Articulated robots

Abstract

This utility model discloses an articulated robot, relating to the field of robot technology. The articulated robot includes a crossbeam, a moving part, and a robotic arm assembly. The technical solution of this utility model involves setting up a crossbeam for easy mounting on a production line, and mounting the robotic arm assembly on the crossbeam via the moving part. Due to the power output of the first and second drive groups, the robotic arm assembly can easily move along the crossbeam or along the direction of the telescopic part. Control is achieved through the vertical movement control of the robotic arm assembly, ensuring stability in grasping on the production line. Furthermore, the control of the moving part on the crossbeam ensures sufficient movement space for the robotic arm assembly, improving its working efficiency. Simultaneously, the telescopic part restricts the direction of movement of the robotic arm assembly under the power output of the second drive group, ensuring the stability of the robotic arm assembly's movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an articulated robot. Background Technology

[0002] To facilitate the handling and movement of goods on the production line, robotic arms are often installed to ensure the normal operation of the goods.

[0003] In related technologies, robotic arms mostly rely on rotation to grasp and pick up goods on the production line. Therefore, when it is necessary to grasp and move multiple arranged goods on the production line, multiple robotic arms need to work together. However, multiple robotic arms need to rotate and pick up together, which increases the difficulty of designing the arrangement of multiple robotic arms and is not conducive to improving work efficiency. Utility Model Content

[0004] The main purpose of this invention is to propose an articulated robot that aims to improve the working efficiency of the robotic arm and ensure the stability of its operation.

[0005] To achieve the above objectives, the articulated robot proposed in this utility model includes:

[0006] Crossbeam section;

[0007] A movable part, which is slidably connected to the side of the crossbeam;

[0008] A robotic arm assembly, which is slidably disposed on the side of the moving part away from the crossbeam, and the robotic arm assembly extends in the direction of the crossbeam away from the moving part;

[0009] The movable part includes a base, a first drive group, and a second drive group. The base is slidably connected to the side of the crossbeam. The first drive group and the second drive group are both disposed on the base. The first drive group is connected to the crossbeam to drive the base to move on the crossbeam. The second drive group is connected to the robotic arm group to drive the robotic arm group to move on the crossbeam. A telescopic part is provided between the robotic arm group and the base. One end of the telescopic part is connected to the base, and the other end is connected to the robotic arm group.

[0010] In one embodiment, the telescopic part includes a housing and a rod. The housing is mounted on the side of the base, and one end of the rod is connected to the robotic arm assembly, while the other end extends into the housing to restrict the movement of the robotic arm assembly in the extension direction of the rod.

[0011] In one embodiment, the robotic arm assembly has an extension platform on the side of the crossbeam, one end of the rod is mounted on the extension platform, and the housing is arranged parallel to the robotic arm assembly.

[0012] In one embodiment, the side of the crossbeam is provided with multiple parallel guide rails, and all of the guide rails are connected to the side of the base facing the crossbeam.

[0013] In one embodiment, a first rack is also provided on the side of the crossbeam portion. The first drive group includes a first drive part and a first gear part. The first drive part is mounted on the base, and the output end of the first drive part passes through the base. The output end of the first drive part is connected to the first gear part, and the first gear part is connected to the first rack.

[0014] In one embodiment, a second rack is provided on the side of the robotic arm assembly, and a support frame is provided on the side of the base away from the crossbeam. The second drive assembly is mounted on the support frame and connected to the second rack.

[0015] In one embodiment, the second drive assembly includes a second drive unit and a second gear unit. The second drive unit is mounted on the support frame, and the output end of the second drive unit is connected to the second gear unit. The second gear unit is connected to the second rack.

[0016] In one embodiment, the robotic arm assembly includes a main body, a first robotic arm, and a second robotic arm. The main body is disposed on one side of the base. One end of the first robotic arm is rotatably connected to one end of the main body, and the other end of the first robotic arm is rotatably connected to the second robotic arm.

[0017] In one embodiment, the first robotic arm extends toward the beam portion in a direction away from the main body portion.

[0018] In one embodiment, a third driving part is provided on the surface of the first robotic arm, and the third driving part is connected to the second robotic arm and drives the second robotic arm to rotate relative to the first robotic arm.

