JP2024504879A - Direct drive SCARA robot with rearward center of gravity - Google Patents

Abstract

The present invention includes a base, a first arm, and a second arm connected in sequence, and further connected to the second arm via a first electric motor and a transmission device installed at a connection point between the first arm and the base. Disclosed is a horizontal articulated robot comprising a second electric motor, the projections of the axes of the first electric motor and the second electric motor on a vertical plane at least partially overlapping, the first electric motor and the second electric motor By directly driving the first and second arms by the In addition, by installing the first electric motor and the second electric motor so that they at least partially overlap, the distance between the axes of the two electric motors can be reduced, and the output torque demand of the first electric motor can be reduced. Furthermore, the overall volume and mass of the horizontal articulated robot can be reduced, contributing to the realization of high acceleration and high speed of the horizontal articulated robot.

Description

[Cross reference to related applications]
This application claims priority to the Chinese patent application filed on December 31, 2020, with application number 2020116329334 and the title of the invention is "Direct drive SCARA robot with rearward center of gravity", and all contents thereof is incorporated herein by reference.

The present invention relates to the technical field of robots, and particularly to horizontal articulated robots.

A horizontal articulated robot, also called SCARA (Selective Compliance Assembly Robot Arm), is a robot arm applied to assembly work. Generally, in a horizontal articulated robot, a first joint located at a connection point between a base and a first arm, a second joint located at a connection point between the first arm and a second arm, and a second joint located at a connection point between the first arm and the second arm, and a second joint located at a connection point between the first arm and the second arm. Three rotatable joints are provided, such as a third joint located at one end remote from the first arm, and the axes of the three joints are parallel to each other to provide positioning and orientation in a plane. is possible, simple to operate, efficient, and low cost.

Through research and development over a long period of time, the inventor of the present application discovered that it is common practice today to install an electric motor at each joint in a horizontal articulated robot to drive it, but the axis of the electric motor installed at the second joint and the Since the distance from the axis of the electric motor installed at the joint is generally long, the inertial mass of the moving body to be driven by the electric motor at the first joint is large, making it difficult to achieve high acceleration and high speed.

The present invention provides a horizontal articulated robot in order to solve the technical problem that it is difficult to improve the speed and accuracy of the horizontal articulated robot due to limitations in drive method and structure in the prior art.

In order to solve the above technical problem, one technical means adopted in the present invention is:
base and
a first arm connected to the base and having a first joint formed at the connection point with the base;
a first electric motor installed in the first joint and used to drive the first arm to rotate relative to the base;
a second arm connected to one end of the first arm remote from the base, and having a second joint formed at a connection point with the first arm;
a second electric motor connected to the second arm via a transmission and used to drive the second arm to rotate relative to the first arm;
It is an object of the present invention to provide a horizontal articulated robot, wherein projections of the axis of the first electric motor and the second electric motor on a vertical plane at least partially overlap.

In one specific embodiment, the first electric motor and the second electric motor are installed so that their axes overlap.

In one specific embodiment, the first electric motor includes a first stator installed on the base, and a first rotating motor connected to the first arm and fitted outside the first stator. a second stator installed on the first arm and fixedly connected to the first stator; and a second stator connected to the transmission device. and a second rotor fitted outside the child.

In one specific embodiment, the first electric motor includes a first stator installed on the base, and a first rotating motor connected to the first arm and fitted outside the first stator. a second stator installed on the first arm and fixedly connected to the first rotor; and a second stator connected to the transmission device. and a second rotor fitted outside the child.

In one specific embodiment, the transmission device includes a first transmission wheel, a second transmission wheel, a first rigid transmission belt, and a second rigid transmission belt, and the first transmission wheel is located outside the second rotor. fitted, the second transmission wheel is connected to the second arm, and the first rigid transmission belt and the second rigid transmission belt are respectively connected to the first transmission wheel and the second transmission wheel by fixing members. has been done.

In one specific embodiment, the transmission device includes at least a first gear fitted outside the second rotor, and a second gear connected to the second arm, and A backlash-free gear assembly is provided in which the gear and the second gear mesh with each other.

