CN212241051U - Robot - Google Patents

Abstract

The application provides a robot. The robot comprises a first joint (1), a second joint (2) and a manipulator (4), wherein the second joint (2) is installed on the first joint (1), the manipulator (4) is installed on the second joint (2), the second joint (2) can rotate relative to the first joint (1), a reaction structure is arranged on the second joint (2), and when the second joint (2) rotates, the reaction structure is used for providing a reaction force opposite to the movement direction of the second joint (2) for the second joint (2). According to the robot of this application, can improve the stationarity of robot operation in-process, the part of effectively avoiding snatching drops, improves the job stabilization nature of robot.

Description

robot

technical field

The present application relates to the field of robotics, and in particular, to a robot.

Background technique

Sorting robots have the characteristics of being able to repeat work and labor continuously, without being tired or afraid of danger, which greatly reduces the heavy manual labor of human beings. Therefore, sorting robots have been more and more widely used.

With the development of my country's manufacturing industry, the application of CNC machine tools is becoming more and more common. In order to reduce the high cost, low efficiency, and potential safety hazards caused by machine failure or misoperation, sorting robots are becoming more and more common. It is widely used in CNC machine tools to complete the sorting of workpieces of various shapes and states.

However, during the working process of the sorting robot, there is a problem of poor running stability, which is easy to cause the grasped parts to fall off, resulting in a decrease in the working performance of the robot.

Utility model content

Therefore, the technical problem to be solved by the present application is to provide a robot, which can improve the stability of the robot during operation, effectively prevent the grasped parts from falling off, and improve the working stability of the robot.

In order to solve the above problems, the present application provides a robot including a first joint, a second joint and a manipulator, the second joint is mounted on the first joint, the manipulator is mounted on the second joint, and the second joint can be relative to the first joint When the second joint is rotated, a reaction structure is arranged on the second joint. When the second joint rotates, the reaction structure is used to provide the second joint with a reaction force opposite to the movement direction of the second joint.

Preferably, the reaction structure includes a link mechanism, both ends of the link mechanism are arranged on the second joint, and the movement direction of the link mechanism is opposite to the movement direction of the second joint.

Preferably, the first end of the link mechanism is rotatably arranged at the first end of the second joint, and the second end of the link mechanism is rotatably arranged at the second end of the second joint.

Preferably, the first end of the link mechanism is set at the matching position of the first joint and the second joint, and the second end of the link mechanism is set at the matching position of the second joint and the manipulator.

Preferably, the robot further includes a third joint, the third joint is mounted on the second joint, and the manipulator is mounted on the second joint through the third joint.

Preferably, the third joint can rotate relative to the second joint; or, the manipulator can rotate relative to the third joint.

Preferably, the link mechanism includes a first link, a second link and a third link, wherein the first link is rotatably connected to the first end of the second joint, and the third link is rotatably connected to the first link. The second ends of the two joints, the first end of the second link is rotatably connected to the first link, and the second end of the second link is rotatably connected to the third link.

Preferably, the second link is provided on the upper side of the first link and the third link.

Preferably, the first end of the second joint is fixedly provided with a stud, and the first end of the link mechanism is rotatably mounted on the second joint through the stud; and/or, the second end of the second joint is fixedly provided with a stud A stud, the second end of the link mechanism is rotatably mounted on the second joint through the stud.

Preferably, the robot further comprises a base, the first joint is mounted on the base, and the base is provided with a controller for controlling the rotation direction of the second joint relative to the first joint.

Preferably, a motor is installed on the first joint, the motor is drivingly connected with the second joint, and drives the second joint to rotate.

Preferably, a reducer is provided between the motor and the second joint, and the motor is drivingly connected to the second joint through the reducer.

Preferably, a displacement sensor is provided on the manipulator, and the displacement sensor is used to obtain the current position of the manipulator.

Preferably, the robot further includes a controller, the displacement sensor is communicatively connected to the controller, and the controller adjusts the movement position of the manipulator according to the displacement information transmitted by the displacement sensor.

