A SCARA robot

Abstract

The invention relates to a SCARA robot, comprising a machine base, a first mechanical arm, a second mechanical arm, a transmission mechanism and an actuator, wherein one end of the first mechanical arm is rotatably arranged above the machine base, and the other end is rotatably arranged together with the second mechanical arm; a first driving mechanism, a transmission mechanism and an actuator are arranged on the second mechanical arm, and the transmission mechanism is arranged at the driving end of the first driving mechanism and is drivingly connected with the first driving mechanism; the actuator is arranged at the driving end of the transmission mechanism, and realizes different working states under the driving action of the transmission mechanism, wherein the working states include up and down movement, rotational movement and spiral movement, so that the SCARA robot can drive the actuator on the second mechanical arm to realize the three working states of up and down vertical movement, rotational movement and spiral movement by only one motor, thereby reducing the number of robot connection cables, reducing the difficulty of robot binding, and improving the reliability of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a SCARA robot. Background Art

[0002] In modern industry, the mechanization and automation of production processes have become prominent themes. The emergence and application of robots have made loading, unloading, handling, assembly and other operations mechanized and automated. The automated production line with robots as the core adapts to the development direction of flexible production of multiple varieties and small batches in modern manufacturing industry. It has broad market development prospects and strong vitality. A variety of automated complete sets of equipment and production line products have been developed for the automotive, electronics, machinery and other industries.

[0003] The SCARA robot is a horizontal multi-joint robot. Its wrist structure is crucial to the performance of the robot. The wrist mainly uses a ball screw spline integrated shaft. The ball screw spline shaft has three working states: vertical movement, rotation, and spiral movement. The current SCARA robots generally use two motors to drive the ball screw side pulley and the ball spline side pulley respectively. This method requires two motors to be installed on the robot arm, resulting in many cables for the entire robot, difficult binding, and low reliability. At the same time, because the arm needs to be installed with two motors, the arm is larger in size, heavy in overall mass, and high in inertia. Summary of the invention

[0004] In view of this, the present invention provides a SCARA robot, which can solve the problem in the prior art that the SCARA robot forearm needs to be installed with two motors, resulting in a larger forearm size. Specifically,

[0005] A SCARA robot comprises a base, a first mechanical arm, a second mechanical arm, a transmission mechanism and an actuator, wherein one end of the first mechanical arm is rotatably arranged above the base, and the other end is rotatably arranged together with the second mechanical arm;

[0006] A first driving mechanism, a transmission mechanism and an actuator are arranged on the second robotic arm. The transmission mechanism is arranged at the driving end of the first driving mechanism and is drivingly connected thereto; the actuator is arranged at the driving end of the transmission mechanism and realizes different working states under the transmission action of the transmission mechanism, wherein the working states include up and down movement, rotational movement and spiral movement.

[0007] Optionally, the first drive mechanism has different preset driving positions. When the first drive mechanism drives the transmission mechanism in the first preset driving position, the transmission mechanism causes the actuator to move up and down; when the first drive mechanism drives the transmission mechanism in the second preset driving position, the transmission mechanism causes the actuator to rotate; when the first drive mechanism drives the transmission mechanism in the third preset driving position, the transmission mechanism causes the actuator to spirally move.

[0008] Optionally, the first driving mechanism includes a first driving motor, a telescopic assembly and a motor gear, the first driving motor is arranged on the second mechanical arm, and the motor gear is arranged on the motor shaft of the first driving motor; the telescopic assembly is sleeved on the outside of the motor, and one end of the telescopic assembly is connected to the first driving motor, and the other end is connected to the motor gear.

[0009] The telescopic component has different telescopic amounts. When the telescopic component is in a first telescopic amount, the motor gear is in a first preset driving position; when the telescopic component is in a second telescopic amount, the motor gear is in a second preset driving position; when the telescopic component is in a third telescopic amount, the motor gear is in a third preset driving position.

[0010] Optionally, the telescopic assembly includes a spring and two electromagnets, the two electromagnets are respectively arranged at both ends of the spring, and controlling the magnetic force relationship between the two electromagnets can make the spring be in a first telescopic amount, a second telescopic amount, or a third telescopic amount.

