High-speed robot

Abstract

The utility model discloses a high-speed robot, which relates to the technical field of robots and comprises a base. The first rotating arm assembly comprises a first driving part and a first rotating arm, and the first driving part is arranged on the base and is in driving connection with the first rotating arm; the second rotating arm assembly comprises a second driving part and a second rotating arm, the second rotating arm is arranged at the end, away from the base, of the first rotating arm, and the second driving part is arranged at the end, close to the base, of the first rotating arm and is in driving connection with the second rotating arm; the output assembly comprises a lead screw structure, a third driving part and a fourth driving part, the third driving part and the fourth driving part are both arranged on the second rotating arm, the third driving part is used for driving the lead screw structure to move in the axial direction, and the fourth driving part is used for driving the lead screw structure to rotate in the circumferential direction; and the heat dissipation assemblies are arranged on the first driving piece, the second driving piece, the third driving piece and the fourth driving piece correspondingly. According to the technical scheme, the working efficiency of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a high-speed robot. Background Art

[0002] With the rapid development of science and technology, SCARA robots have been widely used in various industries, and the requirements for speed and precision are getting higher and higher. In the existing technology, ultra-high-speed SCARA robots use all or part of the motors to be placed at the base to reduce the mass and inertia of the robot arm and thus increase the running speed of the robot. However, the base of this SCARA robot occupies a large area, the multi-stage transmission structure of the whole machine is complex, and the end precision will be lost. Its load capacity and reliability are low, and its working efficiency is low. Utility Model Content

[0003] The main purpose of the utility model is to provide a high-speed robot, aiming to improve the working efficiency of the robot.

[0004] To achieve the above purpose, the high-speed robot proposed by the utility model includes:

[0005] Base;

[0006] A first rotating arm assembly comprises a first driving member and a first rotating arm, wherein the first driving member is disposed on the base and is drivingly connected to the first rotating arm to drive the first rotating arm to rotate;

[0007] A second rotating arm assembly, comprising a second driving member and a second rotating arm, wherein the second rotating arm is disposed at an end of the first rotating arm away from the base, and the second driving member is disposed at an end of the first rotating arm close to the base and is drivingly connected to the second rotating arm to drive the second rotating arm to rotate relative to an end of the first rotating arm away from the first driving member;

[0008] an output assembly, comprising a screw structure, a third driving member and a fourth driving member, wherein the third driving member and the fourth driving member are both arranged at one end of the second rotating arm close to the first rotating arm, the screw structure is arranged at one end of the second rotating arm away from the first rotating arm and is rotatably connected to the second rotating arm, the third driving member is used to drive the screw structure to move along its axial direction, and the fourth driving member is used to drive the screw structure to rotate along its circumferential direction;

[0009] The heat dissipation components are respectively arranged on the first driving member, the second driving member, the third driving member and the fourth driving member.

[0010] In one embodiment, the heat dissipation assembly includes a first heat dissipation plate provided on the first driving member, a second heat dissipation plate provided on the second driving member, a third heat dissipation plate provided on the third driving member, and a fourth heat dissipation plate provided on the fourth driving member, and thermal grease is provided between the first driving member and the first heat dissipation plate, between the second driving member and the second heat dissipation plate, between the third driving member and the third heat dissipation plate, and between the fourth driving member and the fourth heat dissipation plate.

[0011] In one embodiment, the first rotating arm and the second rotating arm are made of aluminum.

[0012] In one embodiment, the first rotating arm assembly further includes a first reducer, the first driving member and the first reducer are disposed inside the base, and the first driving member drives the first rotating arm to rotate via the first reducer.

[0013] In one embodiment, the first rotating arm assembly further includes a first upper guard cover and a first lower guard cover, the first upper guard cover is disposed above one end of the first rotating arm close to the base, the first lower guard cover is disposed below the first rotating arm away from the base, and the first upper guard cover, the first rotating arm and the first lower guard cover together form a first accommodating cavity.

[0014] In one embodiment, the second rotating arm assembly also includes a first synchronous belt, a first pulley and a second reducer, the first synchronous belt, the first pulley and the second driving member are all arranged in the first accommodating cavity, and the first synchronous belt is used to connect the first pulley and the second driving member, the first pulley is coaxially connected to the second reducer, and the second reducer is connected to the second rotating arm.

