A multi-axis industrial robot

Abstract

The present invention discloses a multi-axis industrial robot, comprising: a base, a driving component arranged inside the base, a first action arm, a second action arm and a control action arm; the second action arm is rotationally connected to the first action arm, and an end effector is arranged at the end of the second action arm; an action switching mechanism is arranged at the connection position of the first action arm and the second action arm, and a control air circuit for driving the action switching mechanism to work is arranged inside the control action arm; a first transmission mechanism for driving the second action arm to rotate is formed between the driving component and the second action arm based on the action switching mechanism; or a second transmission mechanism for driving the end effector to work is formed between the driving component and the end effector based on the action switching mechanism. By arranging the action switching mechanism to switch the action drive of the industrial robot, a single driving component can meet the requirements of the robot's swing arm and end execution work, realizing the independent drive of the swing arm and the end execution work, and improving the reliability of the industrial robot's work.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a multi-axis industrial robot. Background Art

[0002] Currently, general multi-axis robots are generally provided with a first set of power systems for driving the movement of the robot's action arm and a second set of power systems for driving the end of the industrial robot to perform work. This makes the power structure of the industrial robot redundant, and the two sets of power systems are likely to cause motion interference when the industrial robot moves or performs end actions, affecting the working reliability of the industrial robot. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a multi-axis industrial robot. By setting an action switching mechanism to switch the action drive of the industrial robot, a single driving component can satisfy the swing arm of the robot and the end to perform work, realizing the independent drive of the swing arm and the end to perform work, and improving the working reliability of the industrial robot.

[0004] The present invention provides a multi-axis industrial robot, which includes: a base, a driving component arranged in the base, a first action arm, a second action arm, and a control action arm;

[0005] The second action arm is rotatably connected to the first action arm, and an end effector is arranged at the end of the second action arm;

[0006] An action switching mechanism is arranged at the connection position of the first action arm and the second action arm, and a control air circuit for driving the action switching mechanism to work is arranged in the control action arm;

[0007] Based on the action switching mechanism, a first transmission mechanism for driving the second action arm to rotate is formed between the driving component and the second action arm;

[0008] Or based on the action switching mechanism, a second transmission mechanism for driving the end effector to work is formed between the driving component and the end effector.

[0009] Furthermore, the first action arm is provided with an arc-shaped slide rail, and a first slider is arranged at the bottom of the second action arm;

[0010] The second action arm is slidably fitted on the arc-shaped slide rail of the first action arm based on the first slider.

[0011] Furthermore, the second action arm includes a bottom plate, and a limiting groove arranged along the length direction is arranged in the bottom plate;

[0012] The upper end of the first slider is slidably fitted in the limiting groove, the lower end of the first slider extends outside the limiting groove, and the lower end of the first slider is connected to the arc-shaped slide rail.

[0013] Further, the action switching mechanism includes a push rod and an air cylinder arranged on the bottom plate;

[0014] One end of the air cylinder is connected to the control air circuit, one end of the push rod is inserted into the air cylinder, and the other end of the push rod extends outside the air cylinder through the other end of the air cylinder;

[0015] The other end of the push rod extends into the limiting groove, and the other end of the push rod is connected to the first slider.

[0016] Further, a first transmission belt assembly for connecting the driving component and the second action arm is arranged in the first action arm;

[0017] A second transmission belt assembly for connecting the first transmission belt assembly and the end effector is arranged in the second action arm;

[0018] A transmission shaft is arranged at the head end of the second action arm, one end of the transmission shaft extends into the first action arm, and the first transmission belt assembly and the second transmission belt assembly are connected based on the transmission shaft.

[0019] Further, the transmission shaft includes a shaft core and a shaft cylinder sleeved outside the shaft core, a rotational connection is arranged between the shaft core and the shaft cylinder, and a spacing is formed between the shaft core and the inner wall of the shaft cylinder;

[0020] The first transmission belt assembly includes a first driving gear connected to the output end of the driving component, a first reduction gear train connected to the lower end of the transmission shaft, and a first transmission belt connecting the first driving gear and the first reduction gear train;

[0021] The first reduction gear train includes a first driven gear and a first reduction gear arranged coaxially, the first driven gear is connected to the first transmission belt, and the first reduction gear is located in the spacing between the shaft core and the shaft cylinder.

