CN213918281U

CN213918281U - Hoisting type articulated arm robot

Info

Publication number: CN213918281U
Application number: CN202021924634.3U
Authority: CN
Inventors: 单杰; 黄绍平
Original assignee: Guangdong Tianji Robot Co ltd
Current assignee: Guangdong Tianji Robot Co ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2021-08-10
Anticipated expiration: 2030-09-04

Abstract

The utility model relates to a hoist and mount type knuckle arm robot, include: the base is hollow inside and is open at the bottom; the lifting mechanism is arranged in the base and comprises a first driving mechanism and a lifting assembly, and the first driving mechanism drives the lifting assembly to enter or exit the base from the bottom opening; one end of the first joint mechanism is connected with the bottom end of the lifting mechanism, and the lifting assembly drives the first joint mechanism to move when moving; and one end of the second joint mechanism is connected with the other end of the first joint mechanism through a first rotating shaft, and the first rotating shaft drives the second joint mechanism to rotate around the central axis of the first rotating shaft when rotating. The utility model discloses a set up elevating system in the base for need not add the jumbo size in the vertical direction of articulated arm, conveniently strengthen the control to articulated arm, thereby promote machining efficiency.

Description

Hoisting type articulated arm robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a hoist and mount type knuckle arm robot.

Background

The SCARA robot is a special type of industrial robot of cylindrical coordinate type, also called joint robot or joint arm robot or joint robot arm, and is one of the most common industrial robot forms in the industrial field of today, generally having 4 degrees of freedom, including translation along X, Y, Z direction and rotation around Z axis, and is widely used in the fields of plastic industry, automobile industry, electronic product industry, pharmaceutical industry and food industry, etc., and its main function is to take parts and assemble work, and its first axis and second axis have rotation characteristics, and the third and fourth axes can be made into corresponding various forms according to the different needs of work.

At present, as shown in fig. 1, the common SCARA robot on the market adopts the big arm or the forearm of the common SCARA robot to increase the vertical dimension, so that the forearm can reach the full-circle working range, but the structure can cause the axial load of the big arm or the forearm, the acceleration and deceleration performance of the big arm or the forearm is affected, and further the working efficiency is affected, and when the big arm or the forearm is too big in the vertical dimension, the large arm or the forearm is not beneficial to working in the narrow space environment, and the working efficiency is low, or even the small arm cannot work.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides a hoist and mount type joint arm robot to solve the current SCARA robot big arm or the irrational problem that so influences robot work efficiency of forearm design.

In order to solve the problem, the utility model provides a hoist and mount type knuckle arm robot, include: the base is hollow and is provided with an opening at the bottom; the lifting mechanism is arranged in the base and comprises a first driving mechanism and a lifting assembly, and the first driving mechanism drives the lifting assembly to enter or exit the base from the bottom opening; one end of the first joint mechanism is connected with the bottom end of the lifting mechanism, and the lifting assembly drives the first joint mechanism to move when moving; and one end of the second joint mechanism is connected with the other end of the first joint mechanism through the first rotating shaft, and the first rotating shaft drives the second joint mechanism to rotate around the central axis of the first rotating shaft when rotating.

As a further improvement, the lifting assembly includes the sleeve, the mounting bracket, and a support, the lead screw and the nut spare that matches with the lead screw, the mounting bracket sets up on the sleeve, the support sets up in the inner wall of base, the lead screw sets up on the support, nut spare is located on the lead screw with mounting bracket fixed connection and cover, be provided with the guide rail on the support, be provided with on the mounting bracket with the buckling part and the block that the guide rail matches on the guide rail, a actuating mechanism is connected with the top of lead screw, when an actuating mechanism drives the lead screw rotatory, nut spare drives the mount and slides on the guide rail, in order to drive sleeve up-and-down motion.

As a further improvement of the utility model, a drive mechanism includes first motor, a transmission mechanism, and first motor sets up on the inner wall of base, and a transmission mechanism's input is connected with the output of first motor, and a transmission mechanism's output is connected with the top of lead screw.

As a further improvement, the mounting bracket activity sets up in telescopic top, and first actuating mechanism still includes second motor, second drive mechanism, and the second motor sets up on the mounting bracket, and second drive mechanism's input is connected with the output of second motor, and second drive mechanism's output sets up on the sleeve and is located telescopic the central axis department, and during second motor drive second drive mechanism, second drive mechanism drives the sleeve and rotates around telescopic the central axis.

