Robot

Abstract

The utility model provides a robot. The robot comprises a base; the machine table is movably connected with the base body, the machine table can move in the first direction relative to the base body, and the machine table comprises a first stator and a first rotor which does linear motion in the second direction relative to the first stator; the first rotor is used for driving the arm assembly to move under the action of the first stator, the arm assembly comprises a swing arm which is in sliding connection with the first rotor, and the swing arm can do lifting motion in the third direction relative to the first rotor; the mechanical arm is connected with the swing arm, and the swing arm can drive 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 can drive the tail end execution part to execute actions. The arm assembly can drive the workpiece to move in the first direction, can further drive the workpiece to do linear motion in the second direction and can further drive the workpiece to do lifting motion in the third direction. Therefore, the robot can drive the workpiece to move in multiple directions and multiple dimensions according to specific actual use requirements, the workpiece conveying range is expanded, the workpiece conveying range is not limited, and the use performance and market competitiveness of products are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular, to a robot. Background Art

[0002] The robot has a mechanical arm, which is used to grab parts. In the related art, the structure of the mechanical arm is unreasonable, the mechanical arm can only move in one direction, the range of movement is small, the range of carrying parts is limited, and the product performance is low. Utility Model Content

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

[0004] To this end, the present application proposes a robot.

[0005] In view of this, the present application proposes a robot, comprising: a base body; a machine platform, which is movably connected to the base body, the machine platform can move in a first direction relative to the base body, the machine platform comprises a first stator and a first mover which makes a linear motion in a second direction relative to the first stator; an arm assembly, the first mover is used to drive the arm assembly to move under the action of the first stator, the arm assembly comprises: a swing arm, which is slidably connected to the first mover, the swing arm can make a lifting motion in a third direction relative to the first mover; a mechanical arm, which is connected to the swing arm, the swing arm can drive the mechanical arm to rotate around a first axis; an end effector, which is connected to the mechanical arm, the mechanical arm can drive the end effector to perform an action.

[0006] The present application provides a robot comprising a base, a platform and an arm assembly. The end effector of the arm assembly is used to grasp a workpiece.

[0007] The machine includes a first stator and a first mover. The arm assembly includes a swing arm, a mechanical arm and an end actuator, and the end actuator is used to perform an action. The swing arm is connected to the first mover, and the first mover is used to drive the arm assembly (specifically, drive the workpiece grasped by the end actuator of the arm assembly) to perform linear motion in the second direction under the action of the first stator. The machine is movably connected to the base body, and the machine can drive the arm assembly (specifically, drive the workpiece grasped by the end actuator of the arm assembly) to move in the first direction relative to the base body. Driven by the swing arm, the end actuator can perform lifting motion in a third direction relative to the first mover, that is, drive the workpiece grasped by the end actuator to perform lifting motion in the third direction.

[0008] That is to say, the arm assembly can drive the workpiece to move in the first direction, the arm assembly can also drive the workpiece to move linearly in the second direction, the arm assembly can also drive the workpiece to move up and down in the third direction, and the swing arm can drive the mechanical arm to rotate around the first axis. It can be seen that the robot can drive the workpiece to move in multiple directions and dimensions according to specific actual use needs, expand the range of transporting workpieces, make the range of transporting workpieces unrestricted, and improve the product's performance and market competitiveness.

[0009] The machine platform includes a first stator and a first mover, and the first stator and the first mover cooperate so that the first mover drives the arm assembly to perform linear motion in the second direction under the action of the first stator, that is, the first mover can drive the workpiece grasped by the arm assembly to perform linear motion in the second direction. The machine platform 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.

[0010] Furthermore, the arm assembly can move in the second direction under the action of the first mover. The robotic arm can rotate around the first axis under the action of the swing arm, and the swing arm can drive the robotic arm and the end actuator to perform lifting and lowering movements in the third direction, and any two of the first direction, the second direction and the third direction are different. The end actuator can perform actions under the action of the robotic arm. The arm assembly is driven by the first mover to achieve high-speed, high-precision rapid movement. The swing arm drives the robotic arm and the end actuator to rotate, so as to achieve posture adjustment of the workpiece while moving the workpiece rapidly. The swing arm drives the robotic arm and the end actuator to lift and lower, that is, the swing arm drives the robotic arm and the end actuator to lift and lower the workpiece. The robotic arm drives the end actuator to perform actions to achieve the purpose of adjusting the direction and posture of the workpiece being transported.

[0011] By rationally setting up the structure of the robot, while ensuring the effective high-speed and high-precision movement of the grasped workpiece, the posture of the workpiece can be adjusted from multiple directions and angles, which can meet the use requirements of high-precision, high-speed and high-repeatability work.

[0012] The robot described above in this application may also have the following additional technical features:

[0013] In some embodiments, optionally, there are two seats, the two seats are arranged opposite to each other and at intervals, and the machine is movably connected to each seat; wherein the arm assembly is located between the two seats.

[0014] In this embodiment, the number and layout positions of the seats are further defined.

[0015] There are two base bodies, which are arranged opposite to each other and at intervals, and any one of the two base bodies is movably connected to the machine platform.

[0016] The two base bodies are used to support and fix the machine platform, and provide structural support for the machine platform to move in a first direction relative to the base bodies.

[0017] The two seats are arranged opposite to each other and at intervals, and the arm assembly is located between the two seats. The space between the two seats is used for the movement of the arm assembly, and will not hinder the movement of the arm assembly, and will not hinder the arm assembly from picking up and placing workpieces.

[0018] In addition, the two bases cooperate with the machine platform, which increases the cooperation area and cooperation angle between the base and the machine platform, and is beneficial to improving the stability and reliability of the machine platform when it moves relative to the base.

[0019] In some embodiments, optionally, the robot further includes: a drive group, the drive group is used to drive the platform to move relative to the base.

[0020] In this embodiment, the structure of the robot is further defined, so that the robot also includes a drive group, the drive group is used to drive the machine to move relative to the base, and specifically, the robot has the purpose of automatically driving the machine to move. That is, the purpose of the machine moving in the first direction relative to the base is achieved through the drive group.

[0021] In some embodiments, optionally, the robot further includes: a first matching portion, provided on the machine; a second matching portion, provided on the base; a driving portion, provided on at least one of the base and the machine, the driving portion being connected to one of the first matching portion and the second matching portion, and the driving portion being used to drive one of the first matching portion and the second matching portion to move relative to the other.

[0022] In this embodiment, the structure of the robot is further defined.

[0023] The robot further includes a first matching portion, a second matching portion and a driving portion.

[0024] The first matching part is arranged on the machine platform, and the machine platform serves as a mounting carrier of the first matching part and has the function of mounting and fixing the first matching part.

