CN213165392U

CN213165392U - Movement mechanism and robot

Info

Publication number: CN213165392U
Application number: CN202021847866.3U
Authority: CN
Inventors: 田军; 刘耀俊; 刘浩; 陈建峰
Original assignee: Huiling Technology Shenzhen Co ltd
Current assignee: Huiling Technology Shenzhen Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2021-05-11
Anticipated expiration: 2030-08-27

Abstract

This application is applicable to intelligent machine technical field, provides a motion and robot, includes: a housing having a guide rail extending in a first direction therein; the sliding assembly is arranged on the guide rail in a sliding mode and used for fixing the mechanical arm; the belt transmission mechanism is arranged beside the guide rail, is connected with the sliding assembly and can drive the sliding assembly to move along a first direction; and the fixing plate is arranged on the shell and is used for forming detachable connection with external equipment. The sliding assembly can slide along the guide rail under the transmission effect of the belt transmission mechanism, so that the movement of the mechanical arm in the first direction is realized, the integral rigidity of the movement mechanism is improved, and the stability of the movement of the mechanical arm is convenient to improve. Moreover, the whole structure of the movement mechanism is very simple and compact, and the occupied space is small. In addition, the fixed plate can realize the position fixing and the transfer of the whole movement mechanism, and the mounting flexibility of the movement mechanism is improved.

Description

Movement mechanism and robot

Technical Field

The application belongs to the technical field of intelligent machines, and particularly relates to a movement mechanism and a robot.

Background

The robot with the horizontal joint generally comprises a motion mechanism and at least one mechanical arm, wherein the motion mechanism is used for driving the mechanical arm to move in the vertical direction, and the mechanical arm can move in the horizontal direction on the motion mechanism.

At present, a motion mechanism on the market generally comprises a screw rod matched with a spline nut and a ball screw nut, the precision is high, but the price is very high, the structure is very complex, and the occupied space is large. In addition, the rigidity of the movement mechanism is poor, the stability of the mechanical arm in the vertical movement is low, and the movement of the mechanical arm is influenced. In addition, the current movement mechanism is fixed in position and poor in installation flexibility, so that the mechanical arm can only work in a fixed space area, and the use experience is poor.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the embodiment of the application is as follows: the utility model provides a motion mechanism, aims at solving among the prior art, motion mechanism structure complicacy, rigidity difference and the poor technical problem of installation flexibility.

In order to solve the technical problem, the embodiment of the application adopts the following technical scheme:

there is provided a motion mechanism comprising:

a housing having a guide rail extending in a first direction therein;

the sliding assembly is arranged on the guide rail in a sliding mode and used for fixing the mechanical arm;

the belt transmission mechanism is arranged beside the guide rail, is connected to the sliding assembly and can drive the sliding assembly to move along the first direction;

and the fixing plate is arranged on the shell and is used for forming detachable connection with external equipment.

In one embodiment, the first direction is a vertical extension direction; the fixed plate is arranged at the bottom of the shell, or the fixed plate is arranged at the top of the shell.

In one embodiment, two guide rails are disposed in the housing at intervals, the sliding assembly includes at least two sliding blocks respectively slidably disposed on the two guide rails and a fixing seat fixed to the at least two sliding blocks, the sliding blocks and/or the fixing seat are connected to the belt transmission mechanism, and the fixing seat is used for fixing the robot arm.

In one embodiment, the belt transmission mechanism includes a first synchronizing wheel, a second synchronizing wheel and a synchronous belt in transmission connection with the first synchronizing wheel and the second synchronizing wheel respectively, and the first synchronizing wheel and the second synchronizing wheel are arranged in the housing at intervals along the first direction; and the sliding assembly is provided with a press fit structure, and the press fit structure is fixed on the synchronous belt.

