CN214352434U

CN214352434U - Robot

Info

Publication number: CN214352434U
Application number: CN202023183223.6U
Authority: CN
Inventors: 石金博; 俞春华; 沙琪; 刘虹; 陈理辉
Original assignee: QKM Technology Dongguan Co Ltd
Current assignee: QKM Technology Dongguan Co Ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-10-08
Anticipated expiration: 2030-12-25

Abstract

The utility model belongs to the technical field of the robot, a robot is disclosed, including base, arm and drive accuse intergral template, arm movable mounting in the base, drive accuse intergral template set up in the base, be used for control the arm motion, drive accuse intergral template includes control module, drive module and base plate, control module and drive module set up in on the base plate, the control module electricity is connected drive module. The control module and the driving module are arranged on the same substrate, so that the overall structure of the control module and the driving module is more compact, the required installation space is smaller, and the overall structure of the robot is more compact.

Description

Robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot.

Background

The robot is a cross technical product integrating the fields of machinery, electricity, electronic information and the like, is more common and can replace human beings to carry out the work of carrying, assembling, loading and unloading, stacking, welding, spraying and the like. The main components of the robots at least comprise a mechanical body, a speed reduction assembly, a motor, a driver and a controller, the controller and the driver of the common robots in the current market are mutually separated and need to be respectively installed, the occupied space is large, more installation auxiliary materials are consumed, the signal transmission connection is complex, and in addition, the split design is difficult to meet the use requirement of the narrow space.

In view of the above situation, it is necessary to design a new robot.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an aim at: provided is a robot, which makes the whole structure of the robot more compact.

To achieve the purpose, the utility model adopts the following technical proposal:

in a first aspect, a robot is provided, comprising:

a base;

the mechanical arm is movably arranged on the base;

the driving and controlling integrated plate is arranged on the base and used for controlling the mechanical arm to move, and comprises a control module, a driving module and a base plate, wherein the control module and the driving module are arranged on the base plate, and the control module is electrically connected with the driving module.

Particularly, the control module and the driving module are arranged on the same substrate, so that the overall structure of the control module and the driving module is more compact, the required installation space is smaller, and the overall structure of the robot is more compact.

As an alternative, the number of the control integrated plates is more than two, all the control integrated plates are stacked at intervals and are sequentially connected in a cascade manner, and each control integrated plate controls at least one arm body of the mechanical arm.

Alternatively, one of the control integrated plates controls one arm body of the robot arm.

Optionally, the number of the control integrated plates is equal to the number of the arm bodies of the mechanical arm.

As an alternative, any one of the driving and controlling integrated boards can be used as a main control board, and is used for controlling signals of all the driving and controlling integrated boards and is in signal connection with external equipment;

or all the driving and controlling integrated plates are connected with a cloud end controller, and the cloud end controller controls signals of all the driving and controlling integrated plates and is in signal connection with external equipment.

As an alternative, the integrated plate driving and controlling device further comprises a connecting seat, wherein the connecting seat comprises more than two first cascade sockets for the driving and controlling integrated plate to be inserted, and all the first cascade sockets are distributed at intervals and are connected in sequence in a cascade mode.

As an alternative, the robot further comprises a driving mechanism, which is mounted on the base or the mechanical arm, and the driving mechanism is electrically connected with the driving and controlling integrated board and is used for driving the mechanical arm to move.

As an alternative, a containing cavity is arranged in the base, and the driving mechanism is installed in the containing cavity.

As an alternative, the driving mechanism comprises a driving motor and a speed reducing component, the driving motor is mounted on the base or the mechanical arm, the speed reducing component is mounted on the driving motor, and the output end of the driving motor is in transmission connection with the speed reducing component.

As an alternative, the drive mechanism further comprises a flange mounted to the base or robotic arm, the drive motor and the reduction assembly being mounted on the flange.

Alternatively, the driving mechanism is a driving device made of piezoelectric ceramics.

As an alternative, the heat dissipation structure is further included, and the heat dissipation structure is arranged on the base.

Alternatively, the heat dissipation structure adopts air cooling heat dissipation.

As another alternative, the heat dissipation structure employs liquid cooling for heat dissipation.

Alternatively, the heat dissipation structure includes a first heat dissipation fan aligned with the control integrated plate for accelerating heat dissipation of the control integrated plate to all regions within the base and dissipating heat to the outside through the wall body of the base.

As an alternative, the heat dissipation structure includes a second heat dissipation fan, the base is provided with heat dissipation holes, and the second heat dissipation fan is aligned with the heat dissipation holes and used for discharging heat in the base to the outside of the base.

Alternatively, the heat dissipation structure comprises heat dissipation fins disposed on a wall of the base.

Optionally, the heat sink is disposed outside and/or inside the arm of the base.

Alternatively, the control panel is disposed adjacent to the wall having the heat sink.

As an alternative, the control integrated board further includes a first communication module disposed on the substrate, and the first communication module is electrically connected to the control module and/or the driving module.

Alternatively, the first communication module is connected to a network.

Alternatively, the first communication module is connected with a network by a wired or wireless connection.

As an alternative, the control module includes a first control portion and a second control portion, the first control portion and the first communication module are disposed on the first surface of the substrate, and the second control portion and the driving module are disposed on the second surface of the substrate.