In one specific embodiment, the transmission device includes a first synchronous ring fitted outside the second rotor, a second synchronous ring connected to the second arm, and the first synchronous ring. and a synchronous belt connecting the second synchronous ring.

In one specific embodiment, the first electric motor further includes a hollow shaft to form a first storage chamber, and the second stator forms a second storage chamber communicating with the first storage chamber. An opening is formed at one end of the second electric motor remote from the first electric motor, and the second storage chamber communicates with the outside through the opening.

In one specific embodiment, the horizontal articulated robot is further connected to the base, passes through the first storage chamber via a first connection line, and is connected to the first electric motor, and is connected to the first electric motor via a first connection line. A controller is provided that passes through the first storage chamber and the second storage chamber and is connected to the second electric motor via a connection line.

In one specific embodiment, the horizontal articulated robot further includes a first electric motor connected to the first electric motor, and connected to the controller through the first storage chamber via a third connection line. a second encoder connected to the second electric motor, passed through the first storage chamber and the second storage chamber via a fourth connection line, and connected to the controller. .

In one specific embodiment, the horizontal articulated robot further includes a third electric motor and a fourth electric motor installed within the second joint.

In one specific embodiment, a wire passing hole is installed in the second joint, a wire passage is installed inside the first arm, and the third electric motor and the fourth electric motor have a fifth connecting wire. The wire passes through the wire passage hole, the wire passageway, and the first storage chamber and is connected to the controller.

In one specific embodiment, the second electric motor is fixedly connected to the base.

The horizontal articulated robot of the present invention includes a base, a first arm that is connected to the base and has a first joint formed at the connection point with the base, and a first arm that is installed in the first joint and connects the first arm to the base. a second arm connected to one end remote from the base of the first arm and having a second joint formed at the connection point with the first arm; and a second electric motor connected to the second arm via a transmission device and used to drive the second arm to rotate relative to the first arm, the first electric motor and the second electric motor The projections of the axes of the first electric motor on a vertical plane at least partially overlap, and the first electric motor and the second electric motor are installed to directly drive the first arm and the second arm, respectively. The reducer can be omitted, thereby avoiding the accuracy, speed, cost and drag torque of the horizontally articulated robot being affected by the limitations of the reducer, and the second electric motor can be connected to the first electric motor. and are installed so that the projections of the axes on a vertical plane at least partially overlap, thereby reducing the distance between the axis of the first electric motor and the axis of the second electric motor, thereby reducing the output torque demand of the first electric motor. Furthermore, the overall volume and mass of the horizontal articulated robot can be reduced, contributing to the realization of high acceleration and high speed of the horizontal articulated robot.

In order to more clearly explain the technical means in the embodiments of the present application, the drawings necessary for describing the embodiments will be briefly explained below, but it should be understood that the drawings described below merely illustrate some implementations of the present application. These are examples, and those skilled in the art can come up with other drawings based on these drawings without any creative effort.

1 is a schematic diagram of a three-dimensional structure of an embodiment of a horizontal articulated robot of the present invention. FIG. 1 is a schematic diagram of a partial three-dimensional structure of an embodiment of a horizontal articulated robot of the present invention. 1 is a schematic diagram of a cross-sectional structure of an embodiment of a horizontal articulated robot of the present invention. FIG. 2 is a schematic diagram of a three-dimensional structure of a transmission device in an embodiment of a horizontal articulated robot of the present invention. FIG. 3 is a schematic diagram of a cross-sectional structure of another embodiment of the horizontal articulated robot of the present invention. FIG. 3 is a schematic diagram of a cross-sectional structure of another embodiment of the horizontal articulated robot of the present invention. FIG. 3 is a schematic diagram of a cross-sectional structure of another embodiment of the horizontal articulated robot of the present invention. FIG. 3 is a schematic diagram of a cross-sectional structure of another embodiment of the horizontal articulated robot of the present invention.

In the following, the technical means in the embodiments of the invention will be explained clearly and completely with reference to the drawings in the embodiments of the invention, and it is understood that the described embodiments are not all the embodiments and the invention These are just some of the examples. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without any creative efforts shall fall within the protection scope of the present invention.

