Support device and SCARA robot

Abstract

The present invention relates to a support device and a SCARA robot, and relates to the field of robotics technology, and is used to solve the problem of deformation and damage of the reducer and motor shaft of the SCARA robot. The support device includes: a telescopic sleeve, including a plurality of slidingly connected telescopic joints, the telescopic sleeve being connected to the member to be supported; and a linkage mechanism, which is arranged on the plurality of telescopic joints; and a locking mechanism, which is arranged on the telescopic sleeve; wherein the linkage mechanism can control the synchronous extension and retraction of the plurality of telescopic joints; and the locking mechanism can lock the telescopic length of the telescopic sleeve. The linkage mechanism of the present invention can enable the plurality of telescopic joints to be extended or retracted synchronously quickly and stably. When the telescopic sleeve is extended to a certain length, the locking mechanism can lock the telescopic sleeve to prevent the telescopic sleeve from shrinking.

Description

Technical Field

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

[0002] When designing the SCARA robot, the forearm and upper arm are in a cantilever beam state with the base as a whole. The upper arm and the base are connected only by the reducer and motor flange. If left standing for a long time, the reducer and motor shaft of the robot will easily deform and be damaged, which greatly reduces the reliability of the robot and shortens its service life.

[0003] In other words, the reducer and motor shaft of the SCARA robot in the related art have the problem of deformation and damage. Summary of the Invention

[0004] The invention provides a supporting device and a SCARA robot, which are used to solve the problem of deformation and damage of a reducer and a motor shaft of the SCARA robot.

[0005] The present invention provides a supporting device, comprising: a telescopic sleeve, comprising a plurality of telescopic joints connected in a sliding manner, the telescopic sleeve being connected to a member to be supported; a linkage mechanism, arranged on the plurality of telescopic joints; and a locking mechanism, arranged on the telescopic sleeve; wherein the telescopic sleeve can be extended to a preset length to support the member to be supported, the linkage mechanism is used to drive the plurality of telescopic joints to extend and retract synchronously so that the telescopic sleeve can be quickly extended to a preset length; and the locking mechanism is used to lock the telescopic sleeve at the preset length.

[0006] In one embodiment, the telescopic sleeve includes: a first telescopic section connected to the supported member; a second telescopic section slidably connected to the first telescopic section; and a third telescopic section slidably connected to the second telescopic section; wherein the linkage mechanism drives the second telescopic section and the third telescopic section to move synchronously in the same direction at the same time to achieve synchronous telescopic and retracting of the three telescopic sections.

[0007] In one embodiment, the linkage mechanism includes: a first-section rack, extending along the first direction and arranged on the first telescopic section; and a second-section gear, arranged on the second telescopic section; and a third-section rack, extending along the first direction and arranged on the third telescopic section; wherein the second-section gear is arranged between the first-section rack and the second-section rack, and the second-section gear is engaged with the first-section rack and the third-section rack at the same time, and when the second-section gear rotates, the second telescopic section and the third telescopic section move synchronously in the same direction at the same time.

[0008] In one embodiment, the linkage mechanism includes: two first-section racks, which are arranged opposite to each other in the second direction; and two third-section racks, which are arranged opposite to each other in the second direction and are located between the two first-section racks; and two second-section gears, which are respectively arranged between adjacent first-section racks and third-section racks; wherein the two second-section gears are respectively engaged with the adjacent first-section racks and third-section racks, and when the two second-section gears rotate simultaneously, the second telescopic section and the third telescopic section move synchronously in the same direction at the same time.

[0009] In one embodiment, the locking mechanism includes: a baffle, which is arranged on the second telescopic section; and two relatively arranged rotation limit blocks, one end of which is pivotally connected to the top end of the second telescopic section; and a first elastic compression member, which is arranged between the baffle and the rotation limit block, and the first elastic compression member pushes the other end of the rotation limit block to rotate and contact the tooth side of the second section gear to prevent the second section gear from rotating toward the direction close to the rotation limit block; a cam, which is pivotally connected to the top end of the second telescopic section and is located between the two rotation limit blocks; wherein the rotating cam can selectively contact with any one of the two rotation limit blocks and push the rotation limit block to separate from the second section gear to limit the rotation direction of the second section gear.

[0010] In one embodiment, a limiting structure is further included. The limiting structure is arranged between two adjacent telescopic sections among the multiple telescopic sections, and the limiting structure is used to limit the telescopic positions of the two adjacent telescopic sections.

[0011] In one embodiment, the limiting structure includes: a limiting hole provided on one of two adjacent telescopic joints; and a limiting block provided on the other telescopic joint, the limiting block being slidably connected to the limiting hole in a first direction.

[0012] In one embodiment, it further includes a first folding bracket, which is folded and arranged in the third telescopic section. The first folding bracket can be expanded from the third telescopic section to increase the contact area between the support device and the ground.

[0013] In one embodiment, the first folding bracket includes: a third connecting rod, one end of which is pivotally connected to one end of the third telescopic section; and a shock absorber, one end of which is pivotally connected to the other end of the third connecting rod; and a bracket base plate, one end of which is pivotally connected to the other end of the shock absorber, and the other end of the bracket base plate is pivotally connected to the other end of the third telescopic section; wherein, the third connecting rod, the shock absorber, the bracket base plate and the third telescopic section constitute a multi-link structure, and when the first folding bracket is fully expanded, the multi-link structure is a right triangle, and the bracket base plate is placed horizontally on the ground.

[0014] In one embodiment, the shock absorber has a protrusion, and the first folding bracket also includes a locking ring, which is slidably set on the third connecting rod. When the locking ring slides to the locking position, the locking ring confines the protrusion and the third connecting rod within its inner hole to prevent the third connecting rod and the shock absorber from relative rotation.

