upper and lower sides of the dust cover 62 are respectively locked to the flange and the locking seat 642 by pipe clamps. When the cylindrical adapter 44 and the connecting assembly 60 rotate and move up and down, the dust cover 62 can rotate and stretch simultaneously, thus achieving the sealing of the base 10 while ensuring smooth rotation and lifting.

[0051] Please see Figure 4 In one embodiment, the second robotic arm mechanism 30 includes a second robotic arm 31, and the first robotic arm mechanism 20 includes a first robotic arm 21, a first power assembly 22, and a first synchronous belt assembly 23.

[0052] The first robotic arm 21 and the second robotic arm 31 are part of the main structure of the multi-joint robot, with one end connected to the connecting component 60 and the other end connected to the second robotic arm 31.

[0053] The first power assembly 22 is located at one end of the first robotic arm 21 near the connecting assembly 60. Specifically, it can be a motor, such as a servo motor or a stepper motor, and is fixed to the first robotic arm 21 by a flange. It is used to provide the power required for the rotation of the second robotic arm 31, and outputs the rotational motion to the first synchronous belt assembly 23 through the connection with the first synchronous belt assembly 23.

[0054] The first synchronous belt assembly 23 is connected to the first power assembly 22 and the second robotic arm 31 respectively, and is used to receive the power output by the first power assembly 22 to drive the second robotic arm 31 to rotate.

[0055] In one embodiment, the first synchronous belt assembly 23 includes a first synchronous pulley 231, a first synchronous belt 232, a second synchronous pulley 233, a third synchronous pulley 234, a fourth synchronous pulley 235, and a second synchronous belt 236.

[0056] Specifically, the first synchronous pulley 231 is connected to the output end of the first power assembly 22, specifically to the output shaft of the motor, thereby receiving the power output from the first power assembly 22. One end of the first synchronous belt 232 is connected to the first synchronous pulley 231, and the end away from the first synchronous pulley 231 is connected to the second synchronous pulley 233. In this way, the first synchronous belt 232 can transmit the power received by the first synchronous pulley 231 from the first power assembly 22 to the second synchronous pulley 233, so that the second synchronous pulley 233 rotates with the first synchronous pulley 231. The diameter and number of teeth of the second synchronous pulley 233 match those of the first synchronous pulley 231 to ensure the tension and transmission efficiency of the first synchronous belt 232.

[0057] Furthermore, the third synchronous pulley 234 is fixedly connected to the second synchronous pulley 233. Specifically, the two can typically be integrally molded or fixedly connected by screws, welding, or other methods to ensure synchronous rotation. One end of the second synchronous belt 236 is connected to the third synchronous pulley 234, and the other end is connected to the fourth synchronous pulley 235, so as to further transmit the power output from the first power assembly 22 from the third synchronous pulley 234 to the fourth synchronous pulley 235, thereby driving the fourth synchronous pulley 235 to rotate. Similarly, the diameter and number of teeth of the fourth synchronous pulley 235 match those of the third synchronous pulley 234 to ensure the tension and transmission efficiency of the second synchronous belt 236.

[0058] Furthermore, in one embodiment, the first robotic arm mechanism 20 further includes a second power assembly 24 and a second synchronous belt assembly 25.

[0059] The second power assembly 24 is disposed on the first robotic arm 21, specifically on the side of the first power assembly 22 facing the second robotic arm 31. Specifically, the second power assembly 24 can be a motor, such as a servo motor or a stepper motor, and is fixed to the first robotic arm 21 by a flange. It is used to provide the power required for the rotation of the end effector of the second robotic arm 31, and outputs the rotational motion to the second synchronous belt assembly 25 through connection with the second synchronous belt assembly 25.

[0060] The second synchronous belt assembly 25 is connected to the second power assembly 24 and is used to receive the power output by the second power assembly 24. In order to further transmit the power output by the second power assembly 24 to the end effector of the multi-joint robot, the second robotic arm mechanism 30 also includes a third synchronous belt assembly 32, which is connected to the second synchronous belt assembly 25 and is used to receive the power transmitted by the second synchronous belt assembly 25 to drive the end effector of the multi-joint robot to rotate.

[0061] In one embodiment, the second timing belt assembly 25 includes a first end timing pulley 251, a first end timing belt 252, and a second end timing pulley 253. The third timing belt assembly 32 includes a third end timing pulley 321, a fourth end timing pulley 322, and a second end timing belt 323.

