CN212241051U

CN212241051U - Robot

Info

Publication number: CN212241051U
Application number: CN202021171892.9U
Authority: CN
Inventors: 程顺鹏; 崔中; 刘松; 怀宝宇; 张红梅
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2020-12-29
Anticipated expiration: 2030-06-22

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 application relates to the technical field of robots, in particular to a robot.

Background

The sorting robot has the characteristics of continuously repeating work and labor, being not aware of fatigue and being not afraid of danger, and greatly lightens heavy physical labor of human beings, so the sorting robot is more and more widely applied.

Along with the development of the manufacturing industry in China, the application of numerical control machines is more and more common, and in order to solve the problems that the cost is high, the efficiency is low, and potential safety hazards are easily caused by machine faults or misoperation when parts are manually sorted, sorting robots are more and more applied to the numerical control machines so as to finish the sorting work of workpieces in various shapes and states.

However, the sorting robot has the problem of poor running stability in the working process, and the grabbed parts are easy to fall off, so that the working performance of the robot is reduced.

SUMMERY OF THE UTILITY MODEL

Consequently, the technical problem that this application will be solved lies in providing a robot, can improve the stationarity of robot operation in-process, effectively avoids the part that snatchs to drop, improves the job stabilization nature of robot.

In order to solve the problem, the application provides a robot, including first joint, second joint and manipulator, the second joint is installed on first joint, and the manipulator is installed on the second joint, and the second joint can rotate for first joint, is provided with reaction structure on the second joint, and when the second joint rotated, reaction structure was used for providing the reaction force opposite with the direction of motion of second joint for the second joint.

Preferably, the reaction structure comprises a link mechanism, two ends of the link mechanism are arranged on the second joint, and the moving direction of the link mechanism is opposite to the moving direction of the second joint.

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

Preferably, a first end of the link mechanism is disposed at a fitting position of the first joint and the second joint, and a second end of the link mechanism is disposed at a fitting position of the second joint and the robot arm.

Preferably, the robot further comprises a third joint, the third joint being mounted on the second joint, and the manipulator being mounted on the second joint through the third joint.

Preferably, the third joint is rotatable relative to the second joint; alternatively, the manipulator may be rotatable relative to the third joint.

Preferably, the link mechanism includes a first link rotatably connected to a first end of the second joint, a second link rotatably connected to a second end of the second joint, and a third link rotatably connected to a first end of the second joint, a first end of the second link rotatably connected to the first link, and a second end of the second link rotatably connected to the third link.

Preferably, the second link is disposed at an upper side of the first link and the third link.

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

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

Preferably, a motor is installed on the first joint, and the motor is in driving connection with the second joint and drives the second joint to rotate.

Preferably, a speed reducer is arranged between the motor and the second joint, and the motor is in driving connection with the second joint through the speed reducer.

Preferably, a displacement sensor is arranged on the manipulator, and the displacement sensor is used for acquiring the current position of the manipulator.

Preferably, the robot further comprises a controller, the displacement sensor is in communication connection with the controller, and the controller adjusts the movement position of the manipulator according to the displacement information transmitted by the displacement sensor.

The application provides a robot, including first joint, second joint and manipulator, the second joint is installed on first joint, and the manipulator is installed on the second joint, and the second joint can be for first joint rotation, is provided with the reaction structure on the second joint, and when the second joint rotated, the reaction structure was used for providing the reaction force opposite with the direction of motion of second joint for the second joint. When the second joint is rotatory to a direction, the reaction structure also can exert a reaction force to the second joint, the direction of this reaction force is opposite with the rotation direction of second joint, thereby provide a reaction force for the second joint, because the reaction force of reaction structure is opposite with the rotation direction of second joint, consequently, can reduce the vibration characteristic of robot, the vibration effort of balanced robot operation in-process, thereby improve the stationarity of robot operation in-process, effectively avoid the part of snatching to drop, improve the job stabilization nature of robot.

Drawings

Fig. 1 is a schematic axial structure diagram of a robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of another axial structure of a robot according to an embodiment of the present disclosure;

fig. 3 is a schematic view of an installation structure of a first joint of the robot according to the embodiment of the present application;

fig. 4 is a schematic view of an installation structure of a first joint and a reducer of the robot according to the embodiment of the present application;

fig. 5 is a schematic view of an assembly structure of a first joint and a second joint of the robot according to the embodiment of the present application;

fig. 6 is a schematic structural view of a second joint of the robot according to the embodiment of the present application;

fig. 7 is a schematic perspective view of a manipulator of the robot according to the embodiment of the present application.