[0011] Optionally, the transmission mechanism includes a first transmission group and a second transmission group, the second mechanical arm is further provided with a fixed shaft, and the first transmission group and the second transmission group are sequentially arranged on the fixed shaft from bottom to top; when the spring is at different extension amounts, the motor gear cooperates with the first transmission group and / or the second transmission group corresponding to the preset driving position.

[0012] When the motor gear is in the first preset driving position, it cooperates with the second transmission group; when the motor gear is in the second preset driving position, it cooperates with the first transmission group and the second transmission group at the same time; when the motor gear is in the third preset driving position, it cooperates with the first transmission group.

[0013] Optionally, the first transmission assembly includes a first synchronous gear, and the second transmission assembly includes a second synchronous gear, and the first synchronous gear and the second synchronous gear are sequentially arranged on the fixed shaft from bottom to top.

[0014] When the motor gear is in the first preset driving position, the motor gear is meshed with the second synchronous gear; when the motor gear is in the second preset driving position, the motor gear is meshed with the first synchronous gear and the second synchronous gear at the same time; when the motor gear is in the third preset driving position, the motor gear is meshed with the first synchronous gear.

[0015] Optionally, the first transmission assembly further comprises a first pulley assembly, wherein the driving end of the first pulley assembly is connected to the first synchronous gear, and the driven end of the first pulley assembly is connected to the first execution end of the actuator;

[0016] The second transmission assembly also includes a second pulley assembly, the driving end of the second pulley assembly is connected to the second synchronous gear, and the driven end is connected to the second execution end of the actuator.

[0017] Optionally, the transmission mechanism further includes a bearing assembly, the bearing assembly includes a first bearing and a second bearing, the inner ring of the first bearing is sleeved on the fixed shaft, and the driving ends of the first synchronous gear and the first pulley assembly are fixed to the outer ring of the first bearing at the same time;

[0018] The inner ring of the second bearing is sleeved on the fixed shaft and above the first bearing. The driving end of the second synchronous gear and the second pulley assembly are fixed to the outer ring of the second bearing at the same time.

[0019] Optionally, the transmission mechanism further includes a brake assembly, the brake assembly includes a first brake and a second brake, the first brake is in braking cooperation with the first synchronous gear, and the second brake is in braking cooperation with the second synchronous gear.

[0020] When the motor gear and the first synchronous gear are meshed, the second brake brakes the second synchronous gear; when the motor gear and the second synchronous gear are meshed, the first brake brakes the first synchronous gear; when the motor gear and the first synchronous gear and the second synchronous gear are meshed at the same time, neither the first brake nor the second brake performs the braking function.

[0021] Optionally, the actuator includes a screw rod, a screw nut and a spline nut, the spline nut is arranged at the first actuator end of the actuator, and the screw nut is arranged at the second actuator end of the actuator; the screw rod is passed through the screw nut and the spline nut at the same time, the screw rod moves up and down only when driven by the screw nut, performs spiral motion when driven only by the spline nut, and performs rotational motion when driven by both the screw nut and the spline nut.

[0022] The present invention provides a SCARA robot, on which a first drive motor is arranged on the second mechanical arm, and by changing the position of the motor gear at the end driven by the first drive motor, the transmission function of the transmission mechanism is changed, and finally the actuator realizes the change of three working states of up and down movement, rotation and spiral motion. The structure is simple and easy to implement; compared with the prior art, the third and fourth joints of the robot only need one motor to control, the cable of one motor is reduced, and the weight and overall inertia of the robot are also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail its exemplary embodiments with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present disclosure, and it is clear to a person skilled in the art that other accompanying drawings can be obtained from these accompanying drawings without creative work.