As a further improvement of the utility model, first joint mechanism includes first articulated arm, third motor, third drive mechanism, the one end and the sleeve fixed connection of first articulated arm, the other end activity of first articulated arm sets up first pivot, the third motor sets up in the sleeve, third drive mechanism's input is connected with the output of third motor, third drive mechanism's output and first pivot are connected, during third motor drive third drive mechanism, third drive mechanism drives first pivot rotation.

As a further improvement, the second joint mechanism includes the second joint arm, the fourth motor, fourth drive mechanism, second joint arm one end and first pivot fixed connection, the other end activity of second joint arm sets up the second pivot, the fourth motor sets up in the sleeve, fourth drive mechanism includes one-level transmission portion, transmission shaft and second grade transmission portion, the input of one-level transmission portion is connected with the output of fourth motor, the output and the transmission shaft of one-level transmission portion are connected, the transmission shaft sets up in first pivot, the input and the transmission shaft of second grade transmission portion are connected, the output and the second pivot of second grade transmission portion are connected.

As a further improvement of the utility model, it still includes multiaxis expansion module, multiaxis expansion module and second pivot fixed connection.

As a further improvement of the present invention, the multi-axis expansion module includes a housing, the housing is provided with a first supporting portion and a second supporting portion, and the first supporting portion and the second supporting portion form a groove region; the two ends of the first rotating shaft are respectively movably connected with the first supporting part and the second supporting part; the first rotating shaft is arranged on the outer side wall of the first rotating shaft, and the central axis of the second rotating shaft is not parallel to and coincident with the central axis of the first rotating shaft.

As a further improvement of the present invention, the third motor and the fourth motor are disposed in the bottom of the sleeve side by side.

As a further improvement of the utility model, the bottom of the lead screw is also provided with a limiting part.

The utility model discloses a hoist and mount type joint arm robot is through setting up an elevating system in the base, realize the motion of joint arm in vertical side through this elevating system, thereby it is very big not to need to set up the big arm or the forearm of SCARA robot at vertical ascending size, it can cover the processing on the scope of large tracts of land equally, and, because the first joint mechanism and the second joint mechanism of this embodiment structurally more retrench small and exquisite, its load that produces when the motion is littleer, make to first joint mechanism, the acceleration and deceleration of second joint mechanism is controlled more easily, and then can promote the efficiency of processing, and the more retrench and exquisite structure of first joint mechanism and second joint mechanism also makes the utility model discloses a hoist and mount type joint arm robot can adapt to the operation that is more narrow and small space within range, and application scope is wider.

Drawings

Fig. 1 is a schematic structural diagram of a conventional SCARA robot;

fig. 2 is a schematic structural diagram of an embodiment of the lifting type articulated arm robot of the present invention;

FIG. 3 is an exploded view of the articulated arm robot shown in FIG. 2;

fig. 4 is a schematic structural view of a lifting mechanism of the lifting type articulated arm robot shown in fig. 3;

fig. 5 is a schematic top end structure view of a lifting mechanism of the lifting type articulated arm robot shown in fig. 3;

fig. 6 is a partial structural schematic view of a lifting mechanism of the lifting type articulated arm robot shown in fig. 3;

fig. 7 is a respective structural schematic view of the articulated arms of the lifting type articulated arm robot shown in fig. 3;

fig. 8 is a schematic structural view of another embodiment of the lifting type articulated arm robot of the present invention;

the meaning of the reference symbols in the drawings is:

1-base, 2-lifting mechanism, 3-first joint mechanism, 4-second joint mechanism, 5-first rotating shaft, 6-second rotating shaft, 7-multi-shaft expansion module, 21-first driving mechanism, 22-lifting component, 211-first motor, 212-first transmission mechanism, 213-second motor, 214-second transmission mechanism, 221-sleeve, 222-mounting frame, 223-bracket, 224-lead screw, 225-nut member, 226-guide rail, 227-buckling part, 228-limiting part, 31-first joint arm, 32-third motor, 33-third transmission mechanism, 41-second joint arm, 42-fourth motor, 43-fourth transmission mechanism, 431-first-stage transmission part, 432-drive shaft, 433-two-stage drive, 71-housing, 72-first axis of rotation, 73-second axis of rotation.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Fig. 2 and fig. 3 show the schematic structural diagram of an embodiment of the lifting type articulated arm robot of the present invention. As shown in fig. 2 and 3, the hoist type articulated arm robot includes a base 1, a lifting mechanism 2, a first joint mechanism 3, a second joint mechanism 4, and a first rotating shaft 5. The base 1 is hollow and has an opening at the bottom, and the opening at the bottom can allow the lifting component 22 of the lifting mechanism 2 to enter or exit the base 1; the lifting mechanism 2 is arranged in the base 1, the lifting mechanism 2 comprises a first driving mechanism 21 and a lifting assembly 22, and the first driving mechanism 21 is used for driving the lifting assembly 22 to move so as to enter or exit the base 1 from the bottom opening; one end of the first joint mechanism 3 is connected with the bottom end of the lifting mechanism 2, and the lifting assembly 22 drives the first joint mechanism 3 to move when moving; one end of the second joint mechanism 4 is connected with the other end of the first joint mechanism 3 through a first rotating shaft 5, and the first rotating shaft 5 drives the second joint mechanism 4 to rotate around the central axis of the first rotating shaft 5 when rotating.