Terms such as "first" and "second" in this application are for descriptive purposes only and do not indicate or imply relative importance or implicitly indicate the quantity of the technical feature indicated. It should not be understood as something that does. In the description of this application, unless specifically limited, "plurality" means at least two, such as two, three, etc. Also, the terms "comprising" and "comprising" and any variations thereof are intended to include non-exclusively. For example, a process, method, system, product or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally further include steps or units not listed, or may further include , optionally including other steps or units specific to these processes, methods, products or devices. The term "and/or" is only used to describe the related relationship, meaning that three types of relationships can exist, e.g., A and/or B means that A alone It may also mean that A and B exist simultaneously, or that B exists alone. Further, the symbol "/" in this specification generally means that the related objects before and after are in the relationship of "or".

Referring to FIGS. 1 to 3, an embodiment of the horizontal articulated robot 10 of the present invention includes a base 100 and a first joint 210 that is connected to the base 100 and is connected to the base 100. A first arm 200 , a second arm 300 connected to one end of the first arm 200 remote from the base 100 and having a second joint 310 formed at the connection point with the first arm 200 ; a first electric motor 410 installed in the interior and used to drive the first arm 200 to rotate with respect to the base 100; 300 to rotate with respect to the first arm 200; The projections at least partially overlap.

Currently, horizontal articulated robots are generally driven by installing electric motors at each joint, for example, by combining a servo motor and a speed reducer, but this driving method has the following problems. 1) There is a back gap, making it difficult to improve the accuracy of horizontal articulated robots. 2) There is a limit to the maximum output torque of the decelerator, making it difficult to increase the speed of the horizontal articulated robot. 3) The cost of the reducer is high. 4) Due to the transmission system that combines an electric motor and a speed reducer, the torque for manually dragging the horizontal articulated robot is large, which affects the manual drag teaching function of the horizontal articulated robot. However, in this embodiment, by installing the first electric motor 410 and the second electric motor 420 to directly drive the first arm 200 and the second arm 300, respectively, the decelerator can be omitted, and the decelerator is To avoid affecting the accuracy, speed, cost, and drag torque of the horizontal articulated robot 10 due to limitations.

For horizontal articulated robots that are currently driven using direct drive electric motors, their output torque still needs to match the output torque generated by drive systems with reducers, and compared to the original servo motor, , the volume and mass of the direct drive electric motor are larger, leading to an increase in the volume and mass of the entire horizontal articulated robot, and the axis of the electric motor installed at the second joint and the axis of the electric motor installed at the first joint are larger. The distance from the axis of the electric motor at the first joint is large, and the inertial mass of the moving body to be driven by the electric motor at the first joint is large, making it difficult to achieve high acceleration and high speed. However, in this embodiment, the second electric motor 420 is installed so that the projection of the axis on the vertical plane at least partially overlaps with the first electric motor 410, so that the axis of the first electric motor 410 and the second electric motor By reducing the distance from the axis of the horizontally articulated robot 420, the output torque demand of the first electric motor 410 can be reduced, and the overall volume and mass of the horizontally articulated robot 10 can be reduced. This contributes to realizing high acceleration and high speed of the robot 10.

In this embodiment, the first electric motor 410 and the second electric motor 420 are installed so that their axes overlap, so that the first electric motor 410 required for the first arm 200 on which the second electric motor 420 is placed is Since the output torque is smaller, the overall volume and mass of the horizontal articulated robot 10 can be further reduced, which contributes to realizing high acceleration and high speed of the horizontal articulated robot 10.

In this embodiment, the first electric motor 410 includes a first stator 411 installed on the base 100 and a first rotor 412 connected to the first arm 200 and fitted outside the first stator 411. The second electric motor 420 includes a second stator 421 installed on the first arm 200 and fixedly connected to the first stator 411, and a second stator connected to the transmission device 500. and a second rotor 422 fitted outside the motor 421, so that when the first electric motor 410 is started, the first arm 200 is interlocked by the rotation of the first rotor 412 relative to the first stator 411. Since the second stator 421 is fixedly connected to the first stator 411 at this time, the second stator 421 does not move, and the second electric motor 420 is not activated, the second rotor 422 also does not move, so the second arm 300 is not driven, and when the first arm 200 rotates relative to the base 100, the second rotor 422 does not move. Since the second rotor 422 also rotates, it is necessary to start the second electric motor 420 when it is necessary to maintain the relative positions of the second arm 300 and the first arm 200 so that the second rotor 422 rotates. is rotated with respect to the second stator 421 in the same direction and angle as the rotation of the first rotor 412, and the second arm 300 is interlocked by the transmission device 500 to rotate in the same direction and angle as the rotation of the first arm 200. Rotate with and achieve compensation.

