CN214352444U

CN214352444U - Robot multiaxis extension module and robot

Info

Publication number: CN214352444U
Application number: CN202021924903.6U
Authority: CN
Inventors: 谢玉婷; 黄绍平; 单杰
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: 2021-10-08
Anticipated expiration: 2030-09-04

Abstract

The utility model relates to a multiaxis extension module of robot, include: the device comprises a shell, a first supporting part and a second supporting part are arranged on the shell, and the first supporting part and the second supporting part form a groove area; the first shaft mechanism comprises a first rotating shaft and a first driving mechanism for driving the first rotating shaft to rotate, two ends of the first rotating shaft are respectively movably connected with the first supporting part and the second supporting part, and the first driving mechanism is arranged in the shell; and the second shaft mechanism comprises a second rotating shaft and a second driving mechanism for driving the second rotating shaft to rotate, the second rotating shaft is arranged on the outer side wall of the first rotating shaft, the central axis of the second rotating shaft is not parallel to and coincident with the central axis of the first rotating shaft, and the second driving mechanism is arranged in the shell. The utility model also discloses a robot. The utility model discloses a multiaxis extension module of this robot can make 4 robots change to 6 robots to adapt to more complicated operational environment, the practicality is strong.

Description

Robot multiaxis extension module and robot

Technical Field

The utility model relates to a robotechnology field especially relates to a multiaxis extension module of robot and 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, the SCARA robot on the market only has 4 degrees of freedom, can only be used for operations in a plane, such as horizontal transportation, assembly and the like, is difficult to adapt to a complex workbench, and has limited operation form and environment.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides a multiaxis extension module of robot and robot to solve the problem that current SCARA robot is difficult to adapt to complex environment processing.

In order to solve the above problem, the utility model provides a multiaxis extension module of robot, include: the device comprises a shell, a first supporting part and a second supporting part are arranged on the shell, and the first supporting part and the second supporting part form a groove area; the first shaft mechanism comprises a first rotating shaft and a first driving mechanism for driving the first rotating shaft to rotate, two ends of the first rotating shaft are respectively movably connected with the first supporting part and the second supporting part, and the first driving mechanism is arranged in the shell; and the second shaft mechanism comprises a second rotating shaft and a second driving mechanism for driving the second rotating shaft to rotate, the second rotating shaft is arranged on the outer side wall of the first rotating shaft, the central axis of the second rotating shaft is not parallel to and coincident with the central axis of the first rotating shaft, and the second driving mechanism is arranged in the shell.

As a further improvement of the utility model, first actuating mechanism includes first driving motor and first drive mechanism, and second driving mechanism includes second driving motor and second drive mechanism, and first driving motor sets up in the casing with second driving motor side by side, and first drive mechanism's both ends are connected with first driving motor's output, first rotation axis respectively, and second drive mechanism's both ends are connected with second driving motor's output, second rotation axis respectively.

As a further improvement, the first supporting portion and the second supporting portion are symmetrically arranged, the output end of the first driving motor is arranged on the side of the first supporting portion, the output end of the second driving motor is arranged on the side of the second supporting portion, the first transmission mechanism is arranged in the first supporting portion, and the second transmission mechanism is arranged in the second supporting portion, so that the first transmission mechanism and the second transmission mechanism are arranged relatively.

As the utility model discloses a further improvement, first drive mechanism includes first action wheel, first from driving wheel and second from the driving wheel, and first action wheel and first from between the driving wheel, first from driving wheel and second from the driving connection between the driving wheel.

As a further improvement, the first driving wheel is connected with the first driven wheel through belt transmission, and the first driven wheel is connected with the second driven wheel through belt transmission.

As the utility model discloses a further improvement, second drive mechanism includes that second action wheel, third follow driving wheel and turn to the subassembly, and the second action wheel is connected with the third transmission from between the driving wheel, turns to the subassembly and is connected with third follow driving wheel and second rotation axis respectively for turn to the power of driving wheel output with the third and rotate with the drive second rotation axis.

As the utility model discloses a further improvement turns to the subassembly and includes first bevel gear and second bevel gear, and first bevel gear is connected from the driving wheel with the third, and second bevel gear is connected with the second axis of rotation, first bevel gear and second bevel gear meshing.

