CN211615603U

CN211615603U - Multi-axis robot

Info

Publication number: CN211615603U
Application number: CN201922259110.0U
Authority: CN
Inventors: 王钰堃; 何俊
Original assignee: Shanghai Laien Machine Tool Parts Corp
Current assignee: Shanghai Laien Machine Tool Parts Corp
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-10-02
Anticipated expiration: 2029-12-13

Abstract

The utility model provides a multi-axis robot, which comprises a base component and at least two mechanical arm components; the base component comprises a base supporting piece and a first shaft joint fixed on the base supporting piece; each mechanical arm assembly comprises a mechanical arm, a second shaft joint fixed at one end of the mechanical arm and a shaft joint connecting part arranged at the other end of the mechanical arm; the at least two mechanical arm assemblies are sequentially and rotatably connected, and in the two mechanical arm assemblies which are mutually connected, a shaft joint connecting part on a mechanical arm in the rear-stage mechanical arm assembly is connected with a torque output part of a second shaft joint on the mechanical arm in the front-stage mechanical arm assembly; and the shaft joint connecting part on the mechanical arm of the mechanical arm assembly adjacent to the base support is connected with the torque output part of the first shaft joint. The embodiment of the utility model provides a through modular arm component, not only occupation space is less, easily installs the debugging moreover to easily the extension.

Description

Multi-axis robot

Technical Field

The embodiment of the utility model provides a relate to industrial robot field, more specifically say, relate to a multiaxis robot.

Background

In the existing equipment for processing plates with the assistance of a modular robot, a sliding block type robot is generally adopted for transferring materials, and the sliding block type robot mainly comprises two sliding devices and a rotating device. In the slider robot, the two sliding devices can move the rotating device to any position in the corresponding plane, and the rotating device realizes the posture adjustment of the point position of the output shaft in the corresponding plane, namely the accurate positioning of any position in the plane and the angle adjustment and rotation of the corresponding point position are realized through the sliding and rotating combined robot.

However, in the slider robot, since the two slider devices are used to precisely position the end structure at any position in the plane (X-Y plane), it is necessary to place a precisely positioned guide rail device in the X-axis and Y-axis directions to precisely position the slider in the X-Y plane. Due to structural limitation, enough space is needed for placing the sliding blocks and the rails in the X-axis direction and the Y-axis direction, the occupied space is large, and the expansion is not easy. In addition, when the slider robot does not work, the guide rail structure cannot contract and adjust the posture of the slider robot, and the slider robot still needs to occupy the original space.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a to the problem that above-mentioned slider formula robot occupation space is great, can't realize the extension, and can't contract and adjust, provide a multiaxis robot.

The embodiment of the utility model provides a solve above-mentioned technical problem's technical scheme is, provide a multiaxis robot, include:

a base assembly and at least two robot arm assemblies;

the base assembly comprises a base support and a first shaft joint fixed on the base support;

each mechanical arm assembly comprises a mechanical arm, a shaft joint connecting part fixed at one end of the mechanical arm and a second shaft joint arranged at the other end of the mechanical arm;

the at least two mechanical arm assemblies are sequentially and rotatably connected, and in the two mechanical arm assemblies which are mutually connected, a shaft joint connecting part on a mechanical arm in the rear-stage mechanical arm assembly is connected with a torque output part of a second shaft joint on the mechanical arm in the front-stage mechanical arm assembly;

and the shaft joint connecting part on the mechanical arm of the mechanical arm assembly adjacent to the base support is connected with the torque output part of the first shaft joint.

Preferably, the multi-axis robot includes two arm assemblies, and the mechanical arm of the arm assembly connected to the first axis joint has a structural strength greater than that of the mechanical arm of the other arm assembly.

Preferably, the multi-axis robot includes three or more mechanical arm assemblies, and the structural strength of the mechanical arm assembly adjacent to the base support member is greater than that of the mechanical arm in the mechanical arm assembly at the middle position, and the structural strength of the mechanical arm assembly at the end far away from the base support member is less than that of the mechanical arm in the mechanical arm assembly at the middle position;

wherein the intermediate position robot arm assembly refers to at least one robot arm assembly located between the robot arm assembly adjacent to the base assembly and the end robot arm assembly.