In this embodiment, in order to stabilize the overall structure of the horizontal articulated robot 10, the first stator 411 and the second stator 421 may be connected by a flange 430.

In other embodiments, the first stator 411 and the second stator 421 may be connected by other methods such as pasting, fastening, etc., and the present invention is not limited thereto.

In this embodiment, the first rotor 412 is directly and fixedly connected to the first arm 200 so as to rotate the first arm 200 in conjunction with the first rotor 412 .

In other embodiments, the first rotor 412 may be connected to the first arm 200 via a transmission (not shown), but is not limited thereto.

Referring to FIG. 4 at the same time, in this embodiment, the transmission device 500 includes a first transmission wheel 510, a second transmission wheel 520, a first rigid transmission belt 530, and a second rigid transmission belt 540, and the first transmission wheel 510 is Fitted outside the second rotor 422, a second transmission wheel 520 is connected to the second arm 300, and a first rigid transmission belt 530 and a second rigid transmission belt 540 are connected to the first transmission wheel 510 by fixing members 550, respectively. and the second transmission wheel 520, and by installing the first rigid transmission belt 530 and the second rigid transmission belt 540 to transmit power between the first transmission wheel 510 and the second transmission wheel 520, the second Transmission between the electric motor 420 and the second arm 300 can be realized, thereby reducing the restriction on the installation position of the second electric motor 420 in the second arm 300, and making it possible to realize transmission between the axis of the first electric motor 410 and the axis of the second electric motor 420. This contributes to the realization of a reduction in the distance of do.

In this embodiment, the first rigid power transmission belt 530 and the second rigid power transmission belt 540 may be steel strips. In other embodiments, the first rigid power transmission belt 530 and the second rigid power transmission belt 540 may be other metal strips, rigid plastic belts, etc., but are not limited thereto.

In this embodiment, the second transmission wheel 520 and the second arm 300 are arranged so that the friction between the second transmission wheel 520 and the second arm 300 can be reduced and the service life of the transmission device 500 can be improved. A bearing 521 may be installed between them.

In another specific embodiment, the transmission device 500 includes a first synchronous ring (not shown) fitted outside the second rotor 422 and a second synchronous ring (not shown) connected to the second arm 300. ) and a synchronous belt (not shown) connecting the first synchronous ring and the second synchronous ring, so that when the second rotor 422 rotates, the first synchronous ring rotates accordingly. , the synchronous belt is transmitted and moved, and the second synchronous ring is interlocked to rotate the second arm 300, and the second motor 420 and the second arm 300 are rotated by the first synchronous ring, the second synchronous ring, and the synchronous belt. Transmission between the two arms 300 can be realized, thereby reducing restrictions on the installation position of the second electric motor 420 in the second arm 300, and reducing the distance between the axis of the first electric motor 410 and the axis of the second electric motor 420. Contribute to the realization of

In this embodiment, the first electric motor 410 further includes a hollow shaft 413 to form a first accommodation chamber 414, and the second stator 421 forms a second accommodation chamber 423 communicating with the first accommodation chamber 414. An opening 424 is formed at one end of the second electric motor 420 remote from the first electric motor 410, and the second storage chamber 423 communicates with the outside through the opening 424, thereby connecting the first electric motor 410 and the first electric motor 410. The heat generated inside the second electric motor 420 can be transmitted to the outside through the first storage chamber 414 and the second storage chamber 423, and effective heat radiation is realized. This contributes to improving the service life of the first electric motor 410 and the second electric motor 420, and also contributes to realizing high-speed operation of the first electric motor 410 and the second electric motor 420.

In this embodiment, the second rotor 422 is covered with an end cover 440, and an opening 424 can be formed in the end cover 440 in order to realize communication between the second storage chamber 423 and the outside. By installing the cover 440, waterproof and dustproof functions can be achieved, and the service life of the second electric motor 420 can be improved.