The reference numerals are represented as:

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

Detailed Description

Referring to fig. 1 to 7 in combination, according to an embodiment of the present application, a robot includes a first joint 1, a second joint 2, and a manipulator 4, 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 is capable of rotating relative to the first joint 1, and a reaction structure is provided on the second joint 2, and the reaction structure is configured to provide a reaction force to the second joint 2 in a direction opposite to a moving direction of the second joint 2 when the second joint 2 rotates.

In the process of robot work, when second joint 2 is rotatory to a direction, the reaction structure also can exert a reaction force to second joint 2 simultaneously, the direction of this reaction force is opposite with second joint 2's direction of rotation, thereby provide a reaction force for second joint 2, because the reaction force of reaction structure is opposite with second joint 2's direction of rotation, consequently, can reduce the vibration characteristic of robot, the vibration effort of balanced robot operation in-process, thereby improve the stationarity of robot operation in-process, effectively avoid the part of snatching to drop, improve the job stabilization nature of robot.

In this embodiment, the reaction structure includes a link mechanism, both ends of the link mechanism are disposed 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 this application has adopted second joint 2 to adjust the circumferential direction position of manipulator 4, and consequently, the circumferential direction position of manipulator 4 mainly is realized by the rotation of second joint 2, and at second joint 2 pivoted in-process, because it is cantilever structure, consequently lead to the operation stationarity relatively poor easily, and the vibration range is great, and then leads to grabbing of work piece 15 structure shakiness, and job stabilization nature is relatively poor. And through setting up link mechanism, at the 2 pivoted in-processes of second joint, link mechanism also can be rotatory towards opposite direction, forms a counter force, because link mechanism can provide a tensile effect at the reverse motion in-process, the size of this tensile effect is relevant with the vibration range of second joint, consequently can utilize this tensile effect to reduce the vibration characteristic of robot for can realize a dynamic balance among the robot operation process, and then keep robot smooth operation, reduce the vibration.

In other embodiments, other structures capable of dynamic balancing of the second joint 2 may be used, for example, the elastic structure can be matched with the reaction element to form the reaction structure, specifically, a swing rod and an elastic element can be matched, wherein the first end of the elastic element is connected to the first end of the second joint 2, the first end of the swing link is rotatably mounted at the second end of the second joint 2, and the second end of the swing link is connected to the second end of the elastic element, so that, when the second joint 2 moves, under the action of inertia, the swing rod can rotate towards the direction opposite to the rotation direction of the second joint 2, at the moment, the elastic piece can generate elastic deformation, thereby simultaneously forming stretching action on the swing rod and the second joint 2, and then the vibration effect in the rotation process of the second joint 2 can be balanced by utilizing the stretching effect, and the smooth operation of the second joint 2 is realized.

In this embodiment, link mechanism's first end can set up the first end at second joint 2 with rotating, link mechanism's second end can set up the second end at second joint 2 with rotating, thereby make at second joint 2 pivoted in-process, link mechanism's first end and second end all can rotate for the direction opposite with second joint 2, exert a counter force for second joint 2, reduce the produced vibration effect of second joint 2 rotation in-process, guarantee second joint 2 moving stationarity, and then guarantee manipulator 4 moving stationarity and guarantee that manipulator 4 can stably press from both sides and get work piece 15, improve robot's job stabilization nature.

The first end of the link mechanism is arranged at the matching position of the first joint 1 and the second joint 2, the second end of the link mechanism is arranged at the matching position of the second joint 2 and the manipulator 4, and the rotation centers of the two ends of the link mechanism are both positioned at the matching position of the joints, so that the acting force applied to the second joint 2 by the link mechanism is only expressed as a reaction force opposite to the rotation direction of the second joint 2, and additional acting forces in other directions can not be applied, thereby avoiding generating other redundant forces to influence the balance action on the motion of the second joint 2, and improving the stability of the second joint 2 in the operation process.

The robot further comprises a third joint 3, the third joint 3 being mounted on the second joint 2, and the manipulator 4 being mounted on the second joint 2 via 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 the robot can adjust the structures of the manipulator 4 and the third joint 3 according to the requirements, thereby realizing different functions.

For example, in one embodiment, the third joint 3 can rotate relative to the second joint 2, in which case the manipulator 4 can be fixedly mounted on the third joint 3, and the rotation of the third joint 3 relative to the second joint 2 can be used to adjust the structural state of the manipulator 4, thereby facilitating the sorting operation of the workpieces 15.