In one embodiment, the moving mechanism further includes a driving member, a first mounting plate, and a second mounting plate, the first synchronizing wheel is connected to an output shaft of the driving member, the driving member is mounted on the first mounting plate, the second synchronizing wheel is mounted on the second mounting plate, the first mounting plate and the second mounting plate are both mounted in the housing, and a position of the first mounting plate and/or the second mounting plate along the first direction is adjustable.

In one embodiment, a deceleration shaft is connected to the center of the first synchronizing wheel and/or the second synchronizing wheel, and an electromagnetic brake is connected to the deceleration shaft.

In one embodiment, the sliding assembly is provided with a fixing arm at least partially extending out of the housing, the fixing arm is used for fixing the mechanical arm, and the fixing arm is provided with a sliding groove; the shell is provided with a front guard plate extending along the first direction, and the front guard plate is arranged in the sliding groove in a sliding mode and slides relative to the fixed arm along the first direction.

In one embodiment, the movement mechanism further includes a limiting structure, and the limiting structure includes a limiting member disposed in the housing, and the limiting member is configured to form a limiting fit in the first direction with the sliding assembly.

In one embodiment, the limiting structure further includes a cushion pad disposed on the sliding assembly, and the cushion pad and the limiting member form a limiting fit in the first direction.

The embodiment of the application also provides a robot, which comprises the movement mechanism.

The motion mechanism and the robot provided by the embodiment of the application have the beneficial effects that: compared with the prior art, this application is fixed in on the slip subassembly through the arm, and the slip subassembly is slided and is located on the guide rail and be connected to taking drive mechanism to make the slip subassembly can slide along the guide rail under taking drive mechanism's drive effect, realize the motion of arm on the first direction, and through the cooperation of taking drive mechanism and guide rail, improved the holistic rigidity of motion, be convenient for improve the stability of arm motion. And the guide rail is arranged in the shell, the sliding assembly is slidably arranged on the guide rail, and the belt transmission mechanism is arranged beside the guide rail, so that the structure is very simple and compact, and the occupied space is smaller. In addition, the shell is provided with a fixing plate which is detachably connected with external equipment, so that the position of the whole movement mechanism can be fixed and transferred, the installation flexibility of the movement mechanism is improved, and the mechanical arm can conveniently work in a preset space as required.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a perspective structural view of a movement mechanism provided in an embodiment of the present application;

fig. 2 is a perspective view of another form of a motion mechanism provided in an embodiment of the present application;

FIG. 3 is an internal structural view of a motion mechanism provided in an embodiment of the present application;

FIG. 4 is a partial block diagram of a motion mechanism provided in an embodiment of the present application;

FIG. 5 is an enlarged view of a portion of FIG. 3 at A;

FIG. 6 is an enlarged view of a portion of FIG. 3 at B;

FIG. 7 is a structural diagram of a second mounting plate of the moving mechanism cooperating with a second synchronizing wheel according to an embodiment of the present disclosure;

FIG. 8 is a perspective view of an alternative to the view of FIG. 7;

fig. 9 is a structural diagram of a sliding assembly of the moving mechanism matching with a limiting member according to the embodiment of the present application;

fig. 10 is a perspective view of an alternative to the view shown in fig. 9.

Wherein, in the figures, the respective reference numerals:

10-a housing; 20-fixing the plate; 201-fixing holes; 30-a guide rail; 40-a slide assembly; 41-a slide block; 42-a fixed seat; 43-a platen; 50-belt drive; 51-a first synchronizing wheel; 52-a second synchronizing wheel; 53-synchronous belt; 60-a drive member; 70-a first mounting plate; 71-a first adjustment aperture; 80-a second mounting plate; 81-a second regulation hole; 90-a limiting structure; 91-a stop; 92-a cushion pad; 100-a reduction shaft; 110-an electromagnetic brake; 120-front guard board; 130-a first mount; 140-a second mount; 150-a stationary arm; 160-a conveyor belt; 170-a transmission wheel; 200-a robotic arm; 210-a first arm; 220-second arm.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In order to explain the technical solutions of the present application, the following detailed descriptions are made with reference to specific drawings and examples.