[0025] The second matching portion is arranged on the seat body, and the seat body serves as a mounting carrier of the second matching portion and has the function of mounting and fixing the second matching portion.

[0026] The driving portion is connected to one of the first matching portion and the second matching portion, that is, the driving portion is connected to the first matching portion, or the driving portion is connected to the second matching portion, or both the first matching portion and the second matching portion are connected to the driving portion.

[0027] The driving part is used to drive one of the first matching part and the second matching part to move relative to the other. That is, the driving part, the first matching part and the second matching part cooperate to achieve the machine being able to move in the first direction relative to the base. Specifically, the robot has the purpose of automatically driving the machine to move.

[0028] When there are two base bodies, the robot comprises two first matching parts and two second matching parts. The two first matching parts are arranged on the machine platform at intervals, each second matching part is arranged on one base body, and each first matching part matches with one second matching part.

[0029] In some embodiments, optionally, one of the first mating portion and the second mating portion includes a rack, and the other includes a gear, the rack and the gear are meshed, and the driving portion is used to drive the gear to move along the rack.

[0030] In this embodiment, the structures of the first matching portion and the second matching portion are further defined, so that one of the first matching portion and the second matching portion includes a rack and the other includes a gear. That is, the first matching portion includes a rack and the second matching portion includes a gear. Or the first matching portion includes a gear and the second matching portion includes a rack.

[0031] The driving part is used to drive the gear to move relative to the rack, that is, the driving part is used to drive the gear to move along the rack, so that the driving part drives the machine to move in the first direction relative to the base.

[0032] The meshing of the rack and the gear can ensure the reliability and stability of the movable connection between the machine and the base, so that the shaking amount of the machine relative to the base when moving is small, and can also ensure the effective movement of the machine in the first direction.

[0033] In some embodiments, optionally, one of the first mating portion and the second mating portion includes a first lead screw, and the other includes a nut, the first lead screw is threadedly connected to the nut, and the driving portion is used to drive the nut to move along the first lead screw.

[0034] In this embodiment, the structures of the first matching part and the second matching part are further defined, so that one of the first matching part and the second matching part includes the first screw and the other includes the nut. That is, the first matching part includes the first screw and the second matching part includes the nut. Or the first matching part includes the nut and the second matching part includes the first screw.

[0035] The driving part is used to drive the nut to move relative to the first screw, that is, the driving part is used to drive the nut to move along the first screw, so that the driving part drives the machine to move in the first direction relative to the base.

[0036] The first lead screw is threadedly connected to the nut, which can ensure the reliability and stability of the movable connection between the machine and the base, so that the shaking amount of the machine relative to the base when moving is small, and can also ensure the effective movement of the machine in the first direction.

[0037] In some embodiments, optionally, the first mating portion includes a second stator, the second mating portion includes a second mover, and the driving portion is used to drive the second mover to perform linear motion in a first direction relative to the second stator.

[0038] In this embodiment, the structures of the first matching portion and the second matching portion are further defined, so that the first matching portion includes a second stator, and the second matching portion includes a second mover.

[0039] The driving part is used to drive the second mover to move relative to the second stator, that is, the driving part is used to drive the second mover to move along the second stator, so as to achieve the purpose of the driving part driving the machine to move in the first direction relative to the base.

[0040] The second mover can drive the workpiece grasped by the arm assembly to move linearly in the first direction. The machine 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 transported workpiece, which is conducive to improving the working rhythm and work efficiency of the robot.

[0041] In some embodiments, optionally, when the first mating part includes a gear and the second mating part includes a rack, the driving part includes: a first motor, which is provided on the machine; a reducer, which is provided on the machine, and the first motor is connected to the reducer; a driving pulley, which is connected to the reducer; a synchronous pulley, which is arranged at intervals on one side of the driving pulley; a synchronous belt, and the driving pulley and the synchronous pulley are connected by a synchronous belt; a connecting shaft, which is connected to the synchronous pulley and a gear is provided on the connecting shaft; a bearing seat, which is provided on the machine, and the bearing seat sleeve is provided on the connecting shaft.

[0042] In this embodiment, the structure of the driving part is further defined.

[0043] When the first matching part includes a gear and the second matching part includes a rack, the driving part includes a first motor, a reducer, a driving pulley, a synchronous pulley, a synchronous belt, a connecting shaft and a bearing seat.

[0044] The first motor, the reducer and the bearing seat are all arranged on the machine platform, which has the function of installing and fixing the first motor, the reducer and the bearing seat.

[0045] The synchronous pulleys are arranged at intervals on one side of the driving pulley, the driving pulley and the synchronous pulley are connected through a synchronous belt, a connecting shaft is passed through the synchronous pulley, and a gear is arranged on the connecting shaft.

[0046] The first motor and the reducer work to drive the pulley to rotate, and the driving pulley rotates and drives the synchronous pulley to rotate through the synchronous belt. The rotation of the synchronous belt can drive the connecting shaft to rotate, and the rotation of the connecting shaft drives the gear to rotate, so as to achieve the purpose of the machine moving in the first direction relative to the base.

[0047] In addition, the bearing seat is arranged on the machine platform, and the bearing seat sleeve is arranged on the connecting shaft. This arrangement can ensure the stability and reliability of the gear rotation.

[0048] In some embodiments, optionally, one of the base and the platform is provided with a guide rail, and the other is provided with a slide groove, the slide groove is slidably connected to the guide rail, and the guide rail extends along the first direction.

[0049] In this embodiment, the matching structure between the base body and the machine platform is further defined.

[0050] One of the base and the machine is provided with a guide rail, and the other of the base and the machine is provided with a slide groove. That is, the base is provided with a guide rail, and the machine is provided with a slide groove. Or the base is provided with a slide groove, and the machine is provided with a guide rail.

[0051] The slide groove is slidably connected to the guide rail, and the guide rail extends along the first direction. The slide groove and the guide rail cooperate to limit the motion trajectory of the machine relative to the base, which can ensure the matching size of the machine and the base, and prevent the machine from being separated from the base. It provides effective and reliable structural support for the machine to move in the first direction relative to the base.

[0052] It can be understood that the guide rail extends along the first direction, and the slide groove is slidably connected to the guide rail, which can meet the use requirement of the machine moving along the first direction.

[0053] Optionally, when there are two base bodies, there are two guide rails and two slide slots. Each base body is provided with a guide rail, and the machine platform is provided with two slide slots arranged opposite to each other and at intervals, and each guide rail is slidably connected to one slide slot. Alternatively, each base body is provided with a slide slot, and the machine platform is provided with two guide rails arranged opposite to each other and at intervals, and each guide rail is slidably connected to one slide slot.

[0054] In some embodiments, optionally, the base body includes: a support base, the machine platform is movably connected to the support base; and a column, the column is connected to a side of the support base facing away from the machine platform.