As an alternative, the control integrated board further includes a first communication module disposed on the substrate, the first communication module is electrically connected to the control module and/or the driving module, and different control integrated boards are in signal connection via the first communication module.

As an alternative, the integrated control panel further comprises a connecting plate which is arranged in a stacked manner at an interval with the integrated control panel, the connecting plate is used for controlling signals of all the integrated control panels and is connected with external equipment signals, the connecting plate comprises a third control part and a mounting plate, the third control part is arranged on the mounting plate, and the integrated control panels are electrically connected with the third control part after being sequentially connected in a cascade manner.

As an alternative, the connection board further includes a second communication module, the second communication module is disposed on the mounting board, and the third control portion is electrically connected to the second communication module and the control integrated board.

Alternatively, the second communication module is connected to a network.

Alternatively, the second communication module adopts a wired or wireless connection network.

As an alternative, the connecting device further comprises a connecting seat, the connecting seat comprises more than two first cascade sockets for the driving and controlling of the integrated plate and a second cascade socket for the connecting plate to be plugged, all the first cascade sockets are distributed at intervals along a row and are sequentially connected in a cascade mode, and the second cascade socket is electrically connected with at least one first cascade socket.

As an alternative, an accommodating cavity is formed in the base, and the driving and controlling integrated plate is arranged in the accommodating cavity;

or a control box is installed on the outer side of the arm body of the base, and the driving and controlling integrated plate is arranged in the control box.

As an alternative, the robot further comprises a control function board or a driving function board, and the control function board or the driving function board is arranged on the mechanical arm.

In a second aspect, there is provided a robot comprising:

a base;

the mechanical arm is movably arranged on the base;

the control box is arranged at intervals with the base;

the driving and controlling integrated plate is arranged in the control box and used for controlling the mechanical arm to move, and comprises a control module, a driving module and a base plate, wherein the control module and the driving module are arranged on the base plate, and the control module is electrically connected with the driving module.

Optionally, one of the control integrated plates controls one arm body of the mechanical arm correspondingly. Further, the number of the driving and controlling integrated plates is equal to the number of the arm bodies of the mechanical arm.

Optionally, still include the connecting seat, include more than two confession on the connecting seat drive the first cascade socket that the integrated board of accuse was pegged graft, all first cascade socket interval distribution just cascade connection in proper order.

Optionally, the driving mechanism is mounted on the base or the mechanical arm, and the driving mechanism is electrically connected with the driving and controlling integrated board and is used for driving the mechanical arm to move.

Optionally, an accommodating cavity is formed in the base, and the driving mechanism is installed in the accommodating cavity.

Optionally, the driving mechanism includes a driving motor and a speed reduction assembly, the driving motor is mounted on the base or the mechanical arm, the speed reduction assembly is mounted on the driving motor, and an output end of the driving motor is in transmission connection with the speed reduction assembly.

Optionally, the driving mechanism further includes a flange, the flange is mounted on the base or the mechanical arm, and the driving motor and the speed reduction assembly are mounted on the flange.

Optionally, the driving mechanism is a driving device made of piezoelectric ceramics.

As an alternative, the control box further comprises a heat dissipation structure, and the heat dissipation structure is arranged on the control box.

Optionally, the heat dissipation structure adopts air cooling heat dissipation.

Optionally, the heat dissipation structure includes a first heat dissipation fan, and the first heat dissipation fan is aligned with the driving and controlling integrated plate, and is configured to accelerate the heat dissipation of the driving and controlling integrated plate to all regions in the control box, and dissipate heat to the outside through the outer wall of the control box.

Optionally, the heat dissipation structure includes a second heat dissipation fan, the control box is provided with heat dissipation holes, and the second heat dissipation fan is aligned to the heat dissipation holes and used for discharging heat in the control box to the outside of the control box.

Optionally, the heat dissipation structure includes a heat dissipation fin, and the heat dissipation fin is disposed on an outer wall of the control box.

Optionally, the heat sink is disposed outside and/or inside the outer wall of the control box.

Optionally, the driving and controlling integrated plate is disposed close to the outer wall having the heat sink.

Alternatively, the first communication module is connected to a network.

Optionally, the control module includes a first control portion and a second control portion, the first control portion and the first communication module are disposed on the first surface of the substrate, and the second control portion and the driving module are disposed on the second surface of the substrate.

Optionally, the integrated control panel further comprises a connecting plate arranged in a stacked manner at an interval with the integrated control panel, the connecting plate is used for controlling all signals of the integrated control panel and is in signal connection with external equipment, the connecting plate comprises a third control part and a mounting plate, the third control part is arranged on the mounting plate, and the integrated control panel is electrically connected with the third control part after being sequentially connected in a cascade manner.

Optionally, the connection board further includes a second communication module, the second communication module is disposed on the mounting plate, and the third control portion is electrically connected to the second communication module and the driving and controlling integrated board.

Optionally, the second communication module is connected to a network.

Optionally, the second communication module is connected to a network by a wired or wireless connection.

Optionally, still include the connecting seat, the connecting seat includes more than two confession drive the first cascade socket and the confession of controlling integrative board grafting the second cascade socket that the connecting plate was pegged graft, all first cascade socket is along a row interval distribution and cascade connection in proper order, second cascade socket and at least one first cascade socket electricity is connected.

In a third aspect, there is provided a robot comprising:

a base;

the mechanical arm is movably arranged on the base;

and the driving and controlling integrated board comprises a driving board and a control board, wherein the driving board and the control board are arranged on the base, and the driving board is electrically connected with the control board and used for controlling the motion of the mechanical arm.

