Robot and robot assembly

Abstract

The invention provides a robot and a robot assembly. The robot comprises a first linear motor, and the first linear motor comprises a stator and a plurality of rotors which do linear motion in the first direction relative to the stator; each group of manipulators comprises two arm assemblies, and the two arm assemblies are respectively connected with the two rotors; and in each group of mechanical arms, the two arm assemblies move in the opposite directions or in the opposite directions.

Description

Technical Field

[0001] This application relates to the technical field of arm components, and more particularly, to a robot and a robot component. Background Art

[0002] Robotic arms are provided on an automated production line to carry objects using the robotic arms.

[0003] In related technologies, the structure of the robotic arm is not reasonably arranged, and the grasping speed of the robotic arm is slow, which cannot meet the usage requirements of high-speed transfer devices. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of this application proposes a robot.

[0006] A second aspect of this application proposes a robot component.

[0007] In view of this, a first aspect of this application proposes a robot, including: a first linear motor, the first linear motor including a stator and a plurality of movers that move linearly relative to the stator in a first direction; at least one set of mechanical hands, each set of mechanical hands including two arm components, the two arm components being respectively connected to two movers; in each set of mechanical hands, the two arm components move towards each other or away from each other.

[0008] A robot provided by this application includes a first linear motor and at least one set of mechanical hands, and each set of mechanical hands includes two arm components. The arm components are used to grasp workpieces.

[0009] The first linear motor includes a stator and a plurality of movers, each mover cooperating with the stator, and the mover being able to move linearly relative to the stator in the first direction. Each arm component cooperates with a mover. So that the mover drives the arm component to move under the action of the stator, that is, the mover can drive the workpiece grasped by the arm component to move. The first linear motor can effectively drive the grasped workpiece to move linearly at high speed and with high precision, and can realize the high-speed movement of transporting the workpiece, which is beneficial to improving the working cycle and working efficiency of the robot.

[0010] In addition, the number of arm components is multiple. Therefore, at least a part of the multiple arm components can be made to work according to the specific actual usage situation. In this way, it is beneficial to improve the working cycle and working efficiency of the robot.

[0011] It can be understood that the first linear motor includes a stator and a plurality of movers. The plurality of movers are all cooperated with the stator. It can also be said that the plurality of movers share one stator. In this way, while meeting the usage requirements of driving a plurality of arm components to move by a plurality of movers, the material input of the stator is reduced. In this way, it is beneficial to reduce the production cost of the robot, and is beneficial to reducing the overall size of the first linear motor, and further beneficial to reducing the overall size of the robot, improving the usage performance and market competitiveness of the product.

[0012] Further, the two arm components are respectively connected to the two movers, that is, each arm component is connected to one mover. In each group of manipulators, the two arm components move towards each other or away from each other. In this way, when the two arm components of each group of manipulators move simultaneously, the impact forces caused by the high-speed or decelerated movement of the two movers connected to the two arm components will cancel each other out, so that each mover can drive an arm component to perform a faster moving operation, and can maintain the stability of the entire motion system, reduce the shaking amount when the robot is working, and is beneficial to improving the accuracy and reliability of handling workpieces.

[0013] According to the above-mentioned robot of the present application, the following additional technical features may also be provided:

[0014] In some embodiments, optionally, one of the stator and the mover includes a magnet, and the other includes a coil.

[0015] In this embodiment, the structure of the first linear motor is further defined such that one of the stator of the first linear motor and the mover of the first linear motor includes a magnet, and the other includes a coil. The stator of the first linear motor includes a magnet, and the mover of the first linear motor includes a coil. Or the stator of the first linear motor includes a coil, and the mover of the first linear motor includes a magnet.

[0016] That is to say, the first linear motor includes a moving coil type first linear motor or a moving magnet type first linear motor.

[0017] In some embodiments, optionally, the arm component includes: a swing arm, slidably connected to the mover, the swing arm moving up and down relative to the mover in a second direction different from the first direction; a robotic arm, connected to the swing arm, the swing arm driving the robotic arm to rotate around a first axis; and an end effector, connected to the robotic arm, the robotic arm driving the end effector to perform an action.

[0018] In this embodiment, the arm component includes a swing arm, a robotic arm and an end effector. The end effector is used to grasp a workpiece.

[0019] The arm assembly can move along a first direction under the action of the mover. The robotic arm can rotate under the action of the swing arm, and the swing arm can drive the robotic arm and the end effector to move up and down in a second direction, where the second direction is different from the first direction. The end effector can perform actions under the action of the robotic arm. The mover drives the arm assembly to achieve high-speed and high-precision rapid movement. The swing arm drives the robotic arm and the end effector to rotate, so as to complete the posture adjustment of the workpiece while quickly moving the workpiece. The swing arm drives the robotic arm and the end effector to move up and down, that is, the swing arm drives the robotic arm and the end effector to move up and down to carry the workpiece. The robotic arm drives the end effector to perform actions, so as to play a role in adjusting the direction and posture of the carried workpiece.

[0020] By reasonably setting the structure of the robot, while ensuring the effective driving of the grasped workpiece to move at high speed and high precision, the posture of the workpiece can be adjusted from multiple directions and angles, and the usage requirements of high-precision, high-speed and high-repeatability work can be met.

[0021] Optionally, the second direction is perpendicular to the first direction. Optionally, the second direction is not perpendicular to the first direction.

[0022] In some embodiments, optionally, in each group of robotic hands, the robotic arms of the two arm assemblies rotate in opposite directions.

[0023] In this embodiment, the cooperation structure of the two arm assemblies of each group of robotic hands is further defined.

[0024] In each group of robotic hands, the robotic arms of the two arm assemblies rotate in opposite directions. The two arm assemblies are respectively denoted as the first arm assembly and the second arm assembly. In this way, when the first arm assembly and the second arm assembly work simultaneously, the impact forces caused by the high-speed or decelerated movement of the robotic arm of the first arm assembly and the robotic arm of the second arm assembly will cancel each other out, so that the robotic arm of the first arm assembly can drive the workpiece to perform faster moving operations, the robotic arm of the second arm assembly can drive the workpiece to perform faster moving operations, and the stability of the entire motion system can be maintained, reducing the shaking amount during the operation of the robot, which is beneficial to improving the accuracy and reliability of carrying the workpiece.

[0025] In some embodiments, optionally, in each group of robotic hands, the swing arm of one arm assembly moves upward, and the swing arm of the other arm assembly moves downward.

[0026] In this embodiment, the cooperation structure of the two arm assemblies of each group of robotic hands is further defined.

[0027] In each group of robotic hands, the two arm assemblies are respectively denoted as the first arm assembly and the second arm assembly.