[0055] In this embodiment, the structure of the seat body is further defined.

[0056] The seat body comprises a supporting seat and a column.

[0057] The machine platform is movably connected to the support base, and the column is connected to the side of the support base facing away from the machine platform. The column has the function of supporting and fixing the support base, that is, the column supports the support base so that the support base is separated from the installation surface (for example, the installation surface includes the ground, cabinet surface or table surface, etc., which are not listed here one by one) to prevent the arm assembly from touching the installation surface, thereby providing reliable structural support for the arm assembly to effectively transfer the workpiece.

[0058] In some embodiments, optionally, the robot arm includes a second motor, and the second motor drives the end effector to rotate around the second axis.

[0059] In this embodiment, the matching structure of the robot arm and the end effector is further defined so that the robot arm includes a second motor, and the second motor drives the end effector to rotate around a second axis to achieve the purpose of adjusting the direction and posture of the transported workpiece.

[0060] In some embodiments, optionally, the end effector includes a suction cup, and a pipeline connected to the suction cup is provided in the robot arm.

[0061] In this embodiment, the end effector includes a suction cup, and the second 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 conducive to increasing the matching area between the end effector and the workpiece, and is conducive to improving the effectiveness and feasibility of grasping the workpiece.

[0062] In addition, a pipeline connected to the suction cup is provided in the robot arm, that is, the pipeline is hidden in the robot arm to ensure the aesthetic appearance and to protect the pipeline from damage.

[0063] Optionally, the suction cup comprises a Bernoulli suction cup or a vacuum suction cup. This arrangement ensures the reliability and stability of the grasped workpiece without damaging the workpiece, and can also meet the use requirements of grasping fine workpieces of smaller size.

[0064] In some embodiments, optionally, the swing arm includes a third motor, and the third motor is used to drive the mechanical arm to rotate.

[0065] In this embodiment, the structure of the swing arm is further defined so that the swing arm includes a third motor.

[0066] Optionally, the third motor includes a servo motor or a torque motor.

[0067] Among them, when the third motor includes a servo motor, the robot also includes a reducer, the third motor is electrically connected to the reducer, and the third motor is used to drive the mechanical arm to rotate, which can meet the use requirements of the swing arm driving the mechanical arm to rotate.

[0068] When the third motor includes a torque motor, the robot does not include a reducer.

[0069] In some embodiments, optionally, the robot further includes: a second lead screw and a fourth motor, the swing arm is threadedly connected to the second lead screw, and the fourth motor is used to drive the second lead screw to rotate; or a linear motor, which is used to drive the swing arm to perform lifting motion along a third direction.

[0070] In this embodiment, the robot includes a second leadscrew and a fourth motor.

[0071] Optionally, the fourth motor comprises a servo motor.

[0072] The swing arm is threadedly connected to the second lead screw, and the fourth motor drives the second lead screw to rotate, so as to drive the swing arm to rise and fall along the length direction of the second lead screw.

[0073] Optionally, the second lead screw and the fourth motor are both arranged on the support plate, and the nut and the swing arm of the second lead screw are both connected to the guide block of the second lead screw, that is, the nut and the swing arm are both screwed to the second lead screw through the guide block. The fourth motor works to drive the second lead screw to rotate so that the swing arm moves up and down. The second lead screw and the fourth motor are arranged on the support plate to achieve the stability and reliability of the overall operation of the arm assembly.

[0074] Alternatively, the robot further comprises a linear motor, which is used to drive the swing arm to perform lifting motion along the third direction, so as to achieve the purpose of driving the swing arm to drive the mechanical arm and the end effector to perform lifting motion in the third direction.

[0075] In some embodiments, optionally, the robot further includes: a driver controller; a power supply unit, the machine platform, the arm assembly and the driver controller are all electrically connected to the power supply unit, and the driver controller is used to control the operation of the machine platform and the arm assembly.

[0076] In this embodiment, the structure of the robot is further defined so that the robot further includes a driver controller and a power supply unit.

[0077] The machine, arm assembly and driver are all electrically connected to the power supply. That is, the machine is electrically connected to the power supply, the arm assembly is electrically connected to the power supply, and the driver is electrically connected to the power supply. The driver controls the machine and the arm assembly to work. This setting enables the robot to have the function of automatic control, improves the automation level of the robot, simplifies the difficulty of operating the robot, and is conducive to improving the performance and market competitiveness of the robot.

[0078] 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.

[0079] In this embodiment, the type of the power supply unit is further limited so that the power supply unit is a wireless power supply unit. This reduces the difficulty of wiring the robot, simplifies the difficulty of operating the robot, and helps reduce the repair and maintenance costs of the robot.

[0080] Or the power supply unit includes a power supply line and a drag chain, the machine is electrically connected to the power supply line, and the arm assembly is electrically connected to the power supply line (the arm assembly and the machine are connected to the same power supply line, or the arm assembly and the machine are connected to different power supply lines). The drag chain covers the power supply line, which can meet the use requirements of the curved arrangement of the power supply line and protect the power supply line, thereby preventing the power supply line from being damaged by external forces, which is conducive to extending the service life of the power supply line.

[0081] In some embodiments, optionally, the robot further includes: a limiter, which is used to limit the trajectory of the movement of the arm assembly driven by the first mover.

[0082] In this embodiment, the structure of the robot is further defined so that the robot further includes a limiting member.

[0083] The limiter is used to limit the trajectory of the arm assembly driven by the first mover to ensure the matching size of the first mover and the first stator, and provide effective and reliable structural support for the first mover to drive the arm assembly to move under the action of the first stator.

[0084] Moreover, this structural arrangement can also ensure the movement stroke of the arm assembly, avoid the arm assembly from being separated from the first stator, and ensure the effective matching size of the machine platform and the arm assembly.

[0085] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0087] Figure 1 A schematic structural diagram of a robot from a first perspective according to an embodiment of the present application is shown;

[0088] Figure 2 for Figure 1 A partial enlarged view of the robot shown;

[0089] Figure 3 A schematic diagram showing the structure of a robot from a second perspective according to an embodiment of the present application is shown;

[0090] Figure 4 for Figure 3 A partial enlarged view of position B of the robot shown;

[0091] Figure 5 for Figure 3 A partial enlarged view of position C of the robot shown;

[0092] Figure 6 A schematic structural diagram of a first lead screw and a nut according to an embodiment of the present application is shown;

[0093] Figure 7 A schematic structural diagram of a second stator and a second mover of an embodiment of the present application is shown.