Preferably, the robotic arm assemblies in the intermediate positions have the same shape and configuration.

Preferably, the torque output of the first shaft joint is oriented in the same or opposite direction as the torque output of the second shaft joint;

the torque output of the second axle joint in each robot arm assembly is oriented in the same or opposite direction as the torque output of the second axle joint in the connected robot arm assembly.

Preferably, the base support comprises:

a first fixing portion for fixing the base member to a first mounting surface; and/or the presence of a gas in the gas,

and the second fixing part is used for fixing the base component to a second mounting surface, and the first mounting surface is perpendicular to the second mounting surface.

Preferably, the first shaft joint includes a first motor, a first connecting flange and a first speed reducer, the first motor is fixed to the base support member through the first connecting flange, a torque input portion of the first speed reducer is connected to a rotating shaft of the first motor, and a torque output portion of the first speed reducer constitutes a torque output portion of the first shaft joint.

Preferably, in each of the robot arm assemblies, the second shaft joint includes a second motor, a second connecting flange and a second speed reducer, the second motor is fixed to one end of the robot arm through the second connecting flange, a torque input portion of the second speed reducer is connected to a rotating shaft of the second motor, and a torque output portion of the second speed reducer constitutes a torque output portion of the second shaft joint.

Preferably, in each of the arm assemblies, one end of the arm has a motor mounting hole, the second motor is fixedly mounted in the motor mounting hole through the second connecting flange, and the second speed reducer is located outside the motor mounting hole.

Preferably, the shaft joint connecting portion of each mechanical arm assembly comprises a speed reducer mounting hole, a central shaft of the speed reducer mounting hole is parallel to a central shaft of the motor mounting hole, the first shaft joint is fixedly mounted on the mechanical arm in a manner that the first speed reducer is embedded in the speed reducer mounting hole of the mechanical arm connected to the first shaft joint, and the second shaft joint is fixedly mounted on the mechanical arm in a manner that the second speed reducer is embedded in the speed reducer mounting hole of the mechanical arm connected to the second shaft joint.

The utility model discloses multiaxis robot has following beneficial effect:

the multi-axis robot provided by the embodiment of the utility model can realize the accurate positioning of any position in a plane through the angular posture adjustment of the shaft connecting parts of a plurality of mechanical arm assemblies, can be applied to the operation of feeding and discharging, and improves the efficiency of feeding and discharging; moreover, the multi-axis robot device can be contracted and extended through the angle posture adjustment of the shaft connecting components of the plurality of robot arm assemblies, so that the placing space of the device is saved when the multi-axis robot device is not used; in addition, due to the adoption of the modularized robot structural design, when a certain robot arm component in the multi-axis robot is damaged, the corresponding robot arm component can be directly used for replacement, the cost is low, and the maintenance is convenient.

Drawings

Fig. 1 is a schematic structural diagram of a multi-axis robot provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a base assembly in a multi-axis robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a mechanical arm assembly in a multi-axis robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a multi-axis robot according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a multi-axis robot according to a third embodiment of the present invention;

fig. 6 is a schematic structural diagram of a mechanical arm assembly in a multi-axis robot according to a third embodiment of the present invention;

fig. 7 is a schematic structural view of the multi-axis robot applied to loading and unloading of plates.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, the embodiment of the present invention provides a multi-axis robot, which can be applied to automatic production equipment, for example, to realize feeding and discharging of materials. The multi-axis robot of this embodiment includes base subassembly and a plurality of robotic arm assembly, wherein the base subassembly includes base support piece 11 and first axle joint 12, and first axle joint 12 fixes on base support piece, and each robotic arm assembly includes a arm 21, a second axle joint 22 and an axle joint connecting portion, and in each robotic arm assembly, the axle joint connecting portion are fixed in the one end of arm 21, and second axle joint 22 then sets up in the other end of arm 21, and the both ends of arm 21 are located respectively to second axle joint 22 and axle joint connecting portion promptly.

