Robot

Abstract

A robot, comprising: a base (10); a first arm (20) having a first end and a second end opposite to each other, the first end being rotatably connected to the base (10); a second arm (30) having a third end and a fourth end opposite to each other, the third end being rotatably connected to the second end of the first arm (20); a screw (100) movably arranged at the fourth end of the second arm (30); a first driving member (200) arranged at the third end of the second arm (30) and drivingly connected to the screw (100) so as to drive the screw (100) to rotate about its own axis; a second driving member (300) arranged on the second arm (30) and drivingly connected to the screw (100) so as to drive the screw (100) to move along its own axial direction; a third driving member (400) arranged on the first arm (20) and drivingly connected to the second arm (30); and a fourth driving member (500) arranged on the base (10) and drivingly connected to the first arm (20).

Description

Robot

[0001] This application claims priority to the Chinese patent application No. 202410777391.1 filed on June 17, 2024 with the Chinese Patent Office, the whole content of the above application is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, for example to a robot. BACKGROUND

[0003] In the robot structure in the related art, the end of the robot generally needs to be arranged with a motor and a reducer to drive the mechanism at the end to work, but such a structure style leads to large moment of inertia of the robot, affecting the working efficiency of the robot. SUMMARY

[0004] The main purpose of the present application is to provide a robot, which aims to reduce the moment of inertia of the robot and improve the running speed of the robot.

[0005] To achieve the above purpose, the present application provides a robot, comprising:

[0006] a base;

[0007] an arm having opposite first and second ends, the first end being rotationally connected with the base;

[0008] a second arm having opposite third and fourth ends, the third end being rotationally connected with the second end of the first arm;

[0009] a screw rod movably arranged on the fourth end of the second arm;

[0010] a first driving member arranged on the third end of the second arm and drivingly connected with the screw rod to drive the screw rod to rotate around its own axis;

[0011] a second driving member arranged on the second arm and drivingly connected with the screw rod to drive the screw rod to move along its own axis;

[0012] a third driving member arranged on the first arm and drivingly connected with the second arm;

[0013] a fourth driving member arranged on the base and drivingly connected with the first arm.

[0014] In an embodiment, the robot further comprises:

[0015] a first transmission assembly arranged on the second arm, the first transmission assembly being transmissionally connected with the first driving member and the screw rod;

[0016] A second transmission assembly is provided on the second arm, and the second transmission assembly is connected to the second driving member and the lead screw;

[0017] A third transmission assembly is provided on the first arm, and the third transmission assembly is connected to the third driving member and the second arm;

[0018] A fourth transmission assembly is provided on the base, and the fourth transmission assembly is connected to the fourth driving member and the first arm.

[0019] In an embodiment, the first transmission assembly comprises:

[0020] A first pulley is provided on the output end of the first driving member;

[0021] A spline nut is sleeved on the lead screw and is in rolling cooperation with the lead screw;

[0022] A second pulley is rotatably provided on the second arm, and the second pulley is provided between the first pulley and the spline nut;

[0023] A third pulley is coaxially connected to the second pulley;

[0024] A fourth pulley is coaxially connected to the spline nut;

[0025] A first synchronous belt is connected between the first pulley and the second pulley;

[0026] A second synchronous belt is connected between the third pulley and the fourth pulley.

[0027] In an embodiment, the second transmission assembly comprises:

[0028] A fifth pulley is provided on the output end of the second driving member;

[0029] A lead screw nut is sleeved on the lead screw and is in threaded cooperation with the lead screw;

[0030] A sixth pulley is coaxially connected to the lead screw nut;

[0031] A third synchronous belt is connected between the fifth pulley and the sixth pulley.

[0032] In an embodiment, the third transmission assembly comprises:

[0033] A first speed reducer is provided on the second end of the first arm, and the output end of the first speed reducer is connected to the second arm;

[0034] A seventh pulley is provided on the output end of the third driving member;

[0035] An eighth pulley is provided on the input end of the first speed reducer;

[0036] A fourth synchronous belt connecting the seventh pulley and the eighth pulley.

