Rotary arm type cylindrical coordinate robot

Abstract

The utility model discloses a rotating arm type cylindrical coordinate robot which comprises a base, a first rotating arm, a second rotating arm and a third rotating arm. The supporting table is arranged in the cavity in a sliding mode in the Z-axis direction; the main arm is arranged in the outlet in a penetrating manner and is rotationally connected to the supporting table around a Z axis; one end of the big arm is fixedly connected to the main arm; and one end of the small arm is rotationally connected to the large arm around the Z axis, and the other end of the small arm is provided with an execution shaft rotating around the Z axis. In the carrying process, due to the fact that the large arm and the small arm are driven to synchronously ascend and descend through the main arm, the small arm and an execution component installed on an execution shaft can move up and down in a small height space, the feeding and discharging actions are completed, meanwhile, the main arm is arranged to be of a reciprocating motion structure along the Z axis, and the large arm and the small arm are driven to synchronously ascend and descend. The bearing capacity of the robot can be improved, and carrying work can be conducted on a large load.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a rotating-arm cylindrical coordinate robot. Background Art

[0002] Among handling robots, three-axis and four-axis robots are widely used, having a relatively large moving diameter and also having a certain load-bearing capacity. However, in the robotic arms on the current market for a long time, an actuator capable of reciprocating up and down along the Z-axis is provided at the end of the robotic arm. At the same time, a structure that can rotate around the Z-axis can also be provided to the actuator, so as to carry out the handling work of materials.

[0003] However, since the robotic arm needs to expand and swing multiple joints during operation, when the moving diameter of the robotic arm is relatively large, the actuator cannot carry a large load. Secondly, the actuator has a moving space for reciprocating movement along the Z-axis. Therefore, it cannot adapt to carry out handling work in a space with a relatively low height.

[0004] Therefore, there is an urgent need for a new type of robot currently. Summary of the Utility Model

[0005] The purpose of the utility model is to solve at least one of the above problems, and provide a rotating-arm cylindrical coordinate robot to solve the above technical problems.

[0006] The technical solution provided by the utility model is as follows:

[0007] A rotating-arm cylindrical coordinate robot, comprising:

[0008] A base, a chamber is arranged inside the base, and an outlet communicating with the chamber is arranged above the top of the base;

[0009] A support platform, the support platform is slidably arranged in the chamber along the Z-axis direction, and the support platform is also equipped with a first driving member for driving it to move along the Z-axis direction;

[0010] A main arm, the main arm passes through the outlet and is rotatably connected to the support platform around the Z-axis, and the main arm is equipped with a second driving member for driving it to rotate;

[0011] A large arm, one end of the large arm is fixedly connected to the main arm, and the other end extends towards a direction away from the base;

[0012] A small arm, one end of the small arm is rotatably connected to the large arm around the Z-axis, the other end of the small arm is provided with an execution axis that rotates around the Z-axis, and the small arm is equipped with a third driving member for driving the small arm and / or the execution axis to rotate around the Z-axis.

[0013] Further, the first driving member includes

[0014] a lead screw rotatably connected within the chamber and configured with a connecting block threadedly connected thereto, the connecting block being fixedly connected to the support platform;

[0015] a first motor fixedly installed within the chamber and drivingly connected to the lead screw to drive the lead screw to rotate about the Z-axis, driving the connecting block to reciprocate along the axis direction of the lead screw as the lead screw rotates.

[0016] Further, the second driving member includes a second motor fixedly installed on the support platform, and the second motor is drivingly connected to the main arm through a synchronous belt to drive the main arm to rotate about the Z-axis.

[0017] Further, the third driving member includes

[0018] a harmonic reducer with both ends fixedly connected to the large arm and the small arm respectively;

[0019] a third motor fixedly installed within the large arm and drivingly connected to the harmonic reducer through a synchronous belt;

[0020] a rotating shaft sleeved within the main shaft of the harmonic reducer, one end of which extends into the small arm and is drivingly connected to the execution shaft through a synchronous belt;

[0021] a fourth motor fixedly installed within the large arm and drivingly connected to the other end of the rotating shaft through a synchronous belt.