[0022] Further, a linear sliding groove is arranged on the first action arm, and a receiving platform is slidably connected in the linear sliding groove;

[0023] The receiving platform is sleeved outside the shaft cylinder, a rotational connection is configured between the shaft cylinder and the receiving platform, and the top end of the shaft cylinder is connected to the head end of the second action arm.

[0024] Further, the upper end of the shaft core extends to the inside of the second action arm through the upper end port of the shaft tube, and the upper end of the shaft core is connected to the second belt transmission assembly.

[0025] Further, the second belt transmission assembly includes: a second transmission gear arranged at the upper end of the shaft core, a third transmission gear arranged inside the end effector, and a second transmission belt connecting the second transmission gear and the third transmission gear;

[0026] The end effector is provided with a screw rod and a linkage mechanism threadedly engaged with the screw rod. The third transmission gear is threadedly connected to the screw rod, and the third transmission gear is used to drive the screw rod to rotate, so that the linkage mechanism realizes the unfolding and folding actions based on the rotation of the screw rod.

[0027] Further, a first transmission gear is arranged at the lower end of the shaft core, and an internal gear is arranged at the lower end of the inner wall of the shaft tube. The internal gear of the shaft tube is driven to mesh with the first reduction gear based on the action switching mechanism, or the first transmission gear of the shaft core is driven to mesh with the first reduction gear based on the action switching mechanism;

[0028] When the first reduction gear meshes with the internal gear, the first belt transmission assembly and the shaft tube cooperate to form the first transmission mechanism, and the driving component drives and connects the second action arm based on the first transmission mechanism;

[0029] When the first reduction gear meshes with the first transmission gear, the first belt transmission assembly and the second belt transmission assembly cooperate to form the second transmission mechanism, and the driving component drives and connects the end effector based on the second transmission mechanism.

[0030] The present invention provides a multi-axis industrial robot. By setting an action switching mechanism to switch the action drive of the industrial robot, a single driving component can meet the requirements of the robot's swing arm and end effector work, simplify the structural layout of the industrial robot, realize the independent drive of the swing arm and the end effector work, and improve the reliability of the industrial robot's work. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic structural diagram of the multi-axis industrial robot in the embodiment of the present invention;

[0033] Figure 2 is a structural sectional view of a multi-axis industrial robot in an embodiment of the present invention;

[0034] Figure 3 shows the attachment in an embodiment of the present invention Figure 2 a schematic enlarged view of the structure at position A;

[0035] Figure 4 is an exploded view of the connection state of the first moving arm and the second moving arm in an embodiment of the present invention;

[0036] Figure 5 is a schematic structural view of a transmission shaft in an embodiment of the present invention;

[0037] Figure 6 is a schematic view of the connection state of the first transmission mechanism in an embodiment of the present invention;

[0038] Figure 7 is a schematic view of the connection state of the second transmission mechanism in an embodiment of the present invention. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0040] Embodiment 1:

[0041] Figure 1 shows a schematic structural view of a multi-axis industrial robot in an embodiment of the present invention, Figure 2 shows a structural sectional view of a multi-axis industrial robot in an embodiment of the present invention, Figure 3 shows the attachment in an embodiment of the present invention Figure 2 a schematic enlarged view of the structure at position A. The multi-axis industrial robot includes: a base 1, a driving component disposed in the base 1, a first moving arm 2, a second moving arm 3, and a control moving arm 4. The first moving arm 2 is rotatably disposed on the base 1, and a driving motor for driving the first moving arm 2 is disposed in the base 1. Based on the driving of the driving motor, the first moving arm 2 performs a rotating operation on the base 1.

[0042] The second moving arm 3 is rotatably connected to the first moving arm 2, that is, the second moving arm 3 can rotate on the first moving arm 2. An end effector 5 is provided at the end of the second moving arm 3. Based on the cooperation between the first moving arm 2 and the second moving arm 3, the working position of the end effector 5 can be adjusted so that the end effector 5 can meet the operation requirements of the industrial robot.