Specifically, in this embodiment, the first driving mechanism 21 drives the lifting assembly 22 to move up and down, so that the lifting assembly 22 can enter or exit from the base through the bottom opening of the base 1, and the movement in the vertical direction is realized, and when the lifting assembly 22 moves up and down, the first joint mechanism 3 and the second joint mechanism 4 are driven to move up and down, so that the movement of the articulated arm in the vertical direction is realized.

The lifting type articulated arm robot of the embodiment realizes the movement of the articulated arm in the vertical direction through the lifting mechanism 2 by arranging the lifting mechanism 2 in the base 1, so that it is not necessary to set the size of the large or small arm of the SCARA robot in the vertical direction to be large, it can also cover a processing over a wide area, and, since the first joint mechanism 3 and the second joint mechanism 4 of the present embodiment are more compact in structure, the load generated during the movement is smaller, so that the acceleration and deceleration of the first joint mechanism 3 and the second joint mechanism 4 are easier to control, and then can promote the efficiency of processing, first joint mechanism 3 and second joint mechanism 4 more retrench small and exquisite structure moreover also makes the utility model discloses a hoist and mount type knuckle arm robot can adapt to more for the operation in the narrow and small space scope, and application scope is wider.

Further, in this embodiment, as shown in fig. 4 and 5, the lifting assembly 22 includes a sleeve 221, an installation frame 222, a bracket 223, a lead screw 224, and a nut member 225 matching with the lead screw 224, the installation frame 222 is disposed on the sleeve 221, the bracket 223 is fixedly disposed on the inner wall of the base 1, the lead screw 224 is disposed on the bracket 223, the lead screw 224 is fixed in the vertical direction, but cannot move but can rotate, the nut member 225 is fixedly connected with the installation frame 222 and is sleeved on the lead screw 224, a guide rail 226 is disposed on the bracket 223, a buckling portion 227 matching with the guide rail 226 is disposed on the installation frame 222 and is buckled on the guide rail 226, and the first driving mechanism 21 is connected with the top end of the lead screw 224.

Specifically, when the lifting assembly 22 needs to be driven to move in the vertical direction, the first driving mechanism 21 is used to drive the lead screw 224 to rotate, and under the action of the thread on the lead screw 224 and the nut member 225, when the lead screw 224 is fixed in the vertical direction, the nut member 225 moves in the vertical direction on the lead screw 224, so that the nut member 225 drives the mounting bracket 222 to slide along the guide rail 226, and finally the mounting bracket 222 drives the sleeve 221 to move in the vertical direction.

The first driving mechanism 21 includes a first motor 211 and a first transmission mechanism 212, the first motor 211 is disposed on the inner wall of the base 1, an input end of the first transmission mechanism 212 is connected to an output end of the first motor 211, an output end of the first transmission mechanism 212 is connected to a top end of the lead screw 224, and an output end of the first transmission mechanism 212 is used for driving the lead screw 224 to rotate. It should be noted that the transmission mode of the first transmission mechanism 212 includes one of a belt transmission, a gear transmission, a chain transmission, a worm transmission, a screw transmission, and the like. In this embodiment, the transmission mode of the first transmission mechanism 212 is preferably belt transmission, and the input end and the output end of the first transmission mechanism 212 are connected by a belt.

Further, in this embodiment, the bottom end of the lead screw 224 is further provided with a limiting portion 228, and when the nut member 225 moves to the bottom end of the lead screw 224, the nut member 225 is limited by the limiting portion 228 to continue moving downwards, so that damage to the overall structure of the lifting type articulated arm robot is avoided.

In the present embodiment, the matching of the lead screw 224 and the nut member 225 is utilized, thereby achieving the movement of the control sleeve 221 in the vertical direction.