[0022] Further, a tension pulley is further arranged within the small arm between the rotating shaft and the execution shaft, and the tension pulley abuts against the synchronous belt connecting the rotating shaft and the execution shaft.

[0023] Further,

[0024] a sliding seat is further arranged on the small arm, the tension pulley is rotatably connected to the sliding seat, the sliding seat is slidably connected to the small arm, and the sliding direction of the sliding seat intersects with the length direction of the small arm, and a limiting groove extending along the sliding direction is further formed on the sliding seat;

[0025] a locking bolt including a rod portion and a head, the rod portion passes through the limiting groove and is threadedly connected to the small arm, and when the locking bolt is tightened, the head locks and positions the sliding seat.

[0026] Further, a mounting flange is fixedly connected to the execution shaft.

[0027] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0028] The execution shaft is used to install execution components, such as devices like clamps for handling workpieces. During the process of performing the handling action, the first driving member drives the main arm to achieve lifting and lowering actions. At the same time, the second driving member can drive the large arm to swing along the Z-axis. Similarly, the third driving member drives the small arm to swing to meet the handling work with a large coverage area. During the handling process, since the main arm drives the large arm and the small arm to lift and lower synchronously, that is to say, the small arm and the execution components installed on the execution shaft can move up and down within a relatively small height space to complete the loading and unloading actions. At the same time, by setting the reciprocating movement structure of the main arm along the Z-axis, the load-bearing capacity of the robot can be improved, and it can handle larger loads.

[0029] The following further describes the present utility model in conjunction with the specification drawings and embodiments. Brief Description of the Drawings

[0030] Figure 1 is a structural schematic diagram of the present utility model.

[0031] Figure 2 is an exploded structural schematic diagram of the base and the main arm in the present utility model.

[0032] Figure 3 is an exploded structural schematic diagram of the large arm in the present utility model.

[0033] Figure 4 is an exploded structural schematic diagram of the small arm in the present utility model. Detailed Embodiments

[0034] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, the following further details the present utility model in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0035] It should be noted that in the embodiments of the present utility model, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, the descriptions of "first", "second", etc. set in the embodiments of the present utility model are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features.

[0037] An embodiment of the present utility model provides a swing-arm type cylindrical coordinate robot, which can improve the load-bearing capacity when handling workpieces. At the same time, it can adapt to handle workpieces within a relatively small space.

[0038] As Figures 1-4 shown, an embodiment of the present utility model provides a swing-arm type cylindrical coordinate robot, including: a base 100, a support platform 103, a main arm 200, a large arm 220, and a small arm 230. As Figures 1-4 shown, wherein, a chamber 101 is provided inside the base 100, and an outlet 102 communicating with the chamber 101 is provided above the top of the base 100; the support platform 103 is slidably arranged in the chamber 101 along the Z-axis direction, and the support platform 103 is also equipped with a first driving member for driving it to move along the Z-axis direction. It can be imagined that the first driving member is also arranged inside the chamber 101 of the base 100; the main arm 200 passes through the outlet 102 and is rotatably connected to the support platform 103 around the Z-axis. The main arm 200 is equipped with a second driving member 210 for driving its rotation. It can be imagined that the second driving member 210 is fixedly arranged on the support platform 103 so as to accurately drive the main arm 200 to rotate around the Z-axis; one end of the large arm 220 is fixedly connected to the main arm 200, and the other end extends in a direction away from the base 100. During the process of the main arm 200 being driven by the second driving member 210 to rotate around the Z-axis, the main arm 200 drives the large arm 220 to swing around the Z-axis; one end of the small arm 230 is rotatably connected to the large arm 220 around the Z-axis, and an execution shaft 240 that rotates around the Z-axis is arranged at the other end of the small arm 230. The small arm 230 is equipped with a driving third driving member 300 to drive the small arm 230 and / or the execution shaft 240 to rotate around the Z-axis. An installation flange 241 is also fixedly installed on the execution shaft 240, so that an execution component can be installed to realize specific action requirements.