As an alternative, the number of the control integrated plates is more than two, all the control integrated plates are stacked and distributed and are sequentially connected in a cascade manner, and each control integrated plate controls at least one arm body of the mechanical arm.

Alternatively, the drive plate and the control plate are connected in a chrysanthemum type.

Optionally, the heat dissipation structure adopts air cooling heat dissipation.

As another alternative, the heat dissipation structure adopts liquid cooling heat dissipation.

Optionally, the heat dissipation structure includes a first heat dissipation fan, and the first heat dissipation fan is aligned with the driving and controlling integrated board, and is configured to accelerate the heat dissipation of the driving and controlling integrated board to the entire area of the base, and dissipate the heat to the outside through a wall body of the base.

Optionally, the heat dissipation structure includes a second heat dissipation fan, the base is provided with heat dissipation holes, and the second heat dissipation fan is aligned with the heat dissipation holes and is used for discharging heat in the base to the outside of the base.

Optionally, the heat dissipation structure includes a heat dissipation fin, and the heat dissipation fin is disposed on the wall body of the base.

Optionally, the driving and controlling integrated board is disposed near the wall body having the heat sink.

Optionally, the control integrated board further comprises a communication board, and the communication board is electrically connected with the control board and/or the drive board.

Alternatively, the communication board is connected to a network.

Alternatively, the communication board is connected with a network by a wire or a wireless.

As an alternative, the driving and controlling integrated board further comprises a communication board, the communication board is electrically connected with the control board and/or the driving board, and different driving and controlling integrated boards are in signal connection through the communication board.

Optionally, the integrated drive and control panel further comprises a connecting plate stacked on the integrated drive and control panel, the connecting plate is used for controlling all signals of the integrated drive and control panel and is in signal connection with external equipment, the connecting plate comprises a control part and a mounting plate, the control part is arranged on the mounting plate, and the integrated drive and control panel is electrically connected with the control part after being sequentially connected in a cascade manner.

Optionally, the connecting plate further includes a communication module, the communication module is disposed on the mounting plate, and the control portion is electrically connected to the communication module and the driving and controlling integrated plate.

Optionally, the communication module is connected to a network.

Optionally, the communication module is connected to a network by a wired or wireless connection.

The utility model has the advantages that: the robot has the advantages that the control module and the driving module are arranged into an integrated structure, so that the overall structure of the control module and the control module is more compact, the required installation space is smaller, and the overall structure of the robot is more compact.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and examples.

FIG. 1 is a first schematic structural diagram of a robot according to an embodiment;

FIG. 2 is a schematic structural diagram of a control integrated plate according to an embodiment;

FIG. 3 is a schematic structural diagram of two or more integrated control plates according to an embodiment;

FIG. 4 is a schematic structural diagram of a base and a driving mechanism according to an embodiment;

FIG. 5 is a schematic view of another embodiment of a control integrated plate;

FIG. 6 is a schematic structural diagram of a control integrated plate and a connecting plate according to an embodiment;

FIG. 7 is a second schematic diagram of the robot according to the embodiment;

FIG. 8 is a schematic view of another structure of the integrated control plate according to the embodiment

FIG. 9 is a schematic view of a third construction of the robot according to the embodiment;

fig. 10 is a schematic diagram of a fourth structure of the robot according to the embodiment.

In fig. 1 to 10:

1. a base;

2. a mechanical arm; 21. an arm body;

3. a driving and controlling integrated plate; 31. a control module; 311. a first control section; 312. a second control section; 32. a drive module; 33. a substrate; 34. a first communication module; 35. a control panel; 36. a drive plate;

4. a connecting seat; 41. a first cascading socket; 42. a second cascade jack;

5. a drive mechanism; 51. a drive motor; 52. a speed reduction assembly; 53. a flange;

6. a connecting plate; 61. a third control section; 62. mounting a plate; 63. a second communication module;

7. and a control box.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; 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 invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

The first embodiment is as follows:

a robot, as shown in fig. 1 and fig. 2 (fig. 1 is only one kind of SCARA robot, and the technology is not limited to the shape structure or model shown in fig. 1, and is not limited to the SCARA robot, but may be other kinds of robots, such as two-axis robot, three-axis robot, four-axis robot, five-axis robot, six-axis robot, multiple-axis robot, and Delta robot, and is applicable to various specific shape structures and models of two-axis robot, three-axis robot, four-axis robot, five-axis robot, six-axis robot, multiple-axis robot, and Delta robot), including a base 1, a robot arm 2, and an integrated control plate 3, the robot arm 2 being movably mounted on the base 1, the integrated control plate 3 being provided on the base 1 for controlling the movement of the robot arm 2, the integrated control plate 3 including a control module 31, a drive module 32, and a base plate 33, the control module 31 and the driving module 32 are disposed on the substrate 33, and the control module 31 is electrically connected to the driving module 32. Specifically, by disposing the control module 31 and the driving module 32 on the same substrate 33, the overall structure of the control module 31 and the driving module 32 can be made more compact, the required installation space is smaller, and the overall structure of the robot is made more compact.