[0015] In one embodiment, a second folding bracket is further included. The second folding bracket is folded and arranged in the third telescopic section. The second folding bracket and the first folding bracket are symmetrically arranged relative to the central axis d of the third telescopic section.

[0016] The present invention also provides a SCARA robot, which includes: a large arm; and a supporting device as described above, which is pivotally connected to the large arm, and the large arm is a supported part; a spring lock, which is passed through the large arm and the supporting device, and the spring lock is used to lock the supporting device in the large arm; wherein, when the spring lock is opened, the supporting device rotates out of the large arm and extends to support the large arm.

[0017] In one embodiment, the upper arm includes a rib plate, and the first telescopic joint of the support device is provided with a locking hole, and the spring lock includes: a shell assembly, fixedly connected to the rib plate; and a pull pin, slidably inserted into the shell assembly, and the pull pin has an annular limiting step; and a second elastic compression member, arranged on the outer periphery of the pull pin, and located in the installation cavity defined by the shell assembly and the pull pin; the second elastic compression member is in contact with the annular limiting step, and is used to press the pull pin into the locking hole; wherein, by lifting the pull pin in a direction away from the locking hole, the pull pin can be completely withdrawn from the locking hole to open the spring lock.

[0018] In one embodiment, the housing assembly includes: an outer shell, one end of which is fixedly connected to the rib plate; and a top cover arranged on the other end of the outer shell, and the second elastic compression member is arranged between the top cover and the annular limiting step.

[0019] In one embodiment, a rotating assembly is further included, which is provided on the upper arm and the supporting device and is used to pivotally connect the supporting device to the upper arm.

[0020] In one embodiment, the upper arm includes a rib plate, and the rotating assembly includes: a flange support, which is sequentially passed through the rib plate and the first telescopic joint, and the flange support is fixedly connected to the rib plate; and a retaining ring, which is arranged on one end of the flange support extending out of the first telescopic joint; wherein the retaining ring can axially limit the rib plate and the first telescopic joint on the flange support, and the first telescopic joint can rotate on the flange support.

[0021] In one embodiment, the flange support is provided through a through hole on the first telescopic joint, and the rotating assembly further includes a shaft sleeve, which is provided on the outer periphery of the flange support and is located in the through hole.

[0022] Compared with the existing technology, the present invention has the advantage of a linkage mechanism that enables multiple telescopic sections to extend and retract synchronously and quickly and stably. When the telescopic sleeve is extended to a certain length, i.e., the length required to support the boom, a locking mechanism locks the sleeve, preventing it from retracting. This enables the support device to quickly support the boom. This avoids the deformation and damage of the reducer and motor shaft in related SCARA robots. This improves the stability and reliability of the SCARA robot and extends its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Hereinafter, the present invention will be described in more detail based on embodiments with reference to the accompanying drawings.

[0024] Figure 1 is a schematic diagram of the three-dimensional structure of the supporting device in an embodiment of the present invention;

[0025] Figure 2 Shows Figure 1 A three-dimensional exploded view of the supporting device;

[0026] Figure 3 Shows Figure 1 A front view of the support device in FIG. 1 (the telescopic sleeve is extended and the folding bracket is folded);

[0027] Figure 4 Shows Figure 3 A side view of the supporting device;

[0028] Figure 5 Shows Figure 1 Front view of the support device in (telescopic sleeve extended, folding bracket opened);

[0029] Figure 6 Shows Figure 5 A side view of the support device in FIG.

[0030] Figure 7 Shows Figure 1 A top view of the supporting device in FIG.

[0031] Figure 8 Shows Figure 1 A top view of the support device in FIG. 1 (not showing the first telescopic section, the telescopic sleeve is retracted, and the folding bracket is folded);

[0032] Figure 9 Shows Figure 1 A top view of the support device in FIG. 1 (not showing the first telescopic section, the telescopic sleeve is extended, and the folding bracket is folded);

[0033] Figure 10 Shows Figure 1 Schematic diagram of the assembly relationship between the middle locking mechanism and the second gear;

[0034] Figure 11 Shows Figure 5 A three-dimensional diagram of the assembly relationship between the middle locking ring, the third connecting rod, and the shock absorber (the locking ring is in the unlocked state);

[0035] Figure 12 Shows Figure 5 Three-dimensional assembly relationship diagram of the middle locking ring, the third connecting rod and the shock absorber (the locking ring is in the locked state);

[0036] Figure 13 Shows Figure 12 Cross-sectional view at CC;

[0037] Figure 14 Shows Figure 5 A schematic diagram of the folding bracket in the expanded state 1;

[0038] Figure 15 Shows Figure 5 Schematic diagram of the second expanded state of the middle folding bracket;

[0039] Figure 16 Shows Figure 5 Schematic diagram of the expanded state three of the middle folding bracket;

[0040] Figure 17 Shows Figure 5 A schematic diagram of the expanded state four of the middle folding bracket;

[0041] Figure 18 1 is a schematic structural diagram of a SCARA robot in an embodiment of the present invention (the support device is stored in the upper arm);

[0042] Figure 19 1 is a schematic diagram of the structure of the SCARA robot in an embodiment of the present invention (the support device is rotated out from the upper arm);

[0043] Figure 20 1 is a schematic diagram of the three-dimensional structure of the SCARA robot in an embodiment of the present invention (the support device is rotated out from the upper arm for use);

[0044] Figure 21 Shows Figure 18 Schematic diagram of the three-dimensional structure of the spring lock;

[0045] Figure 22 Shows Figure 18 A partial cross-sectional view of the SCARA robot at the BB (showing the assembly relationship between the spring lock, the upper arm, and the first telescopic section);

[0046] Figure 23 Shows Figure 18A partial cross-sectional view of the SCARA robot at AA (showing the assembly relationship between the rotating component, the upper arm, and the first telescopic section).