[0039] The execution shaft 240 is used to install execution components, such as devices such as clamps for handling workpieces. During the process of performing the handling action, the first driving member drives the main arm 200 to perform a lifting action. At the same time, the second driving member 210 can drive the large arm 220 to swing along the Z-axis. Similarly, the third driving member 300 drives the small arm 230 to swing to meet the handling work with a large coverage area. During the handling process, since the main arm 200 drives the large arm 220 and the small arm 230 to lift synchronously, that is to say, the small arm 230 and the execution components installed on the execution shaft 240 can move up and down within a relatively small height space to complete the feeding and discharging actions. At the same time, setting the main arm 200 to have a reciprocating movement structure along the Z-axis can improve the load-bearing capacity of the robot and can handle larger loads.

[0040] As Figure 2, in this embodiment, a specific structural example of the first driving member is given. The first driving member includes a lead screw 111 and a first motor 112. The lead screw 111 is rotatably connected within the chamber 101 and is configured with a connection block (not shown in the figure) that is threadedly connected thereto. The connection block (not shown in the figure) is fixedly connected to the support platform 103. The first motor 112 is fixedly installed within the chamber 101 and is drivingly connected to the lead screw 111 to drive the lead screw 111 to rotate about the Z-axis, driving the connection block (not shown in the figure) to reciprocate along the axis direction of the lead screw 111 as the lead screw 111 rotates. By driving the lead screw 111 to rotate through the first motor 112, the support platform 103 can be driven to reciprocate along the Z-axis. At the same time, the accuracy of the movement of the support platform 103 can be improved through the lead screw 111 to ensure the accuracy problem during handling or operation.

[0041] The second driving member 210 includes a second motor 211. The second motor 211 is fixedly installed on the support platform 103. The second motor 211 is drivingly connected to the main arm 200 through a synchronous belt to drive the main arm 200 to rotate about the Z-axis.

[0042] As Figures 3-4 shown, in this embodiment, a specific structural example of the third driving member 300 is given. The third driving member 300 includes a harmonic reducer 301, a third motor 302, a rotating shaft 303, and a fourth motor 304. The two ends of the harmonic reducer 301 are respectively fixedly connected to the large arm 220 and the small arm 230, so that the rotational connection action between the large arm 220 and the small arm 230 can be realized. The third motor 302 is fixedly installed within the large arm 220 and is drivingly connected to the harmonic reducer 301 through a synchronous belt to drive the small arm 230 to swing along the large arm 220. The rotating shaft 303 is sleeved within the main shaft of the harmonic reducer 301, and one end thereof extends into the small arm 230 and is drivingly connected to the execution shaft 240 through a synchronous belt. The fourth motor 304 is fixedly installed within the large arm 220 and is drivingly connected to the other end of the rotating shaft 303 through a synchronous belt, successively enabling the execution shaft 240 to be driven to rotate by the fourth motor 304.

[0043] During the process of driving the small arm 230 and the execution shaft 240, the third motor 302 is drivingly connected to the harmonic reducer 301 through a synchronous belt, so that the harmonic reducer 301 can be driven to rotate, thereby enabling the small arm 230 to swing about the Z-axis. The fourth motor 304 is rotationally connected to the rotating shaft 303 through a synchronous belt to drive the rotating shaft 303 to rotate. At the same time, the other end of the rotating shaft 303 is drivingly connected to the execution shaft 240 through a synchronous belt. Therefore, when the fourth motor 304 drives the rotating shaft 303 to rotate, the execution shaft 240 can achieve synchronous rotation.

[0044] Since the rotating shaft 303 and the actuating shaft 240 are respectively located at two ends of the forearm 230, the length dimension of the synchronous belt that drives and connects the actuating shaft 240 and the rotating shaft 303 is relatively large, and it is easy for the synchronous belt to become loose. Therefore, a tension pulley 231 located between the rotating shaft 303 and the actuating shaft 240 is further provided within the forearm 230, and the tension pulley 231 abuts against the synchronous belt connecting the rotating shaft 303 and the actuating shaft 240. By providing the tension pulley 231, the synchronous belt is kept in a taut state to ensure stable transmission performance.