The robot provided by the present application includes a first joint, a second joint and a manipulator, the second joint is mounted on the first joint, the manipulator is mounted on the second joint, the second joint can rotate relative to the first joint, and the second joint is mounted on the second joint. A reaction structure is provided, and when the second joint rotates, the reaction structure is used to provide the second joint with a reaction force opposite to the movement direction of the second joint. When the second joint rotates in one direction, the reaction structure will also exert a reaction force on the second joint, and the direction of the reaction force is opposite to the rotation direction of the second joint, thereby providing a reverse force for the second joint, due to the reaction The reaction force of the structure is opposite to the rotation direction of the second joint, so it can reduce the vibration characteristics of the robot and balance the vibration force during the operation of the robot, thereby improving the stability of the robot during operation, effectively preventing the grasped parts from falling off, and improving the efficiency of the robot. The working stability of the robot.

Description of drawings

1 is a schematic diagram of an axonometric structure of a robot according to an embodiment of the application;

2 is a schematic diagram of another axonometric structure of the robot according to the embodiment of the application;

3 is a schematic diagram of the installation structure of the first joint of the robot according to the embodiment of the application;

4 is a schematic diagram of the installation structure of the first joint and the reducer of the robot according to the embodiment of the application;

5 is a schematic diagram of the assembly structure of the first joint and the second joint of the robot according to the embodiment of the application;

6 is a schematic structural diagram of a second joint of a robot according to an embodiment of the application;

FIG. 7 is a schematic three-dimensional structural diagram of a manipulator of a robot according to an embodiment of the present application.

Reference numerals are indicated as:

1, the first joint; 2, the second joint; 3, the third joint; 4, the manipulator; 5, the first link; 6, the second link; 7, the third link; 8, the stud; 9, base; 10, controller; 11, motor; 12, reducer; 13, displacement sensor; 14, machine tool; 15, workpiece; 16, cover plate.

Detailed ways

1 to 7 , according to an embodiment of the present application, the robot includes a first joint 1 , a second joint 2 and a manipulator 4 , the second joint 2 is installed on the first joint 1 , and the manipulator 4 is installed on the second joint 1 . On the joint 2, the second joint 2 can rotate relative to the first joint 1, and the second joint 2 is provided with a reaction structure. When the second joint 2 rotates, the reaction structure is used to provide the second joint 2 with the second joint 2. A reaction force in the opposite direction of motion.

During the working process of the robot, when the second joint 2 rotates in one direction, the reaction structure will also exert a reaction force on the second joint 2 at the same time, and the direction of the reaction force is opposite to the rotation direction of the second joint 2, so as to be The second joint 2 provides a reverse force. Since the reaction force of the reaction structure is opposite to the rotation direction of the second joint 2, the vibration characteristics of the robot can be reduced, the vibration force during the operation of the robot can be balanced, and the operation process of the robot can be improved. The stability of the robot can effectively prevent the grasped parts from falling off and improve the working stability of the robot.

In this embodiment, the reaction structure includes a link mechanism, both ends of the link mechanism are arranged on the second joint 2 , and the movement direction of the link mechanism is opposite to the movement direction of the second joint 2 . The robot of the present application adopts the second joint 2 to adjust the circumferential rotation position of the manipulator 4. Therefore, the circumferential rotation position of the manipulator 4 is mainly realized by the rotation of the second joint 2. During the rotation of the second joint 2, Since it is a cantilever structure, it is easy to cause poor running stability and a large vibration amplitude, which in turn leads to an unstable grasping structure of the workpiece 15 and poor working stability. By setting the link mechanism, during the rotation of the second joint 2, the link mechanism will also rotate in the opposite direction, forming a reverse force, because the link mechanism will provide a stretching effect during the reverse movement. The magnitude of the stretching effect is related to the vibration amplitude of the second joint, so the stretching effect can be used to reduce the vibration characteristics of the robot, so that a dynamic balance can be achieved during the operation of the robot, thereby keeping the robot running smoothly and reducing vibration.

In other embodiments, other structures that can realize the dynamic balance of the movement of the second joint 2 can also be used. For example, an elastic structure can be used to cooperate with a reaction member to form a reaction structure. Specifically, a pendulum rod can be used to cooperate with an elastic member. The first end of the piece is connected to the first end of the second joint 2, the first end of the swing rod is rotatably mounted on the second end of the second joint 2, and the second end of the swing rod is connected to the second end of the elastic piece. In this way, when the second joint 2 moves, under the action of inertia, the pendulum rod will rotate in the opposite direction to the rotation direction of the second joint 2, and the elastic member will be elastically deformed at this time, so that the pendulum rod and the The second joint 2 forms a stretching effect at the same time, and then the stretching effect can be used to balance the vibration effect of the second joint 2 during the rotation process, so as to realize the smooth operation of the second joint 2 .