[0019] The technical solution of this utility model is to set up a crossbeam to facilitate its installation on the production line, and to install the robotic arm assembly on the crossbeam through a moving part. Due to the power output of the first drive group and the second drive group, the robotic arm assembly can easily move along the crossbeam or along the direction of the telescopic part. The movement of the robotic arm assembly in the vertical plane is controlled to ensure the stability of the gripping on the production line. The movement space of the robotic arm assembly is guaranteed by the control of the moving part on the crossbeam, which improves the working efficiency of the robotic arm assembly. At the same time, the setting of the telescopic part restricts the movement direction of the robotic arm assembly under the power output of the second drive group, which ensures the stability of the movement of the robotic arm assembly. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the articulated robot provided by this utility model;

[0022] Figure 2 A schematic diagram of another embodiment of the articulated robot provided by this utility model;

[0023] Figure 3 A schematic diagram of another embodiment of the articulated robot provided by this utility model;

[0024] Figure 4 A schematic diagram of another embodiment of the articulated robot provided by this utility model;

[0025] Figure 5 This is a cross-sectional structural schematic diagram of an embodiment of the articulated robot provided by this utility model.

[0026] Explanation of icon numbers:

[0027] 100. Articulated robot; 10. Crossbeam; 11. First rack; 12. Guide rail; 20. Robotic arm assembly; 21. Second rack; 22. Main body; 23. First robotic arm; 24. Second robotic arm; 26. Third drive unit; 30. Moving part; 31. Base; 32. Support frame; 33. First drive group; 34. Second drive group; 40. Telescopic part; 41. Shell; 42. Rod.

[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] 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 scope of protection of the present utility model.

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] To facilitate the handling and movement of goods on the production line, robotic arms are often installed to ensure the normal operation of the goods.

[0033] In related technologies, robotic arms mostly rely on rotation to grasp and pick up goods on the production line. Therefore, when it is necessary to grasp and move multiple arranged goods on the production line, multiple robotic arms need to work together. However, multiple robotic arms need to rotate and pick up together, which increases the difficulty of designing the arrangement of multiple robotic arms and is not conducive to improving work efficiency.

[0034] This utility model proposes an articulated robot.

[0035] Please see Figure 1 In one embodiment of this utility model, the articulated robot includes:

[0036] 10. Crossbeam section;

[0037] The movable part 30 is slidably connected to the side of the crossbeam part 10;

[0038] The robotic arm assembly 20 is slidably disposed on the side of the moving part 30 away from the crossbeam part 10, and the robotic arm assembly 20 extends toward the crossbeam part 10 in a direction away from the moving part 30.

[0039] The movable part 30 includes a base 31, a first drive group 33, and a second drive group 34. The base 31 is slidably connected to the side of the crossbeam 10. The first drive group 33 and the second drive group 34 are both disposed on the base 31. The first drive group 33 is connected to the crossbeam 10 to drive the base 31 to move on the crossbeam 10. The second drive group 34 is connected to the robotic arm group 20 to drive the robotic arm group 20 to move on the crossbeam 10. A telescopic part 40 is provided between the robotic arm group 20 and the base 31. One end of the telescopic part 40 is connected to the base 31, and the other end is connected to the robotic arm group 20.

[0040] like Figure 1 As shown, the crossbeam portion 10 includes a crossbeam and two mounting members, with two mounting members spaced apart on the side of the crossbeam.

[0041] In order to install the robotic arm assembly 20 onto the production line, two mounting components are added to the mounting on the production line, so as to facilitate the installation of the robotic arm assembly 20 on the production line and to facilitate the robotic arm assembly 20 to pick up and place goods on the production line.

[0042] It is understood that there are multiple robotic arm groups 20, and the multiple robotic arm groups 20 are spaced apart on the crossbeam, so as to facilitate the picking and placing of multiple parallel goods.

[0043] like Figure 2 and Figure 3 As shown, the base 31 is slidably connected to the side of the crossbeam, and the robotic arm assembly 20 is mounted on the base 31. The first drive group 33 and the second drive group 34 are arranged on the base 31. The first drive group 33 drives the base 31 to move on the crossbeam, and the second drive group 34 drives the robotic arm assembly 20 to move in a direction perpendicular to the crossbeam.

[0044] It should be noted that when there are multiple robotic arm groups 20, there are multiple moving parts 30, and each moving part 30 is equipped with a robotic arm group 20, so as to facilitate the control of the operation of each robotic arm group 20.