[0015] In one embodiment, the second pivot arm assembly further includes a second upper guard cover and a second lower guard cover, the second upper guard cover is installed above the second pivot arm, and the second upper guard cover and the second pivot arm together form a second accommodating cavity, the third driving member and the fourth driving member are arranged in the second accommodating cavity close to one end of the first pivot arm, and the third driving member and the fourth driving member are symmetrically arranged along the rotation center of the second pivot arm.

[0016] In one embodiment, the output component further includes:

[0017] A first nut, sleeved on the outer circumference of the screw structure and threadedly connected to the screw structure;

[0018] A second pulley, sleeved on the outer periphery of the first nut and connected to the first nut;

[0019] The second synchronous belt is used to connect the third driving member and the second pulley. The third driving member drives the second pulley to rotate through the second synchronous belt, so as to drive the screw structure to move along its axial direction through the first nut.

[0020] In one embodiment, the output assembly further includes a transmission structure, and the transmission structure includes:

[0021] A second nut, sleeved on the outer circumference of the screw structure;

[0022] A third pulley is disposed in the second accommodating chamber;

[0023] a third synchronous belt, used to connect the third pulley and the fourth driving member;

[0024] a fourth pulley, coaxially connected to the third pulley;

[0025] a fifth pulley, sleeved on the outer circumference of the second nut and connected to the second nut;

[0026] The fourth synchronous belt is used to connect the fifth pulley and the fourth pulley. The fourth driving member drives the third pulley and the fourth pulley to rotate through the third synchronous belt, so as to drive the screw structure to rotate along its circumferential direction through the second nut.

[0027] In one embodiment, the screw structure includes a screw body, a first protective cover and a second protective cover sequentially arranged on the screw body from top to bottom, and the screw body is threadedly connected to the first nut and fixedly connected to the second nut.

[0028] The technical solution of the utility model adopts the method of setting a first driving member to drive the first rotating arm to rotate, and the first driving member is set inside the base, so that the first rotating arm can rotate relative to the base, the second driving member is set at one end of the first rotating arm close to the base, and drives the second rotating arm, the second rotating arm rotates around one end of the first rotating arm away from the base, and under the cooperation of the first rotating arm and the second rotating arm, the activity range of the output component is expanded, and the first driving member and the second driving member are set close to the base, which reduces the distance of the load on the first rotating arm, that is, reduces the load inertia of the rotation of the first rotating arm, and also reduces the consumption of the first driving member, thereby improving the running speed of the output component. In addition, the output component includes a screw structure, a third driving member and a fourth driving member, the third driving member drives the screw structure to move along the axial direction, and the fourth driving member drives the screw structure to rotate along the circumferential direction, so as to meet the movement operation of the output end of the robot in different directions, and the third driving member and the fourth driving member are both set at one end of the second rotating arm close to the first rotating arm, that is, close to one end of the base, which can effectively reduce the rotation load inertia of the second rotating arm, and also reduces the consumption of the second driving member, thereby further improving the running speed of the robot and improving the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of an embodiment of a high-speed robot provided by the utility model;

[0031] Figure 2 A schematic cross-sectional structure diagram of a high-speed robot provided by the utility model;

[0032] Figure 3 A schematic structural diagram of another embodiment of the high-speed robot provided by the utility model;

[0033] Figure 4 This is a schematic structural diagram of another embodiment of the high-speed robot provided by the utility model.

[0034] Description of Figure Numbers:

[0035] 100, base;

[0036] 200, first rotating arm assembly; 210, first driving member; 220, first rotating arm; 230, first speed reducer; 240, first upper shield; 250, first lower shield;

[0037] 300, second rotating arm assembly; 310, second driving member; 320, second rotating arm; 330, first synchronous belt; 340, first pulley; 350, second speed reducer; 360, second upper shield; 370, second lower shield;

[0038] 400, output assembly; 410, screw rod structure; 411, screw rod body; 412, first protective cover; 413, second protective cover; 420, third driving member; 430, fourth driving member; 440, first nut; 450, second pulley; 460, second synchronous belt; 470, transmission structure; 471, second nut; 472, third pulley; 473, third synchronous belt; 474, fourth pulley; 475, fifth pulley; 476, fourth synchronous belt;

[0039] 500, heat dissipation assembly; 510, first heat dissipation plate; 520, second heat dissipation plate; 530, third heat dissipation plate; 540, fourth heat dissipation plate.