In this embodiment, the first end of the link mechanism is rotatably arranged at the first end of the second joint 2, and the second end of the link mechanism is rotatably arranged at the second end of the second joint 2, so that the During the rotation of the second joint 2, both the first end and the second end of the link mechanism can rotate in the opposite direction to the second joint 2, exerting a reverse force on the second joint 2, reducing the The vibration generated during the rotation of the second joint 2 ensures the smooth operation of the second joint 2, thereby ensuring the smooth operation of the manipulator 4 to ensure that the manipulator 4 can stably grip the workpiece 15 and improve the working stability of the robot.

The first end of the link mechanism is set at the matching position of the first joint 1 and the second joint 2, and the second end of the link mechanism is set at the matching position of the second joint 2 and the manipulator 4, which can ensure the connection of the link mechanism. The centers of rotation of both ends are located at the fitting positions of the joints, so that the force applied by the link mechanism to the second joint 2 is only shown as a reaction force opposite to the rotation direction of the second joint 2, and no additional forces in other directions are applied. It avoids the generation of other excess force and affects the balance effect on the movement of the second joint 2, and improves the stability of the second joint 2 in the running process.

The robot further includes a third joint 3 , the third joint 3 is mounted on the second joint 2 , and the manipulator 4 is mounted on the second joint 2 through the third joint 3 . The third joint 3 can conveniently realize the installation and fixation between the manipulator 4 and the second joint 2 , and enables the robot to adjust the structures of the manipulator 4 and the third joint 3 as required, thereby realizing different functions.

For example, in one of the embodiments, the third joint 3 can be rotated relative to the second joint 2. In this case, the manipulator 4 can be fixedly installed on the third joint 3, and the third joint 3 can be used relative to the second joint. The rotation of 2 realizes the adjustment of the structural state of the manipulator 4 , which facilitates the realization of the sorting operation for the workpiece 15 .

In another embodiment, the third joint 3 and the manipulator 4 may also be configured such that the manipulator 4 can rotate relative to the third joint 3 . In this case, the third joint 3 can be fixedly arranged on the second joint 2 , and its own state can be adjusted mainly by adjusting the rotation position of the manipulator 4 , so as to facilitate the sorting operation of the workpiece 15 by the manipulator 4 .

In addition, the manipulator 4 is set to be rotatable relative to the third joint 3. Since the third joint 3 does not need to be responsible for the rotation of the manipulator 4, the third joint 3 can be set as a telescopic structure, thereby adjusting the telescopic position of the manipulator 4, which is convenient for the manipulator. 4. To operate on different workpieces 15, it is also convenient to realize different operation functions on the workpieces 15.

The link mechanism includes a first link 5, a second link 6 and a third link 7, wherein the first link 5 is rotatably connected to the first end of the second joint 2, and the third link 7 is rotatable Connected to the second end of the second joint 2, the first end of the second link 6 is rotatably connected to the first link 5, and the second end of the second link 6 is rotatably connected to the third link 7 on. The three links are rotatably connected to each other, and the first link 5 and the third link 7 can rotate relative to the second joint 2, so when the second joint 2 rotates, the three links can integrally move toward the second joint. The joint 2 moves in the opposite direction, thereby reducing the vibration of the second joint 2 when it rotates rapidly to a certain extent, and effectively restraining the vibration of the second joint 2 .

Preferably, the second link 6 is arranged on the upper side of the first link 5 and the third link 7 , at this time, both the first link 5 and the third link 7 can fit on the surface of the second joint 2 move, and the second link 6 is attached to the upper surfaces of the first link 5 and the third link 7, so that the overall height of the second link 6 relative to the second joint 2 is the same, and the first link 5 and the The third link 7 can provide stable support to the second link 6 , thus further ensuring the stability of the structure during the movement of the second link 6 and the vibration reduction effect of the link mechanism on the second joint 2 .

In other embodiments, the number of connecting rods may also be four or more, as long as it can be ensured that the second joint 2 can exert an opposite balancing force during the rotation of the second joint 2 .