[0047] Reference numerals:

[0048] 10. Telescopic sleeve; 11. First telescopic section; 12. Second telescopic section; 13. Third telescopic section; 20. Linkage mechanism; 21. First rack; 22. Second gear; 221. Gear side; 23. Third rack; 30. Locking mechanism; 31. Baffle; 32. Rotation limit block; 33. First elastic compression member; 34. Cam; 35. Knob; 40. Limiting structure; 41. Limiting hole; 42. Limiting block; 50. First folding bracket; 51. Third connecting rod; 52. Shock absorber; 521. Protrusion; 53. Bracket base plate; 54, locking ring; 60, second folding bracket; 100, supporting device; 200, upper arm; 201, rib plate; 300, spring lock; 301, shell assembly; 3011, outer shell; 3012, top cover; 302, pull pin; 3021, annular limit step; 303, second elastic compression member; 400, rotating assembly; 401, flange support; 402, retaining ring; 403, bushing; 404, top screw; 500, machine base; 600, small arm; 700, screw rod; 800, load; 900, bellows. DETAILED DESCRIPTION

[0049] The present invention will be further described below with reference to the accompanying drawings.

[0050] It should be noted that the support device 100 in this application is applied to a SCARA (English full name: Selective Compliance Assembly Robot Arm, Chinese: planar articulated) robot. The part to be supported in this application is the upper arm 200 of the SCARA robot, and the support device 100 is used to support the upper arm 200.

[0051] like Figures 1 to 9 As shown, the present invention provides a supporting device 100, which includes a telescopic sleeve 10, a linkage mechanism 20 and a locking mechanism 30. The telescopic sleeve 10 includes a plurality of slidingly connected telescopic joints, and the telescopic sleeve 10 is connected to the member to be supported. The linkage mechanism 20 is arranged on the plurality of telescopic joints, and the locking mechanism 30 is arranged on the telescopic sleeve 10. The linkage mechanism 20 can drive the plurality of telescopic joints to extend and retract synchronously to prevent the telescopic sleeve 10 from getting stuck during extension and retraction, and the locking mechanism 30 can lock the telescopic length of the telescopic sleeve 10 to prevent the telescopic sleeve 10 from shrinking. That is, the telescopic sleeve 10 can be extended to a preset length to support the member to be supported, the linkage mechanism 20 is used to drive the plurality of telescopic joints to extend and retract synchronously, so that the telescopic sleeve 10 can quickly extend to a preset length, and the locking mechanism 30 is used to lock the telescopic sleeve 10 at a preset length.

[0052] In this arrangement, the linkage mechanism 20 enables the multiple telescopic sections to extend and retract quickly and stably in sync. When the telescopic sleeve 10 is extended to the preset length required to support the boom 200, the locking mechanism 30 locks the sleeve 10, preventing it from retracting. This enables the support device 100 to quickly support the boom 200. This avoids the deformation and damage of the reducer and motor shaft in SCARA robots, a problem previously encountered in related technologies. This improves the stability and reliability of the SCARA robot and extends its service life.

[0053] It should be noted that the present application adds a support device 100 to support the upper arm 200, so that the reducer and the motor shaft will not be deformed and damaged by force. In the present application, multiple slidingly connected telescopic joints refer to two adjacent telescopic joints in the multiple telescopic joints that are slidably connected. For example, the telescopic sleeve 10 includes a first telescopic joint 11, a second telescopic joint 12 and a third telescopic joint 13. The first telescopic joint 11 is slidably connected to the second telescopic joint 12, and the second telescopic joint 12 is slidably connected to the third telescopic joint 13, thereby realizing the telescopic function of the telescopic sleeve 10. The following takes the telescopic sleeve 10 including three telescopic joints as an example to illustrate that the multiple telescopic joints in the present application are telescoped synchronously, that is, while the third telescopic joint 13 extends relative to the second telescopic joint 12, the second telescopic joint 12 extends relative to the first telescopic joint 11. Similarly, while the third telescopic joint 13 retracts relative to the second telescopic joint 12, the second telescopic joint 12 retracts relative to the first telescopic joint 11.

[0054] Specifically, if Figures 1 to 9 As shown, in this embodiment, the telescopic sleeve 10 includes a first telescopic section 11, a second telescopic section 12 and a third telescopic section 13. The first telescopic section 11 is connected to the member to be supported, the second telescopic section 12 is slidably connected to the first telescopic section 11, and the third telescopic section 13 is slidably connected to the second telescopic section 12. The linkage mechanism 20 drives the second telescopic section 12 and the third telescopic section 13 to move synchronously in the same direction at the same time to achieve synchronous expansion and contraction of the three telescopic sections. In this way, when the third telescopic section 13 is expanded and contracted relative to the second telescopic section 12, the second telescopic section 12 is also necessarily expanded and contracted relative to the first telescopic section 11. That is, the synchronous linkage of the three telescopic sections is achieved, thereby reducing the risk of the telescopic section getting stuck when the telescopic sleeve 10 is expanded and contracted, thereby ensuring that the support device 100 can be extended quickly to achieve its rapid support function.

[0055] Of course, in an alternative embodiment not shown in the drawings of the present application, the telescopic sleeve 10 can be provided with four or more telescopic sections according to actual conditions.

