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 rotor which does linear motion in a first direction relative to the stator; the rotor is used for driving the arm assembly to move under the action of the stator, the arm assembly comprises a swing arm, the swing arm is in sliding connection with the rotor, the swing arm does lifting motion in a second direction relative to the rotor, and the second direction is different from the first direction; the mechanical arm is connected with the swing arm, and the swing arm drives the mechanical arm to rotate around the first axis; and the tail end execution part is connected with the mechanical arm, and the mechanical arm drives the tail end execution part to execute actions.

Description

Technical Field

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

[0002] Robotic arms are widely used in various object handling and automated production lines. In the related art, 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

[0003] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of this application provides a robot.

[0005] A second aspect of this application provides a robot component.

[0006] In view of this, a first aspect of this application provides a robot, including: a first linear motor, the first linear motor includes a stator and a mover that moves linearly in a first direction relative to the stator; an arm assembly, the mover is used to drive the arm assembly to move under the action of the stator, and the arm assembly includes: a swing arm, slidably connected to the mover, the swing arm moves up and down in a second direction relative to the mover, and the second direction is different from the first direction; a robotic arm, connected to the swing arm, the swing arm drives the robotic arm to rotate around a first axis; an end effector, connected to the robotic arm, and the robotic arm drives the end effector to perform an action.

[0007] A robot provided by this application includes a first linear motor and an arm assembly. The end effector of the arm assembly is used to grasp a workpiece.

[0008] The first linear motor includes a stator and a mover. The stator and the mover cooperate to enable the mover to drive the arm assembly to move linearly in the first direction under the action of the stator, that is, the mover can drive the workpiece grasped by the arm assembly to move linearly in the first direction. The first linear motor can effectively drive the grasped workpiece to move linearly at high speed and high precision, can realize the high-speed movement of the transported workpiece, and is beneficial to improving the working cycle and working efficiency of the robot.

[0009] Further, the arm assembly includes a swing arm, a robotic arm, and an end effector that grasps a workpiece. The arm assembly can move in a first direction under the action of a 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 to adjust the posture of the workpiece while rapidly 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 to adjust the direction and posture of the carried workpiece.

[0010] 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.

[0011] Optionally, the second direction is perpendicular to the first direction. Optionally, the second direction is not perpendicular to the first direction.

[0012] According to the robot described above in the present application, the following additional technical features may also be provided:

[0013] In some embodiments, optionally, one of the stator and the mover includes a magnet, and the other includes a coil.

[0014] 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.

[0015] That is to say, the first linear motor includes a moving coil type first linear motor or a moving magnet type first linear motor.

[0016] In some embodiments, optionally, the robotic arm is located between the swing arm and the end effector.

[0017] 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 do not interfere with the end effector's grasping of the workpiece, and can also ensure the effectiveness and reliability of driving the end effector to move.

[0018] In some embodiments, optionally, the robotic arm includes a first motor. The robotic arm includes a first motor that drives the end effector to rotate about a second axis.

[0019] 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 carried.

[0020] In some embodiments, optionally, the end effector includes a suction cup, and a pipeline connected to the suction cup is provided inside the robotic arm.

[0021] 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.

[0022] 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 protect the pipeline from being damaged.

[0023] Optionally, the suction cup includes a Bernoulli suction cup or a vacuum suction cup. This setting ensures the reliability and stability of grasping the workpiece, does not damage the workpiece, and can also meet the usage requirements of grasping small and delicate workpieces.

[0024] 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.

[0025] In some embodiments, optionally, the robot further includes: a support plate, and the swing arm is connected to the mover through the support plate.

[0026] 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 of the mover driving the arm assembly to move under the action of the stator.

[0027] 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 with the movement of the support plate.

[0028] At the same time, this structural setting optimizes the assembly structure of the robot, which is beneficial to the convenience and efficiency of disassembly and assembly of the robot.

[0029] In some embodiments, optionally, at least a part of the robotic arm protrudes from the outer peripheral wall of the support plate; the support plate includes a carbon fiber plate and / or an aluminum plate.

[0030] In this embodiment, the structures of the robotic arm and the support plate are further defined such that at least a part of the robotic arm protrudes beyond the outer peripheral wall of the support plate. That is, a part of the robotic arm protrudes beyond the outer peripheral wall of the support plate, or the entire robotic arm protrudes beyond the outer peripheral wall of the support plate. This setting enables the support plate to ensure effective support and fixation of the swing arm while not interfering with the rotation of the swing arm driving the robotic arm, and can ensure the effectiveness and feasibility of the rotation of the robotic arm.