Optionally, the number of the driving and controlling integrated plates 3 is more than two, all the driving and controlling integrated plates 3 are stacked at intervals and are sequentially connected in a cascade manner, and each driving and controlling integrated plate 3 controls at least one arm body 21 of the mechanical arm 2. Further, one actuation-integration plate 3 corresponds to one arm body 21 of the control robot 2. The number of the actuation integrated plates 3 is equal to the number of the arm bodies 21 of the robot arm 2.

Optionally, any one of the driving and controlling integrated boards 3 can be used as a main control board for controlling signals of all the driving and controlling integrated boards 3 and connecting the signals with external equipment. Specifically, through above-mentioned design, can make the control system of robot more nimble, avoid leading to the whole unable work of robot because of the main control board damages, when one of them drives and controls integrative board 3 and damage, only need use another to drive and control integrative board 3 as the main control board, can realize the overall control to the robot.

Optionally, as shown in fig. 3, the robot further includes a connection seat 4, the connection seat 4 includes more than two first cascading sockets 41 for inserting the driving and controlling integrated board 3, and all the first cascading sockets 41 are distributed at intervals and are connected in series. Specifically, have first cascade socket 41's connecting seat 4 through the setting, can improve the installation reliability of driving accuse intergral template 3 on the one hand, on the other hand can conveniently drive the quick assembly disassembly of accuse integrative and connecting seat 4, and then improves convenience and the flexibility that the different integrated template 3 combinations of driving accuse used.

Optionally, as shown in fig. 4, the robot further includes a driving mechanism 5 installed on the base 1, and the driving mechanism 5 is electrically connected to the driving and controlling integrated board 3 for driving the robot arm 2 to move. A containing cavity is arranged in the base 1, and the driving mechanism 5 is installed in the containing cavity. In particular, the driving mechanism 5 is arranged in the accommodating cavity, so that the connection between the driving mechanism 5 and the driving and controlling integrated plate 3 is simpler and more reliable.

Optionally, the driving mechanism 5 includes a driving motor 51 and a speed reducing assembly 52, the driving motor 51 is mounted on the base 1, the speed reducing assembly 52 is mounted on the driving motor 51, and an output end of the driving motor 51 is in transmission connection with the speed reducing assembly 52. Further, the driving mechanism 5 further includes a flange 53, the flange 53 is mounted on the base 1, and the driving motor 51 and the speed reducing assembly 52 are mounted on the flange 53. Of course, the flange 53 is not necessary, and in some cases, the flange 53 may not be provided.

Optionally, the robot further includes a heat dissipation structure, and the heat dissipation structure is disposed on the base 1.

Optionally, the heat dissipation structure adopts air cooling heat dissipation. The heat dissipation structure includes a first heat dissipation fan, the first heat dissipation fan is aligned with the driving and controlling integrated plate 3, and is used for accelerating the heat of the driving and controlling integrated plate 3 to be diffused to all regions in the base 1, and dissipating the heat to the outside through the wall body of the base 1. The heat dissipation structure comprises a second heat dissipation fan, wherein heat dissipation holes are formed in the base 1, and the second heat dissipation fan is aligned to the heat dissipation holes and used for discharging heat in the base 1 to the outside of the base 1. The first heat dissipation fan and the second heat dissipation fan are not necessarily arranged at the same time, and in some cases, only one of the first heat dissipation fan and the second heat dissipation fan may be arranged separately.

Optionally, the heat dissipation structure includes a heat dissipation plate, and the heat dissipation plate is disposed on the wall body of the base 1. Further, the heat sink is disposed outside and/or inside the arm 21 of the base 1, and the driving and controlling integrated board 3 is disposed near the wall body having the heat sink, which can provide the heat dissipation effect of the driving and controlling integrated board 3.

Optionally, as shown in fig. 5, the driving and controlling integrated board 3 further includes a first communication module 34 disposed on the substrate 33, and the first communication module 34 is electrically connected to the control module 31 and/or the driving module 32. The first communication module 34 is connected to a network. Further, the first communication module 34 may be connected to a network by wire or wirelessly. When the number of the driving and controlling integrated plates 3 is more than two, different driving and controlling integrated plates 3 are in signal connection through the first communication module 34.

Optionally, the control module 31 includes a first control portion 311 and a second control portion 312, the first control portion 311 and the first communication module 34 are disposed on the first surface of the substrate 33, and the second control portion 312 and the driving module 32 are disposed on the second surface of the substrate 33.

Optionally, a containing cavity is formed in the base 1, and the driving and controlling integrated plate 3 is arranged in the containing cavity.

Optionally, the robot further includes a control function board or a driving function board, and the control function board or the driving function board is disposed on the mechanical arm 2.

Example two:

the difference between this embodiment and the first embodiment is:

all the drive and control integrated plates are connected with a cloud end controller, and the cloud end controller controls signals of all the drive and control integrated plates and is in signal connection with external equipment. The drive and control integrated plate of this embodiment all need not to regard as the main control board promptly, but adopts cloud end controller as the main control center of robot, realizes the overall control to the robot.

Example three:

the difference between this embodiment and the first embodiment is:

the actuating mechanism is not installed in the holding intracavity, and the actuating mechanism of this embodiment is installed on the arm, and this kind of design can make full use of the ascending space of direction of height, makes the robot along vertical direction dispersion overall arrangement, avoids actuating mechanism to occupy the space of base, and then makes the base can design littleer, makes the robot can be applied to the scene that the horizontal area is littleer.

