An industrial robot with switchable drive modes

Abstract

The application discloses an industrial manipulator with switchable driving modes, which comprises a first linear module, a second linear module driven by the first linear module to move back and forth, and a vertical linear module driven by the second linear module to move back and forth. The second linear module comprises a transmission assembly for driving the vertical linear module to move and a second driving motor. A rack is arranged on the first linear module along the moving direction of the second linear module. A gear set box is arranged on the second linear module. An input gear of the gear set box is in meshing connection with the rack. An output shaft of the gear set box is in opposite alignment with the rotating shaft of the second driving motor. A connecting shaft for driving the transmission assembly and movable back and forth is inserted into the transmission assembly. Two ends of the connecting shaft are respectively in meshing connection with the output shaft of the gear set box and the rotating shaft of the second driving motor. When one end of the connecting shaft is in meshing connection, the other end is out of meshing connection. The application can switch the driving mode and has high reliability.

Description

Technical Field

[0001] This invention relates to industrial robotic arms, and more specifically, to an industrial robotic arm with switchable drive modes. Background Technology

[0002] Industrial robots are now widely used across various industries. Some of these robots are primarily used to grasp objects and transfer them to other workstations. For example, Chinese patent document CN223084805U, entitled "A Flexible Double-Section Feeding Robot," discloses a feeding robot whose main structure includes a lead screw linear module, a synchronous belt linear module, and a telescopic section. The lead screw linear module drives the synchronous belt linear module to reciprocate, and the synchronous belt linear module drives the telescopic section to reciprocate. The bottom of the telescopic section can be equipped with corresponding grippers or other mechanisms as needed for grasping objects. This robot is structurally similar to other robots on the market; its linear modules all require motors, cylinders, and other power components for drive, resulting in a relatively simple drive mode. For repetitive tasks involving simply grasping objects and transferring them between two workstations, this is somewhat overkill, and the increased reliability of the power components also reduces the overall reliability of the equipment. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this invention provides an industrial robot with switchable drive modes and high reliability.

[0004] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0005] An industrial robot with switchable drive modes includes a first linear module, a second linear module reciprocating under the drive of the first linear module, and a vertical linear module reciprocating under the drive of the second linear module. The second linear module includes a transmission assembly for moving the vertical linear module and a second drive motor. The first linear module is provided with a rack arranged along the moving direction of the second linear module. The second linear module is provided with a gearbox. The input gear of the gearbox is meshed with the rack. The output shaft of the gearbox is aligned with the rotating shaft of the second drive motor. A connecting shaft for driving the transmission assembly and capable of reciprocating is inserted into the transmission assembly. The two ends of the connecting shaft can be meshed with the output shaft of the gearbox and the rotating shaft of the second drive motor, respectively. When one end of the connecting shaft is meshed, the other end is disengaged.

[0006] Furthermore, the transmission assembly includes a belt and two pulleys, the two pulleys being rotatably connected to the second linear module, the belt being wound around the two pulleys, one side of the vertical linear module being fixedly connected to the belt, and the middle section of the connecting shaft being engaged with one of the pulleys.

[0007] Furthermore, slots are provided at the ends of the output shaft of the gearbox and the rotating shaft of the second drive motor, and both ends of the connecting shaft are sleeves, with insert teeth inside the sleeves that can mate with the slots.

[0008] Furthermore, the insertion teeth are located on the inner section of the sleeve that is close to the bottom surface and their length does not exceed half the length of the sleeve.

[0009] Furthermore, the second linear module is provided with a transmission gear, the lower end of which meshes with a rack, and the input gear of the gearbox meshes with the transmission gear.

[0010] Furthermore, the gearbox includes a housing and a gear set meshing together inside the housing. The gear set includes a cylindrical gear for meshing with a transmission gear and a bevel gear for output. The housing is detachably and fixedly connected to the second linear module.

[0011] Furthermore, the second linear module is also provided with a toggle mechanism for moving the connecting shaft back and forth so that one end of it engages or disengages from engagement.

[0012] Furthermore, a groove ring is provided on one end of the connecting shaft, and the actuating mechanism includes a mounting block fixedly connected to the second linear module, an actuating rod slidably connected to the mounting block, and a locking screw for locking the actuating rod to the mounting block, the end of the actuating rod extending into the groove ring.