[0062] Specifically, the first end synchronous pulley 251 is connected to the output end of the second power assembly 24, specifically to the output shaft of the motor, thereby receiving power output from the second power assembly 24. One end of the first end synchronous belt 252 is connected to the first end synchronous pulley 251, and the end away from the first end synchronous pulley 251 is connected to the second end synchronous pulley 253. Thus, the first end synchronous belt 252 can transmit the power received from the second power assembly 24 by the first end synchronous pulley 251 to the second end synchronous pulley 253, causing the second end synchronous pulley 253 to rotate with the first end synchronous pulley 251. The diameter and number of teeth of the second end synchronous pulley 253 match those of the first end synchronous pulley 251 to ensure the tension and transmission efficiency of the first end synchronous belt 252.

[0063] Furthermore, the third end synchronous pulley 321 is fixedly connected to the second end synchronous pulley 253. Specifically, the two can typically be integrally molded or fixedly connected by screws, welding, or other methods to ensure synchronous rotation. Specifically, it can be fixedly connected to the connection point between the first robotic arm 21 and the second robotic arm 31 to rotate synchronously with the second end synchronous pulley 253. One end of the second end synchronous belt 323 is connected to the third end synchronous pulley 321, and the other end is connected to the fourth end synchronous pulley 322, to further transmit the power output from the second power assembly 24 from the third end synchronous pulley 321 to the fourth end synchronous pulley 322, thereby driving the fourth end synchronous pulley 322 to rotate. Similarly, the diameter and number of teeth of the fourth end synchronous pulley 322 match those of the third synchronous pulley 234 to ensure the tension and transmission efficiency of the second end synchronous belt 323. Furthermore, a flange can be provided at the end, fixedly connected to the fourth end synchronous pulley 322, and rotates with the rotation of the fourth end synchronous pulley 322, thereby realizing the output of the rotational motion of the end working part.

[0064] It should be noted that in the existing construction of horizontal multi-joint robots, the transmission components of the large and small arms generally use a motor paired with a harmonic reducer or an RV reducer to achieve the transmission function. However, it should be pointed out that, on the one hand, the price of harmonic reducers or RV reducers is relatively high, and this cost factor cannot meet customers' urgent needs for cost reduction; on the other hand, in the actual production and assembly process, due to the influence of various factors such as machining accuracy and assembly technology, it is difficult to ensure consistency, which can lead to problems such as vibration and abnormal noise during robot operation. These problems not only affect the normal operation of the robot, but may also reduce the robot's service life and work efficiency.

[0065] The multi-joint robot of this application adopts a fully synchronous belt drive scheme, which demonstrates a significant cost advantage in applications with lower loads. This advantage effectively meets customers' needs for low cost, allowing them to obtain robot functionality without incurring excessive equipment costs, providing a more ideal option for cost control. Furthermore, through optimization of the transmission structure, the probability of vibration and abnormal noise issues can be effectively reduced, thereby improving the stability and reliability of robot operation. This ensures that the robot can complete various tasks more smoothly and efficiently during operation, extending the robot's service life and providing users with a better experience.

[0066] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0067] Based on the above description in this specification, those skilled in the art will also understand that the following terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present application and simplifying the description, and do not explicitly or implicitly suggest that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present application.

[0068] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0069] While this specification has shown and described numerous embodiments of the present application, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of the present application. It should be understood that various alternatives to the embodiments of the present application described herein may be employed in the practice of this application. The appended claims are intended to define the scope of protection of this application and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A multi-joint robot, characterized in that, include: The base is defined with an installation space and has an opening that communicates with the installation space; A lifting mechanism is installed within the installation space; A connecting assembly, installed on the outside of the base at the opening and connected to the lifting mechanism, is used to perform lifting movements under the drive of the lifting mechanism, and includes: The connector is connected to the lifting mechanism through the opening and moves up and down with the lifting mechanism; and A dust cover is installed around the periphery of the connector to stretch or contract with the lifting and lowering movement of the connector, and one end is installed around the opening on the base to close the installation space. A first robotic arm mechanism is connected to the end of the connecting assembly that is furthest from the lifting mechanism; and The second robotic arm mechanism is connected to the end of the first robotic arm mechanism that is away from the connecting component.

2. The multi-joint robot according to claim 1, characterized in that, The connection components also include: A mounting assembly is disposed between the base and the dust cover, wherein the dust cover is mounted to the base via the mounting assembly; and A rotating component is installed between the mounting component and the dust cover, and is used to drive the dust cover to rotate relative to the base.

3. The multi-joint robot according to claim 1, characterized in that, The lifting mechanism includes: The adapter is connected to the connecting assembly; A lifting power assembly is installed at the bottom of the base; A lifting synchronous belt assembly, connected to the lifting power assembly, is used to receive the power output by the lifting power assembly; and The power conversion component is connected to the lifting synchronous belt assembly and the adapter respectively, and is used to receive the power transmitted by the lifting synchronous belt assembly and convert the motion output by the lifting synchronous belt assembly into lifting motion to drive the adapter to lift.