[0031] The support plate includes a carbon fiber plate and / or an aluminum plate. That is, the support plate is a light material plate to achieve the purpose of reducing the mass of the support plate and facilitating the improvement of the movement speed.

[0032] In some embodiments, optionally, the robot further includes: a linear guide rail provided on the support plate, and the swing arm is slidably connected to the linear guide rail.

[0033] In this embodiment, the structure of the robot is further defined such that the robot further includes a linear guide rail provided on the support plate. That is, the support plate serves as the installation carrier of the linear guide rail, has the function of installing and fixing the linear guide rail, and can ensure the matching dimensions of the linear guide rail and the swing arm.

[0034] 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 limit 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.

[0035] In some embodiments, optionally, the robot further includes a track and a slider, one of the track and the slider is provided on the support plate, and the slider is slidably connected to the track; wherein, the slider cooperates with the track to limit the movement trajectory of the mover.

[0036] In this embodiment, the structure of the robot is further defined such that the robot further includes a track and a slider, and one of the track and the slider is provided on the support plate. That is, the track is provided on the support plate, or the slider is provided on the support plate. Wherein, the other of the track and the slider is provided on the installation carrier. The slider is slidably connected to the track, and the slider cooperates with the track to limit the movement trajectory of the support plate and the arm assembly, and can limit the matching position of 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.

[0037] In some embodiments, optionally, the swing arm includes a second motor for driving the robotic arm to rotate.

[0038] In this embodiment, the structure of the swing arm is further defined such that the swing arm includes a second motor.

[0039] Optionally, the second motor includes a servo motor or a torque motor.

[0040] Among them, when the second motor includes a servo motor, the robot further includes a speed reducer. The second motor is electrically connected to the speed reducer, and the second motor is used to drive the robotic arm to rotate, which can meet the usage requirements of the swing arm for driving the robotic arm to rotate.

[0041] Among them, when the second motor includes a torque motor, the robot does not include a speed reducer.

[0042] 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, and the second linear motor is used to drive the swing arm to move up and down in a second direction.

[0043] In this embodiment, the robot includes a lead screw and a third motor.

[0044] Optionally, the third motor includes a servo motor.

[0045] Among them, the swing arm is screwed to the lead screw, and the third motor drives the lead screw to rotate to drive the swing arm to move up and down along the length direction of the lead screw.

[0046] 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, the nut and the swing arm are both 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 up and down movement. 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.

[0047] Or, 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 a second direction to achieve the purpose of driving the swing arm to drive the robotic arm and the end effector to move up and down in the second direction.

[0048] 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 operation of the first linear motor and the arm assembly.

[0049] In this embodiment, the structure of the robot is further defined, so that the robot further includes a drive controller and a power supply unit.

[0050] 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. For the drive controller to control the operation of the first linear motor and the arm assembly. 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 usage performance and market competitiveness of the robot.

[0051] 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 wraps the power supply line.

[0052] 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 maintenance and repair costs of the robot.

[0053] Or 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 lines connected to the arm assembly and the first linear motor can be the same, or the power supply lines connected to the arm assembly and the first linear motor 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 power supply line for bending arrangement, but also has the function of protecting the power supply line, avoiding the situation of the power supply line being damaged by external forces, and is beneficial to extending the service life of the power supply line.

[0054] In some embodiments, optionally, the robot further includes: a limiting member that limits the movement trajectory of the mover driving the arm assembly.

[0055] In this embodiment, the structure of the robot component is further defined such that the robot component further includes a limiting member. Optionally, the limiting member is provided on the mounting carrier, and the mounting carrier has the function of mounting and fixing the limiting member.

[0056] The limiting member is used to limit the movement trajectory of the mover driving the arm assembly to ensure the mating dimensions between the mover and the stator, and provide an effective and reliable structural support for the mover to drive the arm assembly to move under the action of the stator.

[0057] And this structural setting can also ensure the movement stroke of the arm assembly, avoid the situation of the arm assembly detaching from the stator, and can ensure the effective mating dimensions between the first linear motor and the arm assembly.

[0058] In some embodiments, optionally, the limiting member includes a first limiting block and a second limiting block, and the mover is located between the first limiting block and the second limiting block.

[0059] In this embodiment, the mating structure between the limiting member and the mover is further defined such that the limiting member includes a first limiting block and a second limiting block, and both the mover and the arm assembly are located between the first limiting block and the second limiting block.