The base support member 11 is mainly used for providing fixed support for the whole multi-axis robot, the multiple mechanical arm assemblies are sequentially and rotatably connected, namely, the rotating arm assembly at the first stage in the multiple mechanical arm assemblies is rotatably connected with the base assembly, the second rotating arm assembly is rotatably connected with the first rotating arm assembly (namely, the first rotating arm assembly is the front stage of the second rotating arm assembly, and the second rotating arm assembly is the rear stage of the first rotating arm assembly), and the rotating arm assemblies reach the tail end (namely, the last rotating arm assembly) according to the sequence.

Specifically, in two robot arm assemblies rotatably connected to each other, the shaft joint connection portion on the robot arm 21 of the rear robot arm assembly is connected to the torque output portion of the second shaft joint 22 of the front robot arm assembly, and the shaft joint connection portion on the robot arm 21 of the robot arm assembly adjacent to the base support (the shaft joint connection portion of this robot arm assembly is not connected to the torque output portion of the second shaft joint 22 of the other robot arm assembly) is connected to the torque output portion of the first shaft joint 12, thereby forming a structure in which the base support 11, the plurality of robot arms 21 are rotatably connected in order, and the second shaft joint 22 at the rotating wall assembly distant from the base assembly (i.e., the robot arm assembly in which the torque output portion of the second shaft joint 22 is not connected to the other robot arm 21) is moved at any point within a predetermined plane area.

The rotation axes of the torque output parts of the first shaft joints 12 and the plurality of second shaft joints 22 are parallel, the first shaft joints 12 and the second shaft joints 22 (except the second shaft joints 22 of other mechanical arms which are not fixedly arranged on the torque output parts) can respectively drive the mechanical arms 21 fixedly arranged on the torque output parts to rotate, and the second shaft joints 22 of which the torque output parts are not fixedly arranged with the mechanical arms can drive the plug-in components connected with the torque output parts to rotate so as to adjust the postures of the plug-in components (including the postures of materials grabbed by the plug-in components), thereby realizing the transfer and pick-and-place of the materials between different stations.

Above-mentioned multi-axis robot passes through modular robotic arm subassembly, need not to set up fixed slide rail, and not only occupation space is less, easily installs the teaching moreover to easily the extension. When the multi-axis robot is applied to loading and unloading operation, the efficiency of loading and unloading can be greatly improved through the synergistic effect of the first axis joint 12 and the second axis joint 22. In addition, when the work is stopped, the whole device can be folded through the first shaft joint 12 and the second shaft joint 22, and the space is not occupied any more.

In an embodiment of the invention, as shown in fig. 2, the base support 11 of the base assembly comprises a mounting cavity for receiving the first axle joint 12. Specifically, the base support 11 includes a first fixing portion 111 and/or a second fixing portion 112, and the mounting surfaces of the first fixing portion 111 and the second fixing portion 112 are perpendicular to each other, that is, the base can be mounted and fixed by the first fixing portion 111, and the base assembly can also be mounted and fixed by the second fixing portion 112, so that mounting applications of different end surfaces can be realized, and mounting flexibility is improved.

The fixed part of the first shaft joint 12 is fixedly connected to the base support 11, and the torque output part is fixedly connected to the robot arm 21 at the rear end. Specifically, the first axle joint 12 includes a first motor 121, a first connecting flange 122 and a first reducer 123, wherein the first motor 121 may be a servo motor, a direct drive servo or a pneumatic motor, etc., the first motor 121 is mounted and fixed on the base support 11 of the base assembly through the first connecting flange 122, a torque input portion of the first reducer 123 is connected to an output end of the first motor 121, and a torque output portion of the first reducer 123 is fixedly connected to an axle joint connecting portion on the mechanical arm 21, i.e., an end far away from the second axle joint 22.

By adding the first speed reducer 123 to the output end of the first motor 121, the output speed of the first shaft joint 12 can be made lower, and the output torque can be made larger, so that the performance of the tail end output can be improved, and the mechanical arm assembly with the rear end as an execution part can drive more expansion modules. Of course, the first reducer 123 may be omitted in certain applications, but this would result in a higher power first motor 121 being required to meet the torque output requirement.