[0043] Specifically, an action switching mechanism 9 is provided at the connection position between the first moving arm 2 and the second moving arm 3. A control air circuit for driving the action switching mechanism 9 to work is provided in the control moving arm 4. Based on the control air circuit inside the control moving arm 4, the action switching mechanism 9 is driven to work to realize the control of the action of the industrial robot.

[0044] Furthermore, one end of the control moving arm 4 is connected to the base 1, and the other end of the control connecting arm is connected to the second moving arm 3. When the second moving arm 3 rotates on the first moving arm 2, the control moving arm 4 can swing along with the operation of the second moving arm 3. Based on the control moving arm 4, the vibration and impact torque of the second moving arm 3 can be reduced, so that the carrying action of the industrial robot can be kept stable.

[0045] Based on the action switching mechanism 9, a first transmission mechanism for driving the second moving arm 3 to rotate is formed between the driving component and the second moving arm 3, so that the driving component can control the second moving arm 3 to rotate on the first moving arm 2 through the first transmission mechanism, thereby adjusting the position of the end effector 5 at the end of the second moving arm 3 to meet the working requirements of the industrial robot.

[0046] Based on the action switching mechanism 9, a second transmission mechanism for driving the end effector 5 to work can also be formed between the driving component and the end effector 5. Based on the second transmission mechanism, the driving component can drive the end effector 5 at the end of the second moving arm 3 to realize the adjustment of the end work of the industrial robot.

[0047] Compared with the prior art, the multi-axis industrial robot in the embodiment of the present invention has significant advantages in the transmission and control systems. In the prior art, the transmission structure of the industrial robot is usually relatively complex, and the control system is also relatively cumbersome, resulting in difficulty in further improving the operation accuracy and efficiency. In the embodiment of the present invention, through the design of the action switching mechanism 9 and the belt transmission assembly, the movement switching drive and precise control of the second moving arm 3 and the end effector 5 are realized, thereby significantly improving the operation accuracy and efficiency of the robot.

[0048] The multi-axis industrial robot proposed in the embodiment of the present invention is provided with an action switching mechanism 9 between the first action arm 2 and the second action arm 3. Based on the action switching mechanism 9, the working states of the first transmission mechanism and the second transmission mechanism can be switched, that is, a linkage control mode of the driving component, the first action arm 2 and the second action arm 3 is formed, or a linkage control mode of the driving component, the first action arm 2 and the end effector 5 is formed, so that the driving component can meet the driving requirements of the two working modes, and based on the action switching mechanism 9, the working state of the industrial robot can be switched, avoiding the situation of motion interference in the position adjustment operation and the end execution operation of the industrial robot, and improving the working reliability of the industrial robot.

[0049] Embodiment 2:

[0050] Figure 4 The exploded view of the connection state of the first action arm 2 and the second action arm 3 in the embodiment of the present invention is shown. The first action arm 2 is provided with an arc-shaped slide rail 22, and the bottom of the second action arm 3 is provided with a first slider 32. The second action arm 3 is slidably fitted on the arc-shaped slide rail 22 of the first action arm 2 based on the first slider 32. The arc-shaped slide rail 22 on the first action arm 2 and the first slider 32 at the bottom of the second action arm 3 cooperate with each other, so that the second action arm 3 can slide smoothly along the arc-shaped slide rail 22. Based on the cooperation between the first slider 32 and the arc-shaped slide rail 22, not only the accuracy of the movement track of the second action arm 3 is ensured, but also the movement stability of the entire four-axis robot is improved.

[0051] Furthermore, through this sliding fit structure, the possible jamming or instability problems that may occur during the movement of the second action arm 3 can be effectively solved, thereby improving the overall performance and working efficiency of the robot. Based on the arc-shaped slide rail 22, the movement track of the first slider 32 on the first action arm 2 can be restricted, so that the first slider 32 moves on the arc-shaped slide rail 22 of the first action arm 2.