[0024] Figure 1 A schematic diagram of the robot structure in an embodiment of the present invention;

[0025] Figure 2 A cross-sectional view of a robot in an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the transmission mechanism in the second preset driving position in the embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the transmission mechanism in the third preset driving position in the embodiment of the present invention;

[0028] In the figure:

[0029] 1-base; 2-first mechanical arm; 3-second mechanical arm; 4-first driving mechanism; 401-first driving motor; 402-motor gear; 403-spring; 5-transmission mechanism; 501-first synchronous gear; 502-second synchronous gear; 503-first driving pulley; 504-second driving pulley; 505-first driven pulley; 506-second driven pulley; 507-first synchronous belt; 508-second synchronous belt; 509-first bearing; 510-second bearing; 511-first brake; 512-second brake; 6-actuator; 601-screw nut; 602-spline nut; 603-screw; 7-fixed shaft; 8-third driving motor. DETAILED DESCRIPTION

[0030] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0031] Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure, and to fully convey the scope of the present disclosure to those skilled in the art so that those skilled in the art to which the present invention belongs can easily implement it. As those skilled in the art to which the present invention belongs can easily understand, the embodiments to be described later can be deformed into various forms without departing from the concept and scope of the present invention. In the accompanying drawings, the same or similar parts are represented by the same reference numerals as much as possible.

[0032] The technical terms used herein are provided only to illustrate specific embodiments and are not intended to limit the present invention. The singular forms used herein also include the plural forms without a clear contrary meaning. The "comprising" used in the specification specifies specific characteristics, fields, constants, steps, actions, elements and / or components, and does not exclude the existence or addition of other specific characteristics, fields, constants, steps, actions, elements, components and / or groups.

[0033] All terms including technical and scientific terms used below have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. Terms defined in dictionaries are supplemented with meanings consistent with relevant technical documents and currently disclosed contents, and in the absence of definitions, they are not to be interpreted as having very formal meanings.

[0034] Example:

[0035] like Figure 1-4 As shown, the present embodiment provides a SCARA robot, which is a lightweight SCARA robot, comprising a base 1, a first mechanical arm 2 and a second mechanical arm 3, wherein one end of the first mechanical arm 2 is rotatably arranged above the base 1, and the other end is rotatably arranged together with the second mechanical arm 3; that is, the first mechanical arm 2 is arranged at the end of the base 1, and a second driving motor (i.e., a first joint motor) that can drive the first mechanical arm 2 to move is provided at the end of the base 1, so that the first mechanical arm 2 and the mechanism connected thereto can rotate around the base; the second mechanical arm 3 is arranged at the end of the first mechanical arm 2, and a third driving motor 8 (i.e., a second joint motor) is provided at the connection with the first mechanical arm 2, which can drive the second mechanical arm 3 and the mechanism connected thereto to rotate around the first mechanical arm 2; in addition, the second mechanical arm 3 is also provided with a first driving mechanism 4, a transmission mechanism 5 and an actuator 6, and the transmission mechanism 5 is arranged at the first driving mechanism 4. At the driving end, the actuator 6 is arranged at the driving end of the transmission mechanism 5. The first driving mechanism 4 transmits the driving force to the actuator 6 through the transmission mechanism 5 to provide driving force for it to perform the working task. The first driving mechanism 4 has different preset driving positions. When the first driving mechanism 4 drives the transmission mechanism 5 at the first preset driving position, the transmission mechanism 5 enables the actuator 6 to move vertically up and down; when the first driving mechanism 4 drives the transmission mechanism 5 at the second preset driving position, the transmission mechanism 5 enables the actuator 6 to rotate; when the first driving mechanism 4 drives the transmission mechanism 5 at the third preset driving position, the transmission mechanism 5 enables the actuator 6 to spirally move. The robot provided in this embodiment can drive the actuator 6 to realize three working states of vertical movement, rotational movement and spiral movement through three motors, reducing the robot connection cables, reducing the difficulty of robot binding, and improving the reliability of the robot.