[0037] In an embodiment, the fourth transmission assembly comprises:

[0038] A second speed reducer arranged on the base, an output end of the second speed reducer being connected with the arm;

[0039] A ninth pulley arranged on an output end of the fourth driving member;

[0040] A tenth pulley arranged on an input end of the second speed reducer;

[0041] A fifth synchronous belt connecting the ninth pulley and the tenth pulley.

[0042] In an embodiment, the robot further comprises:

[0043] A first cover arranged outside the first driving member and connected with the second arm;

[0044] A second cover arranged outside the second driving member and outside the lead screw and connected with the second arm;

[0045] A third cover arranged outside the third driving member and connected with the arm;

[0046] A fourth cover arranged outside the fourth driving member and connected with the base;

[0047] A protective cover arranged outside the spline nut and connected with the second arm, one end of the lead screw penetrating through the protective cover.

[0048] In an embodiment, the second arm rotates around a first axis, the first driving member and the lead screw are arranged on opposite sides of the first axis.

[0049] In an embodiment, a bottom of the third end of the second arm is provided with an indicator light, the indicator light being configured to display a working state of the robot.

[0050] In an embodiment, the arm and the second arm are both hollow, the robot further comprises:

[0051] A first wire harness holder arranged on the base to fix a wire harness in the base;

[0052] A second wire harness holder arranged in the arm and close to the first end;

[0053] A third wire harness holder arranged on the arm and close to the third driving member;

[0054] A fourth wire harness holder arranged in the second arm and close to the third end;

[0055] A fifth cable tie seat is disposed in the second arm and is close to the fourth end.

[0056] In the technical scheme of the present application, the robot comprises a base, a first arm rotatably arranged on the base, the first arm having a first end and a second end, the first end being rotatably connected to the base, a second arm rotatably arranged on the first arm, the second arm having a third end and a fourth end, the third end being rotatably connected to the second end of the first arm, a screw rod movably arranged on the fourth end of the second arm, the screw rod being capable of moving along its own axial direction and rotating about its own axis, a first driving member arranged on the third end of the second arm, the first driving member being drivingly connected to the screw rod to drive the screw rod to rotate about its own axis, a second driving member arranged on the second arm, the second driving member being drivingly connected to the screw rod to drive the screw rod to move along its own axial direction, a third driving member arranged on the first arm, the third driving member driving the second arm to rotate, and a fourth driving member arranged on the base, the fourth driving member driving the first arm to rotate. In the present scheme, the first driving member is arranged on the third end of the second arm, so that the first driving member is closer to the rotation axis of the first arm, and the overall center of gravity of the second arm and all components arranged on the second arm is closer to the rotation axis of the first arm. The commonly used planetary reducer is replaced by two-stage belt transmission, so that the rotational inertia of the first arm is reduced, and the first driving member arranged on the third end is closer to the rotation axis of the second arm, so that the rotational inertia of the second arm is also reduced, thereby improving the overall running speed of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0057] Fig. 1 is a structural schematic view of a robot provided by the present application;

[0058] Fig. 2 is another structural schematic view of a robot provided by the present application;

[0059] Fig. 3 is an enlarged view of part A in Fig. 2.

[0060] Explanation of reference numerals: 10, base; 20, one arm; 30, two arms; 40, first cover; 50, second cover; 60, third cover; 70, fourth cover; 80, shield; 90, indicator light; 100, screw rod; 200, first driving member; 300, second driving member; 400, third driving member; 500, fourth driving member; 610, first pulley; 620, spline nut; 630, second pulley; 640, third pulley; 650, first synchronous belt; 660, second synchronous belt; 670, fourth pulley; 710, fifth pulley; 720, screw rod nut; 730, third synchronous belt; 740, sixth pulley; 810, first speed reducer; 820, seventh pulley; 830, eighth pulley; 840, fourth synchronous belt; 910, second speed reducer; 920, ninth pulley; 930, tenth pulley; 940, fifth synchronous belt; 1100, first wire bundling seat; 1200, second wire bundling seat; 1300, third wire bundling seat; 1400, fourth wire bundling seat; 1500, fifth wire bundling seat. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0062] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0063] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes include A scheme, or B scheme, or A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection claimed by the present application.