Referring to fig. 1 to 4 together, a description will now be given of a movement mechanism according to an embodiment of the present application. The moving mechanism provided in the embodiment of the present application is mainly used for driving the mechanical arm 200 to move in a first direction, where the first direction is a vertical direction y in an angle of view shown in fig. 3, and the first direction is hereinafter referred to, and details are not described any more. The moving mechanism includes a housing 10, a guide rail 30, a sliding assembly 40, a belt drive mechanism 50, and a stationary plate 20.

The housing 10 is an elongated housing structure, and the housing 10 extends along a first direction. The guide rail 30, the sliding assembly 40, and the belt drive mechanism 50 are all disposed within the housing 10, and the guide rail 30 also extends in the first direction. The sliding assembly 40 is slidably disposed on the guide rail 30, and the sliding assembly 40 is used for fixing the robot arm 200. The belt transmission mechanism 50 is disposed inside the housing 10 and beside the guide rail 30, at least a portion of a moving path of the belt transmission mechanism 50 is parallel to an extending direction of the guide rail 30, that is, at least a portion of the moving path of the belt transmission mechanism 50 is parallel to the first direction, and the sliding assembly 40 is connected to the belt transmission mechanism 50, so that the belt transmission mechanism 50 can drive the sliding assembly 40 to move in the first direction when moving. The fixed plate 20 is arranged on the shell 10, and the fixed plate 20 can be detachably connected with external equipment, so that the integral movement mechanism and the external equipment can be detachably connected.

In operation, the belt transmission mechanism 50 moves to drive the sliding assembly 40 to move along the movement path of the belt transmission mechanism 50, the sliding assembly 40 can move in the first direction, and at this time, the sliding assembly 40 moves in the first direction along the guide rail 30, so that the robot arm 200 on the sliding assembly 40 moves in the first direction, and the movement stability of the sliding assembly 40 and the robot arm 200 is improved.

In the embodiment of the present application, the mechanical arm 200 is fixed to the sliding assembly 40, the sliding assembly 40 is slidably disposed on the guide rail 30 and connected to the belt transmission mechanism 50, so that the sliding assembly 40 can slide along the guide rail 30 under the transmission effect of the belt transmission mechanism 50, the movement of the mechanical arm 200 in the first direction is realized, the overall rigidity of the movement mechanism is improved through the cooperation of the belt transmission mechanism 50 and the guide rail 30, and the movement stability of the sliding assembly 40 and the mechanical arm 200 is improved conveniently. In addition, the guide rail 30, the sliding assembly 40 and the belt transmission mechanism 50 are all arranged in the housing 10, so that the structure is very simple and compact, the occupied space is small, and the whole structure is very simple. In addition, the housing 10 is provided with a fixing plate 20 for detachably connecting with an external device, so that the position of the whole movement mechanism can be fixed and transferred, the flexibility of installation is improved, and the mechanical arm 200 can conveniently work in a preset space as required.

In an embodiment, referring to fig. 1 and fig. 2, a plurality of fixing holes 201 are formed on the fixing plate 20, and the fixing holes 201 are used for forming a detachable connection with an external device. As shown in fig. 1, the first direction is a vertical extending direction, and the housing 10 is also extended in the vertical direction. The fixed plate 20 is arranged at the top of the housing 10, so that the whole motion mechanism can be mounted on external equipment in an inverted hanging manner, the fixed plate 20 can be mounted at the top of a factory or mounted on a gantry sliding table, the space at the bottom can be saved, the expansion of the working area of the mechanical arm 200 is facilitated, and the utilization efficiency of the mechanical arm 200 is improved. And, the motion is the reverse hanging and installs on external equipment, has increased the space of fixed plate 20 below this moment, is convenient for hold, pile up the part below fixed plate 20, improves the utilization ratio of motion to the space.

