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CN-224209950-U - Multi-joint robot for narrow space

CN224209950UCN 224209950 UCN224209950 UCN 224209950UCN-224209950-U

Abstract

The utility model provides a multi-joint robot for a narrow space, which comprises a base, wherein a first joint is arranged on the base, a second joint is arranged on the first joint, a third joint is arranged on the second joint, a fourth joint is arranged on the third joint, a fifth joint is arranged on the fourth joint, and a sixth joint is arranged on the fifth joint. The utility model drives the first joint to slide in the chute a to adjust the height of the first joint, the rotary driving piece a drives the first joint to rotate in the chute a through the transmission component, the rotary driving piece b drives the third joint to rotate, the linear driving piece b drives the fourth joint to slide in the chute b to move, the position of the fourth joint is adjusted, the rotary driving piece c drives the gear c to rotate, and the fourth joint is driven to rotate in the chute b, so that the multi-joint robot is applicable to narrow space operation and has the same operation point, and compared with a serial vertical six-axis robot, the space is saved.

Inventors

  • JIANG YI
  • FAN RUIKANG
  • JIANG YINGHUA

Assignees

  • 广东瓦力科技有限公司

Dates

Publication Date
20260508
Application Date
20241231

Claims (8)

  1. 1. The multi-joint robot for the narrow space comprises a base (1), and is characterized in that a first joint (2) is arranged on the base (1), a second joint (3) is arranged on the first joint (2), a third joint (4) is arranged on the second joint (3), a fourth joint (5) is arranged on the third joint (4), a fifth joint (6) is arranged on the fourth joint (5), and a sixth joint (7) is arranged on the fifth joint (6); The utility model discloses a linear drive ware, including base (1), first joint (2) bottom is equipped with sharp driving piece a (8), sharp driving piece a (8) output with base (1) internal rotation is connected, spout a (9) have been seted up in base (1), first joint (2) slip is located in spout a (9), install rotary drive piece a (10) in spout a (9), rotary drive piece a (10) output with sharp driving piece a (8) output is connected through transmission subassembly (11).
  2. 2. The multi-joint robot for a narrow space according to claim 1, wherein the transmission assembly (11) comprises a gear a (111), the gear a (111) is mounted at the output end of the linear driving member a (8), the gear b (112) is mounted at the output end of the rotary driving member a (10), and the gear a (111) and the gear b (112) are meshed.
  3. 3. A multi-joint robot for a narrow space according to claim 2, characterized in that a rotary driving member b (12) is provided in the second joint (3), and the output end of the rotary driving member b (12) is connected with the third joint (4).
  4. 4. A multi-joint robot for a narrow space according to claim 3, wherein a chute b (13) is formed in the third joint (4), the fourth joint (5) slides in the chute b (13), a linear driving member b (14) is installed in the chute b (13), a moving disc (15) is installed at the output end of the linear driving member b (14), and the fourth joint (5) is rotatably arranged on the moving disc (15).
  5. 5. The multi-joint robot for a narrow space according to claim 4, wherein a groove (501) is formed in the fourth joint (5), a toothed ring (502) is installed in the groove (501), a rotary driving part c (16) is installed on the moving disc (15), a gear c (17) is installed at the output end of the rotary driving part c (16), and the gear c (17) is meshed with the toothed ring (502).
  6. 6. A multi-joint robot for a narrow space according to claim 5, characterized in that a rotary driving member d (18) is installed in the fifth joint (6), and the output end of the rotary driving member d (18) is connected with the sixth joint (7).
  7. 7. The multi-joint robot for a narrow space according to claim 1, wherein the transmission assembly (11) comprises a transmission wheel a (113) installed at the output end of the linear driving piece a (8), a transmission wheel b (114) is installed at the output end of the rotary driving piece a (10), and the transmission wheel a (113) and the transmission wheel b (114) are in transmission connection through a belt (115).
  8. 8. A multi-joint robot for confined spaces according to claim 1, characterized in that the sixth joint (7) is fitted with mechanical jaws.