In this embodiment, the horizontal articulated robot 10 is further connected to the base 100, passes through the first storage chamber 414 via a first connection line 610, and is connected to the first electric motor 410, and is connected to the first electric motor 410 via a second connection line 610. The controller 600 may be provided with a controller 600 that passes through the first storage chamber 414 and the second storage chamber 423 via a motor 620 and is connected to the second electric motor 420 . Compared to the solid hollow shaft electric motors currently used in horizontal articulated robots, the connecting wires wrap around the outside of the motor, complicating the internal structure of the horizontal articulated robot, and the connecting wires tend to interfere with other parts. In this embodiment, the first connection line 610 and the second connection line 620 between the first electric motor 410 and the second electric motor 420 and the controller 600 directly pass through the first electric motor 410 and the second electric motor 420. , the internal structure of the horizontal articulated robot 10 is simpler, the first connection line 610 and the second connection line 620 are less likely to interfere with other members, and the reliability of the horizontal articulated robot 10 is higher. Become.

In this embodiment, the horizontal articulated robot 10 further includes a first encoder connected to the first electric motor 410 and connected to the controller 600 through the first storage chamber 414 via the third connection line 630. 450, and a second encoder 460 that is connected to the second electric motor 420, passes through the first storage chamber 414 and the second storage chamber 423 via the fourth connection line 640, and is connected to the controller 600. The first encoder 450 is installed in combination with the direct drive method of the first electric motor 410, and the second encoder 460 is installed in combination with the direct drive method of the second electric motor 420. The driving accuracy with the two electric motors 420 can be improved, and the overall operating accuracy of the horizontal articulated robot 10 can be improved. By connecting the first encoder 450 and the second encoder 460 to the controller 600 using the connecting wires, it is possible to avoid the connecting wires from winding around the outside of the motor and complicating the internal structure of the horizontal articulated robot 10. The internal structure of the horizontal articulated robot 10 is simpler, the third connection line 630 and the fourth connection line 640 are less likely to interfere with other members, and the reliability of the horizontal articulated robot 10 is higher. .

In this embodiment, both the first encoder 450 and the second encoder 460 may be annular encoders, and the first encoder 450 is fitted outside the hollow shaft 413, and the second encoder 460 is attached to the second stator. 421, it is possible to avoid blocking the heat radiation airflow flowing through the first storage chamber 414 and the second storage chamber 423, and the heat radiation airflow has a heat radiation effect on the first encoder 450 and the second encoder 460. Furthermore, the reliability and stability of the operation of the first encoder 450 and the second encoder 460 can be improved.

In other embodiments, the first encoder 450 and the second encoder 460 may be block encoders, with at least a portion of the first encoder 450 disposed within the first housing chamber 414 and at least a portion of the second encoder 460. A portion of the encoder is installed in the second storage chamber 423, so that when the heat radiation airflow flows through the first storage chamber 414 and the second storage chamber 423, the first encoder 450 and the second encoder 460 are Heat can be dissipated, and the reliability and stability of the operation of the first encoder 450 and the second encoder 460 can be improved.

In this embodiment, the first electric motor 410 is further installed between the hollow shaft 413 and the first rotor 412 to reduce the friction between the hollow shaft 413 and the first rotor 412. A first bearing 415 is provided that can improve the service life of the electric motor 410 and avoid blocking communication between the first storage chamber 414 and the second storage chamber 423.

In this embodiment, the first electric motor 410 is further installed between the first base part 417 of the first electric motor 410 and the first rotor 412, and the first electric motor 410 is further installed between the first base part 417 and the first rotor 412. The structure of the first electric motor 410 is improved by reducing the friction between the parts and improving the service life of the first electric motor 410, and by firmly connecting the first base part 417 to the heavy first stator 411 to overcome the overturning moment. A second bearing 416 may be provided to further stabilize the movement.

In this embodiment, the base 100 may further be formed with a through hole (not shown) that communicates with the first accommodation chamber 414, so that the heat dissipation gas in the first accommodation chamber 414 can be further passed through the base 100. It is possible to flow outside through the hole, further improving the heat dissipation effect. Further, by installing the second bearing 416 between the first base portion 417 and the first rotor 412, it is possible to avoid blocking the release of heat radiation air from the base 100.