[0060] The first limiting block and the second limiting block are arranged at intervals to effectively limit the mover and the arm assembly to ensure the mating structure between the mover and the stator and avoid the situation of the mover detaching from the stator.

[0061] Optionally, the number of the first limiting blocks is one, or the number of the first limiting blocks is multiple.

[0062] Optionally, the number of the second limiting blocks is one, or the number of the second limiting blocks is multiple. A second aspect of the present invention provides a robot assembly, including: a mounting carrier; and a robot as in the first aspect, with the stator disposed on the mounting carrier.

[0063] Since the robot assembly provided by the present invention includes the robot as in the first aspect, it has all the beneficial effects of the above-mentioned robot, and will not be elaborated one by one here.

[0064] It can be understood that the stator is disposed on the mounting carrier, and the mounting carrier has the function of mounting and fixing the stator, providing a reliable structural support for ensuring the effective matching dimensions between the stator and the mover.

[0065] The robot can be directly mounted on the ground or wall through the mounting carrier and cooperate with equipment such as string welding. Or the robot can be directly mounted on equipment such as string welding through the mounting carrier.

[0066] In some embodiments, optionally, the mounting carrier includes a base; the shape of the base is "door" - shaped or "T" - shaped.

[0067] In this embodiment, the structure of the mounting carrier is further defined such that the mounting carrier includes a base, and the base, as the mounting carrier of the stator, has the function of mounting and fixing the stator.

[0068] 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.

[0069] In some embodiments, optionally, the limiting member includes a photoelectric limit switch, and the photoelectric limit switch is disposed on the mover.

[0070] In this embodiment, the limiting member includes a photoelectric limit switch and a mechanical limiting component. The photoelectric limit switch is disposed on the mover, and the displacement of the mover driving the arm assembly is limited by the photoelectric limit switch to ensure the matching dimensions 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.

[0071] The photoelectric limit switch is disposed on the mover, that is, the mover serves as the mounting carrier of the photoelectric limit switch and has the function of mounting and fixing the photoelectric limit switch.

[0072] The additional aspects and advantages of the present application will become apparent in the following description section or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The above - mentioned and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0074] Figure 1A schematic structural diagram of a first perspective of a robot component according to an embodiment of the present application is shown;

[0075] Figure 2 A schematic structural diagram of a second perspective of a robot component according to an embodiment of the present application is shown;

[0076] Figure 3 A partial schematic structural diagram of a robot component according to an embodiment of the present application is shown.

[0077] Wherein, Figures 1 to 3 The corresponding relationship between the reference numerals and the component names in

[0078] 10 Robot, 100 First linear motor, 110 Stator, 120 Rotor, 130 Magnet, 140 Coil, 150 Linear encoder, 200 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 component, 600 Installation 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. Detailed implementation manners

[0079] 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 accompanying drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0080] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application may 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.

[0081] The following refers to Figures 1 to 3 Robot 10 and robot component 60 according to some embodiments of the present application.

[0082] As Figure 1 、 Figure 2 And Figure 3As shown, a robot 10 according to some embodiments of the present application includes: a first linear motor 100, the first linear motor 100 includes a stator 110 and a mover 120 that moves linearly in a first direction relative to the stator 110; an arm assembly 200, the mover 120 is used to drive the arm assembly 200 to move under the action of the stator 110, and the arm assembly 200 includes: a swing arm 210, which is slidably connected to the mover 120, and the swing arm 210 makes a lifting movement in a second direction relative to the mover 120, and the second direction is different from the first direction; a robotic arm 220, which is connected to the swing arm 210, and the swing arm 210 drives the robotic arm 220 to rotate around a first axis 900; an end effector 230, which is connected to the robotic arm 220, and the robotic arm 220 drives the end effector 230 to perform an action.

[0083] A robot 10 provided by the present application includes a first linear motor 100 and an arm assembly 200. The end effector 230 of the arm assembly 200 is used to grasp a workpiece.

[0084] The first linear motor 100 includes a stator 110 and a mover 120. The stator 110 and the mover 120 cooperate so that the mover 120 drives the arm assembly 200 to move linearly in the first direction under the action of the stator 110. That is, the mover 120 can drive the workpiece grasped by the arm assembly 200 to move linearly in the first direction. The first linear motor 100 can effectively drive the grasped workpiece to move linearly at high speed and 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 10.