[0094] in, Figures 1 to 7 The corresponding relationship between the reference numerals and component names is as follows:

[0095] 10 robot, 100 seat, 110 support seat, 120 column, 200 machine, 210 first stator, 220 first mover, 300 arm assembly, 310 swing arm, 312 third motor, 320 robot arm, 322 second motor, 330 end effector, 332 suction cup, 400 first matching part, 500 second matching part, 600 driving part, 610 first motor, 620 reducer, 630 driving pulley, 640 synchronous pulley, 650 connecting shaft, 6 60 bearing seat, 670 synchronous belt, 700 rack, 800 gear, 1100 guide rail, 1200 slide, 1300 second screw, 1400 fourth motor, 1600 drive controller, 1700 power supply unit, 1710 power supply line, 1720 drag chain, 1800 limiter, 1900 first axis, 2000 second axis, 2100 pipeline, 2200 mounting seat, 2300 first screw, 2400 nut, 2500 second stator, 2600 second mover. DETAILED DESCRIPTION

[0096] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0097] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0098] Refer to the following Figures 1 to 7 A robot 10 according to some embodiments of the present application.

[0099] like Figure 1 , Figure 2 and Figure 3 As shown, a robot 10 according to some embodiments of the present application includes a base 100, a platform 200 and an arm assembly 300.

[0100] The machine platform 200 is movably connected to the base body 100 .

[0101] The platform 200 can move in a first direction relative to the base 100 .

[0102] The platform 200 includes a first stator 210 and a first mover 220 that performs linear motion in a second direction relative to the first stator 210 .

[0103] The first mover 220 is used to drive the arm assembly 300 to move under the action of the first stator 210 .

[0104] The arm assembly 300 includes a swing arm 310 , a robot arm 320 , and an end effector 330 .

[0105] The swing arm 310 is slidably connected to the first mover 220 .

[0106] The swing arm 310 can move up and down in the third direction relative to the first mover 220 .

[0107] The mechanical arm 320 is connected to the swing arm 310 .

[0108] The swing arm 310 can drive the mechanical arm 320 to rotate around the first axis 1900 .

[0109] The end effector 330 is connected to the robot arm 320 .

[0110] The robot arm 320 can drive the end effector 330 to perform an action.

[0111] The robot 10 provided in the present application includes a base 100, a platform 200 and an arm assembly 300. The end effector 330 of the arm assembly 300 is used to grasp a workpiece.

[0112] The machine 200 includes a first stator 210 and a first mover 220. The arm assembly 300 includes a swing arm 310, a mechanical arm 320 and an end effector 330, and the end effector 330 is used to perform an action. The swing arm 310 is connected to the first mover 220, and the first mover 220 is used to drive the arm assembly 300 (specifically, drive the workpiece grasped by the end effector 330 of the arm assembly 300) to perform linear motion in the second direction under the action of the first stator 210. The machine 200 is movably connected to the base 100, and the machine 200 can drive the arm assembly 300 (specifically, drive the workpiece grasped by the end effector 330 of the arm assembly 300) to move in the first direction relative to the base 100. The end effector 330 can perform lifting motion in the third direction relative to the first mover 220 under the drive of the swing arm 310, that is, drive the workpiece grasped by the end effector 330 to perform lifting motion in the third direction.

[0113] That is to say, the arm assembly 300 can drive the workpiece to move in the first direction, the arm assembly 300 can also drive the workpiece to move linearly in the second direction, and the arm assembly 300 can also drive the workpiece to move up and down in the third direction. It can be seen that the robot 10 can drive the workpiece to move in multiple directions and dimensions according to specific actual use needs, expand the range of transporting workpieces, make the range of transporting workpieces unlimited, and improve the product's performance and market competitiveness.

[0114] The machine 200 includes a first stator 210 and a first mover 220. The first stator 210 and the first mover 220 cooperate so that the first mover 220 drives the arm assembly 300 to perform linear motion in the second direction under the action of the first stator 210. That is, the first mover 220 can drive the workpiece grasped by the arm assembly 300 to perform linear motion in the second direction. The machine 200 can effectively drive the grasped workpiece to move along a straight line at high speed and high precision, and can achieve high-speed movement of the workpiece, which is conducive to improving the working rhythm and work efficiency of the robot 10.

[0115] Further, the arm assembly 300 can move in the second direction under the action of the first mover 220. The mechanical arm 320 can rotate around the first axis 1900 under the action of the swing arm 310, and the swing arm 310 can drive the mechanical arm 320 and the end effector 330 to perform lifting and lowering movements in the third direction, and any two of the first direction, the second direction and the third direction are different. The end effector 330 can perform actions under the action of the mechanical arm 320. The first mover 220 drives the arm assembly 300 to achieve high-speed, high-precision rapid movement. The swing arm 310 drives the mechanical arm 320 and the end effector 330 to rotate, so as to achieve the posture adjustment of the workpiece while moving the workpiece rapidly. The swing arm 310 drives the mechanical arm 320 and the end effector 330 to lift and lower, that is, the swing arm 310 drives the mechanical arm 320 and the end effector 330 to lift and lower the workpiece. The mechanical arm 320 drives the end effector 330 to perform actions to achieve the effect of adjusting the direction and posture of the workpiece being transported.

[0116] By rationally arranging the structure of the robot 10, while ensuring that the grasped workpiece is effectively driven to move at high speed and high precision, the posture of the workpiece can be adjusted from multiple directions and multiple angles, and the use requirements of high-precision, high-speed and high-repeatability work can be met.

[0117] Optionally, any two of the first direction, the second direction and the third direction are perpendicular to each other. Optionally, the angle between any two of the first direction, the second direction and the third direction is an acute angle. Optionally, the angle between any two of the first direction, the second direction and the third direction is an obtuse angle.

[0118] In some embodiments, optionally, Figure 1 As shown, there are two seats 100 .

[0119] The two seats 100 are arranged opposite to each other and spaced apart.

[0120] The machine platform 200 is movably connected to each base body 100 .

[0121] The arm assembly 300 is located between the two base bodies 100 .

[0122] In this embodiment, the number and layout positions of the base bodies 100 are further defined.

[0123] There are two base bodies 100, which are arranged opposite to each other and spaced apart, and any one of the two base bodies 100 is movably connected to the machine platform 200. Specifically, the two base bodies 100 are arranged opposite to each other and spaced apart along the second direction.

[0124] The two base bodies 100 are used to support and fix the platform 200 , and provide structural support for the platform 200 to move in a first direction relative to the base bodies 100 .

[0125] The two base bodies 100 are arranged opposite to each other and spaced apart, and the arm assembly 300 is located between the two base bodies 100. The space between the two base bodies 100 is used for the movement of the arm assembly 300, and will not hinder the movement of the arm assembly 300, and will not hinder the arm assembly 300 from picking up and placing workpieces.