In another embodiment, the third joint 3 and the manipulator 4 may also be configured such that the manipulator 4 is rotatable relative to the third joint 3. Under this condition, third joint 3 can be fixed to be set up on second joint 2, mainly realizes the regulation of self state through adjusting manipulator 4 self pivoted position, conveniently realizes the letter sorting operation of manipulator 4 to work piece 15.

In addition, set up manipulator 4 to rotate for third joint 3, because third joint 3 need not to be responsible for the rotation of manipulator 4, consequently can set up third joint 3 into extending structure to adjust the flexible position of manipulator 4, make things convenient for manipulator 4 to operate different work pieces 15, also conveniently realize the different operating function to work piece 15.

The link mechanism comprises a first link 5, a second link 6 and a third link 7, wherein the first link 5 is rotatably connected to a first end of the second joint 2, the third link 7 is rotatably connected to a second end of the second joint 2, a first end of the second link 6 is rotatably connected to the first link 5, and a second end of the second link 6 is rotatably connected to the third link 7. The three connecting rods are rotatably connected with each other, and the first connecting rod 5 and the third connecting rod 7 can rotate relative to the second joint 2, so that when the second joint 2 rotates, the three connecting rods can integrally move towards the direction opposite to that of the second joint 2, vibration of the second joint 2 during quick rotation is reduced to a certain extent, and the vibration of the second joint 2 is effectively restrained.

Preferably, second connecting rod 6 sets up the upside at first connecting rod 5 and third connecting rod 7, at this moment, first connecting rod 5 and third connecting rod 7 all can laminate the surface motion at second joint 2, and second connecting rod 6 laminates the upper surface at first connecting rod 5 and third connecting rod 7, make second connecting rod 6 unanimous for the whole height of second joint 2, first connecting rod 5 and third connecting rod 7 can exert steady supporting role to second connecting rod 6 simultaneously, consequently, the stationarity of second connecting rod 6 motion in-process structure has been guaranteed more, link mechanism has been guaranteed to the damping effect of second joint 2.

In other embodiments, the number of the connecting rods may be four or more, as long as it is ensured that the opposite balance acting force is applied to the second joint 2 in the process of rotating the second joint 2.

In the present embodiment, a stud 8 is fixedly provided at a first end of the second joint 2, and a first end of the link mechanism is rotatably attached to the second joint 2 via the stud 8. The stud 8 can be integrally formed with the second joint 2, or can be an independent workpiece, and then is fixedly arranged on the second joint 2 in a mode of processing a threaded hole in the second joint 2, a threaded hole is formed in the first connecting rod 5 of the connecting rod mechanism, the first connecting rod 5 is in threaded connection with the stud 8, and the rotating angle of the first connecting rod 5 relative to the stud 8 is limited due to the limited rotating range of the first connecting rod 5, so that the problem that the first connecting rod 5 is separated from the stud 8 can be solved. 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, a threaded hole is formed in an end of the polished rod section, a cover plate 16 is further disposed at an end of the polished rod section, after the first connecting rod 5 is sleeved on the polished rod section, the cover plate 16 may be fixed on the stud 8 in a threaded connection manner, axial fixation is formed for the first connecting rod 5, the first connecting rod 5 is prevented from coming off the stud 8, and meanwhile, rotation of the first connecting rod 5 relative to the stud 8 is not affected.

A stud 8 is fixedly arranged at the second end of the second joint 2, 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 linkage and the second joint 2 may 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 rotationally connected in a screw connection mode, and can also be rotationally connected in a pin connection mode, or rotationally connected in a screw and cover plate matching mode.

The robot further comprises a base 9, the first joint 1 is mounted on the base 9, and a controller 10 for controlling the rotation direction of the second joint 2 relative to the first joint 1 is arranged on the base 9. The controller 10 is electrically connected to the driving mechanism for controlling the driving direction of the driving mechanism, and thus controlling the rotation direction of the second joint 2. The controller 10 is disposed on the base 9, and since the base 9 is a fixed structure, it is more convenient to operate and control the controller 10. In addition, the controller 10 is also electrically connected with a mechanism for controlling the rotation of the manipulator 4, so that the controller 10 can control the driving mechanism of the manipulator 4 in the working process of the manipulator 4, and the operations of rotating, grabbing and placing the articles of the manipulator 4 are realized.

In this embodiment, the first joint 1 is provided with a motor 11, and the motor 11 is in driving connection with the second joint 2 and drives the second joint 2 to rotate. Wherein be provided with the installation cavity on the first joint 1, motor 11 sets up in this installation cavity to after second joint 2 is installed on first joint 1, can seal motor 11 in the installation cavity, realize the effective utilization to the space of first joint 1, be convenient for realize the miniaturization of robot design.