In a specific embodiment, the fixing hole 201 of the fixing plate 20 can be directly fixed to the external device through a screw, and of course, a hanging ring may also be installed on the fixing plate 20, so that the whole movement mechanism is hung on the external device, thereby improving the flexibility of fixing the movement mechanism to the external device and improving the convenience of use.

In other embodiments, as shown in fig. 2, the fixing plate 20 is provided at the bottom of the housing 10.

In one embodiment, referring to fig. 3 to 6, two guide rails 30 are disposed in the housing 10, and the two guide rails 30 are spaced apart from each other in the housing 10 and both extend along the first direction. The sliding assembly 40 includes at least two sliding blocks 41 and a fixing seat 42, the at least two sliding blocks 41 are respectively slidably disposed on the two guide rails 30, the fixing seat 42 is fixed on the at least two sliding blocks 41, the fixing seat 42 is used for fixing the external mechanical arm 200, and the sliding blocks 41 and/or the fixing seat 42 are connected to the belt transmission mechanism 50. In operation, the belt transmission mechanism 50 drives the sliding block 41 and/or the fixed seat 42 to move along the first direction, and at this time, the sliding block 41 and the fixed seat 42 move synchronously along the first direction, and the sliding block 41 slides along the guide rail 30 along the first direction. The arrangement of the double guide rails 30 and the at least two sliding blocks 41 are respectively slidably arranged on the two guide rails 30, so that the stability of the sliding assembly 40 sliding along the first direction is improved, and the sliding assembly 40 is prevented from inclining or blocking under the transmission action of the belt transmission mechanism 50.

In a specific embodiment, in order to improve the sliding stability of the sliding assembly 40, please refer to fig. 5, four sliding blocks 41 are provided, one fixing seat 42 is provided, two of the sliding blocks 41 are slidably disposed on one of the guide rails 30 at intervals, the other two sliding blocks 41 are slidably disposed on the other guide rail 30, and the fixing seat 42 is fixed on the four sliding blocks 41, so that when the belt transmission mechanism 50 drives the fixing seat 42 or the sliding blocks 41 to move along the first direction, the four sliding blocks 41 synchronously slide along the guide rails 30, and at this time, the fixing seat 42 can move along the first direction very stably, thereby realizing the stable movement of the mechanical arm 200 and facilitating the work of the mechanical arm 200.

In one embodiment, referring to fig. 3 to 5, the belt transmission mechanism 50 includes a first synchronous wheel 51, a second synchronous wheel 52, and a synchronous belt 53, the synchronous belt 53 is respectively connected to the first synchronous wheel 51 and the second synchronous wheel 52 in a transmission manner and can be driven by the first synchronous wheel 51 and/or the second synchronous wheel 52 to move, and at least a portion of a moving path of the synchronous belt 53 is parallel to the first direction. The first synchronizing wheel 51 and the second synchronizing wheel 52 are disposed in the housing 10 at intervals along a first direction, the slider 41 and/or the fixing seat 42 are connected to the timing belt 53, and when the timing belt 53 is driven by the first synchronizing wheel 51 and/or the second synchronizing wheel 52 to move, the slider 41 and the fixing seat 42 are driven by the timing belt 53 to move along the first direction.

In a specific embodiment, referring to fig. 5, a pressing structure is disposed on the sliding assembly 40, specifically, the fixing base 42 is connected with the pressing structure, the pressing structure includes two pressing plates 43 covering each other, both the pressing plates 43 are fixed on the fixing base 42, and the timing belt 53 is clamped between the two pressing plates 43, so as to fix the two pressing plates 43 and the timing belt 53. In operation, the timing belt 53 is driven by the first and/or

second synchronizing wheels

51 and 52 to move and drive the two pressing plates 43 to move in the first direction, at this time, the pressing plates 43 are driven by the timing belt 53 to move so as to drive the sliding block 41 and the fixing base 42 to move, and the sliding block 41 slides along the guide rail 30, so that the movement of the whole sliding assembly 40 is realized.