[0126] In addition, the two bases 100 cooperate with the machine platform 200 to increase the cooperation area and cooperation angle between the base 100 and the machine platform 200 , which is beneficial to improve the stability and reliability of the machine platform 200 when it moves relative to the base 100 .

[0127] In some embodiments, optionally, the robot 10 further includes: a driving group, the driving group is used to drive the platform 200 to move relative to the base 100.

[0128] In this embodiment, the structure of the robot 10 is further defined, so that the robot 10 also includes a driving group, and the driving group is used to drive the platform 200 to move relative to the base 100. Specifically, the robot 10 has the purpose of automatically driving the platform 200 to move. In other words, the purpose of the platform 200 moving in the first direction relative to the base 100 is achieved through the driving group.

[0129] In some embodiments, optionally, Figure 1 , Figure 3 and Figure 4 As shown, the robot 10 further includes a first mating portion 400 , a second mating portion 500 and a driving portion 600 .

[0130] The first matching portion 400 is disposed on the machine 200 .

[0131] The second matching portion 500 is disposed on the base body 100 .

[0132] The driving unit 600 is disposed on at least one of the base 100 and the platform 200 .

[0133] The driving portion 600 is connected to one of the first matching portion 400 and the second matching portion 500 .

[0134] The driving portion 600 is used to drive one of the first matching portion 400 and the second matching portion 500 to move relative to the other.

[0135] In this embodiment, the structure of the robot 10 is further defined.

[0136] The robot 10 further includes a first mating portion 400 , a second mating portion 500 and a driving portion 600 .

[0137] The first matching portion 400 is disposed on the machine platform 200 . The machine platform 200 serves as a mounting carrier of the first matching portion 400 and has the function of mounting and fixing the first matching portion 400 .

[0138] The second matching portion 500 is disposed on the base body 100 . The base body 100 serves as a mounting carrier of the second matching portion 500 and has the function of mounting and fixing the second matching portion 500 .

[0139] The driving portion 600 is connected to one of the first matching portion 400 and the second matching portion 500 , that is, the driving portion 600 is connected to the first matching portion 400 , or the driving portion 600 is connected to the second matching portion 500 , or both the first matching portion 400 and the second matching portion 500 are connected to the driving portion 600 .

[0140] The driving part 600 is used to drive one of the first matching part 400 and the second matching part 500 to move relative to the other. That is, the driving part 600, the first matching part 400 and the second matching part 500 cooperate to achieve the machine 200 being able to move in the first direction relative to the base 100. Specifically, the robot 10 has the purpose of automatically driving the machine 200 to move.

[0141] When there are two base bodies 100, the robot 10 includes two first matching parts 400 and two second matching parts 500. The two first matching parts 400 are arranged on the platform 200 at intervals, each second matching part 500 is provided on one base body 100, and each first matching part 400 matches with one second matching part 500.

[0142] In some embodiments, optionally, Figure 1 , Figure 3 and Figure 5 As shown, one of the first mating portion 400 and the second mating portion 500 includes a rack 700 , and the other includes a gear 800 .

[0143] The rack 700 and the gear 800 are meshed.

[0144] The driving unit 600 is used to drive the gear 800 to move along the rack 700 .

[0145] In this embodiment, the structures of the first mating portion 400 and the second mating portion 500 are further defined, so that one of the first mating portion 400 and the second mating portion 500 includes a rack 700, and the other includes a gear 800. That is, the first mating portion 400 includes the rack 700, and the second mating portion 500 includes the gear 800. Alternatively, the first mating portion 400 includes the gear 800, and the second mating portion 500 includes the rack 700.

[0146] The driving unit 600 is used to drive the gear 800 to move relative to the rack 700 , that is, the driving unit 600 is used to drive the gear 800 to move along the rack 700 , so that the driving unit 600 drives the platform 200 to move relative to the base 100 in the first direction.

[0147] The rack 700 meshes with the gear 800 to ensure the reliability and stability of the active connection between the platform 200 and the base 100, so that the platform 200 has a smaller shaking amount when moving relative to the base 100, and can also ensure that the platform 200 moves effectively in the first direction.

[0148] In some embodiments, optionally, Figure 6 As shown, one of the first mating portion 400 and the second mating portion 500 includes a first lead screw 2300 , and the other includes a nut 2400 .

[0149] The first lead screw 2300 is threadedly connected to the nut 2400 .

[0150] The driving portion 600 is used to drive the nut 2400 to move along the first lead screw 2300 .

[0151] In this embodiment, the structures of the first matching portion 400 and the second matching portion 500 are further defined, so that one of the first matching portion 400 and the second matching portion 500 includes the first lead screw 2300, and the other includes the nut 2400. That is, the first matching portion 400 includes the first lead screw 2300, and the second matching portion 500 includes the nut 2400. Alternatively, the first matching portion 400 includes the nut 2400, and the second matching portion 500 includes the first lead screw 2300.

[0152] The driving part 600 is used to drive the nut 2400 to move relative to the first screw 2300 , that is, the driving part 600 is used to drive the nut 2400 to move along the first screw 2300 , so that the driving part 600 drives the machine 200 to move in the first direction relative to the base 100 .

[0153] The first lead screw 2300 and the nut 2400 are threadedly connected to ensure the reliability and stability of the movable connection between the platform 200 and the base 100, so that the shaking amount of the platform 200 relative to the base 100 is small, and the platform 200 can also be ensured to move effectively in the first direction.

[0154] In some embodiments, optionally, Figure 7 As shown, the first mating portion 400 includes a second stator 2500 .

[0155] The second matching portion 500 includes a second mover 2600 .

[0156] The driving unit 600 is used to drive the second mover 2600 to perform linear motion in a first direction relative to the second stator 2500 .

[0157] In this embodiment, the structures of the first matching portion 400 and the second matching portion 500 are further defined, such that the first matching portion 400 includes a second stator 2500 , and the second matching portion 500 includes a second mover 2600 .

[0158] The driving part 600 is used to drive the second mover 2600 to move relative to the second stator 2500 , that is, the driving part 600 is used to drive the second mover 2600 to move along the second stator 2500 , so that the driving part 600 drives the machine 200 to move in the first direction relative to the base 100 .

[0159] The second mover 2600 can drive the workpiece grasped by the arm assembly 300 to move linearly in the first direction. The machine platform 200 can effectively drive the grasped workpiece to move along a straight line at high speed and high precision, and can achieve high-speed movement of the workpiece, which is conducive to improving the working rhythm and working efficiency of the robot 10.

[0160] In some embodiments, optionally, Figure 3 , Figure 4 and Figure 5 As shown, when the first mating part 400 includes the gear 800 and the second mating part 500 includes the rack 700, the driving part 600 includes a first motor 610, a reducer 620, a driving pulley 630, a synchronous pulley 640, a synchronous belt 670, a connecting shaft 650 and a bearing seat 660.