As a further improvement of the present invention, the connecting area includes an adapter plate having a plurality of screw holes.

As a further improvement of the utility model, the lateral wall of the first supporting part and the lateral wall of the second supporting part are all provided with and can dismantle the apron.

In order to solve the problem, the utility model also provides a robot, include the base and set up the multiaxis mechanism on the base, it still includes above-mentioned arbitrary one robot multiaxis extension module, robot multiaxis extension module is connected with the end actuating mechanism of multiaxis mechanism.

The utility model discloses a multiaxis extension module of robot is through extension primary shaft mechanism and secondary shaft mechanism, increase two rotation axes that can act on different planes, when installing this multiaxis extension module of robot on the end actuating mechanism of 4 SCARA robots, convert this SCARA robot into 6 SCARA robots, can be at the level, perpendicularly, the enterprising line of incline direction plays, satisfy more complicated operational requirement, can adapt to more complicated operational environment, therefore, this multiaxis extension module of robot has promoted the practicality of SCARA robot. In addition, compared with a complex mechanical arm structure, the multi-axis expansion module of the robot has a more compact and exquisite structure.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a multi-axis robot expansion module according to the present invention;

fig. 2 is an exploded view of the multi-axis expansion module of the robot shown in fig. 1;

fig. 3 is a schematic structural diagram of a first driving mechanism of the multi-axis expansion module of the robot shown in fig. 2;

fig. 4 is a schematic structural view of a second driving mechanism of the multi-axis expansion module of the robot shown in fig. 2;

fig. 5 is a schematic structural diagram of an embodiment of the robot of the present invention;

the meaning of the reference symbols in the drawings is:

100-a robot multi-axis expansion module; 200-a base; 300-a multi-axis mechanism; 1-a shell; 2-a first shaft mechanism; 3-a second shaft mechanism; 11-a first support; 12-a second support; 13-a linker region; 14-a removable cover plate; 21-a first axis of rotation; 22-a first drive mechanism; 31-a second axis of rotation; 32-a second drive mechanism; 221-a first drive motor; 222-a first transmission mechanism; 321-a second drive motor; 322-a second transmission mechanism; 2221-first capstan; 2222 — first driven wheel; 2223 — second driven wheel; 3221-a second drive wheel; 3222-a third driven wheel; 3223-a steering assembly; 32231 — a first bevel gear; 32232-second bevel gear.

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. 1 and 2 show schematic structural diagrams of an embodiment of the robotic multi-axis expansion module 100 of the present invention. It should be understood that the robot multi-axis expansion module 100 can be applied to a SCARA robot, adding two axes to the SCARA robot, thereby adapting to more complex processing environments. As shown in fig. 1 and 2, the robot multi-axis expansion module 100 includes a housing 1, a first axis mechanism 2, and a second axis mechanism 3. Wherein, the shell 1 is provided with a first supporting part 11 and a second supporting part 12, and the first supporting part 11 and the second supporting part 12 form a groove area; the first shaft mechanism 2 comprises a first rotating shaft 21 and a first driving mechanism 22, the first driving mechanism 22 is used for driving the first rotating shaft 21 to rotate, two ends of the first rotating shaft 21 are respectively movably connected with the first supporting part 11 and the second supporting part 12, so that the first rotating shaft 21 can rotate in the groove area by taking the central axis of the first rotating shaft 21 as the center of a circle under the driving of the first driving mechanism 22, and the first driving mechanism 22 is arranged in the shell 1; the second shaft mechanism 3 includes a second rotating shaft 31 and a second driving mechanism 32, the second driving mechanism 32 is used for driving the second rotating shaft 31 to rotate, the second rotating shaft 31 is disposed on an outer sidewall of the first rotating shaft 21, when the first rotating shaft 21 rotates, the second rotating shaft 31 is driven to rotate around a central axis of the first rotating shaft 21, the second rotating shaft 31 is driven by the second driving mechanism 32 and can also rotate around a central axis of the second rotating shaft 31, and the second driving mechanism 32 is disposed in the housing 1.