[0052] Furthermore, when the second action arm 3 rotates around its head end on the first action arm 2, the second action arm 3 can move on the arc-shaped slide rail 22 based on the first slider 32. Based on the arc-shaped slide rail 22, the positioning accuracy of the second action arm 3 during the sliding process can be improved, and at the same time, the connection stability between the second action arm 3 and the first action arm 2 can be improved, ensuring the reliability of the relative movement between the first action arm 2 and the second action arm 3.

[0053] Furthermore, the arc-shaped slide rail 22 of the first moving arm 2 can be made of a material with high strength and low friction coefficient to ensure smoothness and durability of sliding. The first slider 32 at the bottom of the second moving arm 3 can be made of a material matching the arc-shaped slide rail 22 and appropriately lubricated on its surface to further reduce friction and ensure smoothness of sliding.

[0054] Specifically, the second moving arm 3 includes a bottom plate, and a limiting groove 31 arranged along the length direction is provided inside the bottom plate. The upper end of the first slider 32 is slidably fitted in the limiting groove 31, the lower end of the first slider 32 extends outside the limiting groove 31, and the lower end of the first slider 32 is connected to the arc-shaped slide rail 22. The relative position relationship between the first slider 32 and the second moving arm 3 is defined based on the limiting groove 31, and the relative movement track of the first slider 32 and the second moving arm 3 can be restricted based on the limiting groove 31, that is, the first slider 32 can move linearly in the limiting groove 31.

[0055] Furthermore, based on the first slider 32 being fitted between the arc-shaped slide rail 22 and the limiting groove 31, the cooperation between the first slider 32 and the arc-shaped slide rail 22 can meet the rotational movement requirement of the second moving arm 3 on the first moving arm 2, the cooperation between the first slider 32 and the limiting groove 31 can meet the horizontal movement requirement of the second moving arm 3 on the first moving arm 2, and based on the cooperation between the first slider 32 and the arc-shaped slide rail 22 as well as the limiting groove 31, the two movement modes of the second moving arm 3 are mutually restricted, that is, the action mode of the second moving arm 3 rotating on the first moving arm 2 and the action mode of the second moving arm 3 moving relatively horizontally on the first moving arm 2 can be independent of each other, avoiding the situation of running interference and improving the accuracy of motion control of the multi-axis industrial robot.

[0056] Specifically, the action switching mechanism 9 includes a push rod 92 and an air cylinder 91 arranged on the bottom plate. One end of the air cylinder 91 is connected to the control air circuit, one end of the push rod 92 is inserted into the air cylinder 91, and the other end of the push rod 92 extends outside the air cylinder 91 through the other end of the air cylinder 91. The control air circuit is connected to an external air source. By introducing air and pressurizing the air cylinder 91 based on the external air source, the push rod 92 can be pushed to move inside the air cylinder 91, achieving the technical effect of the push rod 92 pushing outwards; when the external air source extracts gas from the air cylinder 91 based on the control air circuit, the air pressure inside the air cylinder 91 is lower than the air pressure outside the air cylinder 91, thereby driving the push rod 92 to move towards the inside of the air cylinder 91, achieving the technical effect of the push rod 92 contracting.

[0057] The other end of the push rod 92 extends into the limit groove 31, and the other end of the push rod 92 is connected to the first slider 32. Based on the connection between the push rod 92 and the first slider 32, the structural design of the first slider 32 cooperating with the push rod 92 and the air cylinder 91 can realize the relative movement between the first moving arm 2 and the second moving arm 3.

[0058] Further, based on the sliding fit between the first slider 32 and the arc-shaped slide rail 22, when the push rod 92 applies a thrust to the first slider 32, since the direction of the force applied by the push rod 92 to the first slider 32 does not match the movement trajectory of the arc-shaped slide rail 22, the first slider 32 maintains the mating state with the arc-shaped slide rail 22, and a relative movement occurs between the limit groove 31 and the first slider 32, thereby driving the second moving arm 3 to move horizontally on the first moving arm 2. Based on the arc-shaped slide rail 22 restricting the movement trajectory of the first slider 32 and cooperating with the limit groove 31 to restrict the relative movement direction of the first slider 32 and the limit groove 31, the relative movement control between the first moving arm 2 and the second moving arm 3 is realized.