[0045] It is understood that by setting the telescopic part 40 for the connection between the base 31 and the robotic arm assembly 20, when the second drive group 34 outputs power to drive the robotic arm assembly 20 to run, the telescopic part 40 moves with the robotic arm assembly 20, assisting the movement of the robotic arm assembly 20, while the telescopic part 40 restricts the movement direction of the robotic arm assembly 20 to ensure the stability of the movement of the robotic arm assembly 20.

[0046] The technical solution of this utility model is achieved by setting the crossbeam 10 for easy mounting on the production line, and by mounting the robotic arm assembly 20 on the crossbeam 10 through the moving part 30. Due to the power output of the first drive group 33 and the second drive group 34, the robotic arm assembly 20 can easily move along the crossbeam 10 or along the direction of the telescopic part 40. The movement of the robotic arm assembly 20 in the vertical plane is controlled to ensure the stability of gripping on the production line. The movement space of the robotic arm assembly 20 is guaranteed by the control of the moving part 30 on the crossbeam 10, thereby improving the working efficiency of the robotic arm assembly 20. At the same time, the setting of the telescopic part 40 restricts the movement direction of the robotic arm assembly 20 under the power output of the second drive group 34, ensuring the stability of the movement of the robotic arm assembly 20.

[0047] In one embodiment, the telescopic part 40 includes a housing 41 and a rod 42. The housing 41 is mounted on the side of the base 31. One end of the rod 42 is connected to the robotic arm assembly 20, and the other end extends into the housing 41 to restrict the movement of the robotic arm assembly 20 in the extension direction of the rod 42.

[0048] like Figure 5 As shown, the housing 41 is mounted on the base 31, and the rod 42 is mounted on the side of the robotic arm assembly 20, with the rod 42 passing through the housing 41.

[0049] It is understood that the housing 41, the rod 42, and the robotic arm assembly 20 are arranged in parallel, so that when the second drive group 34 drives the robotic arm assembly 20 to run, the running direction of the robotic arm assembly 20 is the same as the direction in which the rod 42 moves within the housing 41, thereby restricting the movement direction of the robotic arm assembly 20 and improving the stability of the movement of the robotic arm assembly 20.

[0050] To ensure the stability of the housing 41, a support plate is provided on the side of the base 31 facing the robotic arm assembly 20. The housing 41 is mounted on the support plate, and the rod passes through the support plate and is inserted into the housing 41.

[0051] It is understood that the support plate supports the housing 41 so that the housing 41 can protrude from the surface of the base 31 and the rod 42 can be inserted into the housing 41.

[0052] In one embodiment, the robotic arm assembly 20 is provided with an extension platform facing the side of the crossbeam portion 10, one end of the rod 42 is mounted on the extension platform, and the housing 41 is arranged parallel to the robotic arm assembly 20.

[0053] like Figure 5 As shown, there is a gap between the robotic arm assembly 20 and the base 31, and the housing 41 and the rod 42 are both disposed in the gap.

[0054] It is understood that the extension platform is provided on the side of the robotic arm assembly 20, and the extension platform is located in the gap. The extension platform and the support plate are in the same vertical plane.

[0055] It is understood that, due to the position of the extension platform and the support plate, the rod 42 connected to the extension platform can pass through the housing 41 on the support plate. Thus, when the robotic arm assembly 20 is driven by the second drive group 34, the rod 42 can move synchronously within the housing 41 to limit the movement direction of the robotic arm assembly 20.

[0056] In one embodiment, the side of the beam portion 10 is provided with a plurality of parallel guide rails 12, and the plurality of guide rails 12 are all connected to the side of the base 31 facing the beam portion 10.

[0057] like Figure 3 and Figure 4 As shown, in order to restrict the movement of the base 31 on the crossbeam 10, a plurality of guide rails 12 are provided at intervals on the side of the crossbeam 10, and the plurality of guide rails 12 are parallel to each other. At the same time, the base 31 is connected to each of the guide rails 12, thereby restricting the base 31 to the side of the crossbeam 10, and enabling the base 31 to move along the guide rails 12 under the drive of the first drive group 33.

[0058] It is understood that multiple guide rails 12 are provided with the base 31, and the connection points of the multiple guide rails 12 and the base 31 are evenly distributed on the side of the base 31, so as to ensure the stability of the base 31 when moving on the side of the crossbeam 10.