In the present embodiment, the central axis of the second rotating shaft 31 is not parallel to and does not coincide with the central axis of the first rotating shaft 21. Specifically, the central axis of the first rotating shaft 21 is the central axis when the first rotating shaft 21 rotates, and similarly, the central axis of the second rotating shaft 31 is the central axis when the second rotating shaft 31 rotates, when the central axes of the first rotating shaft 21 and the second rotating shaft 31 are parallel or coincident, the first shaft mechanism 2 and the second shaft mechanism 3 are directed to the same plane, and the purpose of adding two shafts to different platforms cannot be achieved, so that in order to enable the first shaft mechanism 2 and the second shaft mechanism 3 to achieve the purpose of adding two different degrees of freedom, the central axes of the first rotating shaft 21 and the second rotating shaft 31 cannot be parallel or coincident, and the central axes of the first rotating shaft 21 and the second rotating shaft 31 may be in different planes, or intersect when in the same plane. In the present embodiment, it is preferable that the central axis of the first rotating shaft 21 is perpendicular to the central axis 31 of the second rotating shaft, that is, the second rotating shaft 31 is vertically disposed on the outer wall of the first rotating shaft 21.

The robot multiaxis extension module 100 of this embodiment is through extension primary shaft mechanism 2 and secondary shaft mechanism 3, increase two rotation axes that can act on different planes, when installing this robot multiaxis extension module 100 on the terminal execution mechanism of 4 axis SCARA robots, convert this SCARA robot into 6 axis SCARA robots, can be at the level, perpendicularly, go up the effect in the incline direction, satisfy more complicated operational requirement, can adapt to more complicated operational environment, therefore, this robot multiaxis extension module 100 has promoted SCARA robot's practicality. In addition, the robot multi-axis expansion module 100 has a more compact and compact structure than a complicated robot arm structure.

Further, when the robot multi-axis expansion module 100 is mounted on the SCARA robot, in order to reduce the moment of inertia generated by the multi-axis expansion module 100 of the robot, on the basis of the above-described embodiments, in other embodiments, referring to fig. 2, 3 and 4, the housing wall away from the recessed area is provided with a connecting area 13, as shown in fig. 3, the first driving mechanism 22 includes a first driving motor 221 and a first transmission mechanism 222, as shown in fig. 4, the second driving mechanism 32 includes a second driving motor 321 and a second transmission mechanism 322, wherein the connection region 13 is preferably provided as a circular area, to match the end actuators of the SCARA robot, the central axis of the connection area 13 passes through the center of the connection area 13 and is a straight line perpendicular to the plane where the connection area is located, and the first driving motor 221 and the second driving motor 321 are arranged side by side and are respectively located on two sides of the central axis of the connection area 13. Both ends of the first transmission mechanism 222 are connected to the output end of the first drive motor 221 and the first rotary shaft 21, respectively, and both ends of the second transmission mechanism 322 are connected to the output end of the second drive motor 321 and the second rotary shaft 31, respectively.

Specifically, the first driving motor 221 and the second driving motor 321 are two motors with the same size, structure and weight, the first driving motor 221 and the second driving motor 321 are arranged in the housing 1 side by side, and the first driving motor 221 and the second driving motor 321 are respectively located at two sides of the central axis of the connection region 13, when the end actuator of the SCARA robot drives the robot multi-axis expansion module 100, the robot multi-axis expansion module 100 rotates around the central axis of the connection region 13, and the first driving motor 221 and the second driving motor 321 are arranged side by side and are respectively located at two sides of the central axis of the connection region 13, so that the first driving motor 221 and the second driving motor 321 rotate around the central axis of the connection region 13, and the rotational inertia generated by the two driving motors can be offset with each other, thereby achieving the purpose of reducing the rotational inertia of the robot multi-axis expansion module 100, the connection between the robot multi-axis expansion module 100 and the SCARA robot is more stable, and the robot multi-axis expansion module cannot be easily thrown away.

In order to further reduce the moment of inertia generated by the multi-axis expansion module 100 of the robot, in the embodiment, as shown in fig. 4, the first support portion 11 and the second support portion 12 are symmetrically arranged, and it should be understood that the symmetry refers to symmetry about a central axis of the connection region 13, an output end of the first driving motor 221 is disposed at a side of the first support portion 11, an output end of the second driving motor 321 is disposed at a side of the second support portion 12, so that output ends of the first driving motor 221 and the second driving motor 321 are oppositely arranged, the first transmission mechanism 222 is disposed in the first support portion 11, and the second transmission mechanism 322 is disposed in the second support portion 12, so that the first transmission mechanism 222 and the second transmission mechanism 322 are oppositely arranged.