[0036] The first driving mechanism 4 includes a first driving motor 401, a telescopic assembly and a motor gear 402. The first driving motor 401 is vertically arranged on the second mechanical arm 3. Specifically, the second mechanical arm 3 is provided with a first support, the first driving motor 401 is arranged on the first support, the motor gear 402 is arranged on the motor shaft of the first driving motor 401, and the telescopic assembly is sleeved on the motor shaft, and one end of the telescopic assembly is connected to the side end face of the first driving motor 401 facing the motor shaft, and the other end is connected to the side face of the motor gear 402 facing the first driving motor 401. The telescopic assembly has different telescopic amounts, and the telescopic assembly can be adjusted by changing the telescopic assembly. The telescopic amount of the component can change the relative position between the motor gear 402 and the first drive motor 401. When the telescopic component is in the first telescopic amount, the motor gear 402 is in the first preset driving position, so that the first drive mechanism 4 finally drives the actuator 6 to move vertically up and down; when the telescopic component is in the second telescopic amount, the motor gear 402 is in the second preset driving position, so that the first drive mechanism 4 finally drives the actuator 6 to rotate; when the telescopic component is in the third telescopic amount, the motor gear 402 is in the third preset driving position, so that the first drive mechanism 4 finally drives the actuator 6 to spirally move. Preferably, the telescopic component includes a spring 403 and two electromagnets, the two electromagnets are respectively arranged at both ends of the spring 403, and are respectively connected to the first drive motor 401 and the motor gear 402. Controlling the magnetic force relationship between the two electromagnets can make the spring 403 in the first telescopic amount, or the second telescopic amount, or the third telescopic amount. Specifically, the suction or repulsion generated between the two electromagnets makes the spring 403 in the first telescopic amount, or the second telescopic amount, or the third telescopic amount. The robot also includes a control system, which is electrically connected to the two electromagnets to control the generation of suction or repulsion between the two electromagnets. The control system controls the two electromagnets to be energized. If currents in opposite directions flow through the two electromagnets, suction is generated between the two electromagnets to bring them closer to each other. The magnitudes of the currents in opposite directions are different, and the distances between the two electromagnets are different, thereby causing the spring 403 to have different contraction amounts. If currents in the same direction flow through the two electromagnets, repulsion is generated between the two electromagnets to move away from each other. The magnitudes of the currents in the same direction are different, and the distances between the two electromagnets are different, thereby causing the spring 403 to have different extension amounts. Different preset control programs are provided in the control system. Running different preset control programs can connect currents of different directions and magnitudes between the two electromagnets, thereby causing the spring 403 to be in the first extension amount, the second extension amount, or the third extension amount.

[0037] like Figure 3-Figure 4As shown, the transmission mechanism 5 includes a first transmission group and a second transmission group, and the second mechanical arm is also provided with a fixed shaft 7, and the first transmission group and the second transmission group are sequentially arranged on the fixed shaft 7 from bottom to top; when the spring 403 is in different extension amounts, the motor gear 402 is in transmission cooperation with the first transmission group and / or the second transmission group corresponding to the preset driving position, and when the motor gear 402 is in the first preset driving position, it is in transmission cooperation with the second transmission group; when the motor gear 402 is in the second preset driving position, it is in transmission cooperation with the first transmission group and the second transmission group at the same time; when the motor gear 402 is in the third preset driving position, it is in transmission cooperation with the first transmission group. Among them, the first transmission group includes a first synchronous gear 501, the second transmission group includes a second synchronous gear 502, the fixed shaft 7 is vertically arranged on the second mechanical arm 3, the first synchronous gear 501 and the second synchronous gear 502 are sequentially arranged on the fixed shaft 7 from bottom to top, and specifically, the fixed shaft 7 is sequentially formed with a first convex shaft and a second convex shaft from bottom to top in the vertical direction, the first transmission group is arranged on the first convex shaft, and the second transmission group is arranged on the second convex shaft. When the motor gear 402 is in the first preset driving position, the motor gear 402 is meshed with the second synchronous gear 502 but not with the first synchronous gear 501, and only the second transmission group transmits the driving force of the first drive motor 401 to the actuator 6, and causes it to move vertically up and down; when the motor gear 402 is in the second preset driving position, the motor gear 402 is meshed with the first synchronous gear 501 and the second synchronous gear 502 at the same time, and the first transmission group and the second transmission group simultaneously transmit the driving force of the first drive motor 401 to the actuator 6, and cause it to rotate; when the motor gear 402 is in the third preset driving position, the motor gear 402 is meshed with the first synchronous gear 501 but not with the second synchronous gear 502, and only the first transmission group transmits the driving force of the first drive motor 401 to the actuator 6, and causes it to spirally move. Compared with the SCARA robot in the prior art, this embodiment uses one drive motor to realize the transmission of two different transmission groups, and the meshing conditions of different transmission groups can be changed according to actual needs, thereby realizing the replacement of different working states of the actuator 6, saving the motor cost and reducing the mass and inertia of the robot.