[0059] Further, based on the pneumatic mechanism to realize the control of the relative movement between the second moving arm 3 and the first moving arm 2, the flexibility of the switching action of the transmission mechanism can be improved.

[0060] Specifically, a first transmission belt 6 for connecting the driving component and the second moving arm 3 is arranged in the first moving arm 2, and a second transmission belt assembly 7 for connecting the first transmission belt 6 and the end effector 5 is arranged in the second moving arm 3. Based on the cooperation between the first transmission belt 6 and the second transmission belt assembly 7, the transmission connection between the first moving arm 2 and the second moving arm 3 can be realized, meeting the driving movement requirements of the industrial robot.

[0061] A transmission shaft 8 is arranged at the head end of the second moving arm 3. One end of the transmission shaft 8 extends into the first moving arm 2, and the first transmission belt 6 and the second transmission belt assembly 7 are connected based on the transmission shaft 8. The transmission shaft 8 is used to realize the power transmission between the first transmission belt 6 and the second transmission belt assembly 7, so as to meet the power transmission requirements of the industrial robot.

[0062] Specifically, Figure 5The structural schematic diagram of the transmission shaft 8 in the embodiment of the present invention is shown. The transmission shaft 8 includes a shaft core 82 and a shaft cylinder 81 sleeved outside the shaft core 82. A rotational connection is provided between the shaft core 82 and the shaft cylinder 81. A spacing is formed between the shaft core 82 and the inner wall of the shaft cylinder 81. The shaft core 82 and the shaft cylinder 81 are connected based on a rotating bearing, enabling a good connection relationship to be maintained between the shaft core 82 and the shaft cylinder 81, meeting the structural rigidity requirements for power transmission of the transmission shaft 8, and allowing relative rotation between the shaft core 82 and the shaft cylinder 81, so that the shaft core 82 and the shaft cylinder 81 can respectively meet different transmission connections, realizing the switching of the internal transmission mechanism of the industrial robot.

[0063] The first transmission belt 6 includes a first driving gear 61 connected to the output end of the driving component, a first reduction gear 631 series 63 connected to the lower end of the transmission shaft 8, and a first transmission belt 62 connecting the first driving gear 61 and the first reduction gear 631 series 63. By driving the driving gear 61, the driving component can drive the first reduction gear 631 series 63 to transmit power in cooperation with the first transmission belt 62.

[0064] The first reduction gear 631 series 63 includes a first driven gear 632 and a first reduction gear 631 arranged coaxially. The first driven gear 632 is connected to the first transmission belt 62. The first reduction gear 631 is located within the spacing between the shaft core 82 and the shaft cylinder 81. The connection between the driving gear 61 and the first driven gear 632 is realized based on the first transmission belt 62, so that when the driving gear 61 rotates, it can drive the first driven gear 632 to rotate based on the first transmission belt 62, thereby realizing the transmission control of the first transmission belt 6.

[0065] Further, due to the coaxial arrangement of the first driven gear 632 and the first reduction gear 631, the first driven gear 632 and the first reduction gear 631 can rotate synchronously. The size of the first reduction gear 631 is larger than that of the first driven gear 632. Driving the first reduction gear 631 by the first driven gear 632 can realize the reduction transmission of the first transmission belt 6.

[0066] Further, the output torque of the driving component can be increased based on the reduction gear series 63, enabling the driving component to meet the driving control requirements of the second moving arm 3.

[0067] Specifically, the first moving arm 2 is provided with a linear sliding groove 21. A receiving platform is slidably connected in the linear sliding groove 21. The receiving platform is sleeved outside the shaft cylinder 81. A rotational connection is configured between the shaft cylinder 81 and the receiving platform, that is, the shaft cylinder 81 and the receiving platform can rotate relative to each other. The top end of the shaft cylinder 81 is connected to the head end of the second moving arm 3. When the shaft cylinder 81 rotates, it can drive the second moving arm 3 to rotate on the first moving arm 2.