In this embodiment, the second electric motor 420 is further installed between the second stator 421 and the second rotor 422 to reduce the friction between the second stator 421 and the second rotor 422. A third bearing 425 may be provided to improve the service life of the second electric motor 420 and to avoid cutting off communication between the second storage chamber 423 and the outside.

In this embodiment, the second electric motor 420 is further installed between the second base part 427 of the second electric motor 420 and the second rotor 422, and the second electric motor 420 is further installed between the second base part 427 and the second rotor 422. The structure of the second electric motor 420 can be improved by reducing friction between the two and improving the service life of the second electric motor 420, and by firmly connecting the second base part 427 to the heavy second stator 421 to overcome the overturning moment. A fourth bearing 426 may be provided to further stabilize the structure.

In this embodiment, the horizontal articulated robot 10 may further include a third electric motor 470, a fourth electric motor 480, and a shaft body 320, and the third electric motor 470 and the fourth electric motor 480 are located inside the second joint 310. The shaft body 320 is installed at one end of the second arm 300 remote from the first arm 200, and the third electric motor 470 and the fourth electric motor 480 are each connected to the shaft body 320. It is used to drive the rotation and vertical movement of the shaft body 320. Compared to current horizontal articulated robots in which the third and fourth electric motors for driving the shaft body are installed at one end of the second arm remote from the first arm, in this embodiment, the third electric motor 470 and By installing the fourth electric motor 480 in the second joint 310, the distance between the axis of the third electric motor 470 and the axis of the fourth electric motor 480 and the axis of the first electric motor 410 and the axis of the second electric motor 420 is reduced. , the output torque demand of the first electric motor 410 and the second electric motor 420 can be reduced, thereby reducing the overall volume and mass of the horizontal articulated robot 10, and further reduce the horizontal articulated robot 10. This contributes to the realization of high acceleration and high speed.

In this embodiment, a wire passing hole 311 is installed in the second joint 310, a wire passage 220 is installed inside the first arm 200, and the third electric motor 470 and the fourth electric motor 480 are connected to the fifth connecting wire 650. is connected to the controller 600 through the wire passing hole 311, the wire passage 220, and the first storage chamber 414, so that the fifth connection wire 650 is wound around the outside of the first electric motor 410 and horizontally connected to the controller 600. It is possible to avoid complicating the internal structure of the articulated robot 10, the internal structure of the horizontal articulated robot 10 is simpler, the fifth connection line 650 is less likely to interfere with other members, and the reliability of the horizontal articulated robot 10 is improved. This makes it possible to achieve higher levels of sexuality.

In this embodiment, the third electric motor 470 and the fourth electric motor 480 may be connected to the shaft body 320 via a transmission device (not shown), and for the structure of the transmission device, refer to the transmission device 500 described above. For the sake of clarity, detailed explanation is omitted here.

In other embodiments, the third electric motor 470 and the fourth electric motor 480 may be installed on the first arm 200, so that the axis of the third electric motor 470, the axis of the fourth electric motor 480, and the axis of the first electric motor 410 are connected to each other. Further reducing the distance between the axis and the axis of the second electric motor 420 reduces the output torque demand of the first electric motor 410 and the second electric motor 420, thereby reducing the overall volume and mass of the horizontal articulated robot 10. It can be further reduced, and further contributes to realizing high acceleration and high speed of the horizontal articulated robot 10.

Referring to FIG. 5, another embodiment of the horizontal articulated robot 10 of the present invention includes a base 100, a first arm 200, a second arm 300, a first electric motor 710, and a second electric motor 720, where the base 100, and the structure of the first arm 200 and the second arm 300, please refer to the embodiment of the horizontal articulated robot 10 described above, and detailed description thereof will be omitted here.