[0085] Furthermore, the arm assembly 200 includes a swing arm 210, a robotic arm 220 and an end effector 230, and the end effector 230 grasps the workpiece. 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 make a lifting movement in a second direction, and the second direction is different from the first direction. The end effector 230 can perform an action under the action of the robotic arm 220. The mover 120 drives the arm assembly 200 to achieve 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 lift, 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.

[0086] By reasonably setting the structure of the robot 10, 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.

[0087] Optionally, the second direction is perpendicular to the first direction. Optionally, the second direction is not perpendicular to the first direction.

[0088] In some embodiments, optionally, one of the stator 110 and the mover 120 includes a magnet 130, and the other includes a coil 140.

[0089] In this embodiment, the structure of the first linear motor 100 is further defined such that one of the stator 110 of the first linear motor 100 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. Or 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.

[0090] 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.

[0091] In some embodiments, optionally, the robotic arm 220 is located between the swing arm 210 and the end effector 230.

[0092] In this embodiment, the mating 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, 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.

[0093] In some embodiments, optionally, as Figure 1 shown, the robotic arm 220 includes a first motor 222, 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.

[0094] In this embodiment, the mating 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.

[0095] In some embodiments, optionally, as Figure 1 shown, 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.

[0096] In this embodiment, the end effector 230 includes a suction cup 232, and a 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 matching area between the end effector 230 and the workpiece, and is beneficial to improving the effectiveness and feasibility of grasping the workpiece.

[0097] 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 aesthetic appearance and protect the pipeline from being damaged.

[0098] 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.

[0099] Optionally, the robot 10 is provided with a vacuum pipeline, and the vacuum pipeline is arranged inside the arm assembly 200 and communicated with the vacuum suction cup 232.

[0100] In some embodiments, optionally, as Figure 1 and Figure 2 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.

[0101] In this embodiment, the structure of the robot 10 is further defined, so 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 requirements that the mover 120 drives the arm assembly 200 to move under the action of the stator 110.

[0102] 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 with the movement of the support plate 300.

[0103] 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.

[0104] In some embodiments, optionally, at least a part of the robotic arm 220 protrudes from the outer peripheral wall of the support plate 300; the support plate 300 includes a carbon fiber plate and / or an aluminum plate.

[0105] In this embodiment, the structures of the robotic arm 220 and the support plate 300 are further defined such that at least a part of the robotic arm 220 protrudes from the outer peripheral wall of the support plate 300. That is, a part of the robotic arm 220 protrudes from the outer peripheral wall of the support plate 300, or the entire robotic arm 220 protrudes from the outer peripheral wall of the support plate 300. This setting enables the support plate 300 to effectively support and fix the swing arm 210 without interfering with the rotation of the swing arm 210 to drive the robotic arm 220, ensuring the effectiveness and feasibility of the rotation of the robotic arm 220.

[0106] The support plate 300 includes a carbon fiber plate and / or an aluminum plate. That is, the support plate 300 is a light material plate, aiming to reduce the mass of the support plate 300 and facilitate the improvement of the movement speed.

[0107] In some embodiments, optionally, as Figure 1 shown, the robot 10 further includes: a linear guide rail 800 provided on the support plate 300, and the swing arm 210 is slidably connected to the linear guide rail 800.

[0108] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a linear guide rail 800 provided on the support plate 300. That is, the support plate 300 serves as the installation carrier 600 of the linear guide rail 800, having the function of installing and fixing the linear guide rail 800 and ensuring the matching dimensions between the linear guide rail 800 and the swing arm 210.

[0109] 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 define the sliding trajectory of the swing arm 210, avoiding the situation where the swing arm 210 deviates from the preset position, providing a reliable structural support for ensuring the working accuracy of the robot 10.

[0110] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the robot 10 further includes a track 630 and a slider 310. One of the track 630 and the slider 310 is provided on the support plate 300, and the slider 310 is slidably connected to the track 630; wherein, the slider 310 cooperates with the track 630 to limit the movement trajectory of the mover 120.

[0111] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a track 630 and a slider 310, and one of the track 630 and the slider 310 is disposed on the support plate 300. That is, the track 630 is disposed on the support plate 300, or the slider 310 is disposed on the support plate 300. Wherein, the other of the track 630 and the slider 310 is disposed on the mounting carrier 600. The slider 310 is slidably connected to the track 630, and the slider 310 cooperates with the track 630 to limit the movement trajectories 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.

[0112] In some embodiments, optionally, as Figure 1 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.

[0113] In this embodiment, the structure of the swing arm 210 is further defined such that the swing arm 210 includes a second motor 212.