[0068] Further, based on the linear sliding groove 21, the sliding path of the receiving platform can be restricted. When the push rod 92 of the motion switching mechanism 9 drives the second moving arm 3 to move on the first moving arm 2, the receiving platform can move in the linear sliding groove 21 along with the second moving arm 3 and drive the transmission shaft 8 to move, so as to realize the switching between the first transmission mechanism and the second transmission mechanism of the industrial robot.

[0069] Specifically, the upper end of the shaft core 82 extends to the inside of the second moving arm 3 through the upper end port of the shaft cylinder 81. The upper end of the shaft core 82 is connected to the second transmission belt assembly 7. By setting the shaft core 82 to be connected to the second transmission belt assembly 7 and the shaft cylinder 81 to be connected to the second moving arm 3, the shaft core 82 of the transmission shaft 8 can meet the transmission connection requirements of the first transmission belt 6 and the second transmission belt assembly 7, and the shaft cylinder 81 can meet the transmission connection requirements between the driving component, the first transmission belt 6 and the second moving arm 3.

[0070] Further, based on the cooperation between the shaft core 82 and the shaft cylinder 81, the separate control of the first transmission mechanism and the second transmission mechanism of the industrial robot is realized, so as to realize the precise transmission control of the industrial robot.

[0071] Specifically, the second transmission belt assembly 7 includes: a second transmission gear 71 arranged at the upper end of the shaft core 82, a third transmission gear 73 arranged in the end effector 5, and a second transmission belt 72 connecting the second transmission gear 71 and the third transmission gear 73. When the shaft core 82 rotates, it can drive the second transmission belt assembly 7 to rotate, so that the second transmission belt assembly 7 can drive the third transmission gear 73 to rotate, so that the third transmission gear 73 can meet the motion requirements of the end effector 5.

[0072] Specifically, the end effector 5 is provided with a screw rod and a linkage mechanism that is in threaded cooperation with the screw rod. The third transmission gear 73 is in threaded connection with the screw rod, and the third transmission gear 73 is used to drive the screw rod to rotate, so that the linkage mechanism realizes the unfolding and folding actions based on the rotation of the screw rod.

[0073] The link mechanism is provided with a fixed part fitted on the screw rod, a movable part sleeved and threadedly connected on the screw rod, and a plurality of link components arranged between the fixed part and the movable part. Any one of the link components extends out a working toe, and a mechanical claw structure is formed based on the working toes of the plurality of link components.

[0074] Further, when the third transmission gear 73 rotates, it can drive the screw rod to rotate. Based on the rotational restriction of the movable part by the fixed part, the movable part moves up and down in the vertical direction along the external thread of the screw rod, and the plurality of link components cooperate to realize the closing and unfolding and releasing operations of the mechanical claw, so as to meet the grasping and releasing of workpieces by the industrial robot.

[0075] Further, the end effector 5 can also be set as a probe assembly. Based on the third transmission gear 73 driving the end effector 5 to control the lifting of the probe, it meets the detection and processing of workpieces by the industrial robot.

[0076] Specifically, Figure 6 shows a schematic diagram of the connection state of the first transmission mechanism in the embodiment of the present invention; Figure 7 shows a schematic diagram of the connection state of the second transmission mechanism in the embodiment of the present invention. A first transmission gear 821 is provided at the lower end of the shaft core 82, and an internal gear 811 is provided at the lower end of the inner wall of the shaft tube 81. The first reduction gear 631 is located between the first transmission gear 821 and the internal gear 811. Based on the action switching mechanism 9 driving the internal gear 811 of the shaft tube 81 to mesh with the first reduction gear 631, that is, the first transmission belt 6 is connected to the shaft tube 81 of the transmission shaft 8, so that the driving component drives the shaft tube 81 to rotate through the first transmission belt 6.

[0077] Further, based on the action switching mechanism 9, it can also drive the first transmission gear 821 of the shaft core 82 to mesh with the first reduction gear 631, so that the first transmission belt 6 is connected to the shaft core 82 of the transmission shaft 8, so that the driving component drives the shaft core 82 of the transmission shaft 8 to rotate.