In this embodiment, the first support part 11 and the second support part 12 are symmetrically arranged, and the output ends of the first driving motor 221 and the second driving motor 321 are oppositely arranged, so that the first transmission mechanism 222 can be arranged in the first support part 11, and the second transmission mechanism 322 can be arranged in the second support part 12, so that the first transmission mechanism 222 and the second transmission mechanism 322 are oppositely arranged, so that, when the robot multi-axis extension module 100 rotates, the oppositely arranged first transmission mechanism 222 and the second transmission mechanism 322 rotate around the central axis of the connection area 13, so that the rotational inertia generated by the two mechanisms are mutually offset, and the rotational inertia generated when the robot multi-axis extension module 100 rotates is reduced.

In this embodiment, the first driving motor 221 and the second driving motor 321, the first supporting portion 11 and the second supporting portion 12, and the first transmission mechanism 222 and the second transmission mechanism 322 are symmetrically arranged, so that when the robot multi-axis expansion module 100 rotates, rotational inertia generated by the first driving motor 221 and the second driving motor 321 is offset, rotational inertia generated by the first supporting portion 11 and the second supporting portion 12 is offset, rotational inertia generated by the first transmission mechanism 222 and the second transmission mechanism 322 is offset, and rotational inertia generated when the robot multi-axis expansion module 100 rotates is reduced to a great extent, so that the connection between the robot multi-axis expansion module 100 and the terminal actuator of the SCARA robot is more stable, abrasion on the robot multi-axis expansion module 100 is reduced, and the service life of the robot multi-axis expansion module 100 is prolonged.

Further, in some embodiments, first drive mechanism 222 comprises a multi-stage drive mechanism. The aim of increasing the reduction ratio is achieved through a multi-stage transmission mechanism.

In this embodiment, the multi-stage transmission mechanism is preferably a two-stage transmission mechanism, and the first transmission mechanism 222 specifically includes a first driving wheel 2221, a first driven wheel 2222, and a second driven wheel 2223, and the first driving wheel 2221 is in transmission connection with the first driven wheel 2222, and the first driven wheel 2222 is in transmission connection with the second driven wheel 2223.

In this embodiment, the transmission modes between the first driving wheel 2221 and the first driven wheel 2222 and between the first driven wheel 2222 and the second driven wheel 2223 may be a gear transmission mode, a chain transmission mode, a worm transmission mode, a screw transmission mode, and the like, and the embodiment is not limited.

Preferably, the first driving wheel 2221 and the first driven wheel 2222, and the first driven wheel 2222 and the second driven wheel 2223 are in transmission connection through a belt. The belt transmission mode has the advantages of simple structure, stable transmission, capability of buffering and absorbing vibration, capability of transmitting power between a large shaft distance and multiple shafts, low manufacturing cost, no need of lubrication and easy maintenance.

Further, in some embodiments, the second transmission mechanism 322 includes a second driving wheel 3221, a third driven wheel 3222, and a steering assembly 3223, the second driving wheel 3221 is in transmission connection with the third driven wheel 3222, and the steering assembly 3223 is respectively connected with the third driven wheel 3222 and the second rotating shaft 31, and is configured to steer the power output by the third driven wheel 3222 to drive the second rotating shaft 31 to rotate.

The steering assembly 3223 includes a first bevel gear 32231 and a second bevel gear 32232, the first bevel gear 32231 is connected to the third driven wheel 3222, the second bevel gear 32232 is connected to the second rotating shaft 31, and the first bevel gear 32231 is engaged with the second bevel gear 32232.

In this embodiment, since the direction of the power output from the second driving mechanism is different from the direction of the power required for the second rotating shaft 31 when the power is output through the third driven wheel 3222, the power output from the third driven wheel 3222 is steered by providing one steering unit 3223, so that the second rotating shaft 31 can be driven.