In a specific embodiment, at least one of the pressing plates 43 has external teeth, wherein the external teeth of one of the pressing plates 43 face the other pressing plate 43, that is, when the timing belt 53 is sandwiched between the two pressing plates 43, and at the same time, the external teeth of the timing belt 53 are also provided with external teeth, and the external teeth of the timing belt 53 are meshed with the external teeth of the pressing plates 43, so as to increase the friction between the timing belt 53 and the pressing plates 43, that is, to improve the connection strength between the timing belt 53 and the pressing plates 43, so that the timing belt 53 can stably drive the fixing base 42 to move in the first direction, thereby realizing the movement of.

In one embodiment, referring to fig. 4 to 7, the moving mechanism further includes a driving member 60, a first mounting plate 70 and a second mounting plate 80, the first synchronizing wheel 51 is connected to the output shaft of the driving member 60, and when the driving member 60 drives the output shaft to rotate, the output shaft of the driving member 60 drives the first synchronizing wheel 51 to rotate, so as to drive the timing belt 53 to move, and at this time, the second synchronizing wheel 52 also rotates correspondingly, so that the timing belt 53 can smoothly drive the sliding assembly 40 to move in the first direction. Wherein the first mounting plate 70 and the second mounting plate 80 are both mounted in the housing 10, the driving member 60 is mounted on the first mounting plate 70, the second synchronizing wheel 52 is mounted on the second mounting plate 80, and the position of the first mounting plate 70 and/or the second mounting plate 80 is adjustable along the first direction, i.e., the position of the first mounting plate 70 and/or the second mounting plate 80 on the housing 10 is adjustable, then the first mounting plate 70 and/or the second mounting plate 80 can adjust its position on the housing 10, thereby enabling the position adjustment of the first synchronizing wheel 51 and/or the second synchronizing wheel 52 in the first direction, because the synchronous belt 53 is respectively connected to the first synchronous wheel 51 and the second synchronous wheel 52 in a transmission manner, the tension degree of the synchronous belt 53 can be adjusted, and the accuracy and the stability of the synchronous belt 53 driving the fixing seat 42 to move along the first direction can be improved.

In a specific embodiment, the second mounting plate 80 is provided with a second adjusting hole 81, the second adjusting hole 81 extends along the first direction, and the second adjusting hole 81 is used for being connected with the housing 10, when the tensioning degree of the synchronous belt 53 needs to be adjusted, the position of the second mounting plate 80 in the first direction can be adjusted by adjusting the position of the second mounting plate 80, so that the position of the second synchronous wheel 52 can be adjusted, the tensioning degree of the synchronous belt 53 can be adjusted, and at this time, the second adjusting hole 81 can still be fixed with the housing 10. In this way, when the tension degree of the timing belt 53 needs to be adjusted, the position of the second mounting plate 80 in the first direction may be adjusted.

Referring to fig. 7, the moving mechanism further includes a second mounting base 140, the second synchronizing wheel 52 is rotatably disposed on the second mounting base 140, and the second mounting plate 80 is fixed on the second mounting base 140, so that when the second mounting base 140 adjusts the position of the second synchronizing wheel 52 in the first direction, the second mounting base 140 can be driven to move to adjust the position, and thus, the position adjustment of the second synchronizing wheel 52 can be realized.

In addition, in this embodiment, the first mounting seat 130, the first mounting plate 70, the second mounting plate 80, and the second mounting seat 140 are provided to ensure that the timing belt 53 extends in the first direction, so as to prevent the first synchronizing wheel 51 and the second synchronizing wheel 52 from moving in series, and at this time, the sliding assembly 40 can accurately move in the first direction.