In this embodiment, a first electric motor 710 includes a first stator 711 installed on a base 100 and a first rotor 712 connected to a first arm 200 and fitted outside the first stator 711. a second stator 721 installed on the first arm 200 and fixedly connected to the first rotor 712; and a second stator connected to the transmission device 500. This embodiment differs from the above embodiment in that it includes a second rotor 722 fitted outside the motor 721, so that when the first electric motor 710 is started, the first rotor 712 is connected to the first stator 711. By rotation, the first arm 200 can be interlocked and rotated relative to the base 100, and at this time, since the second stator 721 is fixedly connected to the first rotor 712, the second stator 721 is fixedly connected to the first rotor 712. Also, since the second electric motor 720 is not activated and the second rotor 722 also rotates, the second arm 300 is interlocked with the rotation of the first arm 200 by the transmission device 500. The second arm 300 is rotated in the same direction and at the same angle, and the second arm 300 is held so that its relative position with respect to the first arm 200 does not change.

In this embodiment, in order to stabilize the overall structure of the horizontal articulated robot 10, the second stator 721 and the first rotor 712 may be connected by a flange 730.

In other embodiments, the second stator 721 and the first rotor 712 may be connected by other methods such as pasting, fastening, etc., and the present invention is not limited thereto.

Referring to FIG. 6, another embodiment of the horizontal articulated robot 10 of the present invention includes a base 100, a first arm 200, a second arm 300, a first electric motor 810, and a second electric motor 820. 100, and the structure of the first arm 200 and the second arm 300, please refer to the embodiment of the horizontal articulated robot 10 described above, and detailed description thereof will be omitted here.

This embodiment differs from the above embodiments in that the second electric motor 820 is fixedly connected to the base 100. Specifically, the base 100 includes a first mounting plate 110 and a second mounting plate 120 that are spaced apart along the axial direction of the first electric motor 810. The first electric motor 810 includes a first stator 811 installed on the first mounting plate 110 and a first rotor 812 connected to the first arm 200 and fitted outside the first stator 811. , the second electric motor 820 includes a second stator 821 installed on the second mounting plate 120 and a second rotating motor connected to the transmission device 500 and fitted outside the second stator 821. child 822. In this embodiment, the first electric motor 810 and the second electric motor 820 drive the first arm 200 and the second arm 300. This is similar to the method of driving the second arm 300 and the second arm 300, and detailed description thereof will be omitted here.

In this embodiment, by connecting the second electric motor 820 to the base 100, the mass placed on the first electric motor 810 can be further reduced, and the output torque demand of the first electric motor 810 can be further reduced. The overall volume and mass of the horizontal articulated robot 10 can be reduced, contributing to the realization of high acceleration and high speed of the horizontal articulated robot 10.

In this embodiment, the axes of the first electric motor 810 and the second electric motor 820 overlap, and the projections of the first electric motor 810 and the second electric motor 820 on the vertical plane of the axis of the first electric motor 810 are all overlapped. Therefore, the center of gravity of the horizontal articulated robot 10 can be further stabilized, and the entire structure can be made more stable.

Referring to FIG. 7, in another specific embodiment, the axes of the first electric motor 810 and the second electric motor 820 are installed in parallel, and the first electric motor 810 and the second electric motor 820 are arranged in parallel. The projections of the axes on the vertical plane partially overlap, and the distance between the second electric motor 820 and the second joint 310 is shorter, so that the distance that the transmission device 500 has to transmit is shorter, and the possibility of error occurrence is smaller. .

Referring to FIG. 6, in this embodiment, the transmission device 500 transmits power using a rigid transmission belt, and for the specific structure, please refer to the embodiment of the horizontal articulated robot 10 described above, and detailed explanation will be omitted here. .

Referring to FIG. 8, in another specific embodiment, the transmission device 500 includes a backlash-free gear assembly including at least a first gear 560 and a second gear 570, where the first gear 560 and the second gear 570 are The teeth have the same thickness and the same installation height, and mesh seamlessly to achieve backlash-free transmission. The first gear 560 is fitted outside the second rotor 822, and the second gear 570 is The first gear 560 and the second gear 570 are connected to the second arm 300 and mesh with each other, so that when the second rotor 822 rotates, the first gear 560 rotates accordingly, thereby causing the second gear 570 to rotate. The second arm 300 can be rotated in conjunction, and the transmission between the second electric motor 820 and the second arm 300 can be realized by the backlash-free gear assembly, so that the second arm 300 of the second electric motor 820 can rotate. This reduces installation position restrictions, contributes to reducing the distance between the axis of the first electric motor 810 and the axis of the second electric motor 820, avoids backlash problems in the transmission process, and improves the drive accuracy of the second electric motor 820. This contributes to improving the overall accuracy of the horizontal articulated robot 10.