[0013] In summary, the present invention has the following advantages: A rack is provided on the first linear module, and a gearbox meshing with the rack is provided on the second linear module. A connecting shaft is inserted into the transmission assembly. When the connecting shaft is moved to mesh with the shaft of the second drive motor, the robot arm functions like a conventional robot arm, with each linear module individually controllable and driven, facilitating complex grasping and transferring of objects. If the connecting shaft is moved to mesh with the output shaft of the gearbox, the second and first linear modules become linked, with the second linear module driven by the first linear module. In this mode, the robot arm is suitable for repetitive grasping and transferring of objects, and the mechanical linkage mode offers higher reliability. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention from one angle;

[0015] Figure 2 yes Figure 1 An enlarged view of point A;

[0016] Figure 3This is a three-dimensional and partially cross-sectional structural schematic diagram of the present invention from another angle;

[0017] Figure 4 yes Figure 3 An enlarged schematic diagram of point B.

[0018] Figure label:

[0019] First linear module 1; Second linear module 2; Transmission assembly 21; Second drive motor 22; Transmission gear 23; Belt 211; Pulley 212; Vertical linear module 3; Third drive motor 31; Rack 4; Gearbox 5; Connecting shaft 6; Sleeve 61; Tooth 62; Groove ring 63; Actuating mechanism 7; Mounting block 71; Actuating lever 72; Locking screw 73; Slot 10. Detailed Implementation

[0020] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to that other component.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Reference Figures 1 to 4An industrial robot with switchable drive modes includes a first linear module 1, a second linear module 2 driven by the first linear module 1 to reciprocate, and a vertical linear module 3 driven by the second linear module 2 to reciprocate. The second linear module 2 includes a transmission component 21 for driving the vertical linear module 3 to move and a second drive motor 22. The first linear module 1 is provided with a rack 4 arranged along the moving direction of the second linear module 2. The second linear module 2 is provided with a gearbox 5. The input gear of the gearbox 5 is meshed with the rack 4. The output shaft of the gearbox 5 is aligned with the rotating shaft of the second drive motor 22. A connecting shaft 6 for driving the transmission component 21 and capable of reciprocating is inserted into the transmission component 21. The two ends of the connecting shaft 6 can be meshed with the output shaft of the gearbox 5 and the rotating shaft of the second drive motor 22, respectively. When one end of the connecting shaft 6 is meshed, the other end is disengaged.

[0025] In one embodiment, the vertical linear module 3 moves in a direction perpendicular to the second linear module 2, which is also perpendicular to the direction of movement of the second linear module 2 on the first linear module 1. The bottom end of the vertical linear module 3 is used to mount a gripper, which can be controlled to move up and down. The first linear module 1 is provided with a first drive motor 11 for driving the second linear module 2 to move, and the vertical linear module 3 is also provided with a third drive motor 31 for driving the gripper to move up and down.

[0026] In one embodiment, the transmission assembly 21 employs belt drive, including a belt 211 and two pulleys 212. The two pulleys 212 are rotatably connected to the second linear module 2. The belt 211 is wound around the two pulleys 212. One side of the vertical linear module 3 is fixedly connected to the belt 211. When one of the pulleys 212 rotates, it drives the sleeve, thereby moving the vertical linear module 3. One of the pulleys 212 has a D-shaped hole, and the middle section of the connecting shaft 6 is a D-shaped shaft segment. The D-shaped shaft segment engages with the D-shaped hole to drive the pulley 212 and can reciprocate along the axis of the D-shaped hole.

[0027] In one embodiment, both ends of the connecting shaft 6 are sleeves 61, and each sleeve 61 has multiple insert teeth 62 that are evenly and fixedly connected to the inner surface of the sleeve 61. The output shaft of the gearbox 5 and the rotating shaft of the second drive motor 22 are both provided with slots 10. The number of slots 10 is the same as the number of insert teeth 62, and they are evenly arranged at the ends of the output shaft and the rotating shaft. The insert teeth 62 can engage with the slots 10 to transmit power.

[0028] In one embodiment, such as Figure 4As shown, the insert 62 is located on the inner section of the sleeve 61 that is close to the bottom surface, and its length does not exceed half the length of the sleeve 61. In this structure, after the slot 10 at either end of the output shaft of the gearbox 5 and the rotating shaft of the second drive motor 22 is disengaged from the insert 62, it can still remain located on the outer section of the sleeve 61 near the opening, without completely disengaging from contact. This can reduce the shaking of that end of the connecting shaft 6 when it rotates, and also ensure alignment, facilitating the next meshing connection.

[0029] In one embodiment, such as Figure 3 As shown, the second linear module 2 is equipped with a transmission gear 23, which passes through the second linear module 2. The lower end of the transmission gear 23 meshes with the rack 4. The input gear of the gearbox 5 is meshed with the transmission gear 23. Power is transmitted to the transmission gear 23 through the meshing of the transmission gear 23 with the rack 4, facilitating the meshing and transmission between the gearbox 5 and the transmission gear 23.