[0045] To adjust the tension degree of the tension pulley 231, an adjusting structure is further provided on the forearm 230, including a sliding block and a locking bolt. Among them, the tension pulley 231 is rotatably connected to the sliding seat 232, the sliding seat is slidably connected to the forearm 230, and the sliding direction of the sliding seat 232 intersects with the length direction of the forearm 230. A limiting groove 233 extending along the sliding direction is further opened on the sliding seat 232; the locking bolt has a rod portion and a head portion, the rod portion passes through the limiting groove 233 and is threadedly connected to the forearm 230, and when the locking bolt is tightened, the head portion locks and positions the sliding seat 232. During the process of adjusting the tension degree, the locking bolt needs to be loosened, so as to move the sliding block to adjust to a proper position, that is, the position where the tension degree of the synchronous belt is adjusted to a proper state, and then the locking bolt is tightened to complete the adjustment work of the tension degree.

[0046] For those skilled in the art, various corresponding changes and deformations can be obtained according to the structure and principle disclosed by the present utility model, and all these changes and deformations fall within the protection scope of the present utility model.

Claims

1. A rotary arm cylindrical coordinate robot, characterized in that: Included are: A base, wherein a chamber is disposed in the base, and an outlet communicating with the chamber is disposed on the top of the base; A support table, the support table is slidably arranged in the chamber along the Z-axis direction, and the support table is also equipped with a first driving member that drives it to move along the Z-axis direction; A main arm, the main arm is inserted into the outlet and is connected to the support platform for rotation around the Z axis, and the main arm is equipped with a second driving member for driving the rotation thereof; A large arm, one end of which is fixedly connected to the main arm and the other end of which extends away from the base; A forearm, one end of which is connected to the upper arm and rotates around the Z axis, and the other end of the forearm is provided with an execution shaft that rotates around the Z axis. The forearm is equipped with a third driving member to drive the forearm and / or the execution shaft to rotate around the Z axis.

2. A rotary arm cylindrical coordinate robot according to claim 1, characterized in that: The first driving member includes A screw rod, the screw rod is rotatably connected in the chamber and is provided with a connecting block threadedly connected thereto, the connecting block being fixedly connected to the support platform; The first motor is fixedly mounted in the chamber and is drivingly connected to the screw to drive the screw to rotate around the Z axis, and drives the connecting block to reciprocate along the axis of the screw as the screw rotates.

3. The rotary arm cylindrical coordinate robot according to claim 1, characterized in that: The second driving member includes a second motor, which is fixedly mounted on the support platform. The second motor is connected to the main arm through a synchronous belt to drive the main arm to rotate around the Z axis.

4. The rotary arm cylindrical coordinate robot according to claim 1, characterized in that: The third driving member includes A harmonic reducer, wherein two ends of the harmonic reducer are fixedly connected to the upper arm and the lower arm respectively; A third motor, the third motor is fixedly loaded in the upper arm and is connected to the harmonic reducer through a synchronous belt; A rotating shaft, wherein the rotating shaft sleeve is arranged inside the main shaft of the harmonic reducer, one end of which extends into the small arm and is connected to the actuator shaft through a synchronous belt; The fourth motor is fixedly installed in the upper arm and is transmission-connected to the other end of the rotating shaft through a synchronous belt.

5. A rotary arm cylindrical coordinate robot according to claim 4, characterized in that: A tensioning wheel is also provided inside the forearm and is located between the rotating shaft and the executing shaft. The tensioning wheel abuts against a synchronous belt connecting the rotating shaft and the executing shaft.

6. A rotary arm cylindrical coordinate robot according to claim 5, characterized in that: The forearm is also provided with A sliding seat, the tensioning wheel is rotatably connected to the sliding seat, the sliding seat is slidably connected to the forearm, and the sliding direction of the sliding seat is interlaced with the length direction of the forearm, and a limiting groove extending along the sliding direction is also provided on the sliding seat; The locking bolt comprises a rod and a head. The rod passes through the limiting groove and is threadedly connected to the forearm. The locking bolt is tightened and the head locks and positions the sliding seat.

7. The rotary arm cylindrical coordinate robot according to claim 1, characterized in that: A mounting flange is fixedly connected to the actuator shaft.

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