Further, in some embodiments, the connection region 13 includes an adapter plate having a plurality of screw holes, so that the robot multi-axis expansion module 100 can be connected to the end effector of the SCARA robot by screwing, thereby facilitating assembly and disassembly.

Further, in order to facilitate maintenance of the multi-axis expansion module 100, in some embodiments, the detachable cover plate 14 is disposed on each of the outer side wall of the first support part 11 and the outer side wall of the second support part 12, and when maintenance is needed, the first driving mechanism 22 and the third driving mechanism 32 in the housing 1 are maintained by detaching the detachable cover plate 14.

Fig. 5 shows a schematic structural diagram of an embodiment of the robot of the present invention. As shown in fig. 5, the robot includes the multi-axis robot expansion module 100 according to any one of the above embodiments, a base 200, and a multi-axis mechanism 300 disposed on the base 200, wherein the multi-axis robot expansion module 100 is connected to an end effector of the multi-axis mechanism 300.

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. A robotic multi-axis expansion module, comprising:

the device comprises a shell, a first supporting part and a second supporting part are arranged on the shell, and the first supporting part and the second supporting part form a groove area;

the first shaft mechanism comprises a first rotating shaft and a first driving mechanism for driving the first rotating shaft to rotate, two ends of the first rotating shaft are respectively movably connected with the first supporting part and the second supporting part, and the first driving mechanism is arranged in the shell;

and the second shaft mechanism comprises a second rotating shaft and a second driving mechanism for driving the second rotating shaft to rotate, the second rotating shaft is arranged on the outer side wall of the first rotating shaft, the central axis of the second rotating shaft is not parallel to and coincident with the central axis of the first rotating shaft, and the second driving mechanism is arranged in the shell.

2. The robot multi-axis expansion module of claim 1, wherein a connection area is disposed on a housing wall away from the recessed area, the first driving mechanism includes a first driving motor and a first transmission mechanism, the second driving mechanism includes a second driving motor and a second transmission mechanism, the first driving motor and the second driving motor are disposed side by side and are respectively located on two sides of a central axis of the connection area, two ends of the first transmission mechanism are respectively connected to an output end of the first driving motor and the first rotation shaft, and two ends of the second transmission mechanism are respectively connected to an output end of the second driving motor and the second rotation shaft.

3. The robot multiaxis expansion module of claim 2 wherein the first support portion and the second support portion are symmetrically arranged, the output end of the first driving motor is arranged at the side of the first support portion, the output end of the second driving motor is arranged at the side of the second support portion, the first transmission mechanism is arranged in the first support portion, the second transmission mechanism is arranged in the second support portion, so that the first transmission mechanism and the second transmission mechanism are arranged opposite to each other.

4. A robotic multi-axis expansion module according to claim 2 or 3, wherein the first transmission mechanism comprises a first drive wheel, a first driven wheel and a second driven wheel, the first drive wheel and the first driven wheel being in driving connection therewith and the first driven wheel and the second driven wheel being in driving connection therewith.

5. A robotic multi-axis expansion module according to claim 4, wherein the first drive wheel and the first driven wheel, and the first driven wheel and the second driven wheel are in belt drive connection.

6. A robot multi-axis expansion module according to claim 2 or 3, wherein the second transmission mechanism comprises a second driving wheel, a third driven wheel and a steering assembly, the second driving wheel is in transmission connection with the third driven wheel, the steering assembly is respectively connected with the third driven wheel and the second rotating shaft and is used for steering the power output by the third driven wheel to drive the second rotating shaft to rotate.

7. A robotic multi-axis expansion module according to claim 6, wherein the steering assembly comprises a first bevel gear and a second bevel gear, the first bevel gear being connected to the third driven wheel, the second bevel gear being connected to the second rotary shaft, the first bevel gear being in mesh with the second bevel gear.

8. A robotic multi-axis expansion module according to claim 2 wherein the connection region comprises an adaptor plate having a plurality of screw holes.

9. A robotic multi-axis expansion module according to claim 1, wherein the outer side wall of the first support and the outer side wall of the second support are each provided with a detachable cover plate.

10. A robot comprising a base and a multi-axis mechanism provided on the base, characterized in that it further comprises a robot multi-axis expansion module according to claims 1-9, which is connected with an end actuator of the multi-axis mechanism.