[0078] Please refer to Figure 6When the first reduction gear 631 is meshed with the internal gear 811, the first transmission belt 6 cooperates with the shaft tube 81 to form the first transmission mechanism. The driving component is connected to the second action arm 3 based on the driving of the first transmission mechanism. The driving component can realize transmission control of the second action arm 3 based on the first transmission mechanism, so that the driving component drives the shaft tube 81 to rotate based on the first transmission belt 6, and the second action arm 3 can rotate on the first action arm 2 with the shaft tube 81, thereby realizing the rotational drive of the second action arm 3 by the driving component.

[0079] Please refer to Figure 7 When the first reduction gear 631 is meshed with the first transmission gear 821, the first transmission belt 6 and the second transmission belt assembly 7 cooperate to form the second transmission mechanism. The driving component is connected to the end actuator 5 based on the second transmission mechanism. The driving component drives the shaft core 82 to rotate based on the first transmission belt 6, so that the shaft core 82 drives the second transmission gear 71 to rotate, that is, the shaft core 82 drives the second transmission belt assembly 7 to rotate, thereby realizing the driving connection of the driving component to the end actuator 5.

[0080] Specifically, the working principle of the multi-axis industrial robot is as follows: the push rod 92 is driven by the control air circuit in the control arm 4 to apply a force to the first slider 32, so that the second arm 3 can move relative to the first arm 2, and the internal gear 811 of the shaft tube 81 of the transmission shaft 8 is meshed with the first reduction gear 631, and the first transmission belt 6 is transmission-connected to the shaft tube 81 of the transmission shaft 8, forming a first transmission mechanism between the first arm 2 and the second arm 3, and the driving component can drive the second arm 3 to rotate on the first arm 2 based on the first transmission mechanism, based on the rotation drive of the first arm 2 by the driving motor in the base 1, and the driving rotation of the second arm 3 by the driving component, the posture of the first arm 2 and the second arm 3 can be adjusted, so as to adjust the position of the end actuator 5 of the second arm 3 to meet the clamping processing requirements of the workpiece.

[0081] Adjust the air pressure of the air cylinder 91 based on the control air circuit within the control action arm 4, causing the push rod 92 to contract into the air cylinder 91, driving the second action arm 3 to move, such that the first transmission gear 821 of the shaft core 82 of the transmission shaft 8 meshes with the first reduction gear 631, and the first transmission belt 6 is in transmission connection with the shaft cylinder 81 of the transmission shaft 8, forming a second transmission mechanism between the first action arm 2 and the second action arm 3. The driving component can drive the end effector 5 of the second action arm 3 to work based on the second transmission mechanism, realizing the grasping and processing of the workpiece by the end effector 5.

[0082] An embodiment of the present invention provides a multi-axis industrial robot. By setting an action switching mechanism to switch the action drive of the industrial robot, a single driving component can satisfy the swing arm and end effector operations of the robot, simplify the structural layout of the industrial robot, realize the independent drive of the swing arm and end effector operations, and improve the reliability of the industrial robot's work.

[0083] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable storage medium, and the storage medium can include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