[0040] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0044] With the rapid development of science and technology, SCARA robots have been widely used in all walks of life, and the requirements for speed and precision are getting higher and higher. In the prior art, there are two main structural layout methods for high-speed SCARA robots. The first is that all four motors are placed on the base. Except for one axis, which is driven by a direct-connected reducer, the second, third and fourth axis joints need to be driven by a multi-stage transmission structure. Although this layout method can maximize the reduction of the rotational inertia of the robot's moving part and improve the robot's running speed, the base occupies a large area, the transmission structure of the whole machine is extremely complex, the production cost is high, the load capacity is low and the reliability is poor; the second is that the first axis motor is placed on the base, the second axis motor is placed on the arm, the third axis motor is placed on the forearm, and the fourth axis motor is placed on the arm, and then the second-level transmission mechanism is passed through the center of the second axis joint to drive the fourth axis joint movement. This method can better reduce the rotational inertia of the first and second joints and improve the efficiency of the robot, but the fourth axis belt is too long, the transmission structure is complex, and the transmission belt is inconvenient to adjust, the load capacity is low and the reliability is not high. In addition, the existing high-speed robots will have the problem of excessive motor temperature during high-speed operation, which limits the motor performance output, resulting in unsatisfactory actual efficiency improvement of the robot.

[0045] The utility model provides a high-speed robot.

[0046] See also Figure 1 , Figure 2 and Figure 4 In one embodiment of the utility model, the high-speed robot comprises:

[0047] Base 100;

[0048] The first rotating arm assembly 200 includes a first driving member 210 and a first rotating arm 220. The first driving member 210 is disposed on the base 100 and is drivingly connected to the first rotating arm 220 to drive the first rotating arm 220 to rotate;

[0049] The second rotating arm assembly 300 includes a second driving member 310 and a second rotating arm 320. The second rotating arm 320 is disposed at an end of the first rotating arm 220 away from the base 100. The second driving member 310 is disposed at an end of the first rotating arm 220 close to the base 100 and is drivingly connected to the second rotating arm 320 to drive the second rotating arm 320 to rotate relative to an end of the first rotating arm 220 away from the first driving member 210.

[0050] The output assembly 400 includes a screw structure 410, a third driving member 420 and a fourth driving member 430. The third driving member 420 and the fourth driving member 430 are both arranged at one end of the second rotating arm 320 close to the first rotating arm 220. The screw structure 410 is arranged at one end of the second rotating arm 320 away from the first rotating arm 220 and is rotatably connected to the second rotating arm 320. The third driving member 420 is used to drive the screw structure 410 to move along its axial direction. The fourth driving member 430 is used to drive the screw structure 410 to rotate along its circumferential direction.

[0051] The heat dissipation assembly 500 is respectively disposed on the first driving member 210 , the second driving member 310 , the third driving member 420 and the fourth driving member 430 .

[0052] In the technical solution of the utility model, a first driving member 210 is provided to drive the first rotating arm 220 to rotate, and the first driving member 210 is provided inside the base 100, so that the first rotating arm 220 can rotate relative to the base 100, and the second driving member 310 is provided at one end of the first rotating arm 220 close to the base 100, and drives the second rotating arm 320 to rotate, and the second rotating arm 320 rotates around the end of the first rotating arm 220 away from the base 100, and with the cooperation of the first rotating arm 220 and the second rotating arm 320, the movable range of the output component 400 is expanded, and the first driving member 210 and the second driving member 310 are provided close to the base 100, which reduces the distance of the load on the first rotating arm 220, that is, reduces the load inertia of the rotation of the first rotating arm 220 The amount is increased, the consumption of the first driving member 210 is reduced, and the running speed of the output component 400 is improved. In addition, the output component 400 includes a screw structure 410, a third driving member 420 and a fourth driving member 430. The third driving member 420 drives the screw structure 410 to move axially, and the fourth driving member 430 drives the screw structure 410 to rotate circumferentially, so as to meet the movement operation of the output end of the robot in different directions. The third driving member 420 and the fourth driving member 430 are both arranged at an end of the second rotating arm 320 close to the first rotating arm 220, that is, close to the end of the base 100, which can effectively reduce the rotational load inertia of the second rotating arm 320 and reduce the consumption of the second driving member 310, thereby further improving the running speed of the robot and improving the work efficiency of the robot.