In this embodiment, the first end of the second joint 2 is fixedly provided with a stud 8 , and the first end of the link mechanism is rotatably mounted on the second joint 2 through the stud 8 . The stud 8 can be integrally formed with the second joint 2, or can be a separate workpiece, and then fixed on the second joint 2 by processing threaded holes on the second joint 2. The first link of the link mechanism 5 is provided with a threaded hole, and the first connecting rod 5 is screwed on the stud 8. Since the rotation range of the first connecting rod 5 is limited, the rotation angle of the first connecting rod 5 relative to the stud 8 is limited, which can The problem of the first link 5 coming out from the stud 8 is avoided. In other embodiments, the stud 8 may also include a threaded section and a polished rod section, wherein the threaded section is fixedly connected to the second joint 2, the end of the polished rod section is provided with a threaded hole, and the end of the polished rod section is also provided with a threaded hole. The cover plate 16, after the first connecting rod 5 is sleeved on the polished rod section, the cover plate 16 can be fixed on the stud 8 by screwing, forming an axial fixation for the first connecting rod 5 to prevent the first connecting rod 5 from being connected. The rod 5 is disengaged from the stud 8 without affecting the rotation of the first link 5 relative to the stud 8 .

The second end of the second joint 2 is fixedly provided with a stud 8 , and the second end of the link mechanism is rotatably mounted on the second joint 2 through the stud 8 . The connection relationship between the third link 7 at the second end of the link mechanism and the second joint 2 can be set with reference to the connection relationship between the first link 5 and the second joint 2 .

The second connecting rod 6 and the first connecting rod 5 and the second connecting rod 6 and the third connecting rod 7 can be connected in rotation by means of screw connection, or by means of pin shaft connection. Alternatively, the rotational connection is achieved by the way that the screw is matched with the cover plate.

The robot further includes a base 9 on which the first joint 1 is mounted. The base 9 is provided with a controller 10 for controlling the rotation direction of the second joint 2 relative to the first joint 1 . The controller 10 is electrically connected to the driving mechanism, and is used to control the driving direction of the driving mechanism, thereby realizing the control of the rotation direction of the second joint 2 . The controller 10 is arranged on the base 9 . Since the base 9 is a fixed structure, it is more convenient to control the controller 10 . In addition, the controller 10 is also conductively connected with the mechanism that controls the rotation of the manipulator 4 itself. During the operation of the manipulator 4, the controller 10 can control the driving mechanism of the manipulator 4 to realize the rotation of the manipulator 4, grasping and placing items. operation.

In this embodiment, a motor 11 is installed on the first joint 1 , and the motor 11 is drivingly connected with the second joint 2 and drives the second joint 2 to rotate. The first joint 1 is provided with an installation cavity, and the motor 11 is arranged in the installation cavity, so that after the second joint 2 is installed on the first joint 1, the motor 11 can be enclosed in the installation cavity, so that the first joint can be installed in the installation cavity. 1 The effective use of the space is convenient to realize the miniaturization of the robot design.

In this embodiment, a reducer 12 is disposed between the motor 11 and the second joint 2 , and the motor 11 is drivingly connected to the second joint 2 through the reducer 12 . The motor 11 realizes the rotation control of the second joint 2 through the reducer 12 , and can precisely control the rotation position of the second joint 2 , thereby improving the rotation control precision of the second joint 2 . A flat key is provided on the output shaft of the motor 11 , which can realize the key connection with the reducer 12 , thereby facilitating the output of torque to the reducer 12 .

Preferably, a displacement sensor 13 is provided on the manipulator 4 , and the displacement sensor 13 is used to obtain the current position of the manipulator 4 .

The robot further includes a controller 10 , the displacement sensor 13 is communicatively connected to the controller 10 , and the controller 10 adjusts the movement position of the manipulator 4 according to the displacement information transmitted by the displacement sensor 13 .

When the manipulator 4 grabs the workpiece 15, the displacement sensor 13 can detect the grab position of the manipulator 4. When there is a deviation between the grab position of the manipulator 4 and the actual grab point, the displacement sensor 13 will feedback the information At the controller 10, the controller 10 will process the data, calculate the deviation distance, and then control the motor 11 according to the calculated data, so that the motor 11 drives the second joint 2 to rotate, and controls the manipulator 4 to reach the actual grasping Therefore, the grasping accuracy of the manipulator 4 can be directly positioned at the position of the manipulator at the end of the robot, avoiding the problem of reducing the accuracy caused by the repeated positioning of the position of the manipulator 4 by using multiple reducers to cooperate, and ensuring that the manipulator 4 can always reach At the same position, the positioning accuracy of the manipulator 4 is improved. In addition, since there is no need to cooperate with multiple reducers to achieve precise positioning of the manipulator, only one reducer 12 needs to be set at the second joint 2 to meet the positioning accuracy requirements of the manipulator 4, which simplifies the structure of the robot and greatly reduces the The cost of the robot.