[0059] In one embodiment, a first rack 11 is also provided on the side of the crossbeam portion 10. The first drive group 33 includes a first drive portion and a first gear portion. The first drive portion is mounted on the base 31, and the output end of the first drive portion passes through the base 31. The output end of the first drive portion is connected to the first gear portion, and the first gear portion is connected to the first rack 11.

[0060] like Figure 3 As shown, the first rack 11 is provided on one side of the guide rail 12, and the first gear part meshes with the first rack 11.

[0061] It is understandable that when the first drive unit outputs power to drive the first gear unit to rotate, the first gear unit rotates and moves on the surface of the first rack 11, thereby causing the base 31 to move on the side of the crossbeam 10.

[0062] It should be noted that the base 31 is close to the crossbeam 10, and the side of the base 31 facing away from the crossbeam 10 is the mounting surface, which is used to mount the first drive group 33 and the second drive group 34, thereby ensuring the stability of the moving part 30 structure.

[0063] In one embodiment, the first driving unit can be a motor, the output end of which is connected to the first gear unit. Power is output through the output end of the motor to drive the first gear unit to rotate, thereby driving the base 31 to move on the crossbeam 10.

[0064] In one embodiment, the robotic arm assembly 20 has a second rack 21 on its side, the base 31 has a support frame 32 on its side away from the crossbeam portion 10, and the second drive assembly 34 is mounted on the support frame 32 and connected to the second rack 21.

[0065] like Figure 3 As shown, in order to achieve the lifting and lowering of the robotic arm assembly 20, a second rack 21 is provided on the side of the robotic arm assembly 20, and the second drive group 34 installed on the side of the base 31 is connected to the second rack 21. Thus, when the second drive group 34 outputs power, the robotic arm assembly 20 moves relative to the base 31 due to the restriction of the guide rail 12 on the base 31, so as to control the robotic arm assembly 20 to move toward or away from the production line.

[0066] In one embodiment, to improve the compactness of the structure, the tooth surface of the second rack 21 faces the guide rail, and the connection between the second drive group 34 and the second rack 21 is on the same plane as the second rack 21.

[0067] It is understandable that by placing the connection between the second drive assembly 34 and the second rack 21 on the same plane as the second rack 21, the base 31 is positioned close to the crossbeam portion 10, thereby avoiding an excessively large gap between the base 31 and the crossbeam portion 10 that would affect the stability of the base 31 assembly.

[0068] In one embodiment, the second drive group 34 includes a second drive unit and a second gear unit. The second drive unit is mounted on the support frame 32, and the output end of the second drive unit is connected to the second gear unit. The second gear unit is connected to the second rack 21.

[0069] It is understood that the second drive unit outputs power to drive the second gear to rotate, thereby driving the robotic arm assembly 20 to move on the base 31, so that the robotic arm assembly 20 can move closer to or away from the production line.

[0070] In one embodiment, the second drive unit is a motor, and the second gear unit is a gear. The motor outputs power to drive the gear to rotate, and the rotation of the gear causes the second rack 21 to move relative to the base 31, thereby realizing the movement of the robotic arm assembly 20.

[0071] In one embodiment, the robotic arm assembly 20 includes a main body 22, a first robotic arm 23 and a second robotic arm 24. The main body 22 is disposed on one side of the base 31. One end of the first robotic arm 23 is rotatably connected to one end of the main body 22, and the other end of the first robotic arm 23 is rotatably connected to the second robotic arm 24.

[0072] like Figure 1 and Figure 2 As shown, the main body 22 is disposed on the side of the base 31, and the second rack 21 is disposed on the side of the main body 22. When the second gear is driven to rotate by the second drive unit, the main body 22 can move relative to the base 31, thereby facilitating the movement of the first robotic arm 23 and the second robotic arm 24.

[0073] It is understood that the main body 22 includes an outer body and a frame. The outer body is wrapped around the frame, and a fourth drive unit is provided on the outer surface of the second rack 21 on the frame. The output end of the fourth drive unit is connected to the first robotic arm 23, so that the fourth drive unit can drive the first robotic arm 23 to rotate, thereby realizing that the first robotic arm 23 can rotate in a plane perpendicular to the main body 22, expanding the rotation range of the first robotic arm 23, and avoiding interference between the rotation of the first robotic arm 23 and the crossbeam 10.