[0114] Optionally, the second motor 212 includes a servo motor or a torque motor.

[0115] Wherein, 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 usage requirements for the swing arm 210 to drive the robotic arm 220 to rotate.

[0116] Wherein, when the second motor 212 includes a torque motor, the robot 10 does not include a reducer 214.

[0117] In some embodiments, optionally, as Figure 1 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 in the second direction.

[0118] In this embodiment, the robot 10 includes a lead screw 242 and a third motor 244.

[0119] Optionally, the third motor 244 includes a servo motor.

[0120] Wherein, 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 move up and down along the length direction of the lead screw.

[0121] Optionally, both the lead screw 242 and the third motor 244 are disposed 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 operates to drive the lead screw 242 to rotate, so that the swing arm 210 makes a vertical lifting motion. The lead screw 242 and the third motor 244 being disposed on the support plate 300 can achieve the stability and reliability of the overall operation of the arm assembly 200.

[0122] 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 motion 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 motion in the second direction.

[0123] In some embodiments, optionally, as Figure 1 and Figure 2 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 operation of the first linear motor 100 and the arm assembly 200.

[0124] 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.

[0125] 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. For the drive controller 400 to control the operation of the first linear motor 100 and the arm assembly 200. This setting enables the robot 10 to have an automatic control function, improves the automation level 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.

[0126] Optionally, the drive controller 400 is disposed on the support plate 300.

[0127] Optionally, the drive controller 400 is disposed in the control cabinet, and the control cabinet is located on one side of the robot 10.

[0128] In some embodiments, optionally, the power supply unit 500 is a wireless power supply unit.

[0129] As Figure 1 shown, or 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.

[0130] 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. 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 repair and maintenance costs of the robot 10.

[0131] Alternatively, 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 connecting the arm assembly 200 and the first linear motor 100 can be the same, or the power supply line 510 connecting the arm assembly 200 and the first linear motor 100 can be different). Among them, the drag chain 520 wraps 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 has the function of protecting the power supply line 510, avoiding the occurrence of 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.

[0132] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the robot 10 further includes a limiting member 700. The limiting member 700 is used to limit the movement trajectory of the mover 120 driving the arm assembly 200.

[0133] In this embodiment, the structure of the robot component 60 is further defined such that the robot component 60 further includes a limiting member 700. Optionally, the limiting member 700 is arranged on the mounting carrier 600, and the mounting carrier 600 has the function of mounting and fixing the limiting member 700.

[0134] The limiting member 700 is used to limit 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.

[0135] 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.

[0136] In some embodiments, optionally, as Figure 1 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.

[0137] In this embodiment, the matching structure between 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.

[0138] 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 between the mover 120 and the stator 110 and avoid the situation that the mover 120 disengages from the stator 110.

[0139] Optionally, the number of the first limiting blocks 710 is one, or the number of the first limiting blocks 710 is multiple.

[0140] Optionally, the number of the second limiting blocks 720 is one, or the number of the second limiting blocks 720 is multiple. As Figure 1 、 Figure 2 and Figure 3 As shown in

[0141] The robot assembly 60 provided by the present application includes the robot 10 as in the first aspect, and thus has all the beneficial effects of the above-mentioned robot 10, which will not be elaborated one by one here.

[0142] It can be understood that the stator 110 is arranged on the mounting carrier 600. 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 between the stator 110 and the mover 120.

[0143] 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.

[0144] In some embodiments, optionally, the mounting carrier 600 includes a base 610; the shape of the base 610 is "door" - shaped or "T" - shaped.

[0145] In this embodiment, the structure of the mounting carrier 600 is further defined such that the mounting carrier 600 includes a base 610. The base 610 serves as the mounting carrier 600 of the stator 110 and has the function of mounting and fixing the stator 110.

[0146] Among them, the shape of the base 610 is "door" - shaped or "T" - shaped, that is, the base 610 is a door - shaped base 610, or the base 610 is a T - shaped base 610.

[0147] In some embodiments, optionally, the limiting member 700 includes a photoelectric limit switch, and the photoelectric limit switch is arranged on the mover 120.

[0148] In this embodiment, the limiting member 700 includes a photoelectric limit switch and a mechanical limiting component. The photoelectric limit switch is arranged on the mover 120, and the displacement of the mover 120 driving the arm assembly 200 is limited by the photoelectric limit switch to ensure the matching dimensions of 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.

[0149] 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.

