CN-224223892-U - Multi-joint robot

CN224223892UCN 224223892 UCN224223892 UCN 224223892UCN-224223892-U

Abstract

The application provides a multi-joint robot which comprises a base, a lifting mechanism, a connecting assembly, a first mechanical arm mechanism and a second mechanical arm mechanism. The base is defined with a mounting space and an opening which are mutually communicated, the lifting mechanism is arranged in the mounting space, and the connecting component is arranged outside the base and connected with the lifting mechanism and comprises a connecting piece and a dust cover. The dust cover is arranged on the periphery of the connecting piece to stretch or shrink along with the connecting piece, one end of the dust cover is arranged on the base around the opening to seal the installation space, the first mechanical arm mechanism is connected to one end of the connecting component, which is far away from the lifting mechanism, and the second mechanical arm mechanism is connected to one end of the first mechanical arm mechanism, which is far away from the connecting component. Through the mode, the multi-joint robot disclosed by the application can be suitable for application scenes with high protection and high cleanliness, and the tail end structure is compact, so that the multi-joint robot is suitable for working scenes with narrow space.

Inventors

ZHOU BOJUN
Gu Xieping
CUI YONGQIANG
ZHANG CHUNHUI
CHEN WEI
HUANG GUOHUI

Assignees

深圳众为兴技术股份有限公司

Dates

Publication Date: 20260512
Application Date: 20250326

Claims (10)