Specifically, as shown in fig. 3, the second shaft joint 22 includes a second motor 221, a second connecting flange, and a second reducer 222. One end of the mechanical arm 21, which is equipped with the second shaft joint 22, is provided with a motor mounting hole perpendicular to the length direction of the mechanical arm 21, the diameter of the motor mounting hole is matched with the diameter of the outer periphery of the second motor 221, the second motor 221 passes through the motor mounting hole and is fixed with the mechanical arm 21 through a second connecting flange, and the second reducer 222 is positioned outside the motor mounting hole. The second motor 221 is mainly used for providing kinetic energy, and may be a servo motor, a direct drive servo motor, or a pneumatic motor. The second speed reducer 222 is used to convert the torque output from the second motor 221, and thus the output speed is reduced and the torque is increased, thereby improving the performance of the final output. In addition to the main components for realizing the above functions, the second shaft joint 22 may further include auxiliary components such as a motor cover, a reducer cover, and a robot arm end cover, which are mainly used to protect the corresponding motor, reducer, and robot arm shaft ends and provide a clean working environment for the internal module.

In order to realize the fixed mounting of the robot arm 21 and the torque output portion of the first shaft joint 12 or the torque output portion of the second shaft joint 22, in each robot arm assembly, the shaft joint connecting portion on the robot arm 21 may include a reducer mounting hole and a reducer fixing portion 211 corresponding to the reducer mounting hole, wherein a central axis of the reducer mounting hole is parallel to a central axis of the motor mounting hole, the reducer fixing portion 211 protrudes out of the surface of the robot arm 21 at the reducer mounting hole, and the first shaft joint 12 is fixed to the robot arm 21 reducer fixing portion 211 in such a manner that the first reducer 123 is fitted into the reducer mounting hole of the connected robot arm 21, and the second shaft joint 22 is fixed to the robot arm in such a manner that the second reducer 222 is fitted into the reducer mounting hole of the connected robot. Through the structure, the modularization of the speed reducer assembly can be realized, and the expansion of the multi-axis robot is facilitated.

Specifically, the shaft joint connecting portion on the mechanical arm 21 may be connected and fixed with the torque output portion of the first shaft joint 12 or the second shaft joint 22 through a screw, and of course, in practical applications, the shaft joint connecting portion on the mechanical arm 21 may also be connected through a transmission device such as a timing belt, a gear, and the like. In addition, the shaft joint connecting portion of the robot arm 21 and the torque output portion of the first shaft joint 12 or the second shaft joint 22 may be connected concentrically or eccentrically, depending on the actual application.

In a specific application, as shown in fig. 1, the multi-axis robot may include two arm assemblies, that is, two mechanical arms 21 and two second axis joints 22, and one end of one of the mechanical arms 21 is connected to the other mechanical arm 21 through the second axis joint 22. The multi-axis robot with the structure can be applied to occasions with small distance between stations.

Since the robot arm 21 itself has a certain weight, the robot arm 21 connected to the first axis joint 12 is required to bear more weight, and accordingly, in the above-described multi-axis robot, the structural strength of the robot arm 21 of the robot arm assembly connected to the first axis joint 12 can be made greater than that of the robot arm 21 of the other robot arm assembly (i.e., the two robot arms 21 are different in size, material, and/or reinforcing structure, etc., such as the robot arm 21 connected to the first axis joint 12 can be made larger in size than the other robot arm 21). Moreover, the output power of the first shaft joint 12 can be made larger than the output power of the second shaft joint 22, that is, the first shaft joint 12 and the second shaft joint 22 have different output powers, so that energy consumption and materials can be saved, and the cost can be saved. Of course, in practical applications, the first shaft joint 12 and the second shaft joint 22 may have the same output power, and the two mechanical arms 21 may also have the same structural strength.