[0064] In order to reduce the moment of inertia of the robot and improve the running speed of the robot, the technical scheme provides a robot, comprising:

[0065] a base 10;

[0066] an arm 20 having opposite first and second ends, the first end being rotationally connected with the base 10;

[0067] a second arm 30 having opposite third and fourth ends, the third end being rotationally connected with the second end of the first arm 20;

[0068] a screw rod 100 movably arranged on the fourth end of the second arm 30;

[0069] a first driving member 200 arranged on the third end of the second arm 30 and drivingly connected with the screw rod 100 to drive the screw rod 100 to rotate about its own axis;

[0070] a second driving member 300 arranged on the second arm 30 and drivingly connected with the screw rod 100 to drive the screw rod 100 to move along its own axis;

[0071] a third driving member 400 arranged on the first arm 20 and drivingly connected with the second arm 30;

[0072] a fourth driving member 500 arranged on the base 10 and drivingly connected with the first arm 20.

[0073] As shown in FIG. 1 to FIG. 3, in an embodiment of the present application, the robot comprises a base 10, which is a plate-shaped structural member, serving as the basic support structure of the robot to ensure smooth operation of the whole machine under various ground conditions. In addition, the base 10 is provided with an arm 20 and a fourth driving member 500. The arm 20 is a crossbeam structure, having opposite first and second ends. The first end is rotatably connected to the base 10 by a bearing and can swing in the horizontal plane. The fourth driving member 500, which can be a servo motor or a hydraulic drive system, is connected to the arm 20 to control the rotation angle of the arm 20. The arm 20 is rotatably connected to a second arm 30, which is also a crossbeam structure, having opposite third and fourth ends. The third end is rotatably connected to the second end of the arm 20 by a bearing. The arm 20 is provided with a third driving member 400, which drives the second arm 30 to swing in the horizontal plane through gear or belt transmission, so that the robot can perform two-dimensional operation in the horizontal plane. In addition, a lead screw 100 is movably mounted on the fourth end of the second arm 30. The lead screw 100 can rotate around its own axis and move along its axial direction. An actuator such as a gripper or a tool head can be mounted on the lead screw 100 to process or transfer products. As a core transmission component, the lead screw 100 can rotate around its own axis and move along its axial direction, enhancing the flexibility and functionality of the robot. In addition, the second arm 30 is also provided with a first driving member 200 and a second driving member 300. The second driving member 300 drives the lead screw 100 to move along its own axial direction through gear transmission or belt transmission. The first driving member 200 drives the lead screw 100 to rotate around its own axis through gear transmission or belt transmission. In this embodiment, the first driving member 200 can be arranged at the third end of the second arm 30, so that the first driving member 200 is closer to the rotation axis of the arm 20, and the overall center of gravity of the second arm 30 and all components thereon is closer to the rotation axis of the arm 20, thereby reducing the moment of inertia of the arm 20 when rotating. In addition, the first driving member 200 arranged at the third end is also closer to the rotation axis of the second arm 30, which can also reduce the moment of inertia of the second arm 30, thereby improving the overall operating speed of the robot. Similarly, the second driving member 300 can also be arranged at the third end, which can also reduce the moment of inertia of the arm 20 and the second arm 30 and improve the operating speed of the robot. In addition, in this scheme, the first driving assembly, the second driving assembly and the connection structure between them and the lead screw 100 are arranged on the second arm 30, which can simplify the overall design, reduce the number of parts, and not only reduce the complexity of the design, but also simplify the assembly process, reduce the assembly time and cost, improve the efficiency and reduce the loss in the transmission path, and improve the overall transmission efficiency.

[0074] As shown in FIG. 1 and FIG. 2, in an embodiment of the present application, the robot further comprises:

[0075] The first transmission assembly is arranged on the second arm 30, and is in transmission connection with the first driving member 200 and the lead screw 100;

[0076] The second transmission assembly is arranged on the second arm 30, and is in transmission connection with the second driving member 300 and the lead screw 100;

[0077] The third transmission assembly is arranged on the first arm 20, and is in transmission connection with the third driving member 400 and the second arm 30;

[0078] The fourth transmission assembly is arranged on the base 10, and is in transmission connection with the fourth driving member 500 and the first arm 20.