[0161] The first motor 610 is disposed on the machine 200 .

[0162] The speed reducer 620 is disposed on the machine platform 200 .

[0163] The first motor 610 is connected to the reducer 620 .

[0164] The driving pulley 630 is connected to the speed reducer 620 .

[0165] The synchronous pulleys 640 are arranged at one side of the driving pulley 630 at an interval.

[0166] The driving pulley 630 and the synchronous pulley 640 are connected by a synchronous belt 670 .

[0167] The connecting shaft 650 is connected to the synchronous pulley 640 , and a gear 800 is disposed on the connecting shaft 650 .

[0168] The bearing seat 660 is disposed on the machine platform 200 .

[0169] The bearing seat 660 is sleeved on the connecting shaft 650 .

[0170] In this embodiment, the structure of the driving part 600 is further defined.

[0171] When the first mating portion 400 includes the gear 800 and the second mating portion 500 includes the rack 700 , the driving portion 600 includes a first motor 610 , a reducer 620 , a driving pulley 630 , a synchronous pulley 640 , a synchronous belt 670 , a connecting shaft 650 and a bearing seat 660 .

[0172] The first motor 610, the reducer 620 and the bearing seat 660 are all arranged on the machine platform 200. The machine platform 200 has the function of installing and fixing the first motor 610, the reducer 620 and the bearing seat 660.

[0173] The synchronous pulleys 640 are arranged at intervals on one side of the driving pulley 630 . The driving pulley 630 and the synchronous pulley 640 are connected by a synchronous belt 670 . The connecting shaft 650 is connected to the synchronous pulley 640 , and a gear 800 is provided on the connecting shaft 650 .

[0174] The first motor 610 and the reducer 620 work to drive the pulley 630 to rotate, and the driving pulley 630 rotates and drives the synchronous pulley 640 to rotate through the synchronous belt 670. The rotation of the synchronous belt 670 can drive the connecting shaft 650 to rotate, and the rotation of the connecting shaft 650 drives the gear 800 to rotate, so as to achieve the purpose of the machine 200 moving relative to the base 100 in the first direction.

[0175] In addition, the bearing seat 660 is disposed on the machine platform 200 , and the bearing seat 660 is sleeved on the connecting shaft 650 . This arrangement can ensure the stability and reliability of the rotation of the gear 800 .

[0176] In some embodiments, optionally, Figure 1 , Figure 3 and Figure 5 As shown, one of the base 100 and the platform 200 is provided with a guide rail 1100 , and the other is provided with a slide groove 1200 .

[0177] The slide groove 1200 is slidably connected to the guide rail 1100 .

[0178] The guide rail 1100 extends along a first direction.

[0179] In this embodiment, the matching structure of the base 100 and the platform 200 is further defined.

[0180] One of the base 100 and the platform 200 is provided with a guide rail 1100, and the other of the base 100 and the platform 200 is provided with a slide groove 1200. That is, the base 100 is provided with the guide rail 1100, and the platform 200 is provided with the slide groove 1200. Alternatively, the base 100 is provided with the slide groove 1200, and the platform 200 is provided with the guide rail 1100.

[0181] The slide groove 1200 is slidably connected to the guide rail 1100, and the guide rail 1100 extends along the first direction. The slide groove 1200 cooperates with the guide rail 1100 to limit the motion trajectory of the platform 200 relative to the base 100, which can ensure the matching size of the platform 200 and the base 100, and the platform 200 will not be separated from the base 100. It provides effective and reliable structural support for the platform 200 to move relative to the base 100 in the first direction.

[0182] It can be understood that the guide rail 1100 extends along the first direction, and the slide groove 1200 is slidably connected to the guide rail 1100, which can meet the use requirement of the machine 200 moving along the first direction.

[0183] Optionally, when there are two base bodies 100, there are two guide rails 1100 and two slide grooves 1200. Each base body 100 is provided with a guide rail 1100, and the machine platform 200 is provided with two slide grooves 1200 arranged oppositely and at intervals, and each guide rail 1100 is slidably connected to a slide groove 1200. Alternatively, each base body 100 is provided with a slide groove 1200, and the machine platform 200 is provided with two guide rails 1100 arranged oppositely and at intervals, and each guide rail 1100 is slidably connected to a slide groove 1200.

[0184] In some embodiments, optionally, Figure 1 and Figure 3 As shown, the seat body 100 includes a support seat 110 and a column 120 .

[0185] The platform 200 is movably connected to the support base 110 .

[0186] The column 120 is connected to a side of the support base 110 that is away from the platform 200 .

[0187] In this embodiment, the structure of the base body 100 is further defined.

[0188] The seat body 100 includes a support seat 110 and a column 120 .

[0189] The machine 200 is movably connected to the support base 110, and the column 120 is connected to the side of the support base 110 facing away from the machine 200. The column 120 has the function of supporting and fixing the support base 110, that is, the column 120 supports the support base 110 so that the support base 110 is separated from the installation surface (for example, the installation surface includes the ground, the cabinet surface or the table surface, etc., which are not listed here one by one), so as to prevent the arm assembly 300 from touching the installation surface, and provide reliable structural support for the arm assembly 300 to effectively transfer the workpiece.

[0190] In some embodiments, optionally, Figure 1 and Figure 2 As shown, the robot arm 320 includes a second motor 322 .

[0191] The second motor 322 drives the end effector 330 to rotate around the second axis 2000 .

[0192] In this embodiment, the matching structure of the robot arm 320 and the end effector 330 is further defined, so that the robot arm 320 includes a second motor 322, and the second motor 322 drives the end effector 330 to rotate around the second axis 2000 to achieve the purpose of adjusting the direction and posture of the transported workpiece.

[0193] In some embodiments, optionally, Figure 1 and Figure 2 As shown, the end effector 330 includes a suction cup 332 .

[0194] A pipeline 2100 connected to the suction cup 332 is disposed in the robot arm 320 .

[0195] In this embodiment, the end effector 330 includes a suction cup 332, and the second motor 322 is used to drive the suction cup 332 to rotate. The suction cup 332 is used to absorb the workpiece. The structural setting of the suction cup 332 is conducive to increasing the matching area between the end effector 330 and the workpiece, which is conducive to improving the effectiveness and feasibility of grasping the workpiece.

[0196] In addition, a pipe 2100 connected to the suction cup 332 is provided in the robot arm 320, that is, the pipe 2100 is hidden in the robot arm 320 to ensure the aesthetic appearance and to protect the pipe 2100 to avoid damage to the pipe 2100.

[0197] Optionally, the suction cup 332 includes a Bernoulli suction cup or a vacuum suction cup. This arrangement ensures the reliability and stability of the grasping workpiece without damaging the workpiece, and can also meet the use requirements of grasping small-sized delicate workpieces.