[0056] Specifically, if Figures 1 to 9As shown, in this embodiment, the linkage mechanism 20 includes a first-section rack 21, a second-section gear 22, and a third-section rack 23. The first-section rack 21 extends along a first direction and is disposed on the first telescopic section 11; the second-section gear 22 is disposed on the second telescopic section 12; and the third-section rack 23 extends along the first direction and is disposed on the third telescopic section 13. The second-section gear 22 engages with both the first-section rack 21 and the third-section rack 23. When the second-section gear 22 rotates, the second and third telescopic sections 12, 13 move synchronously in the same direction.

[0057] In the above arrangement, by providing a rack and a gear, the meshing principle of the rack and the gear is utilized to achieve the coordinated and synchronous telescopic function of the three telescopic joints. This reduces the risk of the telescopic joints getting stuck when the telescopic sleeve 10 is extended and retracted, thereby ensuring that the support device 100 can be quickly extended to achieve its rapid support function.

[0058] It should be noted that if Figure 2 As shown, when the third telescopic section 13 and the third section rack 23 provided thereon extend from the second telescopic section 12, since the third section rack 23 is engaged with the second section gear 22, the third section rack 23 drives the second section gear 22 to rotate. Since the second section gear 22 is engaged with the first section rack 21, and the first telescopic section 11 and the first section rack 21 provided thereon are fixed on the boom 200 and do not move, the second section gear 22 rolls synchronously on the first section rack 21, thereby driving the second telescopic section 12 to extend from the first telescopic section 11.

[0059] Similarly, when the third telescopic section 13 and the third section rack 23 provided thereon retract the second telescopic section 12, since the third section rack 23 is engaged with the second section gear 22, the third section rack 23 drives the second section gear 22 to rotate in the opposite direction. Since the second section gear 22 is engaged with the first section rack 21, and the first telescopic section 11 and the first section rack 21 provided thereon are fixed on the boom 200 and do not move, the second section gear 22 synchronously rolls in the opposite direction on the first section rack 21, thereby driving the second telescopic section 12 to retract the first telescopic section 11.

[0060] Specifically, if Figure 1 and Figure 2As shown, in this embodiment, the linkage mechanism 20 includes two first-section racks 21, two third-section racks 23, and two second-section gears 22. The two first-section racks 21 are arranged relative to each other in the second direction, and the two third-section racks 23 are arranged relative to each other in the second direction and located between the two first-section racks 21. The two second-section gears 22 are respectively arranged between adjacent first-section racks 21 and third-section racks 23. The two second-section gears 22 respectively mesh with the adjacent first-section racks 21 and third-section racks 23. When the two second-section gears 22 rotate simultaneously, the second telescopic section 12 and the third telescopic section 13 simultaneously move synchronously in the same direction.

[0061] In the above setting, double racks and double gears are set to simultaneously drive the three telescopic joints to extend and retract, thereby improving the driving efficiency of the linkage mechanism 20 and better reducing the risk of the telescopic joint getting stuck when the telescopic sleeve 10 is extended and retracted, thereby ensuring that the support device 100 can be extended quickly to better realize its rapid support function.

[0062] Specifically, if Figure 10 As shown, in this embodiment, the locking mechanism 30 includes a baffle 31, two oppositely disposed rotation limit blocks 32, a first elastic compression member 33, and a cam 34. The baffle 31 is disposed at the top of the second telescopic section 12, and one end of the two oppositely disposed rotation limit blocks 32 is pivotally connected to the top of the second telescopic section 12. The first elastic compression member 33 is disposed between the baffle 31 and the rotation limit blocks 32. The first elastic compression member 33 pushes the other end of the rotation limit block 32 to rotate and contact the gear tooth side 221 of the second segment gear 22, thereby preventing the second segment gear 22 from rotating toward the rotation limit block 32. The cam 34 is pivotally connected to the top of the second telescopic section 12 and is located between the two rotation limit blocks 32. The rotating cam 34 can selectively contact one of the two rotation limit blocks 32 and push the rotation limit block 32 away from the second segment gear 22, thereby limiting the rotation direction of the second segment gear 22.

[0063] In the above arrangement, the cam 34 rotates to push one of the aforementioned rotation limit blocks 32 apart from the second gear 22, rendering the rotation limit block 32 inoperative and unrestricted. The other rotation limit block 32, however, is rotated and pushed by the first elastic compression member 33 until it contacts the gear tooth side 221 of the second gear 22, preventing the second gear 22 from rotating toward the rotation limit block 32 and limiting its rotation to away from the rotation limit block 32. This provides the locking mechanism 30 with a one-way locking function, thereby enabling the telescopic sleeve 10 to be locked in one direction, preventing it from retracting. This ensures that the support device 100 maintains its support function for the boom 200.

[0064] Specifically, if Figure 10 As shown, in this embodiment, the first elastic compression member 33 is a spring.

[0065] It should be noted that if Figure 10 As shown, turning the rotary knob 35 causes the cam 34 to press against the upper rotation limit block 32, compressing the corresponding spring. The spring at the bottom loses its compression, and the spring extends, pushing the lower rotation limit block 32 into contact with the second section gear 22. At this time, the second section gear 22 will be stuck by the lower rotation limit block 32 when rotating counterclockwise, preventing it from rotating normally. Only when the second section gear 22 rotates clockwise can the lower rotation limit block 32 compress the spring in the direction of rotation of the second section gear 22, so that the second section gear 22 can rotate normally clockwise but cannot rotate counterclockwise (achieving a one-way locking function). When the telescopic sleeve 10 extends, the second section gear 22 rotates clockwise and stops when it extends to the appropriate length. The telescopic sleeve 10 is locked by the locking mechanism 30, ensuring that the extended length of the telescopic sleeve 10 remains unchanged. When the telescopic sleeve 10 needs to be retracted, the knob 35 is rotated in the opposite direction (clockwise), and the second gear 22 can be rotated counterclockwise, thereby retracting the telescopic sleeve 10.