[0028] When the first arm assembly and the second arm assembly work at the same time, the swing arm of the first arm assembly moves upward, and the swing arm of the second arm assembly moves downward. Since the swing arm can drive the mechanical arm and the end effector to move, the movement direction of the mechanical arm of the first arm assembly is opposite to the movement direction of the mechanical arm of the second arm assembly, and the movement direction of the end effector of the first arm assembly is opposite to the movement direction of the end effector of the second arm assembly. In this way, when the first arm assembly and the second arm assembly work at the same time, the impact force caused by the swing arm of the first arm assembly and the swing arm of the second arm assembly during movement will offset each other, the impact force caused by the mechanical arm of the first arm assembly and the mechanical arm of the second arm assembly during movement will offset each other, and the impact force caused by the end effector of the first arm assembly and the end effector of the second arm assembly during movement will offset each other, so that the mechanical arm of the first arm assembly can drive the workpiece to move faster, the mechanical arm of the second arm assembly can drive the workpiece to move faster, and the stability of the entire motion system can be maintained, the shaking amount of the robot during operation is reduced, which is conducive to improving the accuracy and reliability of handling workpieces.

[0029] In some embodiments, optionally, in each group of manipulators, the end effectors of the two arm assemblies rotate in opposite directions.

[0030] In this embodiment, the matching structure of the two arm assemblies of each set of manipulators is further defined.

[0031] In each set of manipulators, the two arm assemblies are respectively recorded as the first arm assembly and the second arm assembly.

[0032] The rotation direction of the end effector of the first arm assembly is opposite to that of the end effector of the second arm assembly. In this way, when the first arm assembly and the second arm assembly work at the same time, the impact forces caused by the end effector of the first arm assembly and the end effector of the second arm assembly during movement will offset each other, so that the end effector of the first arm assembly can drive the workpiece to move faster, and the end effector of the second arm assembly can drive the workpiece to move faster, and the stability of the entire motion system can be maintained, reducing the amount of shaking when the robot is working, which is conducive to improving the accuracy and reliability of handling workpieces.

[0033] In some embodiments, optionally, in each group of manipulators, the rotation directions of the manipulator arms of the two arm assemblies are opposite; and / or in each group of manipulators, the swing arm of one arm assembly performs an upward motion, and the swing arm of the other arm assembly performs a downward motion; and / or in each group of manipulators, the rotation directions of the end effectors of the two arm assemblies are opposite.

[0034] In some embodiments, optionally, the robotic arm is located between the swing arm and the end effector.

[0035] In this embodiment, the cooperation structure of the robotic arm, the swing arm, and the end effector is further defined such that the robotic arm is located between the swing arm and the end effector. For example, along the height direction of the robot, for the robotic arm, the swing arm, and the end effector, the robotic arm and the swing arm will not interfere with the end effector when grasping a workpiece, and can also ensure the effectiveness and reliability of driving the end effector to move.

[0036] In some embodiments, optionally, the robotic arm includes a first motor that drives the end effector to rotate about a second axis; the end effector includes a suction cup, and a pipeline connected to the suction cup is provided inside the robotic arm.

[0037] In this embodiment, the cooperation structure of the robotic arm and the end effector is further defined such that the robotic arm includes a first motor that drives the end effector to rotate about a second axis to adjust the direction and posture of the workpiece being transported.

[0038] In this embodiment, the end effector includes a suction cup, and the first motor is used to drive the suction cup to rotate. The suction cup is used to adsorb the workpiece. The structural setting of the suction cup is beneficial to increasing the cooperation area between the end effector and the workpiece, and is beneficial to improving the effectiveness and feasibility of grasping the workpiece.

[0039] In addition, a pipeline connected to the suction cup is provided inside the robotic arm, that is, the pipeline is hidden inside the robotic arm to ensure the aesthetics of the appearance and can also protect the pipeline from being damaged.

[0040] Optionally, the suction cup includes a Bernoulli suction cup or a vacuum suction cup. This setting can ensure the firmness and stability of grasping the workpiece without damaging the workpiece, and can also meet the usage requirements for grasping small and delicate workpieces.

[0041] Optionally, the robot is provided with a vacuum pipeline, and the vacuum pipeline is arranged inside the arm assembly and is communicated with the vacuum suction cup.

[0042] In some embodiments, optionally, the robot further includes: a support plate, and the swing arm is connected to the mover through the support plate.

[0043] In this embodiment, the structure of the robot is further defined such that the robot further includes a support plate, and the swing arm is connected to the mover through the support plate. It can meet the usage requirements for the mover to drive the arm assembly to move under the action of the stator.

[0044] It can be understood that the robotic arm and the end effector are indirectly connected to the support plate through the swing arm, that is, when the mover drives the support plate to move, the swing arm, the robotic arm, and the end effector move along with the movement of the support plate.

[0045] At the same time, this structural setting optimizes the assembly structure of the robot, which is beneficial to the convenience and efficiency of disassembling and assembling the robot.

[0046] In some embodiments, optionally, the robot further includes: a linear guide rail disposed on the support plate, and the swing arm is slidably connected to the linear guide rail.

[0047] In this embodiment, the structure of the robot is further defined such that the robot further includes a linear guide rail disposed on the support plate. That is, the support plate serves as the installation carrier of the linear guide rail, having the function of installing and fixing the linear guide rail, and can ensure the matching dimensions between the linear guide rail and the swing arm.

[0048] In addition, the swing arm is slidably connected to the linear guide rail. In this way, when the swing arm moves up and down relative to the mover in the second direction, the linear guide rail can define the sliding trajectory of the swing arm, avoiding the situation where the swing arm deviates from the preset position, and providing a reliable structural support for ensuring the working accuracy of the robot.

[0049] In some embodiments, optionally, the robot further includes an orbit and a slider, one of the orbit and the slider is disposed on the support plate, and the slider is slidably connected to the orbit; wherein, the slider cooperates with the orbit to limit the movement trajectory of the mover.

[0050] In this embodiment, the structure of the robot is further defined such that the robot further includes an orbit and a slider, and one of the orbit and the slider is disposed on the support plate. That is, the orbit is disposed on the support plate, or the slider is disposed on the support plate. Wherein, the other of the orbit and the slider is disposed on the installation carrier. The slider is slidably connected to the orbit, and the slider cooperates with the orbit to limit the movement trajectory of the support plate and the arm assembly, and can define the matching position between the mover and the stator, providing an effective and reliable structural support for the mover to drive the arm assembly to move under the action of the stator.

[0051] In some embodiments, optionally, the swing arm includes a second motor for driving the robotic arm to rotate.

[0052] In this embodiment, the structure of the swing arm is further defined such that the swing arm includes a second motor.

[0053] Optionally, the second motor includes a servo motor or a torque motor.

[0054] Wherein, when the second motor includes a servo motor, the robot further includes a reducer, and the second motor is electrically connected to the reducer. The second motor is used to drive the robotic arm to rotate, and can meet the use requirements for the swing arm to drive the robotic arm to rotate.

[0055] Wherein, when the second motor includes a torque motor, the robot does not include a reducer.

[0056] In some embodiments, optionally, the robot further includes: a lead screw and a third motor, the swing arm is screwed to the lead screw, and the third motor is used to drive the lead screw to rotate; or a second linear motor for driving the swing arm to move up and down.

[0057] In this embodiment, the robot includes a lead screw and a third motor.

[0058] Optionally, the third motor includes a servo motor.

[0059] Wherein, the swing arm is screwed to the lead screw, and the third motor drives the lead screw to rotate so as to drive the swing arm to move up and down along the length direction of the lead screw.