[0198] Optionally, the robot 10 is provided with a vacuum pipeline, which is arranged in the arm assembly 300 and is connected to the vacuum suction cup.

[0199] In some embodiments, optionally, Figure 1 and Figure 2 As shown, the swing arm 310 includes a third motor 312 .

[0200] The third motor 312 is used to drive the mechanical arm 320 to rotate.

[0201] In this embodiment, the structure of the swing arm 310 is further defined such that the swing arm 310 includes a third motor 312 .

[0202] Optionally, the third motor 312 includes a servo motor or a torque motor.

[0203] Among them, when the third motor 312 includes a servo motor, the robot 10 also includes a reducer, the third motor 312 is electrically connected to the reducer, and the third motor 312 is used to drive the robotic arm 320 to rotate, which can meet the use requirements of the swing arm 310 driving the robotic arm 320 to rotate.

[0204] When the third motor 312 includes a torque motor, the robot 10 does not include a reducer.

[0205] In some embodiments, optionally, Figure 1 and Figure 2 As shown, the robot 10 further includes a second lead screw 1300 and a fourth motor 1400 .

[0206] The swing arm 310 is threadedly connected to the second lead screw 1300 .

[0207] The fourth motor 1400 is used to drive the second lead screw 1300 to rotate.

[0208] Alternatively, the robot 10 further includes a linear motor, which is used to drive the swing arm 310 to perform lifting motion along the third direction.

[0209] In this embodiment, the robot 10 includes a second lead screw 1300 and a fourth motor 1400 .

[0210] Optionally, the fourth motor 1400 includes a servo motor.

[0211] The swing arm 310 is threadedly connected to the second lead screw 1300 , and the fourth motor 1400 drives the second lead screw 1300 to rotate, so as to drive the swing arm 310 to rise and fall along the length direction of the second lead screw 1300 .

[0212] Optionally, the second lead screw 1300 and the fourth motor 1400 are both arranged on the support plate, and the nut 2400 and the swing arm 310 of the second lead screw 1300 are both connected to the guide block of the second lead screw 1300, that is, the nut 2400 and the swing arm 310 are both screwed to the second lead screw 1300 through the guide block. The fourth motor 1400 works to drive the second lead screw 1300 to rotate so that the swing arm 310 moves up and down. The second lead screw 1300 and the fourth motor 1400 are arranged on the support plate to achieve the stability of the overall operation of the arm assembly 300 and the reliability of the overall operation.

[0213] Alternatively, the robot 10 further includes a linear motor, which is used to drive the swing arm 310 to perform lifting motion along the third direction, so as to achieve the purpose of driving the swing arm 310 to drive the mechanical arm 320 and the end execution part 330 to perform lifting motion in the third direction.

[0214] In some embodiments, optionally, Figure 2 As shown, the robot 10 further includes a driver controller 1600 and a power supply unit 1700 .

[0215] The platform 200 , the arm assembly 300 , and the driver controller 1600 are all electrically connected to the power supply unit 1700 .

[0216] The driver controller 1600 is used to control the operation of the platform 200 and the arm assembly 300 .

[0217] In this embodiment, the structure of the robot 10 is further defined such that the robot 10 further includes a driver controller 1600 and a power supply unit 1700 .

[0218] The machine 200, the arm assembly 300 and the driver 1600 are all electrically connected to the power supply 1700. That is, the machine 200 is electrically connected to the power supply 1700, the arm assembly 300 is electrically connected to the power supply 1700, and the driver 1600 is electrically connected to the power supply 1700. The driver 1600 controls the machine 200 and the arm assembly 300 to work. 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 is conducive to improving the use performance and market competitiveness of the robot 10.

[0219] In some embodiments, optionally, Figure 1 As shown, the power supply unit 1700 is a wireless power supply unit; or the power supply unit 1700 includes a power supply line 1710 and a drag chain 1720 , and the drag chain 1720 covers the power supply line 1710 .

[0220] In this embodiment, the type of the power supply unit 1700 is further limited so that the power supply unit 1700 is a wireless power supply unit. This reduces the wiring difficulty of the robot 10 , simplifies the operation difficulty of the robot 10 , and helps to reduce the repair and maintenance costs of the robot 10 .

[0221] Alternatively, the power supply unit 1700 includes a power supply line 1710 and a drag chain 1720, the machine 200 is electrically connected to the power supply line 1710, and the arm assembly 300 is electrically connected to the power supply line 1710 (the arm assembly 300 and the machine 200 are connected to the same power supply line 1710, or the arm assembly 300 and the machine 200 are connected to different power supply lines 1710). The drag chain 1720 covers the power supply line 1710, and the drag chain 1720 can not only meet the use requirements of the curved arrangement of the power supply line 1710, but also has the function of protecting the power supply line 1710, avoiding the situation where the power supply line 1710 is damaged by external forces, which is conducive to extending the service life of the power supply line 1710.

[0222] In some embodiments, optionally, Figure 1 As shown, the robot 10 further includes a limiting member 1800 .

[0223] The limiting member 1800 is used to limit the trajectory of the arm assembly 300 driven by the first mover 220 to move.

[0224] In this embodiment, the structure of the robot 10 is further limited so that the robot 10 further includes a limiting member 1800 .

[0225] The limiter 1800 is used to limit the trajectory of the arm assembly 300 driven by the first mover 220 to ensure the matching size of the first mover 220 and the first stator 210, and to provide effective and reliable structural support for the first mover 220 to drive the arm assembly 300 to move under the action of the first stator 210.

[0226] Moreover, this structural setting can also ensure the movement range of the arm assembly 300, avoid the arm assembly 300 from being separated from the first stator 210, and ensure the effective matching size of the machine platform 200 and the arm assembly 300.

[0227] Optionally, one of the first stator 210 and the first mover 220 includes a magnet, and the other includes a coil.

[0228] The structure of the stage 200 is further defined such that one of the first stator 210 of the stage 200 and the first mover 220 of the stage 200 includes a magnet and the other includes a coil. The first stator 210 of the stage 200 includes a magnet and the first mover 220 of the stage 200 includes a coil. Alternatively, the first stator 210 of the stage 200 includes a coil and the first mover 220 of the stage 200 includes a magnet.

[0229] That is, the machine 200 includes a moving coil linear motor or a moving magnet linear motor.

[0230] Optionally, the robot 10 of the present application is suitable for photovoltaic string welding and fast and flexible grasping of moving workpieces. In the process of high-precision and high-speed linear motion, the workpieces such as photovoltaic sheets can be flexibly grasped by swinging arms, lifting and adjusting postures. The workpieces can be efficiently transported and moved, and the working rhythm and efficiency of the whole machine can be improved.