4. The multi-joint robot according to claim 3, characterized in that, The lifting mechanism also includes: A guide rod, mounted on the base, extends in a direction parallel to the direction of the lifting movement; and A stabilizing component is disposed on the periphery of the guide rod and connected to the adapter component, for moving along the guide rod with the adapter component.

5. The multi-joint robot according to claim 1, characterized in that, It also includes a rotating mechanism, which is disposed within the installation space and connected to the connecting assembly, for driving the first robotic arm mechanism to rotate via the connecting assembly, and includes: The adapter is connected to the connecting assembly and is used to drive the connecting assembly to rotate; A rotational power assembly is mounted on the bottom of the base; and The rotating synchronous belt assembly is connected to both the rotating power assembly and the adapter, and is used to receive the power output by the rotating power assembly and transmit it to the connecting assembly through the adapter.

6. The multi-joint robot according to claim 5, characterized in that, The rotating synchronous belt assembly includes: The first rotating synchronous pulley is connected to the output end of the rotating power component to receive the power output by the rotating power component; A first rotating synchronous belt, one end of which is connected to the first rotating synchronous pulley, is used to transmit the power received by the first rotating synchronous pulley from the rotating power assembly; The second rotating synchronous pulley is connected to the end of the second rotating synchronous belt that is away from the first rotating synchronous pulley, and is used to rotate with the first rotating synchronous pulley under the drive of the first rotating synchronous belt. The third rotating synchronous pulley is fixedly connected to the second rotating synchronous pulley so as to rotate synchronously with the second rotating synchronous pulley; The fourth rotating synchronous pulley is connected to the adapter; and The second rotating synchronous belt is connected at one end to the third rotating synchronous pulley and at the other end to the fourth rotating synchronous pulley, and is used to further transmit the power output by the rotating power assembly from the third rotating synchronous pulley to the fourth rotating synchronous pulley.

7. The multi-joint robot according to claim 1, characterized in that, The second robotic arm mechanism includes a second robotic arm, and the first robotic arm mechanism includes: The first robotic arm has one end connected to the connecting assembly and the other end connected to the second robotic arm; A first power unit is located at one end of the first robotic arm near the connecting assembly; and The first synchronous belt assembly is connected to the first power assembly and the second robotic arm respectively, and is used to receive the power output by the first power assembly to drive the second robotic arm to rotate.

8. The multi-joint robot according to claim 7, characterized in that, The first synchronization band component includes: The first synchronous pulley is connected to the output end of the first power component to receive the power output by the first power component; The first synchronous belt has one end connected to the first synchronous pulley and is used to transmit the power received by the first synchronous belt from the first power component. The second synchronous pulley is connected to the end of the first synchronous belt that is furthest from the first synchronous pulley, and is used to rotate with the first synchronous pulley under the drive of the first synchronous belt; The third synchronous pulley is fixedly connected to the second synchronous pulley so as to rotate synchronously with the second synchronous pulley; The fourth synchronous pulley is connected to the second robotic arm; and The second synchronous belt is connected at one end to the third synchronous pulley and at the other end to the fourth synchronous pulley. It is used to further transmit the power output by the first power component from the third synchronous pulley to the fourth synchronous pulley, so as to drive the second robotic arm to rotate.

9. The multi-joint robot according to claim 7, characterized in that, The first robotic arm mechanism also includes: A second power assembly is disposed on the first robotic arm at a distance from the first power assembly; and The second synchronous belt assembly is connected to the second power assembly and is used to receive the power output by the second power assembly; The second robotic arm mechanism also includes a third synchronous belt assembly, which is connected to the second synchronous belt assembly and is used to receive the power transmitted by the second synchronous belt assembly to drive the end effector of the multi-joint robot to rotate.

10. The multi-joint robot according to claim 9, characterized in that, The second synchronization band component includes: The first end synchronous pulley is connected to the output end of the second power component; The second end synchronous pulley is connected to the third synchronous belt assembly; and The first end timing belt has one end connected to the first end timing pulley and the other end connected to the second end timing pulley, and is used to transmit the power output by the second power component from the first end timing pulley to the second end timing pulley; The third synchronization band component includes: The third end synchronous pulley is fixedly connected to the second end synchronous pulley so as to rotate synchronously with the second end synchronous pulley; The second end timing belt, one end of which is connected to the third end timing pulley, is used to transmit power to the third end timing pulley; and The fourth end synchronous pulley is connected to the end of the second end synchronous belt away from the third end synchronous pulley and the end working part, respectively, and is used to rotate with the second end synchronous pulley under the drive of the third end synchronous pulley, so as to drive the end working part to rotate.

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