[0060] Optionally, both the lead screw and the third motor are arranged on the support plate. The nut of the lead screw and the swing arm are both connected to the guide block of the lead screw. That is, both the nut and the swing arm are screwed to the lead screw through the guide block. The third motor works to drive the lead screw to rotate so that the swing arm makes a vertical lifting motion. Arranging the lead screw and the third motor on the support plate can achieve the stability and reliability of the overall operation of the arm assembly.

[0061] Alternatively, the robot further includes a second linear motor, and the second linear motor is used to drive the swing arm to move up and down in the second direction so as to drive the swing arm to drive the robotic arm and the end effector to move up and down in the second direction.

[0062] In some embodiments, optionally, the robot further includes: a drive controller; a power supply unit. The first linear motor, the arm assembly and the drive controller are all electrically connected to the power supply unit, and the drive controller is used to control the first linear motor and the arm assembly to work.

[0063] In this embodiment, the structure of the robot is further defined such that the robot further includes a drive controller and a power supply unit.

[0064] The first linear motor, the arm assembly and the drive controller are all electrically connected to the power supply unit. That is, the first linear motor is electrically connected to the power supply unit, the arm assembly is electrically connected to the power supply unit, and the drive controller is electrically connected to the power supply unit. So that the drive controller can control the first linear motor and the arm assembly to work. This setting enables the robot to have an automatic control function, improves the automation level of the robot, simplifies the operation difficulty of the robot, and thus is beneficial to improving the use performance and market competitiveness of the robot.

[0065] In some embodiments, optionally, the power supply unit is a wireless power supply unit; or the power supply unit includes a power supply line and a drag chain, and the drag chain covers the power supply line.

[0066] In this embodiment, the type of the power supply unit is further defined such that the power supply unit is a wireless power supply unit. In this way, the wiring difficulty of the robot is reduced, the operation difficulty of the robot is simplified, and it is beneficial to reduce the repair and maintenance costs of the robot.

[0067] Alternatively, the power supply unit includes a power supply line and a drag chain. The first linear motor is electrically connected to the power supply line, and the arm assembly is electrically connected to the power supply line (the power supply line connected to the arm assembly and the first linear motor can be the same, or the power supply lines can be different). Among them, the drag chain wraps the power supply line. The drag chain can not only meet the usage requirements of the curved layout of the power supply line, but also protect the power supply line, avoiding the situation of the power supply line being damaged by external forces and being beneficial to extending the service life of the power supply line.

[0068] In some embodiments, optionally, the robot further includes: a plurality of limit members, each limit member cooperating with an arm assembly, and the limit member restricts the movement trajectory of the mover driving the arm assembly.

[0069] In this embodiment, the structure of the robot assembly is further defined, such that the robot assembly further includes a plurality of limit members. Optionally, the limit members are provided on the mounting carrier, and the mounting carrier has the function of mounting and fixing the limit members.

[0070] The limit member is used to restrict the movement trajectory of the mover driving the arm assembly to ensure the matching dimensions between the mover and the stator, and provide an effective and reliable structural support for the mover to drive the arm assembly under the action of the stator.

[0071] Moreover, this structural arrangement can also ensure the movement stroke of the arm assembly, avoid the situation of the arm assembly detaching from the stator, and ensure the effective matching dimensions between the first linear motor and the arm assembly.

[0072] It can be understood that each limit member cooperates with an arm assembly, so that the movement trajectory of each mover can be ensured.

[0073] In some embodiments, optionally, the limit member includes a first limit block and a second limit block, and the mover is located between the first limit block and the second limit block.

[0074] In this embodiment, the cooperation structure between the limit member and the mover is further defined, such that the limit member includes a first limit block and a second limit block, and both the mover and the arm assembly are located between the first limit block and the second limit block.

[0075] The first limit block and the second limit block are arranged at intervals to effectively limit the mover and the arm assembly, ensure the cooperation structure between the mover and the stator, and avoid the situation of the mover detaching from the stator.

[0076] Optionally, the number of the first limit blocks is one, or the number of the first limit blocks is multiple.

[0077] Optionally, the number of the second limit blocks is one, or the number of the second limit blocks is multiple.

[0078] A second aspect of the present invention provides a robot assembly, including: a mounting carrier; and the robot as in the first aspect, with the stator provided on the mounting carrier.

[0079] The robot component provided by the present invention includes the robot in the first aspect, so it has all the beneficial effects of the above-mentioned robot, which will not be elaborated one by one here.

[0080] It can be understood that the stator is arranged on the installation carrier, and the installation carrier has the function of installing and fixing the stator, providing a reliable structural support for ensuring the effective matching dimensions between the stator and the rotor.

[0081] The robot can be directly installed on the ground or wall through the installation carrier and cooperate with equipment such as string welding. Or the robot can be directly installed on equipment such as string welding through the installation carrier.

[0082] In some embodiments, optionally, the installation carrier includes a base; the shape of the base is "door" - shaped or "T" - shaped.

[0083] In this embodiment, the structure of the installation carrier is further defined such that the installation carrier includes a base, and the base, as the installation carrier of the stator, has the function of installing and fixing the stator.

[0084] Among them, the shape of the base is "door" - shaped or "T" - shaped, that is, the base is a door - shaped base or a T - shaped base.

[0085] The additional aspects and advantages of the present application will become obvious in the following description part, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] The above - mentioned and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0087] Figure 1 shows a schematic structural diagram of a robot component according to an embodiment of the present application;

[0088] Figure 2 shows a partial structural diagram of a robot component according to an embodiment of the present application;

[0089] Figure 3 shows a partial structural diagram of a robot according to an embodiment of the present application.

[0090] Among them, Figures 1 to 3 the corresponding relationship between the reference numerals in the drawings and the component names is:

[0091] 10 Robot, 100 First linear motor, 110 Stator, 120 Rotor, 130 Magnet, 140 Coil, 150 Linear encoder, 200 Arm assembly, 200a First arm assembly, 200b Second arm assembly, 210 Swing arm, 212 Second motor, 214 Reducer, 220 Manipulator arm, 222 First motor, 230 End effector, 232 Suction cup, 242 Lead screw, 244 Third motor, 246 Coupling, 300 Support plate, 310 Slide block, 400 Drive and control unit, 500 Power supply unit, 510 Power supply line, 520 Drag chain, 60 Robot assembly, 600 Mounting carrier, 610 Base, 630 Track, 700 Limiting member, 710 First limiting block, 720 Second limiting block, 800 Linear guide rail, 900 First axis, 1000 Second axis, 1100 Manipulator. Detailed implementation manners

[0092] In order to more clearly understand the above objects, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0093] In the following description, many specific details are set forth in order to fully understand the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0094] The following refers to Figures 1 to 3 Robot 10 and robot assembly 60 according to some embodiments of the present application.

[0095] As Figure 1 And Figure 2 As shown, a robot 10 according to some embodiments of the present application includes: a first linear motor 100, the first linear motor 100 including a stator 110 and a plurality of rotors 120 that move linearly in a first direction relative to the stator 110; at least one group of manipulators 1100, each group of manipulators 1100 including two arm assemblies 200, the two arm assemblies 200 being respectively connected to the two rotors 120; in each group of manipulators 1100, the two arm assemblies 200 move towards each other or away from each other.