Description

Multi-joint robot for narrow space Technical Field The utility model relates to the technical field of robots, in particular to a multi-joint robot for a narrow space. Background A tandem vertical six axis robot is an industrial robot having six rotatable joints or axes, which are aligned along a continuous arm. This configuration mimics the human arm structure and is therefore sometimes referred to as a "six degree of freedom" robot. Each joint (shaft) allows the arm to move in one particular direction, and by coordinating the motion of all joints, the robotic end effector can reach almost any position within the workspace and can operate at different angles and poses. When automation is implemented in many scenes, the space restrictions such as narrow working space, large working surface height difference, deeper working depth and the like make the conventional serial vertical six-axis robot difficult to use, and aiming at the problems, we propose a multi-joint robot for narrow space. Disclosure of utility model The utility model aims at overcoming the defects of the prior art, and provides a multi-joint robot for narrow space, which is suitable for narrow space operation by driving a first joint to slide in a chute a and adjusting the height of the first joint, wherein a rotary driving part a drives the first joint to rotate in the chute a through a transmission assembly, a rotary driving part b drives a third joint to rotate, a linear driving part b drives a fourth joint to slide in the chute b and move, the position of the fourth joint is adjusted, a rotary driving part c drives a gear c to rotate and drives the fourth joint to rotate in the chute b. In order to achieve the above purpose, the present utility model provides the following technical solutions: The multi-joint robot for the narrow space comprises a base, wherein a first joint is arranged on the base, a second joint is arranged on the first joint, a third joint is arranged on the second joint, a fourth joint is arranged on the third joint, a fifth joint is arranged on the fourth joint, and a sixth joint is arranged on the fifth joint; The bottom of the first joint is provided with a linear driving piece a, the output end of the linear driving piece a is rotationally connected with the base, a chute a is formed in the base, the first joint is slidably arranged in the chute a, a rotary driving piece a is arranged in the chute a, and the output end of the rotary driving piece a is connected with the output end of the linear driving piece a through a transmission assembly. The transmission assembly comprises a gear a, the gear a is arranged at the output end of the linear driving piece a, a gear b is arranged at the output end of the rotary driving piece a, and the gear a and the gear b are meshed. And a rotary driving part b is arranged in the second joint, and the output end of the rotary driving part b is connected with the third joint. A chute b is formed in the third joint, the fourth joint slides in the chute b, a linear driving part b is arranged in the chute b, a moving disc is arranged at the output end of the linear driving part b, and the fourth joint is rotationally arranged on the moving disc. The novel mechanical clamping device is characterized in that a groove is formed in the fourth joint, a toothed ring is arranged in the groove, a rotary driving part c is arranged on the motion disc, a gear c is arranged at the output end of the rotary driving part c and meshed with the toothed ring, a rotary driving part d is arranged in the fifth joint, the output end of the rotary driving part d is connected with the sixth joint, the transmission assembly comprises a transmission wheel a arranged at the output end of the linear driving part a, a transmission wheel b is arranged at the output end of the rotary driving part a, the transmission wheel a is connected with the transmission wheel b through belt transmission, and a mechanical clamping jaw is arranged on the sixth joint. The utility model has the beneficial effects that: (1) The utility model drives the first joint to slide in the chute a through the linear driving piece a, adjusts the height of the first joint, drives the first joint to rotate in the chute a through the transmission component, drives the third joint to rotate through the rotary driving piece b, drives the fourth joint to slide in the chute b for movement through the linear driving piece b, adjusts the position of the fourth joint, and drives the gear c to rotate through the rotary driving piece c. (2) The transmission assembly comprises a gear a, wherein the gear a is arranged at the output end of a linear driving piece a, a gear b is arranged at the output end of a rotary driving piece a, the gear a is meshed with the gear b, the rotary driving piece a drives the gear b to rotate, and the gear a is meshed with the gear b to drive the linear driving piece a to rotate so as to drive the first joint to rotate in the