In another embodiment, referring to fig. 8, the second synchronizing wheel 52 is directly rotatably disposed on the second mounting plate 80, and the second mounting plate 80 is installed in the housing 10 and is adjustable in position.

In an embodiment, referring to fig. 5 to 7, a first adjusting hole 71 is formed on the first mounting plate 70, and the first adjusting hole 71 extends along a first direction. The moving mechanism further comprises a first mounting seat 130 installed in the housing 10, the first mounting plate 70 and the first synchronizing wheel 51 are both installed on the first mounting seat 130, and the first adjusting hole 71 on the first mounting plate 70 is used for forming a detachable connection with the first mounting seat 130. The output shaft of the driving member 60 is connected to a driving wheel 170, the driving wheel 170 is connected to the transmission belt 160 in a transmission manner, the transmission belt 160 is connected to another driving wheel 170 in a transmission manner, and the another driving wheel 170 is connected to the first synchronizing wheel 51 in a transmission manner, when the driving member 60 is driven, the driving wheel 170 rotates to drive the transmission belt 160 to move, and when the transmission belt 160 moves, the another driving wheel 170 is driven to rotate, so that the rotation of the first synchronizing wheel 51 is realized, and therefore, the movement of the synchronizing belt 53 is realized, so that the sliding assembly 40 is driven to slide on the guide rail 30. The driving member 60 is a motor, and the precision of the timing belt 53 in the movement can be realized by the action of an encoder in the motor. It should be noted that the first adjusting hole 71 is extended along the first direction, so that the first mounting plate 70 can adjust its position in the first direction, thereby adjusting the position of the driving member 60 and its output shaft in the first direction, and at this time, the position of a driving wheel 170 on the output shaft of the driving member 60 in the first direction can be adjusted at the same time, so that the tensioning adjustment of the conveyor belt 160 is achieved, thereby improving the accuracy of the driving member 60 driving the first synchronizing wheel 51 to rotate.

In other embodiments, the first adjusting hole 71 may be directly connected to the housing 10, and when the tensioning degree of the timing belt 53 needs to be adjusted, the position of the first mounting plate 70 in the first direction may be adjusted to adjust the position of the first synchronization wheel 51, so that the tensioning degree of the timing belt 53 may be adjusted, and at this time, the first adjusting hole 71 may still be fixed to the housing 10.

In one embodiment, referring to fig. 4 and 6, a deceleration shaft 100 is connected to the center of the first synchronizing wheel 51 and/or the second synchronizing wheel 52, and an electromagnetic brake 110 is connected to the deceleration shaft 100. When the driving member 60 drives the first synchronizing wheel 51 to rotate, the first synchronizing wheel 51 and the second synchronizing wheel 52 rotate synchronously under the driving of the synchronous belt 53, at this time, the speed reducing shaft 100 at the center of the first synchronizing wheel 51 and/or the second synchronizing wheel 52 also rotates correspondingly, at this time, the electromagnetic brake 110 also rotates correspondingly, and in case of sudden power failure, the electromagnetic brake 110 can stop rotating, so as to drive the speed reducing shaft 100 to stop rotating, and correspondingly, the first synchronizing wheel 51 and/or the second synchronizing wheel 52 also stop rotating under the driving of the speed reducing shaft 100, so as to prevent the sliding assembly 40 from falling rapidly under the action of gravity due to the accelerated rotation of the first synchronizing wheel 51 and the second synchronizing wheel 52 when the driving member 60 is suddenly powered off, thereby protecting the sliding assembly 40 and the mechanical arm 200.

In one embodiment, referring to fig. 3 and 5, the sliding assembly 40 is provided with a fixing arm 150, the fixing arm 150 is used for fixing the mechanical arm 200, and the fixing arm 150 is fixed on the fixing seat 42 of the sliding assembly 40 and at least partially extends out of the housing 10, so that the mechanical arm 200 on the fixing arm 150 is located outside the housing 10, and the operation of the mechanical arm 200 is facilitated.