[0096] A robot 10 provided by the present application includes a first linear motor 100 and at least one group of manipulators 1100, and each group of manipulators 1100 includes two arm assemblies 200. The arm assembly 200 is used to grasp workpieces.

[0097] The first linear motor 100 includes a stator 110 and a plurality of movers 120, each mover 120 cooperates with the stator 110, and the mover 120 can make a linear motion in a first direction relative to the stator 110. Each arm assembly 200 cooperates with a mover 120. So that the mover 120 drives the arm assembly 200 to move under the action of the stator 110, that is, the mover 120 can drive the workpiece grasped by the arm assembly 200 to move. The first linear motor 100 can effectively drive the grasped workpiece to move along a straight line at high speed and high precision, and can realize high-speed movement of the workpiece, which is conducive to improving the working rhythm and work efficiency of the robot 10.

[0098] In addition, there are multiple arm assemblies 200, so at least a part of the multiple arm assemblies 200 can be operated according to the specific actual usage conditions, which is helpful to improve the working rhythm and work efficiency of the robot 10.

[0099] It can be understood that the first linear motor 100 includes a stator 110 and multiple movers 120. The multiple movers 120 cooperate with the stator 110. It can also be said that the multiple movers 120 share one stator 110. In this way, while meeting the use requirements of multiple movers 120 to drive the movement of multiple arm assemblies 200, the material input of the stator 110 is reduced. This is conducive to reducing the production cost of the robot 10 and reducing the overall size of the first linear motor 100, thereby helping to reduce the overall size of the robot 10 and improving the product's performance and market competitiveness.

[0100] Furthermore, the two arm assemblies 200 are respectively connected to the two movers 120, that is, each arm assembly 200 is connected to one mover 120. In each group of manipulators 1100, the two arm assemblies 200 move toward or away from each other, so that when the two arm assemblies 200 of each group of manipulators 1100 move at the same time, the impact force caused by the high-speed or decelerated movement of the two movers 120 connected to the two arm assemblies 200 will offset each other, so that each mover 120 can drive an arm assembly 200 to move faster, and can maintain the stability of the entire motion system, reduce the amount of shaking when the robot 10 is working, and is conducive to improving the accuracy and reliability of handling workpieces.

[0101] In some other embodiments, the robot 10 also includes at least one arm assembly, each arm assembly cooperates with a mover 120, the arm assembly is used to grasp the workpiece, the arm assembly is independent of the manipulator 1100, and the movement direction of the arm assembly is not limited to the movement direction of the manipulator 1100.

[0102] In some embodiments, optionally, Figure 2 As shown, one of the stator 110 and the mover 120 includes a magnet 130 , and the other includes a coil 140 .

[0103] In this embodiment, the structure of the first linear motor 100 is further defined such that one of the stator 110 and the mover 120 of the first linear motor 100 includes a magnet 130, and the other includes a coil 140. The stator 110 of the first linear motor 100 includes a magnet 130, and the mover 120 of the first linear motor 100 includes a coil 140. Alternatively, the stator 110 of the first linear motor 100 includes a coil 140, and the mover 120 of the first linear motor 100 includes a magnet 130.

[0104] That is to say, the first linear motor 100 includes a moving coil type first linear motor or a moving magnet type first linear motor.

[0105] In some embodiments, optionally, as Figure 2 and Figure 3 shown, the arm assembly 200 includes: a swing arm 210, slidably connected to the mover 120, the swing arm 210 moving up and down relative to the mover 120 in a second direction different from the first direction; a robotic arm 220, connected to the swing arm 210, the swing arm 210 driving the robotic arm 220 to rotate about a first axis 900; an end effector 230, connected to the robotic arm 220, the robotic arm 220 driving the end effector 230 to perform an action.

[0106] In this embodiment, the arm assembly 200 includes a swing arm 210, a robotic arm 220, and an end effector 230. The end effector 230 is used to grasp a workpiece.

[0107] The arm assembly 200 can move in the first direction under the action of the mover 120. The robotic arm 220 can rotate under the action of the swing arm 210, and the swing arm 210 can drive the robotic arm 220 and the end effector 230 to move up and down in a second direction different from the first direction. The end effector 230 can perform an action under the action of the robotic arm 220. Driving the arm assembly 200 by the mover 120 realizes high-speed and high-precision rapid movement. The swing arm 210 drives the robotic arm 220 and the end effector 230 to rotate to adjust the posture of the workpiece while quickly moving the workpiece. The swing arm 210 drives the robotic arm 220 and the end effector 230 to move up and down, that is, the swing arm 210 drives the robotic arm 220 and the end effector 230 to lift and transport the workpiece. The robotic arm 220 drives the end effector 230 to perform an action to adjust the direction and posture of the transported workpiece.

[0108] By reasonably setting the structure of the robot 10, while ensuring effective driving of the grasped workpiece for high-speed and high-precision movement, the posture of the workpiece can be adjusted from multiple directions and angles, and the usage requirements of high-precision, high-speed, and high-repeatability work can be met.

[0109] Optionally, the second direction is perpendicular to the first direction. Optionally, the second direction is not perpendicular to the first direction.

[0110] In some embodiments, optionally, in each set of manipulators 1100, the rotational directions of the robotic arms 220 of the two arm assemblies 200 are opposite.

[0111] In this embodiment, the mating structure of the two arm assemblies 200 of each set of manipulators 1100 is further defined.

[0112] In each set of manipulators 1100, the rotational directions of the robotic arms 220 of the two arm assemblies 200 are opposite. The two arm assemblies 200 are respectively denoted as the first arm assembly 200a and the second arm assembly 200b. In this way, when the first arm assembly 200a and the second arm assembly 200b work simultaneously, the impact forces caused by the high-speed or decelerated movement of the robotic arm 220 of the first arm assembly 200a and the robotic arm 220 of the second arm assembly 200b will cancel each other out, enabling the robotic arm 220 of the first arm assembly 200a to drive the workpiece to perform faster moving operations, and the robotic arm 220 of the second arm assembly 200b to drive the workpiece to perform faster moving operations, and being able to maintain the stability of the entire motion system, reduce the sway amount during the operation of the robot 10, and is beneficial to improving the accuracy and reliability of handling the workpiece.

[0113] In some embodiments, optionally, in each set of manipulators 1100, the swing arm 210 of one arm assembly 200 makes an upward movement, and the swing arm 210 of the other arm assembly 200 makes a downward movement.

[0114] In this embodiment, the mating structure of the two arm assemblies 200 of each set of manipulators 1100 is further defined.

[0115] In each set of manipulators 1100, the two arm assemblies 200 are respectively denoted as the first arm assembly 200a and the second arm assembly 200b.