Example four:

the difference between this embodiment and the first embodiment is:

the driving mechanism is not installed in the accommodating cavity, but is installed outside the wall body of the base, so that the driving mechanism can dissipate heat and be maintained.

Example five:

the difference between this embodiment and the first embodiment is:

the driving mechanism is not in a motor structure, but is designed to be a driving device made of piezoelectric ceramics, and the piezoelectric ceramics drives the mechanical arm to move.

Example six:

the difference between this embodiment and the first embodiment is:

the heat radiation structure of this embodiment adopts the liquid cooling heat dissipation, specifically, can set up flow channel and liquid flow pump, and flow channel can with drive the heat transfer of accuse intergral template, through liquid flow pump drive coolant liquid at flow channel inner loop, and then will drive the heat of accuse intergral template and take away to reduce the temperature of driving the accuse intergral template, make and drive the accuse intergral template work more stable.

Example seven:

the difference between this embodiment and the first embodiment is:

the robot further comprises a connecting plate 6 which is arranged in a stacked manner at intervals with the driving and controlling integrated plates 3, the connecting plate 6 is used for controlling signals of all the driving and controlling integrated plates 3 and is connected with external equipment signals, as shown in fig. 6, the connecting plate 6 comprises a third control part 61 and a mounting plate 62, the third control part 61 is arranged on the mounting plate 62, and the driving and controlling integrated plates 3 are sequentially connected in a cascade manner and then are electrically connected with the third control part 61. The connecting plate 6 further comprises a second communication module 63, the second communication module 63 is arranged on the mounting plate 62, the third control part 61 is electrically connected with the second communication module 63 and the driving and controlling integrated plate 3, the second communication module 63 is connected with a network, and the second communication module 63 is connected with the network in a wired or wireless mode. This connecting plate 6 can drive the integrative board 3 of accuse as the main control board of robot to whole the control, need not to use arbitrary one promptly to drive the integrative board 3 of accuse as the main control board.

Optionally, the robot further includes a connection seat 4, the connection seat 4 includes more than two first cascade sockets 41 for driving and controlling the integrated plate 3 to be plugged and a second cascade socket 42 for connecting the connection plate 6 to be plugged, all the first cascade sockets 41 are distributed along a row at intervals and are connected in cascade in sequence, and the second cascade socket 42 is electrically connected with at least one first cascade socket 41.

Example eight:

the difference between this embodiment and the first embodiment is:

the control box is installed to the arm body 21 outside of base 1, drives and controls integrated board 3 and sets up in the control box. Compared with the scheme that the driving and controlling integrated plate 3 is arranged in the accommodating cavity of the base 1, the design can enable the control system formed by the driving and controlling integrated plate 3 and other devices to be taken as a whole, and the assembly and disassembly are more convenient.

Example nine:

a robot, as shown in fig. 7 (fig. 7 is only one of SCARA robots, and the present technology is not limited to the shape structure or model shown in fig. 1 in particular, nor to the SCARA robot category, but may be other types of robots, such as two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multiple-axis robots, and Delta robots, and is applicable to various specific shape structures and models of two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multiple-axis robots, and Delta robots), including a base 1, a robot arm 2, a control box 7, and a control integrated board 3, the robot arm 2 being movably mounted on the base 1; the control box 7 is arranged at intervals with the base 1; the integrated control panel 3 is disposed in the control box 7 and configured to control the movement of the robot arm 2, as shown in fig. 2, the integrated control panel 3 includes a control module 31, a driving module 32, and a substrate 33, the control module 31 and the driving module 32 are disposed on the substrate 33, and the control module 31 is electrically connected to the driving module 32. The design of the control box 7 and the base 1 as a separate body enables the control box 7 to be installed at a position far away from the base 1, and facilitates the base 1 to be applied to a narrow space.

Optionally, the number of the driving and controlling integrated plates 3 is more than two, all the driving and controlling integrated plates 3 are stacked at intervals and are sequentially connected in a cascade manner, and each driving and controlling integrated plate 3 controls at least one arm body 21 of the mechanical arm 2.

Alternatively, one control integrated plate 3 corresponds to one arm body 21 of the control robot 2. Further, the number of the actuation integration plates 3 is equal to the number of the arm bodies 21 of the robot arm 2.

Optionally, any one of the driving and controlling integrated boards 3 can be used as a main control board for controlling signals of all the driving and controlling integrated boards 3 and connecting the signals with external equipment.

Optionally, as shown in fig. 3, the robot further includes a connection seat 4, the connection seat 4 includes more than two first cascading sockets 41 for inserting the driving and controlling integrated board 3, and all the first cascading sockets 41 are distributed at intervals and are connected in series.

Optionally, as shown in fig. 4, the robot further includes a driving mechanism 5 installed on the base 1 or the robot arm 2, and the driving mechanism 5 is electrically connected to the driving and controlling integrated plate 3 for driving the robot arm 2 to move.

Optionally, an accommodating cavity is formed in the base 1, and the driving mechanism 5 is installed in the accommodating cavity.

Optionally, the driving mechanism 5 includes a driving motor 51 and a speed reducing assembly 52, the driving motor 51 is mounted on the base 1 or the robot arm 2, the speed reducing assembly 52 is mounted on the driving motor 51, and an output end of the driving motor 51 is in transmission connection with the speed reducing assembly 52.