Further, in order to further facilitate the control of the movement of the first joint mechanism 3 in the horizontal direction, as shown in fig. 6, the mounting frame 222 is movably disposed at the top end of the sleeve 221, the first driving mechanism 21 further includes a second motor 213 and a second transmission mechanism 214, the second motor 213 is disposed on the mounting frame 222, an input end of the second transmission mechanism 214 is connected to an output end of the second motor 213, an output end of the second transmission mechanism 214 is disposed on the sleeve 221 and located at the central axis of the sleeve 221, an output end of the second transmission mechanism 214 is a shaft wheel, a central axis of the shaft wheel coincides with the central axis of the sleeve 221, when the second motor 213 drives the second transmission mechanism 214, the second transmission mechanism 214 drives the sleeve 221 to rotate around the central axis of the sleeve 221, so as to control the movement of the sleeve 221 in the horizontal direction.

Further, in this embodiment, the first joint mechanism 3 includes a first joint arm 31, a third motor 32, and a third transmission mechanism 33, one end of the first joint arm 31 is fixedly connected to the sleeve 221, the other end of the first joint arm 31 is movably provided with a first rotating shaft 5, the first rotating shaft 5 can perform a rotating motion, the third motor 32 is disposed in the sleeve 221, an input end of the third transmission mechanism 33 is connected to an output end of the third motor 32, an output end of the third transmission mechanism 33 is connected to the first rotating shaft 5, when the third motor 32 drives the third transmission mechanism 33, the third transmission mechanism 33 drives the first rotating shaft 5 to rotate, and the second joint mechanism 4 is connected to the first joint mechanism 3 through the first rotating shaft 5, so that when the first rotating shaft 5 rotates, the second joint mechanism 4 can be driven to rotate in a horizontal direction.

Further, as shown in fig. 7, the second joint mechanism 4 includes a second joint arm 41, a fourth motor 42, and a fourth transmission mechanism 43, one end of the second joint arm 41 is fixedly connected to the first rotating shaft 5, the other end of the second joint arm 41 is movably provided with the second rotating shaft 6, the fourth motor 42 is disposed in the sleeve 221, the fourth transmission mechanism 43 includes a first-stage transmission portion 431, a transmission shaft 432, and a second-stage transmission portion 433, an input end of the first-stage transmission portion 431 is connected to an output end of the fourth motor 42, an output end of the first-stage transmission portion 431 is connected to the transmission shaft 432, the transmission shaft 432 is disposed in the first rotating shaft 5, an input end of the second-stage transmission portion 433 is connected to the transmission shaft 432, and an output end of the second-stage transmission portion 433 is connected to.

It should be understood that by disposing the third motor 32 and the fourth motor 42 in the sleeve, the situation that the third motor 32 is disposed on the first articulated arm 31 and the fourth motor 42 is disposed on the second articulated arm 41 is avoided, and the moment of inertia generated when the first articulated arm 31 and the second articulated arm 41 rotate is reduced, that is, the load of the first articulated arm 31 and the second articulated arm 41 is reduced, so that the first articulated arm 31 and the second articulated arm 41 are easier to control.

Preferably, the third motor 32 and the fourth motor 42 are disposed at the bottom of the sleeve 221 side by side, and are disposed at two sides of the central axis of the sleeve 221, which can lower the center of gravity of the sleeve 221, and when the sleeve 221 rotates, the rotational inertia generated by the third motor 32 and the rotational inertia generated by the fourth motor can be offset by side at two sides of the central axis, so as to avoid the influence of long-time rotation on the overall structure of the sleeve 221, which is also beneficial to the structural stability of the whole lifting type articulated arm robot, and prolong the service life of the robot.

Further, in order to enhance the practicability of the lifting type articulated arm robot and enable the lifting type articulated arm robot to adapt to more complex processing environments, on the basis of the above embodiment, in other embodiments, the lifting type articulated arm robot further comprises a multi-axis expansion module 7, and the multi-axis expansion module 7 is fixedly connected with the second rotating shaft 6.

Specifically, the multi-axis expansion module 7 includes a housing 71, and a first supporting portion and a second supporting portion are disposed on the housing 71, and the first supporting portion and the second supporting portion form a groove region; a first rotating shaft 72, both ends of the first rotating shaft 72 being movably connected with the first supporting part and the second supporting part, respectively; and a second rotation shaft 73, wherein the first rotation shaft 72 is disposed on an outer sidewall of the first rotation shaft 72, and a central axis of the second rotation shaft 73 is not parallel to and does not coincide with a central axis of the first rotation shaft 72.