The robot of the embodiment of the present application is especially suitable for the sorting operation of the workpiece 15 on the machine tool 14 .

Those skilled in the art can easily understand that, under the premise of no conflict, the above-mentioned advantageous manners can be combined and superimposed freely.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. Inside. The above are only the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, several improvements and modifications can also be made, and these improvements and modifications should also be It is regarded as the protection scope of this application.

Claims (14)

1. A robot, characterized in that it comprises a first joint (1), a second joint (2) and a manipulator (4), wherein the second joint (2) is mounted on the first joint (1), The manipulator (4) is mounted on the second joint (2), the second joint (2) can rotate relative to the first joint (1), and the second joint (2) is provided with a The reaction structure is used to provide the second joint (2) with a reaction force opposite to the movement direction of the second joint (2) when the second joint (2) rotates. 2. The robot according to claim 1, wherein the reaction structure comprises a link mechanism, both ends of the link mechanism are arranged on the second joint (2), and the link The movement direction of the mechanism is opposite to the movement direction of the second joint (2). 3. The robot according to claim 2, characterized in that the first end of the link mechanism is rotatably disposed on the first end of the second joint (2), and the second end of the link mechanism The end is rotatably provided at the second end of the second joint (2). 4. The robot according to claim 2, characterized in that, the first end of the link mechanism is arranged at the matching position of the first joint (1) and the second joint (2), and the The second end of the link mechanism is arranged at the matching position of the second joint (2) and the manipulator (4). 5. The robot according to claim 1, characterized in that, the robot further comprises a third joint (3), the third joint (3) is mounted on the second joint (2), and the manipulator (4) is mounted on the second joint (2) through the third joint (3). 6. The robot according to claim 5, wherein the third joint (3) can rotate relative to the second joint (2); or, the manipulator (4) can be rotated relative to the first joint (2) The three joints (3) rotate. 7. The robot according to claim 2, wherein the link mechanism comprises a first link (5), a second link (6) and a third link (7), wherein the first link The connecting rod (5) is rotatably connected to the first end of the second joint (2), and the third connecting rod (7) is rotatably connected to the second end of the second joint (2), The first end of the second link (6) is rotatably connected to the first link (5), and the second end of the second link (6) is rotatably connected to the first link (5). on the third link (7). 8. The robot according to claim 7, wherein the second link (6) is arranged on the upper side of the first link (5) and the third link (7). 9 . The robot according to claim 2 , wherein a stud ( 8 ) is fixedly provided at the first end of the second joint ( 2 ), and the first end of the link mechanism passes through the stud (8) is rotatably mounted on the second joint (2); and/or, a stud (8) is fixedly arranged at the second end of the second joint (2), and the first joint of the link mechanism The two ends are rotatably mounted on the second joint (2) through the stud (8). 10. The robot according to any one of claims 1 to 9, characterized in that, the robot further comprises a base (9), and the first joint (1) is mounted on the base (9) A controller (10) for controlling the rotation direction of the second joint (2) relative to the first joint (1) is provided on the base (9). 11. The robot according to claim 10, wherein a motor (11) is installed on the first joint (1), the motor (11) is drivingly connected with the second joint (2), and The second joint (2) is driven to rotate. 12. The robot according to claim 11, characterized in that a speed reducer (12) is provided between the motor (11) and the second joint (2), and the motor (11) is decelerated by the speed reducer (12). The device (12) is drivingly connected with the second joint (2). 13. The robot according to any one of claims 1 to 9, characterized in that, a displacement sensor (13) is provided on the manipulator (4), and the displacement sensor (13) is used to acquire the manipulator ( 4) of the current position. 14. The robot according to claim 13, characterized in that the robot further comprises a controller (10), the displacement sensor (13) is communicatively connected to the controller (10), the controller (10) ) adjusts the movement position of the manipulator (4) according to the displacement information transmitted by the displacement sensor (13).

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