[0053] The first driving member 210 , the second driving member 310 , the third driving member 420 and the fourth driving member 430 may be motors.

[0054] In an embodiment of the utility model, the heat dissipation assembly 500 includes a first heat dissipation plate 510 arranged on the first driving member 210, a second heat dissipation plate 520 arranged on the second driving member 310, a third heat dissipation plate 530 arranged on the third driving member 420, and a fourth heat dissipation plate 540 arranged on the fourth driving member 430. Thermal conductive silicone grease is arranged between the first driving member 210 and the first heat dissipation plate 510, between the second driving member 310 and the second heat dissipation plate 520, between the third driving member 420 and the third heat dissipation plate 530, and between the fourth driving member 430 and the fourth heat dissipation plate 540.

[0055] See also Figure 2 and Figure 4 Since the high-speed robot needs to maintain a high working efficiency, the first driving member 210, the second driving member 310, the third driving member 420 and the fourth driving member 430 need to run at a high speed continuously, which means that heat will continue to be generated. If the heat is not dissipated in time, the temperature of each driving member will be too high, affecting the output performance. By setting thermal grease, the first heat sink 510, the second heat sink 520, the third heat sink 530 and the fourth heat sink 540, the heat generated by each driving member is transferred to the metal body and the air, and then the circulating airflow driven by the movement of the high-speed robot assists in dissipating the heat, so that each driving member is maintained within the normal operating temperature range, and the high-speed driving performance of each driving member is maintained, so as to effectively improve the working efficiency of the robot. Among them, the material of the heat sink can be selected from aluminum or copper, but is not limited to aluminum or copper. Aluminum and copper have good thermal conductivity, which can accelerate heat conduction, so that the motor and the robot body can reach a thermal equilibrium state faster, ensuring the continuous high-speed operation and stable precision of the robot.

[0056] In the embodiment of the present invention, the first rotating arm 220 and the second rotating arm 320 are made of aluminum.

[0057] Specifically, by setting the material of the first rotating arm 220 and the second rotating arm 320 to aluminum profile, since aluminum is light and has high strength, the weight of the first rotating arm 220 and the second rotating arm 320 can be reduced, and the load inertia of the first rotating arm 220 and the second rotating arm 320 can be further reduced, thereby improving the working efficiency of the robot. In addition, aluminum profiles are easy to process and assemble, which can save manufacturing time and costs.

[0058] In the embodiment of the present invention, the first rotating arm assembly 200 further includes a first reducer 230 . The first driving member 210 and the first reducer 230 are disposed inside the base 100 , and the first driving member 210 drives the first rotating arm 220 to rotate via the first reducer 230 .

[0059] See also Figure 2 A first reducer 230 is arranged inside the base 100, and the input end of the first reducer 230 is connected to the output end of the first driving member 210, and the output end of the first reducer 230 is connected to the first rotating arm 220. The first driving member 210 drives the first rotating arm 220 to rotate relative to the base 100 through the first reducer 230, wherein the first reducer 230 and the first driving member 210 can be connected by a coupling but is not limited to a coupling connection.

[0060] In an embodiment of the present utility model, the first rotating arm assembly 200 also includes a first upper shield 240 and a first lower shield 250. The first upper shield 240 is disposed above one end of the first rotating arm 220 close to the base 100, and the first lower shield 250 is disposed below the first rotating arm 220 away from the base 100, and the first upper shield 240, the first rotating arm 220 and the first lower shield 250 together form a first accommodating cavity.

[0061] See also Figure 1 and Figure 2 The first upper protective cover 240 and the first lower protective cover 250 are respectively located above and below the first rotating arm 220, and are respectively fixedly connected to the first rotating arm 220, so that the interior thereof is enclosed to form a closed first accommodating cavity, which can prevent foreign matter from entering when the robot is working, thereby avoiding abnormal operation.