[0116] When the first arm assembly 200a and the second arm assembly 200b work simultaneously, the swing arm 210 of the first arm assembly 200a moves upward, and the swing arm 210 of the second arm assembly 200b moves downward. Since the swing arm 210 can drive the robotic arm 220 and the end effector 230 to move, therefore, the movement direction of the robotic arm 220 of the first arm assembly 200a is opposite to that of the robotic arm 220 of the second arm assembly 200b, and the movement direction of the end effector 230 of the first arm assembly 200a is opposite to that of the end effector 230 of the second arm assembly 200b. In this way, when the first arm assembly 200a and the second arm assembly 200b work simultaneously, the impact forces caused by the movement of the swing arm 210 of the first arm assembly 200a and the swing arm 210 of the second arm assembly 200b will cancel each other out, the impact forces caused by the movement of the robotic arm 220 of the first arm assembly 200a and the robotic arm 220 of the second arm assembly 200b will cancel each other out, and the impact forces caused by the movement of the end effector 230 of the first arm assembly 200a and the end effector 230 of the second arm assembly 200b will cancel each other out, enabling the robotic arm 220 of the first arm assembly 200a to drive the workpiece to perform faster moving operations, the robotic arm 220 of the second arm assembly 200b to drive the workpiece to perform faster moving operations, and being able to maintain the stability of the entire motion system, reduce the sway amount during the operation of the robot 10, and is beneficial to improving the accuracy and reliability of handling the workpiece.

[0117] In some embodiments, optionally, in each group of the manipulators 1100, the rotational directions of the end effectors 230 of the two arm assemblies 200 are opposite.

[0118] In this embodiment, the mating structure of the two arm assemblies 200 of each group of the manipulators 1100 is further defined.

[0119] In each group of the manipulators 1100, the two arm assemblies 200 are respectively denoted as the first arm assembly 200a and the second arm assembly 200b.

[0120] The rotational direction of the end effector 230 of the first arm assembly 200a is opposite to that of the end effector 230 of the second arm assembly 200b. In this way, when the first arm assembly 200a and the second arm assembly 200b work simultaneously, the impact forces caused by the movement of the end effector 230 of the first arm assembly 200a and the end effector 230 of the second arm assembly 200b will cancel each other out, enabling the end effector 230 of the first arm assembly 200a to drive the workpiece to perform faster moving operations, the end effector 230 of the second arm assembly 200b to drive the workpiece to perform faster moving operations, and being able to maintain the stability of the entire motion system, reduce the sway amount during the operation of the robot 10, and is beneficial to improving the accuracy and reliability of handling the workpiece.

[0121] In some embodiments, optionally, in each set of manipulators 1100, the rotation directions of the robotic arms 220 of the two arm assemblies 200 are opposite; and / or in each set of manipulators 1100, the swing arm 210 of one arm assembly 200 moves upward, and the swing arm 210 of the other arm assembly 200 moves downward; and / or in each set of manipulators 1100, the rotation directions of the end effectors 230 of the two arm assemblies 200 are opposite.

[0122] In some embodiments, optionally, the robotic arm 220 is located between the swing arm 210 and the end effector 230.

[0123] In this embodiment, the cooperation structure of the robotic arm 220, the swing arm 210 and the end effector 230 is further defined such that the robotic arm 220 is located between the swing arm 210 and the end effector 230. For example, along the height direction of the robot 10, for the robotic arm 220, the swing arm 210 and the end effector 230, the robotic arm 220 and the swing arm 210 will not interfere with the end effector 230 to grasp the workpiece, and can also ensure the effectiveness and reliability of driving the end effector 230 to move.

[0124] In some embodiments, optionally, as Figure 3 shown, the robotic arm 220 includes a first motor 222, and the first motor 222 drives the end effector 230 to rotate around the second axis 1000; the end effector 230 includes a suction cup 232, and a pipeline connected to the suction cup 232 is arranged inside the robotic arm 220.

[0125] In this embodiment, the cooperation structure of the robotic arm 220 and the end effector 230 is further defined such that the robotic arm 220 includes a first motor 222, and the first motor 222 drives the end effector 230 to rotate around the second axis 1000 to achieve the function of adjusting the direction and posture of the transported workpiece.

[0126] In this embodiment, the end effector 230 includes a suction cup 232, and the first motor 222 is used to drive the suction cup 232 to rotate. The suction cup 232 is used to adsorb the workpiece. The structural setting of the suction cup 232 is beneficial to increasing the cooperation area between the end effector 230 and the workpiece, and is beneficial to improving the effectiveness and feasibility of grasping the workpiece.

[0127] In addition, a pipeline connected to the suction cup 232 is arranged inside the robotic arm 220, that is, the pipeline is hidden inside the robotic arm 220 to ensure the aesthetics of the appearance and will play a role in protecting the pipeline to avoid damage to the pipeline.

[0128] Optionally, the suction cup 232 includes a Bernoulli suction cup or a vacuum suction cup. This setting can ensure the reliability and stability of grasping the workpiece, will not damage the workpiece, and can also meet the use requirements of grasping small and delicate workpieces.

[0129] Optionally, the robot 10 is provided with a vacuum pipeline, which is arranged inside the arm assembly 200 and communicated with the vacuum suction cup 232.

[0130] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the robot 10 further includes: a support plate 300, and the swing arm 210 is connected to the mover 120 through the support plate 300.

[0131] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a support plate 300, and the swing arm 210 is connected to the mover 120 through the support plate 300. It can meet the use requirement that the mover 120 drives the arm assembly 200 to move under the action of the stator 110.

[0132] It can be understood that the robotic arm 220 and the end effector 230 are indirectly connected to the support plate 300 through the swing arm 210, that is, when the mover 120 drives the support plate 300 to move, the swing arm 210, the robotic arm 220 and the end effector 230 move along with the movement of the support plate 300.

[0133] At the same time, this structural setting optimizes the assembly structure of the robot 10, which is beneficial to the convenience and efficiency of disassembly and assembly of the robot 10.

[0134] In some embodiments, optionally, as Figure 3 shown, the robot 10 further includes: a linear guide rail 800, which is arranged on the support plate 300, and the swing arm 210 is slidably connected to the linear guide rail 800.

[0135] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a linear guide rail 800, and the linear guide rail 800 is arranged on the support plate 300, that is, the support plate 300 serves as the installation carrier 600 of the linear guide rail 800, which has the function of installing and fixing the linear guide rail 800 and can ensure the matching dimensions of the linear guide rail 800 and the swing arm 210.

[0136] In addition, the swing arm 210 is slidably connected to the linear guide rail 800. In this way, when the swing arm 210 moves up and down relative to the mover 120 in the second direction, the linear guide rail 800 can limit the sliding trajectory of the swing arm 210, avoiding the situation that the swing arm 210 deviates from the preset position, and providing a reliable structural support for ensuring the working accuracy of the robot 10.

[0137] In some embodiments, optionally, as Figure 2As shown, the robot 10 further includes a rail 630 and a slider 310. One of the rail 630 and the slider 310 is disposed on the support plate 300, and the slider 310 is slidably connected to the rail 630. Among them, the slider 310 cooperates with the rail 630 to limit the movement track of the mover 120.