Optionally, the driving mechanism 5 further includes a flange 53, the flange 53 is mounted on the base 1 or the robot arm 2, and the driving motor 51 and the speed reducing assembly 52 are mounted on the flange 53.

Alternatively, the driving mechanism 5 may not have a motor structure, but may have a driving device made of piezoelectric ceramics.

In this embodiment, the robot further includes a heat dissipation structure, and the heat dissipation structure is disposed in the control box 7. Furthermore, the heat dissipation structure adopts air cooling heat dissipation. Of course, in other embodiments, the heat dissipation structure may also adopt liquid cooling heat dissipation.

In the case of using air-cooled heat dissipation, optionally, the heat dissipation structure includes a first heat dissipation fan, and the first heat dissipation fan is aligned with the driving and controlling integrated board 3, and is configured to accelerate the heat dissipation of the driving and controlling integrated board 3 to the whole area in the control box 7, and dissipate the heat to the outside through the outer wall of the control box. The heat dissipation structure further comprises a second heat dissipation fan, wherein heat dissipation holes are formed in the control box 7, and the second heat dissipation fan is aligned to the heat dissipation holes and used for discharging heat in the control box 7 to the outside of the control box 7. Of course, the first cooling fan and the second cooling fan are not necessarily disposed at the same time, and in some cases, only one of the first cooling fan and the second cooling fan may be disposed separately.

Optionally, the heat dissipation structure includes a heat sink disposed on an outer wall of the control box 7. Further, heat radiating fins are provided on the outer side and/or the inner side of the outer wall of the control box 7, and the drive-and-control integrated plate 3 is provided near the outer wall having the heat radiating fins.

Example ten:

the present embodiment differs from embodiment nine in that:

the robot further comprises a connecting plate 6 which is arranged in a stacked manner at intervals with the driving and controlling integrated plates 3, the connecting plate 6 is used for controlling signals of all the driving and controlling integrated plates 3 and is connected with external equipment signals, as shown in fig. 6, the connecting plate 6 comprises a third control part 61 and a mounting plate 62, the third control part 61 is arranged on the mounting plate 62, and the driving and controlling integrated plates 3 are sequentially connected in a cascade manner and then are electrically connected with the third control part 61. The connecting plate 6 further comprises a second communication module 63, the second communication module 63 is arranged on the mounting plate 62, and the third control part 61 is electrically connected with the second communication module 63 and the driving and controlling integrated plate 3. The second communication module 63 is connected to a network, and further, the second communication module 63 is connected to the network by a wired or wireless connection. This embodiment carries out overall control to whole integrated board 3 of driving and controlling through connecting plate 6 as the main control board, need not to use arbitrary one to drive and control integrated board 3 promptly as the main control board.

Example eleven:

the present embodiment differs from embodiment nine in that:

Example twelve:

a robot, as shown in fig. 1 and 8 (fig. 1 is only one of SCARA robots, and the present technology is not limited to the shape structure or model shown in fig. 1 in detail, nor to the SCARA robot category, but may be other types of robots, such as two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multiple-axis robots, and Delta robots, and is applicable to various specific shape structures and models of two-axis robots, three-axis robots, four-axis robots, five-axis robots, six-axis robots, multiple-axis robots, and Delta robots), including a base 1, a robot arm 2, and a control integrated board 3, the robot arm 2 being movably mounted on the base 1; the driving and controlling integrated plate 3 comprises a driving plate 36 and a control plate 35, the driving plate 36 and the control plate 35 are arranged on the base 1, and the driving plate 36 is electrically connected with the control plate 35 and used for controlling the movement of the mechanical arm 2. Particularly, the control board 35 and the drive board 36 are designed into an integrated structure, so that the integrated structure of the drive board 36 and the control board 35 is more compact, the required installation space is smaller, and the overall structure of the robot is more compact. Optionally, the driving plate 36 and the control plate 35 are connected in a daisy manner.

Optionally, the number of the driving and controlling integrated plates 3 is more than two, all the driving and controlling integrated plates 3 are stacked and distributed and are connected in cascade in sequence, and each driving and controlling integrated plate 3 controls at least one arm body 21 of the mechanical arm 2.

Optionally, the robot further includes a driving mechanism 5 installed on the base 1 or the mechanical arm 2, and the driving mechanism 5 is electrically connected to the driving and controlling integrated board 3 and is used for driving the mechanical arm 2 to move.

Alternatively, in some embodiments, the driving mechanism 5 may not be a motor structure, but may be a driving device made of piezoelectric ceramics.

Optionally, the robot further includes a heat dissipation structure, and the heat dissipation structure is disposed on the base 1. The heat dissipation structure adopts air cooling heat dissipation. Of course, in some embodiments, the heat dissipation structure may also adopt liquid cooling heat dissipation.

In the case of using air-cooled heat dissipation, optionally, the heat dissipation structure includes a first heat dissipation fan, and the first heat dissipation fan is aligned with the driving and controlling integrated board 3, and is configured to accelerate the heat dissipation of the driving and controlling integrated board 3 to the whole area of the base 1, and dissipate the heat to the outside through the wall body of the base 1. The heat dissipation structure comprises a second heat dissipation fan, wherein heat dissipation holes are formed in the base 1, and the second heat dissipation fan is aligned to the heat dissipation holes and used for discharging heat in the base 1 to the outside of the base 1. Of course, the first cooling fan and the second cooling fan are not necessarily disposed at the same time, and in some cases, only one of the first cooling fan and the second cooling fan may be disposed separately.