In a specific embodiment, the fixing arm 150 is provided with a sliding slot, which is a through slot and penetrates along the first direction. The front guard 120 is disposed on the housing 10, and the front guard 120 is used for protecting the sliding assembly 40, the guide rail 30 and the belt transmission mechanism 50 in the housing 10. The front guard plate 120 extends along the first direction and penetrates through the sliding groove, when the sliding assembly 40 is slidably arranged on the guide rail 30 along the first direction, the front guard plate 120 is slidably arranged in the sliding groove and relatively slides with the fixing arm 150 along the first direction, so that the front guard plate 120 and the sliding groove relatively slide, the circumferential limiting of the fixing arm 150 can be realized, the phenomenon that the fixing arm 150 shakes when moving in the first direction is avoided, and the stable work of the mechanical arm 200 is facilitated.

In an embodiment, referring to fig. 9 and fig. 10, the moving mechanism further includes a limiting structure 90, the limiting structure 90 includes a limiting member 91, the limiting member 91 is disposed in the housing 10 and is used to abut against the sliding element 40 when the sliding element 40 moves along the first direction, that is, the limiting member 91 and the sliding element 40 form a limiting fit in the first direction, so as to limit the stroke of the sliding element 40 in the first direction.

In a specific embodiment, referring to fig. 4, at least two limiting members 91 are provided, the limiting members 91 are disposed on two opposite ends of the guide rail 30 along a first direction, the first direction is an up-down extending direction, that is, the upper and lower ends of the guide rail 30 are both provided with the limiting members 91. When the sliding assembly 40 moves upwards along the guide rail 30 to a preset position, the sliding assembly 40 can be abutted against the limiting piece 91 at the upper end of the guide rail 30, so that the sliding assembly 40 is prevented from sliding upwards infinitely; when the sliding assembly 40 moves downwards along the guide rail 30 to a preset position, the sliding assembly 40 can abut against the limiting part 91 at the lower end of the guide rail 30, so that the sliding assembly 40 is prevented from sliding downwards infinitely, the limiting part 91 acts to enable the sliding assembly 40 to slide within a preset range, and the mechanical arm 200 can be prevented from moving upwards and downwards to exceed the stroke during misoperation or failure, so that the mechanical up-and-down movement limiting function is achieved.

In an embodiment, referring to fig. 9 and 10, the limiting structure 90 further includes a buffer pad 92 disposed on the sliding element 40, when the sliding element 40 slides to a predetermined position along the first direction, the buffer pad 92 on the sliding element 40 can abut against the limiting element 91, so that the sliding element 40 and the limiting element 91 form a limiting fit in the first direction, and the buffer pad 92 can provide a buffering function for the sliding element 40, so as to prevent the sliding element 40 from directly striking the limiting element 91 to shake or damage the mechanical arm 200.

In a specific embodiment, please refer to fig. 9, the limiting member 91 is a limiting member, when the sliding assembly 40 abuts against the limiting member, at least a portion of the limiting member 91 can extend into between the sliding blocks 41 on the two guide rails 30 of the sliding assembly 40, and the two sliding blocks 41 can respectively abut against the limiting member 91, so as to improve the abutting of the sliding assembly 40 and the limiting member to realize a stable limiting effect. Wherein the cushion pad 92 can be disposed on the slider 41 and/or the fixing seat 42.

In another embodiment, referring to fig. 10, the position-limiting member 91 is a position-limiting nail fixed on the housing 10, the cushion pad 92 is disposed on the sliding block 41, and when the sliding assembly 40 slides along the guide rail 30 to a predetermined position, the cushion pad 92 on the sliding block 41 abuts against the position-limiting nail to achieve the position limitation of the sliding assembly 40 in the first direction.