[0079] For example, the first transmission assembly transmits the power generated by the first driving member 200 to the lead screw 100, so as to realize the accurate rotation of the lead screw 100 around its own axis. This assembly can adopt a transmission structure such as a precision gear set, so as to ensure low loss and high precision in the power transmission process; the second transmission assembly is also arranged on the second arm 30, and works in parallel with the first transmission assembly. This assembly can adopt a linear guide rail or other forms of linear driving technology, so as to ensure that the lead screw 100 can perform fast and stable linear motion in the axial direction; the third transmission assembly is integrated in the structure of the first arm 20, and is responsible for coordinating the power transmission between the third driving member 400 and the second arm 30. The third transmission assembly drives the second arm 30 to swing through modes such as belt transmission, chain transmission or direct driving motor; in addition, the fourth transmission assembly is installed on the base 10, and adopts a large reducer matched with a synchronous belt or a gear and rack mechanism, so as to provide power for the large-amplitude rotation of the first arm 20.

[0080] As shown in FIG. 2 and FIG. 3, in an embodiment of the present application, the first transmission assembly comprises:

[0081] The first pulley 610 is arranged on the output end of the first driving member 200;

[0082] The spline nut 620 is sleeved on the lead screw 100 and is in sliding fit with the lead screw 100;

[0083] The second pulley 630 is rotatably arranged on the second arm 30, and the second pulley 630 is arranged between the first pulley 610 and the spline nut 620;

[0084] The third pulley 640 is coaxially connected with the second pulley 630;

[0085] The fourth pulley 670 is coaxially connected with the spline nut 620;

[0086] The first synchronous belt 650 connects the first pulley 610 and the second pulley 630;

[0087] A second synchronous belt 660 connects the third pulley 640 and the fourth pulley 670.

[0088] In the embodiment, the first driving member 200 is a motor, the first pulley 610 is arranged on the output end of the first driving member 200, i.e., the motor shaft of the motor, the screw rod 100 is provided with a spline extending along the axial direction of the screw rod 100, the screw rod 100 is sleeved with a spline nut 620 matched with the spline, the spline nut 620 is rotatably connected with the second arm 30 through a bearing, thus, the rotation of the spline nut 620 can drive the screw rod 100 to rotate around the axial direction of the screw rod 100, in addition, the spline nut 620 is in sliding fit with the screw rod 100, the spline nut 620 is coaxially connected with the fourth pulley 670, and the spline nut 620 and the fourth pulley 670 can be connected through bolts, thus, the screw rod 100 can slide along the axial direction of the screw rod 100 under the driving of the second driving member 300, without interfering with the spline nut 620, in the embodiment, the outer peripheral wall of the spline nut 620 is further provided with a synchronous belt matched therewith; in addition, the second arm 30 is further provided with a second pulley 630, the second pulley 630 is arranged between the first pulley 610 and the spline nut 620, and the second pulley 630 is rotatably connected with the second arm 30 through a bearing, in order to ensure the stability of the rotation of the second pulley 630, two coaxial bearings can be arranged on the second arm 30, the two bearings are arranged at intervals, and the two bearings are connected with the second pulley 630 on the same shaft, thus, the connection strength between the pulley and the second arm 30 can be improved by using the two bearings; in addition, the second pulley 630 is coaxially connected with the third pulley 640, in addition, the first transmission assembly further includes a first synchronous belt 650 and a second synchronous belt 660, the first synchronous belt 650 and the second synchronous belt 660 are made of high-performance synchronous belt materials, such as polyurethane or neoprene, combined with precise tooth profile design, to ensure that the meshing between the pulley and the belt is tight and the synchronization is good. The first synchronous belt 650 and the second synchronous belt 660 are respectively responsible for the power transmission of two different components, the first synchronous belt 650 is responsible for transmitting the rotary power from the first pulley 610 to the second pulley 630, and the second synchronous belt 660 continues to transmit the power from the third pulley 640 to the fourth pulley 670 to drive the screw rod 100 to rotate, thus, the two-stage transmission mode can improve the driving capacity of the third driving member 400, compared with the planetary reducer, the overall weight of the components on the second arm 30 can be reduced, thereby further reducing the moment of inertia of the second arm 30 and the moment of inertia of the first arm 20, and further improving the running speed of the robot.