[0138] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a rail 630 and a slider 310, and one of the rail 630 and the slider 310 is disposed on the support plate 300. That is, the rail 630 is disposed on the support plate 300, or the slider 310 is disposed on the support plate 300. Among them, the other of the rail 630 and the slider 310 is disposed on the mounting carrier 600. The slider 310 is slidably connected to the rail 630, and the slider 310 cooperates with the rail 630 to limit the movement tracks of the support plate 300 and the arm assembly 200, and can define the mating position of the mover 120 and the stator 110, providing an effective and reliable structural support for the mover 120 to drive the arm assembly 200 to move under the action of the stator 110.

[0139] In some embodiments, optionally, as Figure 3 shown, the swing arm 210 includes a second motor 212, and the second motor 212 is used to drive the robotic arm 220 to rotate.

[0140] In this embodiment, the structure of the swing arm 210 is further defined such that the swing arm 210 includes a second motor 212.

[0141] Optionally, the second motor 212 includes a servo motor or a torque motor.

[0142] Among them, when the second motor 212 includes a servo motor, the robot 10 further includes a reducer 214. The second motor 212 is electrically connected to the reducer 214, and the second motor 212 is used to drive the robotic arm 220 to rotate, which can meet the use requirements for the swing arm 210 to drive the robotic arm 220 to rotate.

[0143] Among them, when the second motor 212 includes a torque motor, the robot 10 does not include a reducer 214.

[0144] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the robot 10 further includes: a lead screw 242 and a third motor 244. The swing arm 210 is screwed to the lead screw 242, and the third motor 244 is used to drive the lead screw 242 to rotate; or a second linear motor, and the second linear motor is used to drive the swing arm 210 to move up and down.

[0145] In this embodiment, the robot 10 includes a lead screw 242 and a third motor 244.

[0146] Optionally, the third motor 244 includes a servo motor.

[0147] Among them, the swing arm 210 is screwed to the lead screw, and the third motor 244 drives the lead screw 242 to rotate to drive the swing arm 210 to lift along the length direction of the lead screw.

[0148] Optionally, both the lead screw 242 and the third motor 244 are arranged on the support plate 300. The nut of the lead screw 242 and the swing arm 210 are both connected to the guide block of the lead screw 242. That is, both the nut and the swing arm 210 are screwed to the lead screw 242 through the guide block. The third motor 244 works to drive the lead screw 242 to rotate, so that the swing arm 210 makes a vertical lifting movement. Arranging the lead screw 242 and the third motor 244 on the support plate 300 can achieve the stability of the overall operation of the arm assembly 200 and the reliability of the overall operation.

[0149] Alternatively, the robot 10 further includes a second linear motor, and the second linear motor is used to drive the swing arm 210 to make a lifting movement along the second direction, so as to drive the swing arm 210 to drive the robotic arm 220 and the end effector 230 to make a lifting movement in the second direction.

[0150] In some embodiments, optionally, as Figure 2 and Figure 3 shown, the robot 10 further includes: a drive controller 400; a power supply unit 500. The first linear motor 100, the arm assembly 200 and the drive controller 400 are all electrically connected to the power supply unit 500, and the drive controller 400 is used to control the first linear motor 100 and the arm assembly 200 to work.

[0151] In this embodiment, the structure of the robot 10 is further defined, so that the robot 10 further includes a drive controller 400 and a power supply unit 500.

[0152] The first linear motor 100, the arm assembly 200 and the drive controller 400 are all electrically connected to the power supply unit 500. That is, the first linear motor 100 is electrically connected to the power supply unit 500, the arm assembly 200 is electrically connected to the power supply unit 500, and the drive controller 400 is electrically connected to the power supply unit 500. To supply the drive controller 400 to control the first linear motor 100 and the arm assembly 200 to work. This setting enables the robot 10 to have an automatic control function, improves the automation degree of the robot 10, simplifies the operation difficulty of the robot 10, and thus is beneficial to improving the use performance and market competitiveness of the robot 10.

[0153] Optionally, the drive controller 400 is arranged on the support plate 300.

[0154] Optionally, the drive controller 400 is arranged in the control cabinet, and the control cabinet is located on one side of the robot 10.

[0155] In some embodiments, optionally, the power supply unit 500 is a wireless power supply unit 500.

[0156] As Figure 1 and Figure 2 shown, the power supply unit 500 includes a power supply line 510 and a drag chain 520, and the drag chain 520 covers the power supply line 510.

[0157] In this embodiment, the type of the power supply unit 500 is further defined such that the power supply unit 500 is a wireless power supply unit 500. In this way, the wiring difficulty of the robot 10 is reduced, the operation difficulty of the robot 10 is simplified, and it is beneficial to reduce the maintenance and repair costs of the robot 10.

[0158] Or the power supply unit 500 includes a power supply line 510 and a drag chain 520. The first linear motor 100 is electrically connected to the power supply line 510, and the arm assembly 200 is electrically connected to the power supply line 510 (the power supply line 510 to which the arm assembly 200 and the first linear motor 100 are connected may be the same, or the power supply line 510 to which the arm assembly 200 and the first linear motor 100 are connected may be different). Among them, the drag chain 520 covers the power supply line 510. The drag chain 520 can not only meet the use requirement of the power supply line 510 for bending arrangement, but also play a role in protecting the power supply line 510, avoiding the situation that the power supply line 510 is damaged by external force, and is beneficial to extending the service life of the power supply line 510.

[0159] In some embodiments, optionally, as Figure 2 shown, the robot 10 further includes: a plurality of limit members 700. Each limit member 700 cooperates with an arm assembly 200, and the limit member 700 restricts the movement trajectory of the mover 120 driving the arm assembly 200.

[0160] In this embodiment, the structure of the robot component 60 is further defined such that the robot component 60 further includes a plurality of limit members 700. Optionally, the limit members 700 are arranged on the mounting carrier 600, and the mounting carrier 600 has the function of mounting and fixing the limit members 700.

[0161] The limit member 700 is used to restrict the movement trajectory of the mover 120 driving the arm assembly 200 to ensure the matching dimension between the mover 120 and the stator 110, and provide an effective and reliable structural support for the mover 120 to drive the arm assembly 200 to move under the action of the stator 110.

[0162] And this structural setting can also ensure the movement stroke of the arm assembly 200, avoid the situation that the arm assembly 200 is separated from the stator 110, and can ensure the effective matching dimension between the first linear motor 100 and the arm assembly 200.

[0163] It can be understood that each limit member 700 cooperates with an arm assembly 200. In this way, the movement trajectory of each mover 120 can be ensured.

[0164] In some embodiments, optionally, asFigure 2 As shown, the limiting member 700 includes a first limiting block 710 and a second limiting block 720, and the mover 120 is located between the first limiting block 710 and the second limiting block 720.

[0165] In this embodiment, the mating structure of the limiting member 700 and the mover 120 is further defined such that the limiting member 700 includes a first limiting block 710 and a second limiting block 720, and both the mover 120 and the arm assembly 200 are located between the first limiting block 710 and the second limiting block 720.

[0166] The first limiting block 710 and the second limiting block 720 are arranged at intervals to effectively limit the mover 120 and the arm assembly 200, so as to ensure the mating structure of the mover 120 and the stator 110 and avoid the situation where the mover 120 disengages from the stator 110.