[0074] It is understood that the second robotic arm 24 is rotatably connected to the end of the first robotic arm 23 that is away from the main body 22, and the extension distance of the first robotic arm 23 is extended by the second robotic arm 24.

[0075] In one embodiment, the first robotic arm 23 extends toward the crossbeam portion 10 in a direction away from the main body portion 22.

[0076] like Figure 3 and Figure 5 As shown, the main body 22 extends in a direction perpendicular to the crossbeam 10 so that the first robotic arm 23, which is rotatably connected to the main body 22, can rotate and extend on one side of the crossbeam 10, thereby expanding the working range of the first robotic arm 23.

[0077] In one embodiment, the surface of the first robotic arm 23 is provided with a third driving part 26, and the third driving part 26 is connected to the second robotic arm 24 and drives the second robotic arm 24 to rotate relative to the first robotic arm 23.

[0078] It is understood that, in order to control the second robotic arm 24 to rotate around the first robotic arm 23, the third drive unit 26 is provided on the surface of the first robotic arm 23. The first robotic arm 23 and the second robotic arm 24 are connected by a rotating shaft, and the third drive unit 26 is poweredly connected to the rotating shaft.

[0079] It is understood that the third drive unit 26 outputs power to drive the rotating shaft to rotate, thereby driving the second robotic arm 24 to rotate around the first robotic arm 23, thereby further expanding the working range of the first robotic arm 23 and improving the working efficiency of the articulated robot.

[0080] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An articulated robot, characterized in that, include: Crossbeam section; A movable part, which is slidably connected to the side of the crossbeam; A robotic arm assembly, wherein the robotic arm assembly is slidably disposed on the side of the moving part away from the crossbeam, and the robotic arm assembly extends in the direction of the crossbeam away from the moving part; The movable part includes a base, a first drive group, and a second drive group. The base is slidably connected to the side of the crossbeam. The first drive group and the second drive group are both disposed on the base. The first drive group is connected to the crossbeam to drive the base to move on the crossbeam. The second drive group is connected to the robotic arm group to drive the robotic arm group to move on the crossbeam. A telescopic part is provided between the robotic arm group and the base. One end of the telescopic part is connected to the base, and the other end is connected to the robotic arm group.

2. The articulated robot of claim 1, wherein, The telescopic part includes a housing and a rod. The housing is installed on the side of the base. One end of the rod is connected to the robotic arm assembly, and the other end extends into the housing to restrict the movement of the robotic arm assembly in the extension direction of the rod.

3. The articulated robot of claim 2, wherein, The robotic arm assembly has an extension platform on the side facing the crossbeam, one end of the rod is mounted on the extension platform, and the housing is arranged parallel to the robotic arm assembly.

4. The articulated robot of claim 1, wherein, The side of the crossbeam is provided with multiple parallel guide rails, and all of the guide rails are connected to the side of the base facing the crossbeam.

5. The articulated robot of claim 1, wherein, The side of the crossbeam is also provided with a first rack. The first drive group includes a first drive part and a first gear part. The first drive part is mounted on the base, and the output end of the first drive part passes through the base. The output end of the first drive part is connected to the first gear part, and the first gear part is connected to the first rack.

6. The articulated robot of claim 5, wherein, The robotic arm assembly has a second rack on its side, and the base has a support frame on its side away from the crossbeam. The second drive assembly is mounted on the support frame and connected to the second rack.

7. The articulated robot of claim 6, wherein, The second drive assembly includes a second drive unit and a second gear unit. The second drive unit is mounted on the support frame, and the output end of the second drive unit is connected to the second gear unit. The second gear unit is connected to the second rack.

8. The articulated robot of any one of claims 1 to 7, wherein, The robotic arm assembly includes a main body, a first robotic arm, and a second robotic arm. The main body is disposed on one side of the base. One end of the first robotic arm is rotatably connected to one end of the main body, and the other end of the first robotic arm is rotatably connected to the second robotic arm.

9. The articulated robot of claim 8, wherein, The first robotic arm extends toward the crossbeam in a direction away from the main body.

10. The articulated robot of claim 8, wherein, The first robotic arm has a third driving part on its surface, and the third driving part is connected to the second robotic arm and drives the second robotic arm to rotate relative to the first robotic arm.

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