[0150] In some other embodiments, the photoelectric limit switch is arranged on the support plate 300. That is, the support plate 300 serves as the installation carrier 600 of the photoelectric limit switch and has the function of installing and fixing the photoelectric limit switch.

[0151] The robot 10 of the present application includes a 4-axis robot. The robot 10 includes a base 610, a first linear motor 100, and an arm assembly 200. The J1 axis is the driving axis of the first linear motor, and the arm assembly 200 fixed on the support plate 300 is driven by the mover 120 to achieve high-speed and high-precision rapid movement. The J2 axis is the swing arm axis, the J3 axis is the lifting axis, and the J4 axis is the posture adjustment axis. The J2 axis drives the front-end J4 axis to complete the posture adjustment of the workpiece while the workpiece is rapidly moved by the swing arm 210. The J3 axis drives the J2 axis and the J4 axis to swing and lift to carry the workpiece. The J4 axis can adjust the direction and posture of the carried workpiece. The front end of the J4 axis is provided with an end effector 230 for grasping and carrying the workpiece. The end effector 230 can be a Bernoulli chuck or other vacuum chucks. At the same time, the vacuum pipeline required for grasping the carried workpiece and the lubricating pipeline of the linear slider 310 are integrally installed in the arm assembly 200, which facilitates the grasping of the workpiece and reduces the difficulty of subsequent maintenance and repair of the robot 10, and is beneficial to extending the service life of the robot 10.

[0152] The base 610 can be a portal-shaped base, or a T-shaped base, etc., which will not be listed one by one here.

[0153] The power supply unit 500 of the robot 10 is wired power supply. The power supply line 510 is protected by a cable carrier 520, but it can also be wireless power supply. When it is wireless power supply, the cable carrier 520 will not be needed, but the drive controller 400 and the power taking system will be fixed on the support plate 300.

[0154] The robot 10 can use an industrial camera system to adjust and manage the posture of the carried workpiece.

[0155] Such as Figure 1 and Figure 2As shown, the J1 axis includes a first linear motor 100 (the first linear motor 100 includes a stator magnetic plate and a mover 120), a track 630, a slider 310, a power supply line 510, a drag chain 520, a linear encoder 150 (a grating scale and a reading head), and a limit member 700.

[0156] 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.

[0157] 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 track 630.

[0158] The power supply unit 500 can be wireless power supply, and the 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.

[0159] As Figure 1 and Figure 2 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.

[0160] 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 a lightweight and high-strength material. For example, the robotic arm 220 includes a carbon fiber robotic arm or an aluminum robotic arm.

[0161] As Figure 1 and Figure 2 shown, the lifting axis J3 includes a lead screw 242, a third motor 244, and a coupling 246. Through a linear guide 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.

[0162] 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 shaft operates, 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 fixing 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 beneficial to installation and maintenance.

[0163] As Figure 1 shown, the posture adjustment shaft 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.

[0164] The purpose of the vacuum chuck is to safely and reliably grasp and place the workpiece to be transported.

[0165] The robot 10 of the present application is suitable for transporting semiconductor wafers, and can greatly improve the handling cycle of semiconductor wafers, achieving the purpose of speeding up and reducing costs for semiconductor production equipment.

[0166] 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.

[0167] The robot 10 of the present application is combined with an industrial camera to achieve efficient and stable wafer handling.

[0168] The robot 10 of the present application can replace many complex handling structures, realizing the simplification of the structure and efficient operation.

[0169] The swing arm 210, the lead screw 242, and the third motor 244 are all installed on the support plate 300.

[0170] The robot 10 of the present application includes a drive controller 400 (the drive controller 400 includes a driver and the drive controller 400), and the vacuum pipeline and the lubricating oil pipeline are arranged inside the arm assembly 200.

[0171] The robot 10 of the present application is an integrated drive and control unit, and the automation degree of the product is high.

[0172] The robot 10 of the present application can be used in combination with an industrial camera.

[0173] The robot 10 of the present application uses a vacuum chuck to pick up, place, and transport workpieces.

[0174] The robot 10 of the present application includes a wireless power supply unit 500.

[0175] As Figure 1As 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.

[0176] Optionally, the first linear motor 100 includes a stator 110 and a plurality of movers 120; a plurality of arm assemblies 200, each arm assembly 200 cooperating with one mover 120, and the mover 120 being configured to drive the arm assembly 200 to move under the action of the stator 110.