[0084] In addition, the above has introduced in detail a multi-axis industrial robot provided by an embodiment of the present invention. Specific examples have been used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A multi-axis industrial robot, characterized in that, The multi-axis industrial robot includes: a base, a driving component arranged in the base, a first moving arm, a second moving arm, and a control moving arm; The second moving arm is rotatably connected to the first moving arm, and an end effector is arranged at the end of the second moving arm; An action switching mechanism is arranged at the connection position of the first moving arm and the second moving arm, and a control air circuit for driving the action switching mechanism to work is arranged in the control moving arm; Based on the action switching mechanism, a first transmission mechanism for driving the second moving arm to rotate is formed between the driving component and the second moving arm; Or based on the action switching mechanism, a second transmission mechanism for driving the end effector to work is formed between the driving component and the end effector; The first moving arm is provided with an arc-shaped slide rail, and a first slider is arranged at the bottom of the second moving arm; The second moving arm is slidably fitted on the arc-shaped slide rail of the first moving arm based on the first slider; The second moving arm includes a bottom plate, and a limiting groove arranged along the length direction is arranged in the bottom plate; The upper end of the first slider is slidably fitted in the limiting groove, the lower end of the first slider extends outside the limiting groove, and the lower end of the first slider is connected to the arc-shaped slide rail; The action switching mechanism includes a push rod and an air cylinder arranged on the bottom plate; One end of the air cylinder is connected to the control air circuit, one end of the push rod is inserted into the air cylinder, and the other end of the push rod extends outside the air cylinder through the other end of the air cylinder; The other end of the push rod extends into the limiting groove, and the other end of the push rod is connected to the first slider; The control air circuit in the control moving arm drives the push rod to apply a force to the first slider, so that the second moving arm can move relative to the first moving arm, and a first transmission mechanism is formed between the first moving arm and the second moving arm; Based on the control air circuit in the control moving arm, the air pressure of the air cylinder is adjusted, so that the push rod contracts into the air cylinder, driving the second moving arm to move, and a second transmission mechanism is formed between the first moving arm and the second moving arm.

2. The multi-axis industrial robot according to claim 1, wherein A first transmission belt assembly for connecting the driving component and the second moving arm is arranged in the first moving arm; A second transmission belt assembly for connecting the first transmission belt assembly and the end effector is arranged in the second moving arm; A transmission shaft is arranged at the head end of the second moving arm, one end of the transmission shaft extends into the first moving arm, and the first transmission belt assembly and the second transmission belt assembly are connected based on the transmission shaft; 3. The multi-axis industrial robot according to claim 2, wherein The transmission shaft includes a shaft core and a shaft cylinder sleeved outside the shaft core, the shaft core and the shaft cylinder are arranged to be rotatably connected, and a distance is formed between the shaft core and the inner wall of the shaft cylinder; The first transmission belt assembly includes a first driving gear connected to the output end of the driving component, a first reduction gear train connected to the lower end of the transmission shaft, and a first transmission belt connecting the first driving gear and the first reduction gear train; The first reduction gear train includes a first driven gear and a first reduction gear arranged coaxially. The first driven gear is connected to the first transmission belt, and the first reduction gear is located within the spacing between the shaft core and the shaft tube.

4. The multi-axis industrial robot according to claim 3, wherein The first operating arm is provided with a linear chute, and a receiving platform is slidably connected within the linear chute; The receiving platform is sleeved outside the shaft tube. The shaft tube and the receiving platform are configured to be rotatably connected, and the top end of the shaft tube is connected to the head end of the second operating arm.

5. The multi-axis industrial robot according to claim 4, characterized in that, The upper end of the shaft core extends through the upper end port of the shaft tube into the interior of the second operating arm, and the upper end of the shaft core is connected to the second transmission belt assembly.

6. The multi-axis industrial robot according to claim 5, wherein The second transmission belt assembly includes: a second transmission gear provided at the upper end of the shaft core, a third transmission gear provided within the end effector, and a second transmission belt connecting the second transmission gear and the third transmission gear; The end effector is provided with a screw and a linkage mechanism threadedly engaged with the screw. The third transmission gear is threadedly connected to the screw, and the third transmission gear is used to drive the screw to rotate, such that the linkage mechanism realizes the unfolding and folding actions based on the rotation of the screw.

7. The multi-axis industrial robot according to claim 6, wherein A first transmission gear is provided at the lower end of the shaft core, and an internal gear is provided at the lower end of the inner wall of the shaft tube. The internal gear of the shaft tube is driven to mesh with the first reduction gear based on the action switching mechanism, or the first transmission gear of the shaft core is driven to mesh with the first reduction gear based on the action switching mechanism; When the first reduction gear meshes with the internal gear, the first transmission belt assembly and the shaft tube cooperate to form the first transmission mechanism, and the driving component drives the connection with the second operating arm based on the first transmission mechanism; When the first reduction gear meshes with the first transmission gear, the first transmission belt assembly and the second transmission belt assembly cooperate to form the second transmission mechanism, and the driving component drives the connection with the end effector based on the second transmission mechanism.

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