[0038] The first transmission group also includes a first pulley group and a second pulley group. The active end of the first pulley group is connected to the first synchronous gear 501, and the driven end is connected to the first executing end of the actuator 6. When the first synchronous gear 501 rotates, it can drive the active end of the first pulley group to move, and the active end of the first pulley group then transmits power to the driven end of the first pulley group, so that it drives the first executing end of the actuator 6 to move; the active end of the second pulley group is connected to the second synchronous gear 502, and the driven end is connected to the second executing end of the actuator 6. When the second synchronous gear 502 rotates, it can drive the active end of the second pulley group to move, and the active end of the second pulley group then transmits power to the driven end of the second pulley group, so that it drives the second executing end of the actuator 6 to move.

[0039] In this embodiment, the first pulley group includes a first driving pulley 503, a first synchronous belt 507 and a first driven pulley 505. The first driving pulley 503 and the first synchronous gear 501 are connected together through a first bearing 509, wherein the inner ring of the first bearing 509 is sleeved on the outer side of the first convex shaft, and the first driving pulley 503 and the first synchronous gear 501 are sleeved on the outer ring of the first bearing 509 at the same time, so that the first driving pulley 503 and the first synchronous gear 501 have motion synchronization, the first driven pulley 505 is connected to the first execution end of the actuator 6, and the first synchronous belt 507 is tightly sleeved on the outer side of the first driving pulley 503 and the first driven pulley 505, so that the first driving mechanism 4 transmits the driving force through the belt transmission method. The first execution end of the actuator 6 has the advantages of simple structure and smooth transmission; the second pulley group includes a second driving pulley 504, a second synchronous belt 508 and a second driven pulley 506, the second driving pulley 504 and the second synchronous gear 502 are connected together through a second bearing 510, wherein the inner ring of the second bearing 510 is sleeved on the outer side of the second cam shaft, and the second driving pulley 504 and the second synchronous gear 502 are simultaneously sleeved on the outer ring of the second bearing 510, so that the second driving pulley 504 and the second synchronous gear 502 have motion synchronization, the second driven pulley 506 is connected to the second execution end of the actuator 6, and the second synchronous belt 508 is tightly sleeved on the outer sides of the second driving pulley 504 and the second driven pulley 506.

[0040] Preferably, the transmission mechanism 5 in this embodiment also includes a braking assembly, which includes a first brake 511 and a second brake 512. The first brake 511 cooperates with the first synchronous gear 501 for braking, and the second brake 512 cooperates with the second synchronous gear 502 for braking. When the motor gear 402 and the first synchronous gear 501 are engaged, the second brake 512 brakes the second synchronous gear 502; when the motor gear 402 and the second synchronous gear 502 are engaged, the first brake 511 brakes the first synchronous gear 501; when the motor gear 402 and the first synchronous gear 501 and the second synchronous gear 502 are engaged at the same time, the first brake 511 and the second brake 512 do not perform the braking function. Specifically, the first brake 511 and the second brake 512 are both electrically connected to the control system, and the control system controls the power supply of the first brake 511 and the second brake 512. When the control system only supplies power to the first brake 511, the first brake 511 is opened and the second brake 512 is closed. When the second brake 512 is closed, a braking function is performed on the second synchronous gear 502 to prevent the second synchronous gear 502 from rotating due to the friction of the motor gear 402, thereby enhancing the controllability and safety of the robot; similarly, when the control system only supplies power to the second brake 512, the second brake 512 is opened and the first brake 511 is closed. When the first brake 511 is closed, a braking function is performed on the first synchronous gear 501 to prevent the first synchronous gear 501 from rotating due to the friction of the motor gear 402.