[0177] The first linear motor 100 includes a stator 110 and a plurality of movers 120, and each mover 120 cooperates with the stator 110. The number of arm assemblies 200 is plural (plural means more than one), and each arm assembly 200 cooperates with one 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 at high speed and with high precision along a straight line, can realize the high-speed movement of the workpiece handling, and is beneficial to improving the working cycle and working efficiency of the robot 10.

[0178] In addition, the number of arm assemblies 200 is plural, so at least a part of the plurality of arm assemblies 200 can be made to work according to the specific actual use situation. In this way, it is beneficial to improve the working cycle and working efficiency of the robot 10.

[0179] It can be understood that the first linear motor 100 includes a stator 110 and a plurality of movers 120, and the plurality of movers 120 all cooperate with the stator 110. That is to say, the plurality of movers 120 share one stator 110. In this way, while meeting the usage requirements of the plurality of movers 120 driving the plurality of arm assemblies 200 to move, the material input of the stator 110 is reduced. In this way, it is beneficial to reduce the production cost of the robot 10, and is beneficial to reducing the overall size of the first linear motor 100, and further beneficial to reducing the overall size of the robot 10, and improving the usage performance and market competitiveness of the product.

[0180] Optionally, the plurality of arm assemblies 200 at least include a first arm assembly and a second arm assembly. The first arm assembly moves along a fifth direction under the drive of the mover 120 cooperating with it, and the second arm assembly moves along a sixth direction under the drive of the mover 120 cooperating with it; wherein, the fifth direction is opposite to the sixth direction. For example, the first arm assembly and the second arm assembly move towards each other or away from each other.

[0181] In this embodiment, the types of multiple arm components 200 are classified such that the multiple arm components 200 at least include a first arm component and a second arm component. That is, the multiple arm components 200 only include a first arm component and a second arm component, or the multiple arm components 200 include a first arm component, a second arm component, a third arm component, a fourth arm component, a fifth arm component, etc., which are not listed one by one here.

[0182] Specifically, the multiple movers 120 at least include a first mover and a second mover. The first mover cooperates with the first arm component, and the second mover cooperates with the second arm component. The first arm component moves along a fifth direction driven by the first mover, and the second arm component moves along a sixth direction driven by the second mover, where the fifth direction is opposite to the sixth direction. That is, the movement directions of the first arm component and the second arm component are opposite.

[0183] In this way, when the first arm component and the second arm component move simultaneously, the impact forces caused by the high-speed or decelerated movement of the first mover and the second mover will cancel each other out, enabling the first mover to drive the first arm component to perform faster moving operations, and the second mover to drive the second arm component to perform faster moving operations, and being able to maintain the stability of the entire motion system, reduce the shaking amount when the robot 10 is working, and is beneficial to improving the accuracy and reliability of handling workpieces.

[0184] In some embodiments, optionally, the numbers of both the first arm component and the second arm component are multiple, and each first arm component cooperates with one second arm component.

[0185] In this embodiment, the numbers and cooperation relationships of the first arm component and the second arm component are further defined. The numbers of both the first arm component and the second arm component are multiple. The number of the first arm component is multiple, and the number of the second arm component is multiple. Each first arm component cooperates with one second arm component.

[0186] It can also be said that the multiple arm components 200 are divided. The multiple arm components 200 include multiple mechanical groups, and each mechanical group includes a first arm component and a second arm component, and the movement directions of the first arm component and the second arm component are opposite.

[0187] In some embodiments, optionally, the rotation direction of the robotic arm 220 of the first arm component is opposite to the rotation direction of the robotic arm 220 of the second arm component; and / or the swing arm 210 of the first arm component moves along a third direction, and the swing arm 210 of the second arm component moves along a fourth direction, where the third direction is opposite to the fourth direction; and / or the rotation direction of the end effector 230 of the first arm component is opposite to the rotation direction of the end effector 230 of the second arm component.

[0188] In this embodiment, the cooperation structure of the first arm component and the second arm component is further defined.

[0189] The rotation direction of the robotic arm 220 of the first arm assembly is opposite to that of the robotic arm 220 of 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 220 of the first arm assembly and the robotic arm 220 of the second arm assembly will cancel each other out, enabling the robotic arm 220 of the first arm assembly to drive the workpiece to perform faster moving operations, the robotic arm 220 of the second arm assembly to drive the workpiece to perform faster moving operations, and maintaining the stability of the entire motion system, reducing the sway amount during the operation of the robot 10, which is beneficial to improving the accuracy and reliability of handling the workpiece.