[0089] As shown in FIGS. 2 and 3, in the embodiment, the second transmission assembly includes:

[0090] A fifth pulley 710 is arranged on the output end of the second driving member 300.

[0091] A screw nut 720 is sleeved on the lead screw 100 and threadedly engages with the lead screw 100.

[0092] A sixth pulley 740 is coaxially connected with the screw nut 720.

[0093] A third synchronous belt 730 connects the fifth pulley 710 and the sixth pulley 740.

[0094] The screw nut 720 is threadedly connected with the lead screw 100, and the rotation of the screw nut 720 can drive the lead screw 100 to move along its own axial direction. The screw nut 720 is coaxially connected with the sixth pulley 740 by means of bolts or the like. In addition, the second driving member 300 can be a motor. The fifth pulley 710 is directly installed on the output end of the second driving member 300, i.e. the motor shaft of the motor. The third synchronous belt 730 can be made of a high-toughness and low-elongation synthetic material, such as high-strength polyurethane or carbon fiber reinforced rubber, and has a precise tooth-shaped structure on its surface, which perfectly engages with the corresponding tooth grooves on the fifth pulley 710 and the sixth pulley 740, so as to ensure that the power transmission process will not slip. Compared with the structure of a traditional gear reducer, the structure of the second transmission assembly in the embodiment can reduce the overall weight of the upper part of the second arm 30, which is also conducive to reducing the rotational inertia of the second arm 30 and improving the running speed of the robot.

[0095] As shown in FIG. 2, in an embodiment of the present application, the third transmission assembly includes:

[0096] A first speed reducer 810 is arranged at the second end of the first arm 20, and the output end of the first speed reducer 810 is connected with the second arm 30.

[0097] A seventh pulley 820 is arranged at the output end of the third driving member 400.

[0098] An eighth pulley 830 is arranged at the input end of the first speed reducer 810.

[0099] A fourth synchronous belt 840 connects the seventh pulley 820 and the eighth pulley 830.

[0100] The first speed reducer 810 can be a harmonic reducer, an output end of the first speed reducer 810 is coaxially arranged with a rotation axis of the second arm 30, and a body of the first speed reducer 810 is fixed on the first arm 20. The first speed reducer 810 can adopt a gear transmission mode, so that high-efficiency energy conversion is realized, vibration and noise are effectively reduced, and the stability of overall operation is improved. The seventh pulley 820 is arranged at an output end of the third driving member 400, the third driving member 400 can be a motor, the eighth pulley 830 is arranged at an input end of the first speed reducer 810, and in addition, the fourth synchronous belt 840 connects the seventh pulley 820 and the eighth pulley 830, so that the power of the third driving member 400 is transmitted to the first speed reducer 810, thereby driving the second arm 30 to swing. The technical solution integrates the composite structure of the speed reducer and the belt transmission, so as to enhance the efficiency and accuracy of power transmission between the first arm 20 and the second arm 30. In addition, the third driving member 400 and the first speed reducer 810 adopt the belt transmission mode, so that the third driving member 400 can be arranged at a position close to the first end of the first arm 20. In this way, the rotational inertia of the first arm 20 can be further reduced, and the running speed of the robot can be improved.

[0101] As shown in FIG. 2, in an embodiment of the present application, the fourth transmission assembly comprises:

[0102] The second speed reducer 910 is arranged on the base 10, and an output end of the second speed reducer 910 is connected with the first arm 20.

[0103] The ninth pulley 920 is arranged at an output end of the fourth driving member 500.

[0104] The tenth pulley 930 is arranged at an input end of the second speed reducer 910.

[0105] The fifth synchronous belt 940 connects the ninth pulley 920 and the tenth pulley 930.