In the present embodiment, a speed 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 speed reducer 12. The motor 11 realizes the rotation control of the second joint 2 through the speed reducer 12, and can accurately control the rotation position of the second joint 2, thereby improving the rotation control precision of the second joint 2. The output shaft of the motor 11 is provided with a flat key, so that key connection with the speed reducer 12 can be realized, and torque can be conveniently output to the speed reducer 12.

Preferably, a displacement sensor 13 is arranged on the manipulator 4, and the displacement sensor 13 is used for acquiring the current position of the manipulator 4.

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

When the manipulator 4 grabs the workpiece 15, the grabbing position of the manipulator 4 can be detected through the displacement sensor 13, when the grabbing position of the manipulator 4 deviates from an actual grabbing point, the displacement sensor 13 feeds information back to the controller 10, the controller 10 processes the data, a deviation distance is calculated, the motor 11 is controlled according to the calculated data, the motor 11 drives the second joint 2 to rotate, the manipulator 4 is controlled to reach the actual grabbing point position, the grabbing precision of the manipulator 4 can be directly positioned at the manipulator position at the tail end of the robot, the problem of precision reduction caused by the fact that the manipulator 4 is repeatedly positioned by matching a plurality of speed reducers is solved, the manipulator 4 can always reach the same position, and the positioning precision of the manipulator 4 is improved. In addition, because the precise positioning of the manipulator is realized without the cooperation of a plurality of speed reducers, the positioning precision requirement of the manipulator 4 can be met only by arranging one speed reducer 12 at the second joint 2, the structure of the robot is simplified, and the cost of the robot is greatly reduced.

The robot of the embodiment of the present application is particularly suitable for sorting operations of workpieces 15 on a machine tool 14.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.

Claims

1. The robot is characterized by comprising 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 reaction force opposite to the movement direction of the second joint (2) for the second joint (2).

2. Robot according to claim 1, characterized in that the reaction structure comprises a linkage mechanism, both ends of which are arranged on the second joint (2), and the direction of movement of which is opposite to the direction of movement of the second joint (2).

3. A robot according to claim 2, characterized in that a first end of the link mechanism is rotatably arranged at a first end of the second joint (2) and that a second end of the link mechanism is rotatably arranged at a second end of the second joint (2).

4. Robot according to claim 2, characterized in that a first end of the linkage is arranged at the location of cooperation of the first joint (1) and the second joint (2) and a second end of the linkage is arranged at the location of cooperation of the second joint (2) and the manipulator (4).

5. Robot according to claim 1, characterized in that it further comprises a third joint (3), said third joint (3) being mounted on said second joint (2), said manipulator (4) being mounted on said second joint (2) through said third joint (3).

6. Robot according to claim 5, characterized in that the third joint (3) is rotatable relative to the second joint (2); or, the manipulator (4) is rotatable relative to the third joint (3).

7. The robot according to claim 2, characterized in that the linkage comprises a first link (5), a second link (6) and a third link (7), wherein the first link (5) is rotatably connected at a first end of the second joint (2), the third link (7) is rotatably connected at a second end of the second joint (2), a first end of the second link (6) is rotatably connected to the first link (5), and a second end of the second link (6) is rotatably connected to the third link (7).

8. Robot according to claim 7, characterized in that 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, characterized in that a stud (8) is fixedly arranged at a first end of the second joint (2), and a first end of the link mechanism is rotatably mounted on the second joint (2) through the stud (8); and/or a stud (8) is fixedly arranged at the second end of the second joint (2), and the second end of the link mechanism is rotatably arranged on the second joint (2) through the stud (8).

10. A robot according to any of claims 1-9, characterized in that the robot further comprises a base (9), the first joint (1) being mounted on the base (9), the base (9) being provided with a controller (10) controlling the direction of rotation of the second joint (2) in relation to the first joint (1).

11. The robot according to claim 10, characterized in that a motor (11) is mounted on the first joint (1), and the motor (11) is in driving connection with the second joint (2) and drives the second joint (2) to rotate.

12. The robot according to claim 11, characterized in that a speed reducer (12) is arranged between the motor (11) and the second joint (2), and the motor (11) is in driving connection with the second joint (2) through the speed reducer (12).

13. Robot according to any of the claims 1 to 9, characterized in that a displacement sensor (13) is arranged on the manipulator (4), which displacement sensor (13) is used to obtain the current position of the manipulator (4).

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), and the controller (10) adjusts the movement position of the manipulator (4) according to the displacement information transmitted by the displacement sensor (13).