[0190] And / or the swing arm 210 of the first arm assembly moves in a third direction, and the swing arm 210 of the second arm assembly moves in a fourth direction, and the third direction is opposite to the fourth direction. That is to say, when the first arm assembly and the second arm assembly work simultaneously, the movement direction of the swing arm 210 of the first arm assembly is opposite to that of the swing arm 210 of the second arm assembly. 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 is opposite to that of the robotic arm 220 of the second arm assembly, and the movement direction of the end effector 230 of the first arm assembly is opposite to that of the end effector 230 of 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 movement of the swing arm 210 of the first arm assembly and the swing arm 210 of the second arm assembly will cancel each other out, the impact forces caused by the movement of the robotic arm 220 of the first arm assembly and the robotic arm 220 of the second arm assembly will cancel each other out, and the impact forces caused by the movement of the end effector 230 of the first arm assembly and the end effector 230 of the second arm assembly will cancel each other out, enabling the robotic arm 220 of the first arm assembly to drive the workpiece to perform faster moving operations, the robotic arm 220 of the second arm assembly to drive the workpiece to perform faster moving operations, and maintaining the stability of the entire motion system, reducing the sway amount during the operation of the robot 10, which is beneficial to improving the accuracy and reliability of handling the workpiece.

[0191] And / or the rotation direction of the end effector 230 of the first arm assembly is opposite to that of the end effector 230 of 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 movement of the end effector 230 of the first arm assembly and the end effector 230 of the second arm assembly will cancel each other out, enabling the end effector 230 of the first arm assembly to drive the workpiece to perform faster moving operations, the end effector 230 of the second arm assembly to drive the workpiece to perform faster moving operations, and maintaining the stability of the entire motion system, reducing the sway amount during the operation of the robot 10, which is beneficial to improving the accuracy and reliability of handling the workpiece.

[0192] In this application, the term "a plurality of" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "coupled" 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 this application can be understood according to specific circumstances.

[0193] 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 this 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 any one or more embodiments or examples in a suitable manner. The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A robot, characterized in that, Comprising: A first linear motor, the first linear motor including a stator and a mover that moves linearly in a first direction relative to the stator; An arm assembly, the mover being configured to drive the arm assembly to move under the action of the stator, the arm assembly including: A swing arm, slidably connected to the mover, the swing arm moving up and down in a second direction relative to the mover, the second direction being different from the first direction; A robotic arm, connected to the swing arm, the swing arm driving the robotic arm to rotate about a first axis; An end effector, connected to the robotic arm, the robotic arm driving the end effector to perform an action.

2. The robot according to claim 1, wherein, The robotic arm includes a first motor, the first motor driving the end effector to rotate about a second axis.

3. The robot according to claim 2, wherein, The end effector includes a suction cup, and a pipeline connected to the suction cup is provided inside the robotic arm.

4. The robot according to any one of claims 1 to 3, characterized in that Further comprising: A support plate, the swing arm being connected to the mover through the support plate.

5. The robot according to claim 4, characterized in that At least a part of the robotic arm protrudes from the outer peripheral wall of the support plate; The support plate includes a carbon fiber plate and / or an aluminum plate.

6. The robot according to claim 4, wherein, Further comprising: A linear guide rail, provided on the support plate, the swing arm being slidably connected to the linear guide rail.

7. The robot according to claim 4, wherein, The robot further includes a track and a slider, one of the track and the slider being provided on the support plate, the slider being slidably connected to the track; Wherein, the slider cooperates with the track to limit the movement trajectory of the mover.

8. The robot according to any one of claims 1 to 3, characterized in that, The swing arm includes a second motor, the second motor being configured to drive the robotic arm to rotate.

9. The robot according to any one of claims 1 to 3, characterized in that, Further comprising: A lead screw and a third motor, the swing arm being screwed to the lead screw, the third motor being configured to drive the lead screw to rotate; Or A second linear motor, the second linear motor being configured to drive the swing arm to move up and down in the second direction.

10. The robot according to any one of claims 1 to 3, 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 configured to control the first linear motor and the arm assembly to operate.

11. The robot according to claim 10, wherein 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 wraps the power supply line.

12. The robot according to any one of claims 1 to 3, characterized in that Further comprising: A limiting member, the limiting member limiting the movement trajectory of the mover driving the arm assembly.

13. A robot component, characterized in that, Comprising: An installation carrier; And The robot according to any one of claims 1 to 12, the stator being provided on the installation carrier.

14. The robot component according to claim 13, characterized in that, The installation carrier includes a base; The shape of the base is "door" shaped or "T" shaped.

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