[0062] In an embodiment of the utility model, the second rotating arm assembly 300 also includes a first synchronous belt 330, a first pulley 340 and a second reducer 350. The first synchronous belt 330, the first pulley 340 and the second driving member 310 are all arranged in the first accommodating cavity, and the first synchronous belt 330 is used to connect the first pulley 340 and the second driving member 310. The first pulley 340 is coaxially connected to the second reducer 350, and the second reducer 350 is connected to the second rotating arm 320.

[0063] See also Figure 2 and Figure 4The second rotating arm assembly 300 includes a first synchronous belt 330, a first pulley 340 and a second reducer 350. The second driving member 310 is arranged in the first accommodating cavity and close to one end of the base 100, and the output end of the second driving member 310 is connected to the first pulley 340 through the first synchronous belt 330. The first pulley 340 is arranged at one end of the first rotating arm 220 away from the base 100 and is coaxially connected to the second reducer 350. The second reducer 350 is connected to the second rotating arm 320, so that the second driving member 310 drives the first pulley 340 to rotate through the first synchronous belt 330, and then drives the second rotating arm 320 to rotate relative to the second reducer 350 through the second reducer 350, which is equivalent to the second rotating arm 320 rotating relative to the end of the first rotating arm 220 away from the base 100, thereby expanding the working range of the output assembly 400. The second driving member 310 is arranged close to the base 100, which reduces the load inertia of the first rotating arm 220 and improves the working efficiency of the robot.

[0064] In an embodiment of the utility model, the second rotating arm assembly 300 also includes a second upper guard 360 and a second lower guard 370, the second upper guard 360 is installed above the second rotating arm 320, and the second upper guard 360 and the second rotating arm 320 are together formed to form a second accommodating cavity, the third driving member 420 and the fourth driving member 430 are arranged in the second accommodating cavity close to one end of the first rotating arm 220, and the third driving member 420 and the fourth driving member 430 are symmetrically arranged along the rotation center of the second rotating arm 320.

[0065] See also Figure 1 , Figure 2 and Figure 4 The second upper shield 360 and the second lower shield 370 are respectively installed above and below the second rotating arm 320, and the second upper shield 360 and the second lower shield 370 rotate with the rotation of the second rotating arm 320, so that when the second rotating arm 320 rotates, foreign matter such as dust is prevented from entering the second accommodating chamber to affect the operation. The third driving member 420 and the fourth driving member 430 are both arranged in the second accommodating chamber close to one end of the first rotating arm 220, that is, the load inertia of the rotation of the second rotating arm 320 can be reduced, the power consumption of the second driving member 310 can be reduced, and the working efficiency of the robot can be improved. In addition, the third driving member 420 and the fourth driving member 430 are symmetrically arranged with the rotation center of the second rotating arm 320 as the center, which can effectively improve the space utilization rate of the second rotating arm 320 and reduce the rotational inertia of the second rotating arm 320.

[0066] In an embodiment of the present utility model, the output component 400 further includes:

[0067] A first nut 440 is sleeved on the outer periphery of the screw structure 410 and is threadedly connected to the screw structure 410;

[0068] A second pulley 450 is sleeved on the outer periphery of the first nut 440 and connected to the first nut 440;

[0069] The second synchronous belt 460 is used to connect the third driving member 420 and the second pulley 450 . The third driving member 420 drives the second pulley 450 to rotate through the second synchronous belt 460 , so as to drive the screw structure 410 to move along its axial direction through the first nut 440 .

[0070] See also Figure 3 and Figure 4 The output component 400 includes a first nut 440, a second pulley 450 and a second synchronous belt 460. The first nut 440, the second pulley 450 and the second synchronous belt 460 are all arranged in the second accommodating cavity. The first nut 440 is arranged on the outer periphery of the screw structure 410 and is threadedly connected to the screw structure 410. The first nut 440 is coaxially connected to the second pulley 450. The third driving member 420 is connected to the second pulley 450 through the second synchronous belt 460, driving the second pulley 450 to rotate, and then driving the first nut 440 to rotate, so that the screw structure 410 moves axially, improving the operating accuracy of the screw structure 410, and meeting the work of all directions of the output end of the robot; wherein the first nut 440 can adopt a ball nut, but is not limited to a ball nut, as long as the inner ring is provided with an internal thread of the nut.