[0030] The gearbox 5 includes a housing and a set of meshing gears housed within the housing. The housing is detachably and fixedly connected to the second linear module 2. The gears in the gearbox 5 are configured according to actual needs, with the purpose of transmitting the power of the transmission gear 23 to the output shaft. Figure 3 and Figure 4 As shown, since the axis of the transmission gear 23 is perpendicular to the axis of the pulley 212, a bevel gear is required. The gear set includes a cylindrical gear for meshing with the transmission gear 23 for input power, and a bevel gear for output power. The axis of the bevel gear is perpendicular to the axis of the cylindrical gear. A gear set with the fewest gears may include one cylindrical gear and one bevel gear. In this case, the cylindrical gear has a gear ring on its outer surface for connection with the transmission gear 23, and the end face of the cylindrical gear also has a bevel gear ring for connection with the bevel gear. Depending on the needs, other cylindrical gears can be provided between the cylindrical gear and the transmission gear 23 to change the rotation direction of the bevel gear or to reduce or increase speed. The design of gear sets is also a mature existing technology and will not be elaborated further here.

[0031] like Figures 1 to 4As shown, the second linear module 2 is also provided with a toggle mechanism 7 for reciprocating the connecting shaft 6 to engage or disengage one end of it. The toggle mechanism 7 includes a mounting block 71, a toggle rod 72, and a locking screw 73. The mounting block 71 is fixedly connected to the second linear module 2, the toggle rod 72 is slidably connected to the mounting block 71, and the locking screw 73 locks the toggle rod 72 to the mounting block 71. A grooved ring 63 is provided at one end of the connecting shaft 6, and the end of the toggle rod 72 extends into the grooved ring 63. After loosening the locking screw 73, the toggle rod 72 is pushed, causing the connecting shaft 6 to move. Finally, the locking screw 73 is tightened to fix the toggle rod 72. Because the toggle rod 72 is located within the grooved ring 63, it restricts the connection shaft 6, preventing disengagement during rotation.

[0032] The above embodiments are merely explanations of the present invention and are not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An industrial robot with switchable drive modes, comprising a first linear module, a second linear module reciprocating under the drive of the first linear module, and a vertical linear module reciprocating under the drive of the second linear module, wherein the second linear module includes a transmission component for driving the vertical linear module to move and a second drive motor, characterized in that: The first linear module is equipped with a rack arranged along the moving direction of the second linear module. The second linear module is equipped with a gearbox, the input gear of which meshes with the rack. The output shaft of the gearbox is aligned with the rotating shaft of the second drive motor. A connecting shaft for driving the transmission assembly and capable of reciprocating is inserted into the transmission assembly. The two ends of the connecting shaft can mesh with the output shaft of the gearbox and the rotating shaft of the second drive motor, respectively. When one end of the connecting shaft is engaged, the other end is disengaged. The second linear module is also equipped with a mechanism for actuating the connecting shaft to reciprocate. The connecting shaft has a grooved ring on one end, and includes a mounting block fixedly connected to the second linear module, a lever slidably connected to the mounting block, and a locking screw for locking the lever to the mounting block. The end of the lever extends into the grooved ring. The transmission assembly includes a belt and two pulleys, which are rotatably connected to the second linear module. The belt is wound around the two pulleys, and one side perpendicular to the linear module is fixedly connected to the belt. The middle section of the connecting shaft is connected to one of the pulleys.

2. The industrial robot with switchable drive mode according to claim 1, characterized in that: The output shaft of the gearbox and the rotating shaft of the second drive motor are both provided with slots. Both ends of the connecting shaft are sleeves, and the sleeves are provided with insert teeth that can mate with the slots.

3. An industrial robot with switchable drive mode according to claim 2, characterized in that: The insertion teeth are located on the inner section of the sleeve that is close to the bottom surface and their length does not exceed half the length of the sleeve.

4. An industrial robot with switchable drive mode according to claim 1, characterized in that: The second linear module is equipped with a transmission gear, the lower end of which meshes with a rack, and the input gear of the gearbox meshes with the transmission gear.

5. An industrial robot with switchable drive mode according to claim 4, characterized in that: The gearbox includes a housing and a gear set that meshes together inside the housing. The gear set includes a cylindrical gear for meshing with a transmission gear and a bevel gear for output. The housing is detachably and fixedly connected to the second linear module.

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