As shown in fig. 4, in another embodiment of the present invention, the multi-axis robot includes a base assembly and three mechanical arm assemblies to realize the transfer of the external hanging assembly and the material in a wider range. Of course, in practical applications, the multi-axis robot may further include more than three robot arm assemblies to extend the material transfer range.

In the multi-axis robot, the directions of the torque output parts of the first axis joints 12 and the torque output parts of the second axis joints 22 are the same or opposite, and the directions of the second axis joints 22 are the same, so that the robot arms 21 are sequentially overlapped, and the robot arms 21 can be prevented from interfering with each other during operation of the multi-axis robot.

In practical application, each mechanical arm assembly of the multi-axis robot can have the same shape and structure, so that the production, the manufacture and the assembly are convenient. However, in consideration of cost and the like, the structural strength of the robot arm 21 connected to the first axis joint 12 may be made greater than that of the robot arm 21 in the robot arm assembly at the intermediate position, and the structural strength of the robot arm 21 of the robot arm assembly at the end far from the base assembly (i.e., the robot arm 21 of the robot arm assembly to which the torque output part of the second axis joint 22 of the robot arm assembly is not connected to the other robot arm 21) may be made smaller than that of the robot arm 21 at the intermediate position. Moreover, the output power of the first shaft joint 12 can be made larger than that of the second shaft joint 22, and the output power of the second shaft joint 22 of the end mechanical arm assembly far away from the base assembly can be made smaller than that of the other second shaft joints 22. Wherein a mid-position robot arm assembly refers to at least one robot arm assembly located between the robot arm assembly adjacent to the base assembly and the end robot arm assembly.

In addition, in the multi-axis robot, the robot arm assemblies at the intermediate positions can have the same shape and structure, that is, the robot arms 21 of the robot arm assemblies at the plurality of intermediate positions have the same shape, size and the like, and the second shaft joints 22 of the robot arm assemblies at the plurality of intermediate positions have the same output power, so that the multi-axis robot is beneficial to standardized manufacture and installation and expansion.

To further save space, as shown in fig. 5-6, in another embodiment of the present invention, the orientation of the torque output of each second shaft joint 22 in the transfer assembly may not be the same, i.e., the torque output of the first shaft joint 12 is oriented opposite the torque output of the second shaft joint 22 in the associated robot arm assembly, and the torque output of the second shaft joint 22 in each robot arm assembly is oriented opposite the torque output of the second shaft joint 22 in the associated robot arm assembly. So that alternate robotic arms 21 are in the same plane. The above structure may affect the range of motion of the robot arm 21, but may save space, especially when the multi-axis robot includes more robot arm assemblies.

As shown in fig. 7, the multi-axis robot of the present invention can be applied to a plate (e.g. glass) processing platform, and the multi-axis robot can perform loading and unloading on the plate, i.e. the multi-axis robot can transfer the plate between the trough and the processing station. The plate processing platform may be, for example, a glass engraving and milling platform.

Specifically, in the plate processing platform, an external hanging component can be fixed at the torque output part of the second shaft joint of the end mechanical arm component of the multi-shaft robot, and the external hanging component can comprise a rack bar 31 and a plurality of fixing blocks 32, wherein the rack bar 31 is parallel to the rotating shaft of the torque output part of the second shaft joint 22 and is driven by the second shaft joint 22 to rotate, so that the gantry crane type movement mechanism is formed. A plurality of fixing blocks 32 are respectively fixed on the frame rods 31 and rotate along with the frame rods 31; each fixing block 32 has two sets of pick-and-place members, and the two sets of pick-and-place members on the same fixing block 32 are disposed in a back-to-back manner. Specifically, each set of the above-mentioned picking and placing components on the fixing block 32 may include one or more suction cups, and the picking and placing components may be used to pick and place the plate (e.g., glass).