In this embodiment, can increase two rotation axes that can act on with different planes through this multiaxis extension module 7 to expand hoist and mount type knuckle arm robot to six axles by the four-axis, satisfy more complicated operational requirement, can adapt to more complicated operational environment.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a hoist and mount type knuckle arm robot which characterized in that includes:

the base is hollow inside and is open at the bottom;

the lifting mechanism is arranged in the base and comprises a first driving mechanism and a lifting assembly, and the first driving mechanism drives the lifting assembly to enter or exit the base from the bottom opening;

one end of the first joint mechanism is connected with the bottom end of the lifting mechanism, and the lifting assembly drives the first joint mechanism to move when moving;

and one end of the second joint mechanism is connected with the other end of the first joint mechanism through a first rotating shaft, and the first rotating shaft drives the second joint mechanism to rotate around the central axis of the first rotating shaft when rotating.

2. The lifting type articulated arm robot of claim 1, wherein the lifting assembly comprises a sleeve, a mounting frame, a support, a screw rod and a nut member matched with the screw rod, the mounting frame is disposed on the sleeve, the support is disposed on the inner wall of the base, the screw rod is disposed on the support, the nut member is fixedly connected with the mounting frame and sleeved on the screw rod, a guide rail is disposed on the support, a buckling portion matched with the guide rail is disposed on the mounting frame and clamped on the guide rail, the first driving mechanism is connected with the top end of the screw rod, and when the screw rod is driven to rotate by the first driving mechanism, the nut member drives the mounting frame to slide on the guide rail so as to drive the sleeve to move up and down.

3. The lifting type articulated arm robot of claim 2, wherein the first driving mechanism comprises a first motor and a first transmission mechanism, the first motor is arranged on the inner wall of the base, the input end of the first transmission mechanism is connected with the output end of the first motor, and the output end of the first transmission mechanism is connected with the top end of the screw rod.

4. The lifting type articulated arm robot of claim 3, wherein the mounting frame is movably disposed on the top end of the sleeve, the first driving mechanism further comprises a second motor and a second transmission mechanism, the second motor is disposed on the mounting frame, an input end of the second transmission mechanism is connected with an output end of the second motor, an output end of the second transmission mechanism is disposed on the sleeve and located on the central axis of the sleeve, and when the second motor drives the second transmission mechanism, the second transmission mechanism drives the sleeve to rotate around the central axis of the sleeve.

5. The lifting type articulated arm robot of claim 2, wherein the first articulated mechanism comprises a first articulated arm, a third motor and a third transmission mechanism, one end of the first articulated arm is fixedly connected with the sleeve, the other end of the first articulated arm is movably provided with the first rotating shaft, the third motor is arranged in the sleeve, the input end of the third transmission mechanism is connected with the output end of the third motor, the output end of the third transmission mechanism is connected with the first rotating shaft, and when the third motor drives the third transmission mechanism, the third transmission mechanism drives the first rotating shaft to rotate.

6. The lifting type articulated arm robot of claim 5, wherein the second articulated mechanism comprises a second articulated arm, a fourth motor and a fourth transmission mechanism, one end of the second articulated arm is fixedly connected with the first rotating shaft, the other end of the second articulated arm is movably provided with a second rotating shaft, the fourth motor is arranged in the sleeve, the fourth transmission mechanism comprises a first-stage transmission part, a transmission shaft and a second-stage transmission part, the input end of the first-stage transmission part is connected with the output end of the fourth motor, the output end of the first-stage transmission part is connected with the transmission shaft, the transmission shaft is arranged in the first rotating shaft, the input end of the second-stage transmission part is connected with the transmission shaft, and the output end of the second-stage transmission part is connected with the second rotating shaft.

7. The boom articulated arm robot of claim 6, further comprising a multi-axis expansion module fixedly connected to the second shaft.

8. The boom articulated robot of claim 7, wherein the multi-axis expansion module comprises a housing, the housing having a first support and a second support, the first support and the second support forming a recessed area; the two ends of the first rotating shaft are respectively movably connected with the first supporting part and the second supporting part; the first rotating shaft is arranged on the outer side wall of the first rotating shaft, and the central axis of the second rotating shaft is not parallel to and coincident with the central axis of the first rotating shaft.

9. The boom articulated arm robot of claim 6, wherein the third motor and the fourth motor are disposed side by side at the bottom of the sleeve.

10. The lifting type articulated arm robot according to claim 2, wherein a limiting part is further provided at the bottom end of the screw rod.