[0041] The actuator 6 includes a screw rod 603, a screw rod 603 nut 601 and a spline nut 602. The spline nut 602 is vertically arranged at the first driven end of the actuator 6. The screw rod 603 nut 601 is vertically arranged at the second driven end of the actuator 6. The screw rod 603 is simultaneously penetrated through the screw rod 603 nut 601 and the spline nut 602. A threaded fit is formed between the screw rod 603 nut 601 and the screw rod 603. The inner ring of the spline nut 602 is formed with a spline structure that enables the screw rod 603 to perform a spiral motion. Specifically, a second support is also provided on the second mechanical arm 3. The screw rod 603 nut 601 is arranged above the second support, and its bottom surface is fixed to the second driven pulley 506. When the second driven pulley 506 rotates, it drives the screw rod 603 nut 601 to rotate together, and the screw rod nut 601 drives the screw rod 603 to move vertically up and down.

[0042] The spline nut 602 is arranged below the second support, and its arrangement direction is opposite to the arrangement direction of the screw rod 603 and the nut 601. The bottom of the spline nut 602 is fixed to the first driven pulley 505. When the second driven pulley 506 rotates, the spline nut 602 is driven to rotate together. The spline nut 602 then drives the screw rod 603 to perform a spiral motion, that is, the screw rod 603 can have both a linear motion and a rotational motion.

[0043] When the first driven pulley 505 and the second driven pulley 506 simultaneously drive the screw 603 nut 601 and the spline nut 602 to move, the direction of the linear motion of the screw 603 caused by the screw nut 601 is opposite to the direction of the linear motion of the screw 603 caused by the spline nut 602, but the magnitudes are equal. Therefore, according to the principle of motion synthesis, when the screw nut 601 and the spline nut 602 rotate at the same time, the screw 603 only performs rotational motion at this time.

[0044] The present embodiment provides a SCARA robot, on which a first drive motor is arranged on the second mechanical arm, and by changing the position of the motor gear driven by the first drive motor, the different transmission functions of the transmission mechanism are changed, and finally the actuator can realize the change of the three working states of up and down movement, rotation and spiral motion. The structure is simple and easy to implement. Compared with the prior art, the third and fourth joints of the robot only need one motor to control, which reduces the cable of one motor and also reduces the weight and overall inertia of the robot. At the same time, since only one motor installation position is reserved on the second mechanical arm, the size of the second mechanical arm is reduced, saving the production cost.

[0045] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0046] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A SCARA robot, comprising a base (1), a first mechanical arm (2), a second mechanical arm (3), a transmission mechanism (5) and an actuator (6), characterized in that: One end of the first mechanical arm (2) is rotatably arranged above the machine base (1), and the other end is rotatably arranged together with the second mechanical arm (3), and the second mechanical arm (3) is provided with a first support; The second mechanical arm (3) is provided with the first driving mechanism (4), the transmission mechanism (5) and the actuator (6); the transmission mechanism (5) is arranged at the driving end of the first driving mechanism (4) and is drivingly connected thereto; the actuator (6) is arranged at the driving end of the transmission mechanism (5) and realizes different working states under the driving action of the transmission mechanism (5), wherein the working states include up and down movement, rotational movement and spiral movement; The first driving mechanism (4) comprises a first driving motor (401), a telescopic component and a motor gear (402); the first driving motor (401) is arranged on the first support, and the motor gear (402) is arranged on the motor shaft of the first driving motor (401); the telescopic component is sleeved on the outside of the motor, and one end of the telescopic component is connected to the first driving motor (401), and the other end is connected to the motor gear (402); The telescopic assembly comprises a spring (403) and two electromagnets, the two electromagnets being respectively arranged at two ends of the spring (403) and respectively connected to a first drive motor (401) and a motor gear (402), and the spring (403) can be controlled to be in a first telescopic amount, a second telescopic amount, or a third telescopic amount by controlling the magnetic force relationship between the two electromagnets; When the spring (403) is at the first extension amount, the motor gear (402) is at a first preset driving position, and the transmission mechanism (5) causes the actuator (6) to move up and down; when the spring (403) is at the second extension amount, the motor gear (402) is at a second preset driving position, and the transmission mechanism (5) causes the actuator (6) to perform a rotational motion; when the spring (403) is at the third extension amount, the motor gear (402) is at a third preset driving position, and the transmission mechanism (5) causes the actuator (6) to perform a spiral motion.