[0167] Optionally, the number of the first limiting blocks 710 is one, or the number of the first limiting blocks 710 is multiple.

[0168] Optionally, the number of the second limiting blocks 720 is one, or the number of the second limiting blocks 720 is multiple.

[0169] In some embodiments, optionally, the limiting member 700 includes a photoelectric limit switch, and the photoelectric limit switch is arranged on the mover 120.

[0170] In this embodiment, the limiting member 700 includes a photoelectric limit switch, and the photoelectric limit switch is arranged on the mover 120. The displacement of the mover 120 driving the arm assembly 200 is limited by using the photoelectric limit switch to ensure the mating dimension of the mover 120 and the stator 110, and to provide an effective and reliable structural support for the mover 120 to drive the arm assembly 200 to move under the action of the stator 110.

[0171] The photoelectric limit switch is arranged on the mover 120, that is, the mover 120 serves as the installation carrier 600 of the photoelectric limit switch and has the function of installing and fixing the photoelectric limit switch.

[0172] Such as Figure 1 and Figure 2 As shown, a robot assembly 60 according to some other embodiments of the present application includes: an installation carrier 600; and a robot 10 as described in any of the above embodiments.

[0173] Since the robot assembly 60 provided by the present application includes the robot 10 in any of the above embodiments, it has all the beneficial effects of the above robot 10, and will not be elaborated one by one here.

[0174] It can be understood that the stator 110 is disposed on the mounting carrier 600, and the mounting carrier 600 has the function of mounting and fixing the stator 110, providing a reliable structural support for ensuring the effective mating dimensions of the stator 110 and the mover 120.

[0175] The robot 10 can be directly mounted on the ground or wall through the mounting carrier 600 and cooperate with equipment such as string welding. Or the robot 10 can be directly mounted on equipment such as string welding through the mounting carrier 600.

[0176] In some embodiments, optionally, as Figure 1 and Figure 2 shown, the mounting carrier 600 includes a base 610; the shape of the base 610 is "door" - shaped or "T" - shaped.

[0177] In this embodiment, the structure of the mounting carrier 600 is further defined such that the mounting carrier 600 includes a base 610, and the base 610, as the mounting carrier 600 of the stator 110, has the function of mounting and fixing the stator 110.

[0178] Wherein, the shape of the base 610 is "door" - shaped or "T" - shaped, that is, the base 610 is a door - shaped base, or the base 610 is a T - shaped base.

[0179] Optionally, the robot 10 of the present application is applicable to a photovoltaic string welding device or a grasping device.

[0180] Optionally, the robot 10 of the present application is applicable to a photovoltaic string welding device or a grasping device. The first arm assembly 200a and the second arm assembly 200b moving on the first linear motor 100, the first arm assembly 200a moves along the third direction driven by the mover 120 cooperating with it, and the second arm assembly 200b moves along the fourth direction driven by the mover 120 cooperating with it, and the third direction is opposite to the fourth direction. When the first arm assembly 200a and the second arm assembly 200b move, they can offset each other's impacts. Therefore, during the linear motion process with high acceleration and deceleration, the workpiece (such as, the workpiece to be carried includes a photovoltaic cell) can be grasped and carried more stably through actions such as swinging the arm 210, lifting, and posture adjustment, realizing the efficient movement of the carried workpiece, and further improving the working cycle and efficiency of the robot 10.

[0181] The robot 10 of the present application includes a 4 - axis robot, and the robot 10 includes a base 610, a first linear motor 100, a first arm assembly 200a, and a second arm assembly 200b.

[0182] The J1 axis is the first linear motor drive axis. The mover 120 drives the arm assembly 200 fixed on the support plate 300 to achieve high-speed and high-precision rapid movement. Two movers 120 of the first linear motor 100 drive the first arm assembly 200a and the second arm assembly 200b to move towards each other (e.g., mirror movement) or away from each other, and the first arm assembly 200a and the second arm assembly 200b perform the same swing arm 210 and other handling operations. Therefore, the impact forces caused by the high acceleration and deceleration of the two movers 120 of the first linear motor 100 cancel each other out, enabling the two movers 120 of the first linear motor 100, the first arm assembly 200a, and the second arm assembly 200b to perform faster movement actions and maintain the stability of the entire motion system.

[0183] The J2 axis is the swing arm axis. The J2 axis drives the front-end J4 axis to complete the posture adjustment of the workpiece while quickly swinging the arm 210 to move the workpiece.

[0184] The J3 axis is the lifting axis. The J3 axis drives the J2 axis and the J4 axis to swing up and down to handle the workpiece.

[0185] The J4 axis is the posture adjustment axis. The J4 axis can adjust the direction and posture of the handled workpiece.

[0186] The front end of the J4 axis is equipped with an end effector 230 for grasping and handling the workpiece. The end effector 230 can be a Bernoulli suction cup or other vacuum suction cups. At the same time, the vacuum pipeline required for grasping the handled workpiece and the lubricating oil pipeline of the linear slider 310 are integrally installed in the arm assembly 200, facilitating the grasping of the workpiece and reducing the difficulty of subsequent maintenance and servicing of the robot 10, which is beneficial to extending the lifespan of the robot 10.

[0187] The base 610 can be a gantry-shaped base, or it can be a T-shaped base, etc., which will not be listed one by one here.

[0188] The power supply unit 500 of the robot 10 is wired power supply. The power supply line 510 is protected by a drag chain 520, but it can also be wireless power supply. When it is wireless power supply, the drag chain 520 will not be required, but the drive controller 400 and the power taking system will need to be fixed on the support plate 300.

[0189] The robot 10 can use an industrial camera system to adjust and manage the posture of the handled workpiece.

[0190] Such as Figure 1 and Figure 2 As shown, the robot 10 can be placed and used alone. The robot 10 can also be used as part of a device and used in combination with the device, thereby realizing the integrated integration of the robot 10 and the device and improving the overall production efficiency of the device.

[0191] Such as Figure 1 andFigure 2 As shown, the J1 axis includes a first linear motor 100 (the first linear motor 100 includes a stator 110 magnetic plate and two movers 120), a rail 630, a slider 310, a power supply line 510, a drag chain 520, a linear encoder 150 (a grating scale, two reading heads), and a limit member 700.

[0192] Optionally, the first linear motor 100 is a moving coil type first linear motor, and the power supply method is wired power supply. The first linear motor 100 can also be a moving magnet type first linear motor, and the moving magnet type first linear motor can simplify the power supply line 510.

[0193] An optoelectronic limit switch can be installed on the mover 120 of the first linear motor 100. The optoelectronic limit switch and mechanical limits (such as a first limit block 710 and a second limit block 720) are used in combination to ensure the safety and reliability of the operation of the first linear motor 100, and effectively prevent the situation where the mover 120 misoperates and rushes out of the stator 110 rail 630.

[0194] The power supply unit 500 can be wireless power supply, and wireless power supply can achieve the high-speed movement of the robot 10 without a power line. However, the moving part will include a drive and control system and a wireless power taking system.

[0195] As Figure 1 and Figure 3 shown, the J2 swing arm axis includes a support plate 300, a swing arm 210, and a robotic arm 220. The swing arm axis can achieve the swinging operation of handling workpieces and flexible picking and placing.