[0106] The second speed reducer 910 can be a harmonic reducer, an output end of the second speed reducer 910 is coaxially arranged with a rotation axis of the second arm 30, and a body of the second speed reducer 910 is fixed on the first arm 20. The second speed reducer 910 can adopt a gear transmission mode, so that high-efficiency energy conversion is realized, vibration and noise are effectively reduced, and the stability of overall operation is improved. The ninth pulley 920 is arranged at an output end of the fourth driving member 500, the fourth driving member 500 can be a motor, the tenth pulley 930 is arranged at an input end of the second speed reducer 910, and in addition, the fifth synchronous belt 940 connects the ninth pulley 920 and the tenth pulley 930, so that the power of the fourth driving member 500 is transmitted to the second speed reducer 910, thereby driving the second arm 30 to swing. The technical solution integrates the composite structure of the speed reducer and the belt transmission, so as to enhance the efficiency and accuracy of power transmission between the first arm 20 and the second arm 30.

[0107] As shown in FIG. 1, in an embodiment of the present application, the robot further comprises:

[0108] a first cover 40 covering the outside of the first driving member 200 and connected with the second arm 30;

[0109] a second cover 50 covering the outside of the second driving member 300 and the outside of the screw rod 100 and connected with the second arm 30;

[0110] a third cover 60 covering the outside of the third driving member 400 and connected with the first arm 20;

[0111] a fourth cover 70 covering the outside of the fourth driving member 500 and connected with the base 10;

[0112] a protective cover 80 covering the outside of the spline nut 620 and connected with the second arm 30, and one end of the screw rod 100 passes through the protective cover 80.

[0113] The first cover 40, the second cover 50, the third cover 60, the fourth cover 70 and the protective cover 80 can be fixed by screws, so as to not only provide protection for the first driving member 200, the second driving member 300, the third driving member 400, the fourth driving member 500, the screw rod 100 and the spline nut 620, but also facilitate disassembly and maintenance of the first driving member 200, the second driving member 300, the third driving member 400, the fourth driving member 500, the screw rod 100 and the spline nut 620, and further simplify the overall assembly difficulty of the robot.

[0114] As shown in FIG. 2, in an embodiment of the present application, the second arm 30 rotates around a first axis, and the first driving member 200 and the screw rod 100 are arranged on opposite sides of the first axis. The first driving member 200 and the screw rod 100 are arranged on opposite sides of the first axis, so that the center of gravity of the second arm 30 is closer to the rotation axis of the second arm 30, which can improve the stability of the second arm 30 during rotation, and is also conducive to reducing the moment of inertia of the second arm 30 and improving the running speed of the robot.

[0115] As shown in FIG. 2, in an embodiment of the present application, the bottom of the third end of the second arm 30 is provided with an indicator lamp 90, which is used to display the working state of the robot. The indicator lamp 90 can be electrically connected with the control module such as CPU on the robot to display whether the robot is in a working state or a shutdown state, so as to facilitate personnel to quickly confirm the state of the robot.

[0116] As shown in FIG. 2, in an embodiment of the present application, the first arm 20 and the second arm 30 are both hollow, and the robot further comprises:

[0117] a first wire harness seat 1100 arranged on the base 10 to fix the wire harness in the base 10;

[0118] The second cable tie 1200 is arranged in the arm 20 and close to the first end;

[0119] The third cable tie 1300 is arranged on the arm 20 and close to the third driving member 400;

[0120] The fourth cable tie 1400 is arranged in the arm 30 and close to the third end;

[0121] The fifth cable tie 1500 is arranged in the arm 30 and close to the fourth end.

[0122] The first cable tie 1100, the second cable tie 1200, the third cable tie 1300, the fourth cable tie 1400 and the fifth cable tie 1500 are all flat plates, and grooves are arranged on the flat plates to facilitate the winding and fixing of the wire harness. The first cable tie 1100 is arranged inside the base 10 and close to the fourth driving member 500, and is specially used for arranging and fixing all the wire harnesses in the robot base 10. The second cable tie 1200 is arranged in the arm 20 and close to the first end, and is mainly responsible for arranging and fixing the wire harnesses extending from the base 10 to the inside of the arm 20, so as to ensure that these key lines are properly fixed when entering the arm 20, and avoid unnecessary pulling or interference when the arm 20 moves. The third cable tie 1300 is arranged on the arm 20 close to the third driving member 400, and is used for fixing the wire harnesses on the third driving member 400 and guiding the wire harnesses extending to the arm 30. The fourth cable tie 1400 is arranged in the arm 30 and close to the third end where the arm 30 is connected with the arm 20. This cable tie is used for arranging the wire harnesses from the arm 20 to the arm 30, so as to ensure that the power lines and signal lines are smoothly and unobstructively transitioned at the connection between the two arms. The fifth cable tie 1500 is also arranged in the arm 30, but close to the fourth end of the arm 30. It is mainly responsible for arranging the wire harnesses of the end effector or sensor of the arm 30, so as to ensure that these lines can remain stable even when the lead screw 100 moves complexly, and avoid damage and ensure accurate data transmission.