2. The robot according to claim 1, characterized in that: The transmission mechanism (5) comprises a first transmission group and a second transmission group, the second mechanical arm (3) is also provided with a fixed shaft (7), and the first transmission group and the second transmission group are arranged on the fixed shaft (7) in sequence from bottom to top; When the spring (403) is at different extension and contraction amounts, the motor gear (402) cooperates with the first transmission group and / or the second transmission group corresponding to the preset drive position. When the motor gear (402) is in the first preset drive position, it cooperates with the second transmission group; when the motor gear (402) is in the second preset drive position, it cooperates with the first transmission group and the second transmission group at the same time; when the motor gear (402) is in the third preset drive position, it cooperates with the first transmission group.

3. The robot according to claim 2, characterized in that: The first transmission assembly comprises a first synchronous gear (501), and the second transmission assembly comprises a second synchronous gear (502), wherein the first synchronous gear (501) and the second synchronous gear (502) are arranged on the fixed shaft (7) in sequence from bottom to top. When the motor gear (402) is in the first preset driving position, the motor gear (402) and the second synchronous gear (502) are meshed; When the motor gear (402) is in the second preset driving position, the motor gear (402) is meshed with the first synchronous gear (501) and the second synchronous gear (502) at the same time; when the motor gear (402) is in the third preset driving position, the motor gear (402) is meshed with the first synchronous gear (501).

4. The robot according to claim 3, characterized in that: The first transmission assembly further comprises a first pulley assembly, wherein the driving end of the first pulley assembly is connected to the first synchronous gear (501), and the driven end is connected to the first execution end of the execution mechanism (6); The second transmission assembly further comprises a second pulley assembly, wherein the driving end of the second pulley assembly is connected to the second synchronous gear (502), and the driven end is connected to the second actuating end of the actuating mechanism (6).

5. The robot according to claim 4, characterized in that: The transmission mechanism (5) further comprises a bearing assembly, the bearing assembly comprising a first bearing (509) and a second bearing (510), the inner ring of the first bearing (509) being sleeved on the fixed shaft (7), and the first synchronous gear (501) and the driving end of the first pulley assembly being fixed to the outer ring of the first bearing (509); The inner ring of the second bearing (510) is sleeved on the fixed shaft (7), and above the first bearing (509), the second synchronous gear (501) and the driving end of the second pulley assembly are simultaneously fixed to the outer ring of the second bearing (510).

6. The robot according to claim 5, characterized in that: The transmission mechanism (5) further comprises a brake assembly, wherein the brake assembly comprises a first brake (511) and a second brake (512), wherein the first brake (511) is in braking cooperation with the first synchronous gear (501), and the second brake (512) is in braking cooperation with the second synchronous gear (502). When the motor gear (402) and the first synchronous gear (501) are meshed, the second brake (512) brakes the second synchronous gear (502); when the motor gear (402) and the second synchronous gear (502) are meshed, the first brake (511) brakes the first synchronous gear (501); when the motor gear (402) and the first synchronous gear (501) and the second synchronous gear (502) are meshed at the same time, neither the first brake (511) nor the second brake (512) performs a braking function.

7. The robot according to claim 6, characterized in that: The actuator (6) comprises a screw rod (603), a screw rod nut (601) and a spline nut (602); the spline nut (602) is arranged at a first actuator end of the actuator (6), and the screw rod nut (601) is arranged at a second actuator end of the actuator (6); the screw rod (603) is simultaneously passed through the screw rod nut (601) and the spline nut (602); the screw rod (603) moves up and down when driven only by the screw rod nut (601), performs spiral motion when driven only by the spline nut (602), and performs rotational motion when driven by both the screw rod nut (601) and the spline nut (602).

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