Optionally, the heat dissipation structure includes a heat dissipation plate, and the heat dissipation plate is disposed on the wall body of the base 1. Further, heat sinks are provided outside and/or inside the arms 21 of the base 1, and the control integrated plate 3 is provided near a wall body having the heat sinks.

Optionally, the driving and controlling integrated board 3 further includes a communication board, and the communication board is electrically connected to the control board 35 and/or the driving board 36. The communication board is connected with a network, and further, the communication board is connected with the network in a wired or wireless mode. When the number of the drive and control integrated plates 3 is more than two, the different drive and control integrated plates 3 are connected through communication plate signals.

Optionally, an accommodating cavity is formed in the base 1, and the driving and controlling integrated plate 3 is arranged in the accommodating cavity; alternatively, the control box 7 is attached to the outside of the arm 21 of the base 1, and the integrated drive and control plate 3 is provided in the control box 7.

Example thirteen:

the present embodiment is different from embodiment twelve in that:

the robot further comprises a connecting plate which is stacked with the driving and controlling integrated plates, the connecting plate is used for controlling signals of all the driving and controlling integrated plates and is in signal connection with external equipment, the connecting plate comprises a control part and a mounting plate, the control part is arranged on the mounting plate, and the driving and controlling integrated plates are electrically connected with the control part after being sequentially connected in a cascade mode. The connecting plate further comprises a communication module, the communication module is arranged on the mounting plate, and the control part is electrically connected with the communication module and the driving and controlling integrated plate. The communication module is connected with a network, and further, the communication module is connected with the network in a wired or wireless mode. This embodiment carries out overall control to whole drive accuse intergral template through the connecting plate as the main control board, need not to use arbitrary one to drive accuse intergral template promptly as the main control board.

Example fourteen:

the present embodiment is different from embodiment twelve in that:

Example fifteen:

a robot, as shown in fig. 9 and fig. 2, includes a base 1, a robot arm 2 and a driving and controlling integrated plate 3, the robot arm 2 is movably mounted on the base 1, the driving and controlling integrated plate 3 is disposed on the base 1 and is used for controlling the movement of the robot arm 2, the driving and controlling integrated plate 3 includes a control module 31, a driving module 32 and a substrate 33, the control module 31 and the driving module 32 are disposed on the substrate 33, and the control module 31 is electrically connected to the driving module 32. Specifically, by disposing the control module 31 and the driving module 32 on the same substrate 33, the overall structure of the control module 31 and the driving module 32 can be made more compact, the required installation space is smaller, and the overall structure of the robot is made more compact.

Example sixteen:

a robot, as shown in fig. 10 and fig. 2, includes a base 1, a robot arm 2 and a driving and controlling integrated plate 3, the robot arm 2 is movably mounted on the base 1, the driving and controlling integrated plate 3 is disposed on the base 1 and is used for controlling the movement of the robot arm 2, the driving and controlling integrated plate 3 includes a control module 31, a driving module 32 and a substrate 33, the control module 31 and the driving module 32 are disposed on the substrate 33, and the control module 31 is electrically connected to the driving module 32. Specifically, by disposing the control module 31 and the driving module 32 on the same substrate 33, the overall structure of the control module 31 and the driving module 32 can be made more compact, the required installation space is smaller, and the overall structure of the robot is made more compact.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used in a descriptive sense and with reference to the illustrated orientation or positional relationship for purposes of descriptive convenience and simplicity of operation, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied thereto. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A robot, comprising:

a base;

the mechanical arm is movably arranged on the base;

2. The robot according to claim 1, wherein the number of the integrated control plates is two or more, all the integrated control plates are stacked at intervals and connected in cascade in sequence, and each integrated control plate controls at least one arm body of the robot arm.

3. A robot as claimed in claim 2, characterized in that one said actuation-control integrated plate corresponds to one arm of said robot arm.

4. The robot of claim 2, wherein any one of the driving and controlling integrated boards can be used as a master control board for controlling signals of all the driving and controlling integrated boards and is in signal connection with external equipment;

5. The robot of claim 2, further comprising a connecting base, wherein the connecting base comprises more than two first cascading sockets for the driving and controlling integrated plate to be inserted, and all the first cascading sockets are distributed at intervals and are connected in series in a cascading manner.

6. The robot of claim 1, further comprising a driving mechanism mounted on the base or the robot arm, wherein the driving mechanism is electrically connected to the driving and controlling integrated board for driving the robot arm to move.

7. A robot as claimed in claim 6, wherein a receiving cavity is provided in the base, and the driving mechanism is mounted in the receiving cavity.

8. A robot according to claim 6, wherein the driving mechanism comprises a driving motor and a speed reducing assembly, the driving motor is mounted on the base or the mechanical arm, the speed reducing assembly is mounted on the driving motor, and the output end of the driving motor is in transmission connection with the speed reducing assembly.

9. A robot as claimed in claim 8, wherein the drive mechanism further comprises a flange mounted to the base or arm, the drive motor and the reduction assembly being mounted to the flange.

10. A robot as claimed in claim 6, characterized in that the drive mechanism is a drive element made of piezo-electric ceramic.