1. A multi-joint robot, which comprises a robot body, characterized by comprising the following steps: A base, which defines an installation space and is provided with an opening communicated with the installation space; the lifting mechanism is arranged in the installation space; The connecting component is arranged outside the base at the opening and connected with the lifting mechanism so as to drive the lifting mechanism to lift and move, and comprises: the connecting piece is connected with the lifting mechanism through the opening and moves up and down along with the lifting mechanism, and The dustproof cover is covered on the periphery of the connecting piece so as to stretch or shrink along with the lifting movement of the connecting piece, and one end of the dustproof cover is arranged on the base around the opening so as to seal the installation space; a first mechanical arm mechanism connected to one end of the connecting assembly far away from the lifting mechanism, and The second mechanical arm mechanism is connected to one end, far away from the connecting assembly, of the first mechanical arm mechanism.
2. The articulated robot of claim 1, wherein the connection assembly further comprises: A mounting assembly disposed between the base and the dust cover, wherein the dust cover is mounted to the base by the mounting assembly, and And the rotating assembly is arranged between the mounting assembly and the dust cover and is used for driving the dust cover to rotate relative to the base.
3. The articulated robot of claim 1, wherein the lifting mechanism comprises: The adapter is connected with the connecting component; The lifting power assembly is arranged at the bottom of the base; A lifting synchronous belt assembly connected with the lifting power assembly and used for receiving the power output by the lifting power assembly, and And the power conversion assembly is respectively connected with the lifting synchronous belt assembly and the adapter and is used for receiving power transmitted by the lifting synchronous belt assembly and converting motion output by the lifting synchronous belt assembly into lifting motion so as to drive the adapter to lift.
4. The articulated robot of claim 3, wherein the lifting mechanism further comprises: A guide rod mounted on the base and having an extension direction parallel to the direction of the lifting motion, and The stabilizing piece is arranged at the periphery of the guide rod, connected with the adapter piece and used for moving along the guide rod along with the adapter piece.
5. The articulated robot of claim 1, further comprising a rotation mechanism disposed in the installation space and connected to the connection assembly for driving the first mechanical arm mechanism to rotate via the connection assembly, and comprising: The switching part is connected with the connecting component and is used for driving the connecting component to rotate; a rotary power assembly mounted at the bottom of the base, and And the rotating synchronous belt assembly is respectively connected with the rotating power assembly and the switching part, and is used for receiving the power output by the rotating power assembly and transmitting the power to the connecting assembly through the switching part.
6. The articulated robot of claim 5, wherein the rotational synchronization belt assembly comprises: The first rotary synchronous pulley is connected with the output end of the rotary power assembly so as to receive the power output by the rotary power assembly; One end of the first rotating synchronous belt is connected with the first rotating synchronous belt pulley and is used for transmitting the power received by the first rotating synchronous belt pulley from the rotating power assembly; The second rotating synchronous pulley is connected with one end, far away from the first rotating synchronous pulley, of the second rotating synchronous belt and is used for rotating along with the first rotating synchronous pulley under the drive of the first rotating synchronous belt; the third rotating synchronous pulley is fixedly connected with the second rotating synchronous pulley so as to synchronously rotate along with the second rotating synchronous pulley; a fourth rotation synchronous pulley connected with the switching part, and And one end of the second rotation synchronous belt is connected with the third rotation synchronous pulley, and the other end of the second rotation synchronous belt is connected with the fourth rotation synchronous pulley, and is used for transmitting the power output by the rotation power assembly to the fourth rotation synchronous pulley from the third rotation synchronous pulley.
7. The multi-joint robot of claim 1, wherein the second robotic arm mechanism comprises a second robotic arm, and the first robotic arm mechanism comprises: One end of the first mechanical arm is connected with the connecting component, and the other end of the first mechanical arm is connected with the second mechanical arm; a first power assembly positioned at one end of the first mechanical arm near the connecting assembly, and And the first synchronous belt assembly is respectively connected with the first power assembly and the second mechanical arm and is used for receiving the power output by the first power assembly so as to drive the second mechanical arm to rotate.
8. The articulated robot of claim 7, wherein the first synchronized belt assembly comprises: The first synchronous belt pulley is connected with the output end of the first power assembly to receive power output by the first power assembly; one end of the first synchronous belt is connected with the first synchronous belt wheel and is used for transmitting the power received by the first synchronous drive from the first power assembly; The second synchronous belt pulley is connected with one end, far away from the first synchronous belt pulley, of the first synchronous belt and is used for rotating along with the first synchronous belt pulley under the drive of the first synchronous belt; The third synchronous pulley is fixedly connected with the second synchronous pulley so as to synchronously rotate along with the second synchronous pulley; A fourth synchronous pulley connected with the second mechanical arm, and And one end of the second synchronous belt is connected with the third synchronous belt pulley, and the other end of the second synchronous belt is connected with the fourth synchronous belt pulley, and is used for transmitting the power output by the first power assembly to the fourth synchronous belt pulley from the third synchronous belt pulley further so as to drive the second mechanical arm to rotate.
9. The multi-joint robot of claim 7, wherein the first robotic arm mechanism further comprises: a second power assembly arranged on the first mechanical arm at intervals with the first power assembly, and The second synchronous belt assembly is connected with the second power assembly and is used for receiving power output by the second power assembly; The second mechanical arm mechanism further comprises a third synchronous belt assembly, wherein the third synchronous belt assembly is connected with the second synchronous belt assembly and used for receiving power transmitted by the second synchronous belt assembly so as to drive the tail end working part of the multi-joint robot to rotate.
10. The articulated robot of claim 9, wherein the second synchronized belt assembly comprises: The first tail end synchronous pulley is connected with the output end of the second power assembly; A second end synchronous pulley connected with the third synchronous belt assembly, and The first end synchronous belt is connected with the first end synchronous belt pulley at one end and the second end synchronous belt pulley at the other end, and is used for transmitting the power output by the second power assembly from the first end synchronous belt pulley to the second end synchronous belt pulley; the third timing belt assembly includes: The third end synchronous pulley is fixedly connected with the second end synchronous pulley so as to synchronously rotate along with the second end synchronous pulley; A second end synchronous belt, one end of which is connected with the third end synchronous belt wheel and used for transmitting the power of the third end synchronous belt wheel, and And the fourth tail end synchronous pulley is respectively connected with one end, far away from the third tail end synchronous pulley, of the second tail end synchronous pulley and the tail end working part and is used for rotating along with the second tail end synchronous pulley under the drive of the third tail end synchronous pulley so as to drive the tail end working part to rotate.