Claims

1. A robot comprising: a base; a first arm having opposite first and second ends, the first end being rotatably connected to the base; a second arm having opposite third and fourth ends, the third end being rotatably connected to the second end of the first arm; a screw rod movably provided on the fourth end of the second arm; a first driving member provided on the third end of the second arm and drivingly connected to the screw rod to drive the screw rod to rotate about its own axis; a second driving member provided on the second arm and drivingly connected to the screw rod to drive the screw rod to move along its own axis; a third driving member provided on the first arm and drivingly connected to the second arm; a fourth driving member provided on the base and drivingly connected to the first arm.

2. The robot of claim 1, further comprising: a first transmission assembly provided on the second arm, the first transmission assembly drivingly connecting the first driving member and the screw rod; a second transmission assembly provided on the second arm, the second transmission assembly drivingly connecting the second driving member and the screw rod; a third transmission assembly provided on the first arm, the third transmission assembly drivingly connecting the third driving member and the second arm; a fourth transmission assembly provided on the base, the fourth transmission assembly drivingly connecting the fourth driving member and the first arm.

3. The robot of claim 2, wherein, The first transmission assembly comprises: a first pulley provided on an output end of the first driving member; a spline nut sleeved on the screw rod and rollingly matched with the screw rod; a second pulley rotatably provided on the second arm, the second pulley being provided between the first pulley and the spline nut; a third pulley coaxially connected with the second pulley; a fourth pulley coaxially connected with the spline nut; a first synchronous belt connecting the first pulley and the second pulley; a second synchronous belt connecting the third pulley and the fourth pulley.

4. The robot of claim 3, wherein, The second transmission assembly comprises: a fifth pulley provided on an output end of the second driving member; a screw rod nut sleeved on the screw rod and threadedly matched with the screw rod; a sixth pulley coaxially connected with the screw rod nut; a third synchronous belt connecting the fifth pulley and the sixth pulley.

5. The robot of claim 4, wherein, The third transmission assembly comprises: a first speed reducer provided on the second end of the first arm, an output end of the first speed reducer being connected to the second arm; a seventh pulley provided on an output end of the third driving member; an eighth pulley provided on an input end of the first speed reducer; a fourth synchronous belt connecting the seventh pulley and the eighth pulley.

6. The robot of claim 5, wherein, The fourth transmission assembly comprises: a second speed reducer provided on the base, an output end of the second speed reducer being connected to the first arm; a ninth pulley provided on an output end of the fourth driving member; a tenth pulley provided on an input end of the second speed reducer; a fifth synchronous belt connecting the ninth pulley and the tenth pulley.

7. The robot of claim 6, further comprising: a first housing provided outside the first driving member and connected to the second arm; a second housing provided outside the second driving member and outside the screw rod and connected to the second arm; a third housing provided outside the third driving member and connected to the first arm; A fourth cover is arranged outside the fourth driving member and connected with the base; A protective cover is arranged outside the spline nut and connected with the second arm, and the one end of the screw rod passes through the protective cover.

8. The robot of claim 1, wherein, The second arm rotates around a first axis, and the first driving member is arranged on the opposite side of the first axis from the screw rod.

9. The robot of claim 1, wherein, The bottom of the third end of the second arm is provided with an indicator light configured to display the working state of the robot.

10. The robot of claim 1, wherein, The one arm and the second arm are both hollow, and the robot further comprises: A first wire harness seat is arranged in the base to fix the wire harness in the base; A second wire harness seat is arranged in the one arm and close to the first end; A third wire harness seat is arranged on the one arm and close to the third driving member; A fourth wire harness seat is arranged in the second arm and close to the third end; A fifth wire harness seat is arranged in the second arm and close to the fourth end.

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