[0066] Specifically, if Figure 1 and Figure 10 As shown, in this embodiment, the locking mechanism 30 further includes a knob 35 , which is disposed on the top of the second telescopic section 12 , and one end of the knob 35 that penetrates the second telescopic section 12 is connected to the cam 34 , and the knob 35 can drive the cam 34 to rotate.

[0067] In the above arrangement, the knob 35 is provided so that it is convenient for a person to hold it, thereby facilitating the person to rotate the cam 34. This improves the convenience of using the locking mechanism 30.

[0068] Specifically, if Figures 1 to 3 As shown, in this embodiment, the support device 100 further includes a limiting structure 40, which is disposed between two adjacent telescopic sections among the plurality of telescopic sections. The limiting structure 40 is used to limit the telescopic positions of the two adjacent telescopic sections.

[0069] Specifically, if Figures 1 to 3 As shown, in this embodiment, the limiting structure 40 includes a limiting hole 41 and a limiting block 42. The limiting hole 41 is provided on one of two adjacent telescopic joints, and the limiting block 42 is provided on the other telescopic joint, and the limiting block 42 is slidably connected to the limiting hole 41 in the first direction.

[0070] Specifically, if Figures 1 to 3 As shown, in this embodiment, two limiting holes 41 are provided on both sides of the first telescopic joint 11 .

[0071] Specifically, if Figures 1 to 3As shown, in this embodiment, two limiting holes 41 are provided on both sides of the second telescopic section 12. Two limiting blocks 42 are also provided on both sides of the second telescopic section 12, and the two limiting blocks 42 are located above the two limiting holes 41.

[0072] Specifically, if Figures 1 to 9 As shown, in this embodiment, the support device 100 further includes a first folding bracket 50, which is folded and disposed in the third telescopic section 13. The first folding bracket 50 can be expanded from the third telescopic section 13 to increase the contact area between the support device 100 and the ground.

[0073] Specifically, if Figure 11 As shown, in this embodiment, the first folding bracket 50 includes a third connecting rod 51, a shock absorber 52, and a bracket base plate 53. One end of the third connecting rod 51 is pivotally connected to one end of the third telescopic section 13; one end of the shock absorber 52 is pivotally connected to the other end of the third connecting rod 51; one end of the bracket base plate 53 is pivotally connected to the other end of the shock absorber 52, and the other end of the bracket base plate 53 is pivotally connected to the other end of the third telescopic section 13. The third connecting rod 51, shock absorber 52, bracket base plate 53, and third telescopic section 13 form a multi-link structure. When the first folding bracket 50 is fully extended, the multi-link structure forms a right triangle, with the bracket base plate 53 resting horizontally on the ground.

[0074] Specifically, if Figure 11 and Figure 12 As shown, in this embodiment, the first folding bracket 50 also includes a locking ring 54, which is slidably set on the third connecting rod 51. The locking ring 54 can slide to a locking position to prevent the third connecting rod 51 and the shock absorber 52 from rotating relative to each other.

[0075] Specifically, if Figure 11 and Figure 12 As shown, in this embodiment, there are two shock absorbers 52 , and the two shock absorbers 52 can simultaneously reduce vibration, thereby improving the vibration reduction performance.

[0076] Specifically, if Figure 11 and Figure 12 As shown, in this embodiment, the locking ring 54 can clamp a part of the shock absorber 52 therein, that is, a part of the shock absorber 52 and the third connecting rod 51 are confined in the inner hole of the locking ring 54, thereby preventing the third connecting rod 51 and the shock absorber 52 from rotating relative to each other.

[0077] Specifically, if Figure 12 and Figure 13As shown, in this embodiment, when the folding bracket is unfolded, the locking ring 54 is manually pushed downward, and the outer shape of the connection between the protrusion 521 of the shock absorber 52 and the third connecting rod 51 forms a circle with a diameter close to the inner diameter of the locking ring 54. The locking ring 54 encloses the protrusion 521 of the shock absorber 52 and the third connecting rod 51, locking the two shock absorbers 52 and the third connecting rod 51, preventing relative rotation between the shock absorbers 52 and the third connecting rod 51, thereby maintaining the folding bracket in the unfolded state. Due to gravity, the locking ring 54 can be maintained in this position. When the folding bracket needs to be folded, the locking ring 54 is manually pushed to the upper end of the third connecting rod 51, and the bracket can be folded and conveniently retracted into the third telescopic section 13.

[0078] Specifically, if Figures 1 to 9 As shown, in this embodiment, the support device 100 further includes a second folding bracket 60 , which is folded and disposed in the third telescopic section 13 . The second folding bracket 60 and the first folding bracket 50 are symmetrically disposed relative to the central axis d of the third telescopic section 13 .

[0079] Specifically, if Figures 1 to 9 As shown, in this embodiment, the structure of the second folding bracket 60 is the same as that of the first folding bracket 50, and will not be described in detail here.

[0080] It should be noted that the folding bracket is retracted in the third telescopic section 13. When needed, the two bracket base plates 53 are folded outward. The bracket base plate 53, the shock absorber 52, the third connecting rod 51 and the third telescopic section 13 form a multi-link mechanism. When the bracket base plate 53 is folded outward, the shock absorber 52 and the third connecting rod 51 will be driven to stretch out, increasing the contact area with the ground. The four shock absorbers 52 on both sides can disperse the stress of the support device 100 as a whole, thereby increasing the reliability of the support device 100 and extending its service life.

[0081] It should be noted that in this application, the first telescopic section 11 is connected to the upper arm 200, the second telescopic section 12 is responsible for linking the first telescopic section 11 and the third telescopic section 13, the third telescopic section 13 is responsible for contacting the ground, and the end of the third telescopic section 13 is equipped with a first folding bracket 50 and a second folding bracket 60.