The embodiment of the present application further provides a robot, including a movement mechanism and a mechanical arm 200, where the mechanical arm 200 at least includes a first arm 210 and a second arm 220, the first arm 210 is fixed on the fixing arm 150 of the movement mechanism and can rotate around the fixing arm 150 in the horizontal direction, and the second arm 220 is fixed on the first arm 210 and can rotate around the first arm 210 in the horizontal direction, so that the robot in this embodiment is a horizontal joint robot. Here, the horizontal direction is a horizontal direction in the view angle shown in fig. 1, and is perpendicular to the first direction. The movement mechanism in this embodiment is the same as the movement mechanism in the previous embodiment, and please refer to the related description of the movement mechanism in the previous embodiment, which is not described herein again.

The robot that this application embodiment provided, through the setting that adopts motion, the slip subassembly 40 is slided and is located on guide rail 30 and be connected in belt drive mechanism 50 to make the slip subassembly 40 can slide along guide rail 30 under the drive action of belt drive mechanism 50, realize the motion of arm 200 in the first direction, improved the holistic rigidity of motion, be convenient for improve the stability of arm 200 motion. In addition, the guide rail 30, the sliding assembly 40 and the belt transmission mechanism 50 are all arranged in the housing 10, so that the structure is very simple and compact, and the occupied space is small. In addition, the housing 10 is provided with a fixing plate 20 for detachably connecting with an external device, so that the position of the whole robot can be fixed and transferred, the flexibility of installation is improved, and the mechanical arm 200 can conveniently work in a preset space as required.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A motion mechanism, comprising:

a housing having a guide rail extending in a first direction therein;

2. The motion mechanism of claim 1, wherein the first direction is a vertical extension direction; the fixed plate is arranged at the bottom of the shell, or the fixed plate is arranged at the top of the shell.

3. The motion mechanism according to claim 1, wherein two guide rails are disposed in the housing at intervals, the sliding assembly includes at least two sliding blocks respectively slidably disposed on the two guide rails and a fixing seat fixed on the at least two sliding blocks, the sliding blocks and/or the fixing seat are connected to the belt transmission mechanism, and the fixing seat is used for fixing the robot arm.

4. The motion mechanism of claim 1, wherein the belt transmission mechanism comprises a first synchronizing wheel, a second synchronizing wheel and a synchronous belt in transmission connection with the first synchronizing wheel and the second synchronizing wheel, respectively, and the first synchronizing wheel and the second synchronizing wheel are spaced apart from each other along the first direction in the housing; and the sliding assembly is provided with a press fit structure, and the press fit structure is fixed on the synchronous belt.

5. The motion mechanism of claim 4, further comprising a drive member, a first mounting plate, and a second mounting plate, wherein the first synchronizing wheel is connected to an output shaft of the drive member, the drive member is mounted on the first mounting plate, the second synchronizing wheel is mounted on the second mounting plate, the first mounting plate and the second mounting plate are both mounted within the housing, and a position of the first mounting plate and/or the second mounting plate in the first direction is adjustable.

6. The movement mechanism according to claim 4, wherein a deceleration shaft is connected to the center of the first synchronizing wheel and/or the second synchronizing wheel, and an electromagnetic brake is connected to the deceleration shaft.

7. The motion mechanism of claim 1, wherein the sliding assembly is provided with a fixed arm extending at least partially outside the housing, the fixed arm is used for fixing the mechanical arm, and the fixed arm is provided with a sliding groove; the shell is provided with a front protection plate extending along the first direction, and the front protection plate is arranged in the sliding groove in a sliding mode and can slide relative to the fixed arm along the first direction.

8. The motion mechanism of any one of claims 1-7, further comprising a limiting structure including a stop disposed within the housing for limiting engagement with the sliding assembly in the first direction.

9. The motion mechanism of claim 8, wherein the limiting structure further comprises a cushion disposed on the sliding assembly, the cushion forming a limiting engagement with the limiting member in the first direction.

10. A robot comprising a movement mechanism according to any of claims 1-9.