Description

Multi-joint robot Technical Field The application relates to the technical field of robots, in particular to a multi-joint robot. Background With the rapid development of industrial automation, robotics are increasingly used in the field of industrial production. The horizontal articulated (SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM, SCARA) robot is widely applied to the fields of electronic product manufacturing, automobile assembly, plastic processing, medicine production, food processing and the like by virtue of the characteristics of high speed and high precision, and is particularly mainly used for material handling, loading and unloading, assembly and other operation tasks. At present, a four-axis transmission structure is commonly adopted in a SCARA robot on the market, the body of the SCARA robot mainly comprises a large arm and a small arm, horizontal movement of X, Y axes is realized through a servo motor matched with a speed reducer, and meanwhile, up-and-down movement of a Z axis and rotary movement of an R axis are integrated at the tail end, so that multi-degree-of-freedom movement of the robot in a three-dimensional space is realized. Disclosure of Invention The application mainly solves the technical problem of providing the multi-joint robot which can be suitable for application scenes with high protection and high cleanliness, and can enable the tail end to be compact in structure so as to be suitable for work scenes with narrow space. The application provides a multi-joint robot which comprises a base, a lifting mechanism, a connecting assembly, a first mechanical arm mechanism and a second mechanical arm mechanism, wherein the base is defined with an installation space and is provided with an opening communicated with the installation space, the lifting mechanism is arranged in the installation space, the connecting assembly is arranged outside the base at the opening and is connected with the lifting mechanism so as to perform lifting movement under the driving of the lifting mechanism and comprises a connecting piece and a dust cover, the connecting piece is connected with the lifting mechanism through the opening and performs lifting movement along with the lifting mechanism, the dust cover is arranged on the periphery of the connecting piece so as to stretch or shrink along with the lifting movement of the connecting piece, one end of the dust cover is arranged on the base around the opening so as to seal the installation space, the first mechanical arm mechanism is connected with one end of the connecting assembly far away from the lifting mechanism, and the second mechanical arm mechanism is connected with one end of the first mechanical arm mechanism far away from the connecting assembly. The connecting assembly further comprises a mounting assembly and a rotating assembly, wherein the mounting assembly is arranged between the base and the dust cover, the dust cover is mounted on the base through the mounting assembly, and the rotating assembly is arranged between the mounting assembly and the dust cover and is used for driving the dust cover to rotate relative to the base. The lifting mechanism comprises an adapter, a lifting power assembly, a lifting synchronous belt assembly and a power conversion assembly, wherein the adapter is connected with the connecting assembly, the lifting power assembly is arranged at the bottom of the base, the lifting synchronous belt assembly is connected with the lifting power assembly and used for receiving power output by the lifting power assembly, and the power conversion assembly is respectively connected with the lifting synchronous belt assembly and the adapter and used for receiving power transmitted by the lifting synchronous belt assembly and converting motion output by the lifting synchronous belt assembly into lifting motion so as to drive the adapter to lift. The lifting mechanism further comprises a guide rod and a stabilizing piece, wherein the guide rod is arranged on the base and has an extending direction parallel to the lifting movement direction, and the stabilizing piece is arranged on the periphery of the guide rod and connected with the adapter piece and used for moving along the guide rod along with the adapter piece. The multi-joint robot further comprises a rotating mechanism, wherein the rotating mechanism is arranged in the installation space and connected with the connecting assembly and used for driving the first mechanical arm mechanism to rotate through the connecting assembly, the multi-joint robot comprises a switching part, a rotating power assembly and a rotating synchronous belt assembly, the switching part is connected with the connecting assembly and used for driving the connecting assembly to rotate, the rotating power assembly is arranged at the bottom of the base, and the rotating synchronous belt assembly is respectively connected with the rotating power assembly and the switching part and used for receiving