[0082] The specific steps for use are as follows:

[0083] Step 1: After the three expansion joints are stretched, fold the two bracket bottom plates outwards by hand at the same time;

[0084] Step 2: The bracket base plate, shock absorber, third connecting rod and third telescopic section form a multi-link mechanism. When the two bracket base plates are folded outward, the shock absorber and the third connecting rod will be extended. When the bracket base plates are unfolded 90 degrees, the shock absorber and the third connecting rod remain collinear (reference Figures 14 to 17 );

[0085] Step 3: When the shock absorber and the third connecting rod are in line, manually move the locking ring to fix the connection between the reducer and the third connecting rod, so that the shock absorber and the third connecting rod can always remain in line when the folding bracket is unfolded, preventing the shock absorber and the third connecting rod from rotating relative to each other, thereby ensuring the stability of the folding bracket;

[0086] Step 4: When the support device is retracted, first push up the locking ring by hand, then fold the bottom plate of the bracket inward to retract the entire folding bracket.

[0087] The following describes the principle of synchronous expansion and contraction of the first expansion joint 11, the second expansion joint 12, and the third expansion joint 13 in the present application. The specific steps are as follows:

[0088] Step 1: The second telescopic section is equipped with two gears (second section gear 22), which are responsible for linking the racks (first section rack 21 and third section rack 23) installed on the first telescopic section and the third telescopic section;

[0089] Step 2: The two racks (the first section racks 21) mounted on the first telescopic section are meshed with the gears on the second telescopic section from the outside;

[0090] Step 3: The two racks (the third section racks 23) mounted on the third telescopic section are meshed with the gears on the second telescopic section from the inside;

[0091] Step 4: The third telescopic section moves outward due to the pulling force of the human hand. The two racks on the third telescopic section move outward synchronously with the third telescopic section. The outward movement of the racks drives the gears on the second telescopic section to rotate.

[0092] Step 5: The first telescopic section and the boom are connected by a revolving pair (rotating assembly 400). They remain relatively stationary during the stretching process. The relative movement of the first telescopic section and the second telescopic section is macroscopically reflected on the second telescopic section. The rack (first section rack 21) on the first telescopic section is stationary, and the gear on the second telescopic section rotates, driving the second telescopic section to move, which is manifested as the outward movement of the second telescopic section.

[0093] Step six: The second telescopic section and the third telescopic section move synchronously in the same direction at the same time to achieve synchronous telescopic movement of the three sections.

[0094] like Figures 18 to 20As shown, the present invention further provides a SCARA robot comprising an arm 200, the support device 100 described above, and a spring lock 300. The spring lock 300 is disposed through the arm 200 and the support device 100 and is used to lock the support device 100 within the arm 200. When the spring lock 300 is released, the support device 100 automatically rotates out of the arm 200 and extends to support the arm 200.

[0095] In the above arrangement, since the SCARA robot is integrated with the support device 100, the SCARA robot has a self-supporting function. In addition, the spring lock 300 can ensure that the support device 100 is stored in the arm 200, thereby making the SCARA robot compact and easy to carry.

[0096] It should be noted that the support device 100 is placed inside the SCARA robot when it is in operation. When needed, it can be quickly flipped out and extended for use, with the height adjusted and automatically locked, making it convenient to use and saving space. Using the support device 100 to support the robot when it is stationary can reduce problems such as deformation of the robot's first joint reducer and the first joint motor shaft, greatly increasing the robot's reliability and service life. It also makes the robot easier to store, saving storage space.

[0097] Specifically, if Figure 21 and Figure 22 As shown, in this embodiment, the upper arm 200 includes a rib plate 201, the first telescopic section 11 of the support device 100 is provided with a locking hole, and the spring lock 300 includes a housing assembly 301, a pull pin 302, and a second elastic compression member 303. The housing assembly 301 is fixedly connected to the rib plate 201; the pull pin 302 is slidably inserted into the housing assembly 301, and the pull pin 302 has an annular limiting step 3021; ​​the second elastic compression member 303 is arranged on the outer periphery of the pull pin 302 and is located in the installation cavity defined by the housing assembly 301 and the pull pin 302; the second elastic compression member 303 contacts the annular limiting step 3021 and is used to press the pull pin 302 into the locking hole. By lifting the pull pin 302 in a direction away from the locking hole, the pull pin 302 can be completely withdrawn from the locking hole, thereby opening the spring lock 300.

[0098] In the above arrangement, the spring lock 300 is configured as described above, so that the spring lock 300 can be opened simply by pulling the pin 302 away from the locking hole. This allows the support device 100 to rotate out of the arm 200 under its own weight or external force, facilitating its subsequent use. This further improves the convenience of use of the support device 100.

[0099] Specifically, if Figure 22 As shown, in this embodiment, the second elastic compression member 303 is a spring.

[0100] Specifically, if Figure 22 As shown, in this embodiment, the housing assembly 301 includes a shell 3011 and a top cover 3012. One end of the shell 3011 is fixedly connected to the rib 201, the top cover 3012 is disposed on the other end of the shell 3011, and the second elastic compression member 303 is disposed between the top cover 3012 and the annular limiting step 3021.

[0101] In the above arrangement, the housing assembly 301 is provided as a split structure, which facilitates the replacement of internal components of the spring lock 300, such as the pull pin 302, thereby avoiding the need for integral replacement thereof, thereby saving costs.

[0102] Specifically, if Figure 18 and Figure 19 As shown, in this embodiment, the SCARA robot further includes a rotating assembly 400 , which is provided on the upper arm 200 and the supporting device 100 and is used to pivotally connect the supporting device 100 to the upper arm 200 .