[0231] The robot 10 of the present application is additionally provided with a gantry track (ie, the base body 100 ) to expand the range of the robot 10 for transferring workpieces, enhance the handling and grasping performance, and further improve the work efficiency.

[0232] like Figure 2 As shown, the robot 10 includes an arm assembly 300 , a platform 200 , a support base 110 , a rack 700 , a guide rail 1100 and a column 120 .

[0233] The arm assembly 300 can perform four-axis compound linkage on the machine 200. The four axes include J1 axis, J2 axis, J3 axis and J4 axis respectively. The J1 axis is a linear motor drive axis, which drives the arm assembly 300 fixed on the support plate through the first mover 220 to achieve high-speed and high-precision rapid movement. The J2 axis is a swing arm axis, the J3 axis is a lifting axis, and the J4 axis is a posture adjustment axis. The J2 axis drives the J4 axis at the front end to achieve posture adjustment of the workpiece while quickly swinging the arm to move the workpiece. The J3 axis drives the J2 axis and the J4 axis to swing and lift the workpiece. The J4 axis can adjust the direction and posture of the workpiece being transported. The front end of the J4 axis is provided with an end actuator 330 for grabbing and transporting the workpiece. Among them, the J1 axis drives the arm assembly 300 to move in the second direction through the first mover 220. The J2 axis drives the mechanical arm 320 to rotate around the first axis 1900. The J3 axis drives the arm assembly 300 to move in the third direction. The J4 axis drives the end actuator 330 to rotate around the second axis 2000.

[0234] The platform 200 performs linear motion on the base 100 via the guide rail 1100 , and the rack 700 and the gear 800 are meshed to meet the use requirement of the platform 200 moving in a first direction relative to the base 100 .

[0235] The support base 110 is connected to the ground through a column 120 .

[0236] like Figure 3 , Figure 4 and Figure 5 As shown, the robot 10 includes a first motor 610 , a reducer 620 , a mounting seat 2200 , a driving pulley 630 , a synchronous belt 670 , a synchronous pulley 640 , a connecting shaft 650 , a bearing seat 660 and a gear 800 .

[0237] The first motor 610 and the reducer 620 are connected to form a module, and the module is connected to the machine platform 200 through the mounting base 2200 .

[0238] The output end of the speed reducer 620 (ie, the driving pulley 630 ) drives the synchronous pulley 640 via the synchronous belt 670 , thereby driving the connecting shaft 650 to rotate.

[0239] The connecting shaft 650 is connected to the machine platform 200 via a bearing seat 660 .

[0240] Gears 800 are provided at both ends of the connecting shaft 650 . When the connecting shaft 650 rotates, the machine platform 200 is driven to perform linear motion through the meshing of the gears 800 and the rack 700 .

[0241] In this application, the term "plurality" means two or more than two, unless otherwise clearly defined. The terms "installed", "connected", "connected", "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 this application can be understood according to the specific circumstances.

[0242] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: include: seat body; A machine platform, wherein the machine platform is movably connected to the base body, the machine platform can move in a first direction relative to the base body, and the machine platform includes a first stator and a first mover that performs linear motion in a second direction relative to the first stator; The arm assembly, wherein the first mover is used to drive the arm assembly to move under the action of the first stator, and the arm assembly includes: a swing arm, slidably connected to the first mover, and capable of performing lifting and lowering motion in a third direction relative to the first mover; A mechanical arm connected to the swing arm, wherein the swing arm can drive the mechanical arm to rotate around a first axis; The end effector is connected to the robot arm, and the robot arm can drive the end effector to perform an action.

2. The robot according to claim 1, characterized in that: There are two seats, which are arranged opposite to each other and spaced apart, and the machine is movably connected to each seat; Wherein, the arm assembly is located between the two seat bodies.

3. The robot according to claim 1 or 2, characterized in that: Also includes: A first matching portion, provided on the machine; A second matching portion, disposed on the seat body; A driving part is provided on at least one of the base and the machine, the driving part is connected to one of the first matching part and the second matching part, and the driving part is used to drive one of the first matching part and the second matching part to move relative to the other.

4. The robot according to claim 3, characterized in that: One of the first matching portion and the second matching portion includes a rack, and the other includes a gear, the rack and the gear are meshed, and the driving portion is used to drive the gear to move along the rack; or One of the first matching portion and the second matching portion includes a first lead screw, and the other includes a nut, the first lead screw is threadedly connected to the nut, and the driving portion is used to drive the nut to move along the first lead screw; or The first matching portion includes a second stator, the second matching portion includes a second mover, and the driving portion is used to drive the second mover to perform linear motion in the first direction relative to the second stator.

5. The robot according to claim 4, characterized in that: When the first matching portion includes the gear and the second matching portion includes the rack, the driving portion includes: A first motor, provided on the machine platform; A reducer is provided on the machine platform, and the first motor is connected to the reducer; A driving pulley connected to the reducer; Synchronous pulleys are arranged at intervals on one side of the driving pulley; A synchronous belt, the driving pulley and the synchronous pulley are connected by the synchronous belt; A connecting shaft, which is connected to the synchronous pulley and the gear is arranged on the connecting shaft; A bearing seat is arranged on the machine platform, and the bearing seat sleeve is arranged on the connecting shaft.

6. The robot according to claim 1 or 2, characterized in that: One of the base and the platform is provided with a guide rail, and the other is provided with a slide groove, the slide groove is slidably connected to the guide rail, and the guide rail extends along the first direction.

7. The robot according to claim 1 or 2, characterized in that: The seat body comprises: A support base, the machine platform is movably connected to the support base; A column is connected to a side of the support base facing away from the machine platform.

8. The robot according to claim 1 or 2, characterized in that: The robot arm includes a second motor, and the second motor drives the end effector to rotate around a second axis.

9. The robot according to claim 8, characterized in that: The end effector comprises a suction cup, and a pipeline connected to the suction cup is arranged in the robot arm.

10. The robot according to claim 1 or 2, characterized in that: The swing arm includes a third motor, and the third motor is used to drive the mechanical arm to rotate.

11. The robot according to claim 1 or 2, characterized in that: Also includes: A second lead screw and a fourth motor, the swing arm is threadedly connected to the second lead screw, and the fourth motor is used to drive the second lead screw to rotate; or A linear motor is used to drive the swing arm to perform lifting motion along the third direction.

12. The robot according to claim 1 or 2, characterized in that: Also includes: Driver controller; A power supply unit, the machine platform, 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 machine platform and the arm assembly.

13. The robot according to claim 12, characterized in that: 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.

14. The robot according to claim 1 or 2, characterized in that: Also includes: A limiting member is used to limit the trajectory of the arm assembly driven by the first mover to move.

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