[0071] In an embodiment of the present utility model, the output assembly 400 further includes a transmission structure 470, and the transmission structure 470 includes:

[0072] The second nut 471 is sleeved on the outer circumference of the screw structure 410;

[0073] The third pulley 472 is disposed in the second accommodating cavity;

[0074] A third synchronous belt 473, used to connect the third pulley 472 and the fourth driving member 430;

[0075] The fourth pulley 474 is coaxially connected to the third pulley 472;

[0076] A fifth pulley 475 is sleeved on the outer periphery of the second nut 471 and connected to the second nut 471;

[0077] The fourth synchronous belt 476 is used to connect the fifth pulley 475 and the fourth pulley 474. The fourth driving member 430 drives the third pulley 472 and the fourth pulley 474 to rotate through the third synchronous belt 473, so as to drive the screw structure 410 to rotate along its circumferential direction through the second nut 471.

[0078] See also Figure 3The fourth driving member 430 drives the screw structure 410 to rotate through the transmission structure 470. The specific transmission structure 470 includes a second nut 471 sleeved on the screw structure 410, a fifth pulley 475 connected to the second nut 471, and a third pulley 472 and a fourth pulley 474 coaxially connected. The fourth driving member 430 drives the third pulley 472 through the third synchronous belt 473 to drive the third pulley 472 to rotate. The fourth pulley 474 rotates together with the third pulley 472. The fourth pulley 474 is connected to the fifth pulley 475 through the fourth synchronous belt 476, and then drives the fifth pulley 475 to rotate, thereby driving the screw structure 410 to rotate in the circumferential direction through the second nut 471. It can be understood that the third driving member 420 drives the first nut 440 to rotate to realize the axial movement of the screw structure 410 alone. Or the second nut 471 is rotated under the drive of the fourth driving member 430 to drive the screw structure 410 to rotate in the circumferential direction, or the third driving member 420 and the fourth driving member 430 can perform a composite movement of axial movement and circumferential rotation, wherein when the fourth driving member 430 drives the screw structure 410 to rotate, it is necessary to simultaneously start the third driving member 420 to drive the first nut 440 to rotate, and the rotation direction of the first nut 440 is opposite to the rotation direction of the screw structure 410, that is, to offset the force of the screw structure 410 that drives the first nut 440 to rise and fall when the screw structure 410 rotates, so that the first nut 440 maintains a stable position, and through the cooperation of the third driving member 420 and the fourth driving member 430, the movement accuracy of the screw structure 410 is improved, and it is convenient to work in all directions; wherein the second nut 471 can adopt a spline nut.

[0079] In an embodiment of the utility model, the screw structure 410 includes a screw body 411 , a first protective cover 412 and a second protective cover 413 arranged on the screw body 411 from top to bottom. The screw body 411 is threadedly connected to the first nut 440 and fixedly connected to the second nut 471 .

[0080] See also Figure 1 , Figure 2 and Figure 3 The screw structure 410 includes a screw body 411, a first protective cover 412 and a second protective cover 413. The screw body 411 passes through one end of the second rotating arm 320 away from the first rotating arm 220. The second first protective cover 412 and the second protective cover 413 are respectively arranged above the second upper protective cover 360 and below the second lower protective cover 370, and the connecting cables inside the robot are arranged inside to achieve overall protection of the robot and prevent foreign matter such as dust from invading and affecting operation. The screw body 411 can adopt a screw spline, which is threadedly connected to the ball nut and connected to the spline nut, and rotates with the spline nut.