[0103] Specifically, if Figure 23 As shown, in this embodiment, the boom 200 includes a rib 201, and the rotating assembly 400 includes a flange support 401 and a retaining ring 402. The flange support 401 is sequentially inserted through the rib 201 and the first telescopic section 11, and is fixedly connected to the rib 201; the retaining ring 402 is disposed on the end of the flange support 401 that extends beyond the first telescopic section 11; the retaining ring 402 can axially constrain the rib 201 and the first telescopic section 11 on the flange support 401, allowing the first telescopic section 11 to rotate on the flange support 401.

[0104] Specifically, if Figure 23 As shown, in this embodiment, the flange support 401 is inserted into the through hole of the first telescopic joint 11 , and the rotating assembly 400 further includes a shaft sleeve 403 , which is arranged on the outer periphery of the flange support 401 and located in the through hole.

[0105] In the above arrangement, the shaft sleeve 403 has a wear-resistant function, and the shaft sleeve 403 can prevent the flange support 401 from directly contacting the first telescopic section 11, thereby avoiding wear and damage to the first telescopic section 11, thereby extending the service life of the support device 100.

[0106] Specifically, if Figure 23 As shown, in this embodiment, through holes are provided on the outer periphery of the retaining ring 402 and the flange support 401 , and the rotating assembly 400 further includes a top screw 404 , which passes through the threaded through hole on the retaining ring 402 and is threadedly connected to the flange support 401 .

[0107] Specifically, if Figures 18 to 20As shown, in this embodiment, the SCARA robot also includes a base 500, a small arm 600, a ball screw 700 and a bellows 900. Among them, the small arm 600 is slidably connected to the upper arm 200, and the small arm 600 is connected to the ball screw 700. The lower end of the ball screw 700 is mounted with a load 800. The upper arm 200 is set on the base 500. One end of the bellows 900 is connected to the small arm 600, and the other end is connected to the base 500. When the SCARA robot is working, the base 500 is fixed and is responsible for supporting the entire mechanism. The upper arm 200 and the small arm 600 rotate to realize the movement of the SCARA robot in the plane. The ball screw 700 is mounted with the load 800, and the ball screw 700 can realize rotational motion in the horizontal direction and linear motion in the vertical direction.

[0108] The present invention also provides a method for using the support device 100, and the specific steps are as follows:

[0109] Step 1: Pull out the spring lock and rotate the support device out from the inside of the arm;

[0110] Step 2: After adjusting the angle, stretch the telescopic sleeve to the ground to support the upper arm;

[0111] Step 3. After adjusting the height, rotate the knob to lock the length of the telescopic sleeve.

[0112] When using the supporting device 100, the more specific steps are as follows:

[0113] The first step is to pull the semicircular part at the rear of the spring lock, causing the circular pull pin of the spring lock to retract and the spring lock to open. The first telescopic section is unlocked, allowing it to rotate around the revolving pair (rotating component);

[0114] The second step is to adjust the angle of the support device and start stretching the third telescopic section;

[0115] In the third step, when the third telescopic section is stretched, the third section rack drives the second section gear to rotate, the second section gear rolls on the first section rack and drives the second telescopic section to move, and the second and third telescopic sections extend outward at the same time to support the boom;

[0116] The fourth step is to rotate the knob so that the cam pushes the rotation limit block on the upper side, and the rotation limit block on the lower side contacts the second gear, completing the one-way locking of the telescopic sleeve.

[0117] It should be noted that during the stretching process, the telescopic sleeve 10 can only be stretched in one direction under the restriction of the locking mechanism 30. After stretching to the appropriate height, the telescopic sleeve 10 is automatically locked. Finally, the bracket base plate 53 is unfolded, the locking ring 54 is adjusted, the shock absorber 52 and the third connecting rod 51 are fixed, and the entire support device 100 is unfolded. When the support device 100 is used and needs to be retracted, the locking ring 54 is first pushed upward to release the relative fixation between the shock absorber 52 and the third connecting rod 51. After bending the shock absorber 52 and the third connecting rod 51, the bracket base plate 53 is folded. The knob 35 of the locking mechanism 30 is twisted to rotate the cam 34, releasing the locking state of the telescopic sleeve 10 and allowing the device to retract. After retraction is completed, the device is directly rotated and retracted. The round head of the pull pin 302 can ensure that it automatically retracts when squeezed during the recovery process. When the device rotates to the predetermined position, the circular hole (locking hole) on the device corresponds to the position of the pull pin 302. The pull pin 302 pops out under the action of the spring force and locks the support device 100.

[0118] While the present invention has been described with reference to preferred embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, the various technical features described in the various embodiments may be combined in any manner, provided no structural conflicts exist. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A SCARA robot, characterized in that: include: upper arm; as well as a supporting device, pivotally connected to the upper arm; a spring lock, which is passed through the upper arm and the supporting device, and is used to lock the supporting device in the upper arm; Wherein, when the spring lock is opened, the supporting device rotates out from the upper arm and extends to support the upper arm; Wherein, the supporting device comprises: A telescopic sleeve, comprising a plurality of telescopic sections connected in a sliding manner, wherein the telescopic sleeve is connected to the boom; and A linkage mechanism is provided on the plurality of telescopic joints; and A locking mechanism, provided on the telescopic sliding sleeve; The telescopic sleeve can be extended to a preset length to support the boom, the linkage mechanism is used to drive the multiple telescopic sections to extend and retract synchronously so that the telescopic sleeve can be quickly extended to the preset length, and the locking mechanism is used to lock the telescopic sleeve at the preset length. The telescopic sliding sleeve comprises: A first telescopic section connected to the upper arm; and a second telescopic joint, slidably connected to the first telescopic joint; and a third telescopic joint, slidably connected to the second telescopic joint; The linkage mechanism drives the second telescopic section and the third telescopic section to move synchronously in the same direction at the same time, so as to achieve synchronous telescopic movement of the three telescopic sections.