The above is merely an embodiment of the present application, and does not limit the scope of the claims of the present application, and the equivalent configuration or equivalent flow conversion made using the contents of the specification and drawings of the present application, or other related technical fields. Any direct or indirect conversion thereof to is likewise within the scope of the claims of the present application.

Claims (13)

base and
a first arm connected to the base and having a first joint formed at the connection point with the base;
a first electric motor installed in the first joint and used to drive the first arm to rotate relative to the base;
a second arm connected to one end of the first arm remote from the base, and having a second joint formed at a connection point with the first arm;
a second electric motor connected to the second arm via a transmission and used to drive the second arm to rotate relative to the first arm;
A horizontal articulated robot, wherein projections of the first electric motor and the second electric motor on a vertical plane of the axis of the first electric motor at least partially overlap. The horizontal articulated robot according to claim 1, wherein the first electric motor and the second electric motor are installed so that their axes overlap. The first electric motor includes a first stator installed on the base, and a first rotor connected to the first arm and fitted outside the first stator. 2. The electric motor includes a second stator installed on the first arm and fixedly connected to the first stator, and a second stator connected to the transmission device and fitted outside the second stator. The horizontal articulated robot according to claim 2, further comprising a second rotor. The first electric motor includes a first stator installed on the base, and a first rotor connected to the first arm and fitted outside the first stator. 2. The electric motor includes a second stator installed on the first arm and fixedly connected to the first rotor, and a second stator connected to the transmission device and fitted outside the second stator. The horizontal articulated robot according to claim 2, further comprising a second rotor. The transmission device includes a first transmission wheel, a second transmission wheel, a first rigid transmission belt, and a second rigid transmission belt, the first transmission wheel is fitted outside the second rotor, and the second transmission wheel is disposed on the second rotor. A wheel is connected to the second arm, and the first rigid transmission belt and the second rigid transmission belt are respectively connected to the first transmission wheel and the second transmission wheel by fixing members. The horizontal articulated robot according to claim 3 or 4. The transmission device includes at least a first gear fitted outside the second rotor and a second gear connected to the second arm, and the first gear and the second gear are connected to each other. 5. The horizontal articulated robot according to claim 3, further comprising backlash-free gear assemblies that mesh with each other. The transmission device includes a first synchronous ring fitted outside the second rotor, a second synchronous ring connected to the second arm, and the first synchronous ring and the second synchronous ring. 5. The horizontal articulated robot according to claim 3, further comprising a connected synchronous belt. The first electric motor further includes a hollow shaft to form a first storage chamber, and the second stator forms a second storage chamber communicating with the first storage chamber, and the second stator has a hollow shaft. 5. The horizontal articulated robot according to claim 3, wherein an opening is formed at one end remote from the first electric motor, and the second storage chamber communicates with the outside via the opening. Further, it is connected to the base, passes through the first storage chamber via a first connection line, and is connected to the first electric motor, and connects the first storage chamber and the second storage chamber via a second connection line. 9. The horizontal articulated robot according to claim 8, further comprising a controller connected to the second electric motor through a chamber. Further, a first encoder connected to the first electric motor and connected to the controller through the first storage chamber via a third connection line; and a fourth encoder connected to the second electric motor and connected to the controller via a third connection line. The horizontal articulated robot according to claim 9, further comprising a second encoder that passes through the first storage chamber and the second storage chamber and is connected to the controller via a connection line. . The horizontal articulated robot according to claim 8, further comprising a third electric motor and a fourth electric motor installed within the second joint. A line passage hole is installed in the second joint, a line passage is installed inside the first arm, and the third electric motor and the fourth electric motor are connected to the line passage hole through a fifth connection line. The horizontal articulated robot according to claim 11, wherein the horizontal articulated robot passes through the line path and the first storage chamber and is connected to the controller. The horizontal articulated robot according to claim 1, wherein the second electric motor is fixedly connected to the base.

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