[0081] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A high-speed robot, characterized in that: include: Base; A first rotating arm assembly comprises a first driving member and a first rotating arm, wherein the first driving member is disposed on the base and is drivingly connected to the first rotating arm to drive the first rotating arm to rotate; A second rotating arm assembly, comprising a second driving member and a second rotating arm, wherein the second rotating arm is disposed at an end of the first rotating arm away from the base, and the second driving member is disposed at an end of the first rotating arm close to the base and is drivingly connected to the second rotating arm to drive the second rotating arm to rotate relative to an end of the first rotating arm away from the first driving member; an output assembly, comprising a screw structure, a third driving member and a fourth driving member, wherein the third driving member and the fourth driving member are both arranged at one end of the second rotating arm close to the first rotating arm, the screw structure is arranged at one end of the second rotating arm away from the first rotating arm and is rotatably connected to the second rotating arm, the third driving member is used to drive the screw structure to move along its axial direction, and the fourth driving member is used to drive the screw structure to rotate along its circumferential direction; The heat dissipation components are respectively arranged on the first driving member, the second driving member, the third driving member and the fourth driving member.

2. The high-speed robot according to claim 1, characterized in that: The heat dissipation assembly includes a first heat dissipation plate arranged on the first driving member, a second heat dissipation plate arranged on the second driving member, a third heat dissipation plate arranged on the third driving member, and a fourth heat dissipation plate arranged on the fourth driving member. Thermal grease is arranged between the first driving member and the first heat dissipation plate, between the second driving member and the second heat dissipation plate, between the third driving member and the third heat dissipation plate, and between the fourth driving member and the fourth heat dissipation plate.

3. The high-speed robot according to claim 1, characterized in that: The first rotating arm and the second rotating arm are made of aluminum.

4. The high-speed robot according to claim 1, characterized in that: The first rotating arm assembly further includes a first reducer. The first driving member and the first reducer are arranged inside the base, and the first driving member drives the first rotating arm to rotate through the first reducer.

5. The high-speed robot according to claim 4, characterized in that: The first rotating arm assembly also includes a first upper guard cover and a first lower guard cover, the first upper guard cover is arranged above one end of the first rotating arm close to the base, the first lower guard cover is arranged below the first rotating arm away from the base, and the first upper guard cover, the first rotating arm and the first lower guard cover together form a first accommodating cavity.

6. The high-speed robot according to claim 5, characterized in that: The second rotating arm assembly also includes a first synchronous belt, a first pulley and a second reducer. The first synchronous belt, the first pulley and the second driving member are all arranged in the first accommodating cavity, and the first synchronous belt is used to connect the first pulley and the second driving member. The first pulley is coaxially connected to the second reducer, and the second reducer is connected to the second rotating arm.

7. The high-speed robot according to claim 6, characterized in that: The second pivot arm assembly also includes a second upper guard cover and a second lower guard cover, the second upper guard cover is installed above the second pivot arm, and the second upper guard cover and the second pivot arm together form a second accommodating chamber, the third driving member and the fourth driving member are arranged in the second accommodating chamber close to one end of the first pivot arm, and the third driving member and the fourth driving member are symmetrically arranged along the rotation center of the second pivot arm.

8. The high-speed robot according to claim 7, characterized in that: The output component also includes: A first nut, sleeved on the outer circumference of the screw structure and threadedly connected to the screw structure; A second pulley, sleeved on the outer periphery of the first nut and connected to the first nut; The second synchronous belt is used to connect the third driving member and the second pulley. The third driving member drives the second pulley to rotate through the second synchronous belt, so as to drive the screw structure to move along its axial direction through the first nut.

9. The high-speed robot according to claim 8, characterized in that: The output assembly further includes a transmission structure, and the transmission structure includes: A second nut, sleeved on the outer circumference of the screw structure; A third pulley is disposed in the second accommodating chamber; a third synchronous belt, used to connect the third pulley and the fourth driving member; a fourth pulley, coaxially connected to the third pulley; a fifth pulley, sleeved on the outer circumference of the second nut and connected to the second nut; The fourth synchronous belt is used to connect the fifth pulley and the fourth pulley. The fourth driving member drives the third pulley and the fourth pulley to rotate through the third synchronous belt, so as to drive the screw structure to rotate along its circumferential direction through the second nut.

10. The high-speed robot according to claim 9, characterized in that: The screw rod structure includes a screw rod body, a first protective cover and a second protective cover which are arranged on the screw rod body in order from top to bottom. The screw rod body is threadedly connected to the first nut and fixedly connected to the second nut.

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