2. The SCARA robot according to claim 1, characterized in that: The arm includes a rib plate, the first telescopic joint of the support device is provided with a locking hole, and the spring lock includes: A shell assembly fixedly connected to the rib plate; and a pull pin, slidably disposed in the housing assembly, the pull pin having an annular limiting step; and A second elastic compression member is provided on the outer periphery of the pull pin and is located in the installation cavity defined by the housing assembly and the pull pin; the second elastic compression member is in contact with the annular limiting step and is used to press the pull pin into the locking hole; Wherein, by lifting the pull pin in a direction away from the locking hole, the pull pin can be completely withdrawn from the locking hole to open the spring lock.

3. The SCARA robot according to claim 2, characterized in that: The housing assembly comprises: a housing, one end of which is fixedly connected to the rib; and The top cover is arranged on the other end of the shell, and the second elastic compression member is arranged between the top cover and the annular limiting step.

4. The SCARA robot according to any one of claims 1 to 3, characterized in that: It also includes a rotating assembly, which is installed on the upper arm and the supporting device and is used to pivotally connect the supporting device to the upper arm.

5. The SCARA robot according to claim 4, characterized in that: The boom includes a rib plate, and the rotating assembly includes: a flange support, which is sequentially passed through the rib plate and the first telescopic joint, and the flange support is fixedly connected to the rib plate; and A retaining ring is provided on one end of the flange support extending from the first telescopic joint; The retaining ring can axially limit the rib plate and the first telescopic joint on the flange support, and the first telescopic joint can rotate on the flange support.

6. The SCARA robot according to claim 5, characterized in that: The flange support is extended from the through hole on the first telescopic joint. The rotating assembly further includes a shaft sleeve, which is arranged on the outer periphery of the flange support and located in the through hole.

7. The SCARA robot according to claim 1, characterized in that: The linkage mechanism comprises: A first rack section, extending along a first direction and arranged on the first telescopic section; and A second gear section is provided on the second telescopic section; and A third rack section, extending along the first direction and arranged on the third telescopic section; The second gear is arranged between the first rack and the third rack, and is engaged with the first rack and the third rack at the same time. When the second gear rotates, the second telescopic section and the third telescopic section move synchronously in the same direction.

8. The SCARA robot according to claim 7, characterized in that: The linkage mechanism comprises: Two of the first racks are arranged opposite to each other in the second direction; and The two third-section racks are arranged opposite to each other in the second direction and located between the two first-section racks; and Two second-section gears are respectively arranged between adjacent first-section racks and third-section racks; The two second-section gears are respectively engaged with the adjacent first-section rack and the third-section rack. When the two second-section gears rotate simultaneously, the second telescopic section and the third telescopic section move synchronously in the same direction.

9. The SCARA robot according to claim 7 or 8, characterized in that: The locking mechanism comprises: a baffle, disposed on the second telescopic joint; and Two oppositely arranged rotation limit blocks, one end of which is pivotally connected to the top end of the second telescopic section; and a first elastic compression member, disposed between the baffle and the rotation limit block, the first elastic compression member pushing the other end of the rotation limit block to rotate and contact the gear tooth side of the second section gear to prevent the second section gear from rotating in a direction close to the rotation limit block; a cam, pivotally connected to the top end of the second telescopic joint and located between the two rotation limit blocks; The cam can be rotated to selectively come into contact with any one of the two rotation limit blocks, and push the rotation limit block to separate from the second gear, so as to limit the rotation direction of the second gear.

10. The SCARA robot according to claim 7 or 8, characterized in that: It also includes a limiting structure, which is arranged between two adjacent telescopic sections among the multiple telescopic sections, and is used to limit the telescopic positions of the two adjacent telescopic sections.

11. The SCARA robot according to claim 10, characterized in that: The limiting structure includes: a limiting hole, provided on one of the two adjacent telescopic joints; and A limiting block is provided on the other telescopic joint, and the limiting block is slidably connected to the limiting hole in a first direction.

12. The SCARA robot according to claim 7 or 8, characterized in that: It also includes a first folding bracket, which is folded and arranged in the third telescopic section. The first folding bracket can be expanded from the third telescopic section to increase the contact area between the support device and the ground.

13. The SCARA robot according to claim 12, wherein: The first folding bracket comprises: A third connecting rod, one end of which is pivotally connected to one end of the third telescopic section; and a shock absorber, one end of which is pivotally connected to the other end of the third connecting rod; and a bracket base plate, one end of which is pivotally connected to the other end of the shock absorber, and the other end of the bracket base plate is pivotally connected to the other end of the third telescopic joint; Among them, the third connecting rod, shock absorber, bracket base and third telescopic section constitute a multi-link structure. When the first folding bracket is fully expanded, the multi-link structure is a right triangle, and the bracket base is placed horizontally on the ground.

14. The SCARA robot according to claim 13, wherein: The shock absorber has a protrusion, and the first folding bracket also includes a locking ring, which is slidably set on the third connecting rod. When the locking ring slides to the locking position, the locking ring confines the protrusion and the third connecting rod within its inner hole to prevent the third connecting rod and the shock absorber from relative rotation.

15. The SCARA robot according to claim 12, wherein: It also includes a second folding bracket, which is folded and arranged in the third telescopic section. The second folding bracket and the first folding bracket are symmetrically arranged relative to the central axis d of the third telescopic section.

Images