[0196] The material of the support plate 300 includes light plates such as carbon fiber and aluminum plates to reduce the mass of the moving parts and improve the movement speed. The swing arm 210 includes a second motor 212 and a speed reducer. The second motor 212 includes a servo motor or a torque motor. The robotic arm 220 is made of lightweight and high-strength materials. For example, the robotic arm 220 includes a carbon fiber robotic arm or an aluminum robotic arm.

[0197] As Figure 1 and Figure 3 shown, the lifting axis J3 includes a lead screw 242, a third motor 244, and a coupling 246. Through a linear guide rail 800, the rotational motion can be converted into a linear motion to achieve the linear lifting motion of the swing arm 210, the robotic arm 220, and the end effector 230.

[0198] The lifting shaft J3 and the linear guide 800 are both installed on the support plate 300, and the nut of the lead screw 242 and the swing arm 210 are both connected to the slider 310 of the guide rail. In this way, when the third motor 244 (such as, a rotary motor) of the J3 axis works, through the conversion of the linear guide 800, the swing arm 210, the robotic arm 220 and the end effector 230 will perform up and down lifting movements. The fixed installation of the lifting shaft J3 on the support plate 300 can ensure the stability and reliability of the operation of the swing arm 210, the robotic arm 220 and the end effector 230. At the same time, the component structure is optimized, which is conducive to installation and maintenance.

[0199] As Figure 1 shown, the posture adjustment axis J4 includes a first motor 222 (such as, a rotary motor) and a vacuum chuck. The rotary motor includes: a servo motor, a DC motor or a torque motor, which are not listed one by one here.

[0200] The purpose of the vacuum chuck is to safely and reliably grasp and place the workpiece to be transported.

[0201] The robot 10 of the present application is applicable to transporting semiconductor wafers, and can greatly improve the handling rhythm of semiconductor wafers, so as to achieve the purpose of speeding up and reducing costs for semiconductor production equipment.

[0202] The robot 10 of the present application can be used alone, or the robot 10 of the present application can also be installed on production equipment for use.

[0203] The robot 10 of the present application is combined with an industrial camera to achieve efficient and stable wafer handling.

[0204] The robot 10 of the present application can replace many complex handling structures, realizing the simplification of the structure and efficient operation.

[0205] The first arm assembly 200a and the second arm assembly 200b can share the stator 110 and the grating scale of the first linear motor 100, and greatly improve the working rhythm. Therefore, the structure is more reasonable and the cost is lower.

[0206] The first arm assembly 200a and the second arm assembly 200b perform counter-movements (such as, mirror movements), which will effectively reduce the impact force of the movement of the first arm assembly 200a and the second arm assembly 200b, reduce the movement instability caused by high acceleration and deceleration, and improve the working efficiency of the equipment, which is conducive to realizing the miniaturization and light weight of the equipment.

[0207] The swing arm 210 is installed on the support plate 300.

[0208] The robot 10 of the present application includes a drive controller 400 (the drive controller 400 includes a driver and a controller), and the vacuum pipeline and the lubricating oil pipeline are arranged inside the arm assembly 200.

[0209] The robot 10 of the present application is an integrated drive and control unit, with a high degree of automation of the product.

[0210] The robot 10 of the present application can be used in combination with an industrial camera.

[0211] The robot 10 of the present application uses a vacuum chuck to pick up, place, and transport workpieces.

[0212] The robot 10 of the present application includes a wireless power supply unit 500.

[0213] As Figure 1 shown, the arrow at the J1 axis indicates the direction in which the J1 axis drives the arm assembly 200 fixed to the support plate 300 to move. The arrow at the J2 axis indicates the direction in which the swing arm 210 drives the robotic arm 220 to rotate. The arrow at the J3 axis indicates the lifting direction of the swing arm 210, the robotic arm 220, and the end effector 230. The arrow at the J4 axis indicates the direction in which the robotic arm 220 drives the end effector 230 to rotate.

[0214] In the present application, the term "a plurality" means two or more, unless otherwise clearly defined. Terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0215] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot, characterized in that, Comprising: A first linear motor, the first linear motor including a stator and a plurality of movers that perform linear motion relative to the stator in a first direction; At least one set of manipulators, each set of manipulators including two arm assemblies, and the two arm assemblies being respectively connected to the two movers; In each set of manipulators, the two arm assemblies move towards each other or away from each other.

2. The robot according to claim 1, wherein The arm assembly includes: A swing arm, slidably connected to the mover, the swing arm performing a lifting motion relative to the mover in a second direction, the second direction being different from the first direction; A robotic arm, connected to the swing arm, and the swing arm driving the robotic arm to rotate about a first axis; An end effector, connected to the robotic arm, and the robotic arm driving the end effector to perform an action.

3. The robot according to claim 2, wherein In each set of manipulators, the rotational directions of the robotic arms of the two arm assemblies are opposite.

4. The robot according to claim 2, wherein In each set of manipulators, the swing arm of one arm assembly moves upward, and the swing arm of the other arm assembly moves downward.

5. The robot according to claim 2, characterized in that, In each set of manipulators, the rotational directions of the end effectors of the two arm assemblies are opposite.

6. The robot according to any one of claims 2 to 5, characterized in that, The robotic arm includes a first motor, and the first motor drives the end effector to rotate about a second axis; The end effector includes a suction cup, and a pipeline connected to the suction cup is provided inside the robotic arm.

7. The robot according to any one of claims 2 to 5, characterized in that, Further comprising: A support plate, and the swing arm is connected to the mover through the support plate.

8. The robot according to claim 7, characterized in that, Further comprising: A linear guide rail, provided on the support plate, and the swing arm is slidably connected to the linear guide rail.

9. The robot according to claim 7, characterized in that, The robot further includes a track and a slider, one of the track and the slider being provided on the support plate, and the slider being slidably connected to the track; Wherein, the slider cooperates with the track to limit the motion trajectory of the mover.

10. The robot according to any one of claims 2 to 5, characterized in that, The swing arm includes a second motor, and the second motor is used to drive the robotic arm to rotate.

11. The robot according to any one of claims 2 to 5, characterized in that, Further comprising: A lead screw and a third motor, the swing arm is screwed to the lead screw, and the third motor is used to drive the lead screw to rotate; Or A second linear motor, and the second linear motor is used to drive the swing arm to perform a lifting motion.

12. The robot according to any one of claims 2 to 5, characterized in that, Further comprising: A drive controller; A power supply unit, the first linear motor, the arm assembly and the drive controller are all electrically connected to the power supply unit, and the drive controller is used to control the first linear motor and the arm assembly to work.

13. The robot according to any one of claims 1 to 5, characterized in that, Further comprising: A plurality of limit members, each limit member cooperating with one arm assembly, and the limit member limits the motion trajectory of the mover driving the arm assembly.

14. A robot component, characterized in that, Comprising: An installation carrier; And The robot according to any one of claims 1 to 13, the stator being provided on the installation carrier.

15. The robot component according to claim 14, wherein, The installation carrier includes a base; The shape of the base is "door" shaped or "T" shaped.

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