The plate processing platform may further include a base 41, a trough 42, a console 43, a processing head 44, and a driving assembly 45, wherein the trough 42, the console 43, the driving assembly 45, and a base assembly of the multi-axis robot are respectively fixed on the base 41, and the to-be-processed or processed plate is taken from and placed on the trough 42 and the console 43 by the external hanging assembly, and the to-be-processed or processed plate is transferred between the trough 42 and the console 43 by the first axis joint 12 and the second axis joint 22 (except for the second axis joint 22 of the last arm assembly) of the multi-axis robot, and the second axis joint 22 of the last arm assembly of the multi-axis robot may adjust the posture of the plate grasped by the external hanging assembly.

The base 41 may be located on a machine tool and provides support for the trough 42, the operator station 43, the drive assembly 45, and the multi-axis robot, and facilitates handling and installation. Specifically, the trough 42 is disposed below the multi-axis robot, and is used for placing the plate to be processed and the processed plate, that is, the plate to be processed and the processed plate share one trough 42. In the trough 42, the plate material is placed vertically (in the Z direction), and is aligned in a direction perpendicular to the rotation axis of the torque output portion of the first axis joint 12 (Y direction). The operation table 24 is used for providing a working position for processing the plate, and may specifically include a workpiece platform, a vacuum adsorption device, a workpiece positioning device, a Y-direction sliding table, a Y-direction driving device, and the like. Drive assembly 45 may drive tooling head 44 over the station to effect sheet material machining.

Of course, the utility model discloses multi-axis robot still can be applied to other processing platforms to realize the transfer of material, correspondingly, other external subassemblies can be assembled to the second shaft joint 22 of the robotic arm assembly of multi-axis robot's tail end.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A multi-axis robot, comprising:

a base assembly and at least two robot arm assemblies;

2. The multi-axis robot of claim 1, wherein: the multi-axis robot comprises two mechanical arm assemblies, and the structural strength of the mechanical arm assembly connected with the first axis joint is greater than that of the mechanical arm of the other mechanical arm assembly.

3. The multi-axis robot of claim 1, wherein: the multi-axis robot comprises three or more than three mechanical arm assemblies, the structural strength of the mechanical arm assembly adjacent to the base supporting piece is greater than that of the mechanical arm in the mechanical arm assembly at the middle position, and the structural strength of the mechanical arm assembly at the tail end far away from the base supporting piece is less than that of the mechanical arm in the mechanical arm assembly at the middle position;

4. The multi-axis robot of claim 3, wherein: the robot arm assemblies in the intermediate position have the same shape and configuration.

5. The multi-axis robot of claim 1, wherein:

the torque output part of the first shaft joint and the torque output part of the second shaft joint are in the same or opposite directions;

6. The multi-axis robot of claim 1, wherein: the base support includes:

7. The multi-axis robot of claim 1, wherein: the first shaft joint comprises a first motor, a first connecting flange and a first speed reducer, the first motor is fixed on the base supporting piece through the first connecting flange, a torque input portion of the first speed reducer is connected with a rotating shaft of the first motor, and a torque output portion of the first speed reducer forms the torque output portion of the first shaft joint.

8. The multi-axis robot as claimed in claim 7, wherein in each of the arm assemblies, the second axis joint includes a second motor, a second connecting flange, and a second speed reducer, and the second motor is fixed to one end of the arm by the second connecting flange, and a torque input part of the second speed reducer is connected to a rotating shaft of the second motor, and a torque output part of the second speed reducer constitutes a torque output part of the second axis joint.

9. The multi-axis robot of claim 8, wherein: in each mechanical arm assembly, one end of each mechanical arm is provided with a motor mounting hole, the second motor is fixedly mounted in the motor mounting hole through the second connecting flange, and the second speed reducer is positioned outside the motor mounting hole.

10. The multi-axis robot of claim 9, wherein: each shaft joint connecting part of the mechanical arm assembly comprises a speed reducer mounting hole, the central shaft of the speed reducer mounting hole is parallel to the central shaft of the motor mounting hole, the first shaft joint is fixedly mounted with the mechanical arm in a mode that the first speed reducer is embedded into the speed reducer mounting hole of the mechanical arm connected with the first shaft joint, and the second shaft joint is fixedly mounted with the mechanical arm in a mode that the second speed reducer is embedded into the speed reducer mounting hole of the mechanical arm connected with the second shaft joint.