11. The robot of claim 1, further comprising a heat dissipating structure disposed on the base.

12. A robot as claimed in claim 11, wherein the heat dissipation structure employs air-cooled heat dissipation.

13. The robot of claim 12, wherein the heat dissipation structure comprises a first heat dissipation fan aligned with the control integrated plate for accelerating heat dissipation from the control integrated plate to all regions within the base and dissipating heat to the outside through the wall of the base.

14. The robot of claim 12, wherein the heat dissipation structure comprises a second heat dissipation fan, the base is provided with heat dissipation holes, and the second heat dissipation fan is aligned with the heat dissipation holes for discharging heat in the base to the outside of the base.

15. A robot as claimed in claim 12, wherein the heat dissipating structure comprises fins provided on a wall of the base.

16. A robot as claimed in claim 15, wherein said control panel is disposed adjacent said wall having said fins.

17. The robot of claim 1, wherein the integrated control board further comprises a first communication module disposed on the substrate, and the first communication module is electrically connected to the control module and/or the driving module.

18. A robot as claimed in claim 17, wherein the first communication module is connected to a network.

19. A robot as claimed in claim 18, wherein the first communication module is wired or wireless to the network.

20. A robot as claimed in claim 19, wherein the control module comprises a first control part and a second control part, the first control part and the first communication module being provided on a first side of the substrate, and the second control part and the driving module being provided on a second side of the substrate.

21. The robot of claim 2, wherein the integrated control boards further comprise a first communication module disposed on the substrate, the first communication module is electrically connected to the control module and/or the driving module, and different integrated control boards are in signal connection via the first communication module.

22. The robot of claim 2, further comprising a connection board stacked at a distance from the integrated control boards, the connection board being used for controlling signals of all the integrated control boards and being connected to external equipment signals, the connection board including a third control portion and a mounting board, the third control portion being disposed on the mounting board, and the integrated control boards being electrically connected to the third control portion after being connected in series.

23. A robot as claimed in claim 22, wherein the connection plate further comprises a second communication module provided on the mounting plate, and the third control section electrically connects the second communication module and the integrated drive and control plate.

24. A robot as claimed in claim 23, wherein the second communication module is connected to a network.

25. A robot as claimed in claim 23, wherein the second communication module is wired or wireless to the network.

26. A robot as claimed in claim 22, further comprising a connecting base, wherein the connecting base includes more than two first cascading sockets for the control integrated board and one second cascading socket for the connecting board, all of the first cascading sockets are spaced along a row and are connected in series in a cascade, and the second cascading socket is electrically connected to at least one of the first cascading sockets.

27. The robot as claimed in claim 1, wherein the base has a receiving cavity therein, and the driving and controlling integrated board is disposed in the receiving cavity;

28. A robot as claimed in claim 1, further comprising a control function board or a drive function board, the control function board or the drive function board being provided to the robot arm.

29. A robot, comprising:

a base;

the mechanical arm is movably arranged on the base;

the control box is arranged at intervals with the base;

30. The robot of claim 29, wherein the number of the control integrated plates is two or more, all the control integrated plates are stacked at intervals and connected in cascade in sequence, and each control integrated plate controls at least one arm body of the robot arm.

31. A robot according to claim 30, wherein any one of the driving and controlling integrated boards can be used as a master board for controlling signals of all the driving and controlling integrated boards and is in signal connection with external devices;

32. A robot as claimed in claim 29, further comprising a heat dissipating structure disposed in the control box.

33. A robot as claimed in claim 29, wherein the integrated control board further comprises a first communication module disposed on the substrate, the first communication module being electrically connected to the control module and/or the driving module.

34. A robot as claimed in claim 33, wherein the first communication module is connected to a network.

35. A robot as claimed in claim 34, wherein the first communication module is wired or wireless to the network.

36. The robot of claim 30, wherein the integrated control boards further comprise a first communication module disposed on the substrate, the first communication module is electrically connected to the control module and/or the driving module, and different integrated control boards are in signal connection via the first communication module.

37. A robot as claimed in claim 29, further comprising a control function board or a drive function board, the control function board or the drive function board being provided to the robot arm.

38. A robot, comprising:

a base;

the mechanical arm is movably arranged on the base;

39. The robot according to claim 38, wherein the number of the control integrated plates is two or more, all the control integrated plates are stacked and connected in cascade in sequence, and each control integrated plate controls at least one arm body of the robot arm.

40. A robot as claimed in claim 39, wherein any one of the driving and controlling integrated boards can be used as a master control board for controlling signals of all the driving and controlling integrated boards and is in signal connection with external devices;

41. A robot as claimed in claim 38, wherein the drive plate is daisy chained to the control plate.

42. A robot as claimed in claim 38, further comprising a heat dissipating structure disposed on the base.

43. A robot as claimed in claim 38, wherein the control integrated board further comprises a communication board electrically connected to the control board and/or the drive board.

44. A robot as claimed in claim 43, wherein the communication board is connected to a network.

45. A robot as claimed in claim 44, wherein the communication board is wired or wireless to the network.

46. A robot as claimed in claim 39, wherein said control integrated boards further comprise communication boards, said communication boards are electrically connected to said control board and/or said driving boards, and different control integrated boards are signal-connected through said communication boards.

47. A robot as claimed in claim 38, wherein the base has a receiving cavity therein, and the driving and controlling integrated board is disposed in the receiving cavity;

48. A robot as claimed in claim 38, further comprising a control function board or a drive function board, the control function board or the drive function board being provided to the robot arm.