Robot

Abstract

The utility model provides a robot which comprises a machine table assembly, a motor assembly and a control assembly. The arm assembly is detachably arranged on the machine table assembly, the arm assembly comprises a rotor and an arm body, the rotor is used for driving the arm body to do linear motion in the first direction under the action of the stator, the arm body comprises a swing arm, and the swing arm can do lifting motion in the second direction relative to the 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 and the machine table assembly are two relatively independent structures. According to the arrangement, the reliability of connection between the arm assembly and the machine table assembly is guaranteed, and meanwhile cleaning, maintaining and transferring of the arm assembly and the machine table assembly are facilitated. According to the arrangement, the assembly structure of the robot is simplified, mounting and dismounting of the arm assembly and the machine table assembly are facilitated, and assembly, maintenance and transportation of the robot are facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly, to a robot. Background Art

[0002] A robot has a robotic arm and a machine table, and uses the robotic arm to grasp workpieces. In the related art, the assembly structure of the robotic arm and the machine table is complex, making the disassembly and assembly of the robot difficult. It is necessary to transport the robot as a whole. In this way, it is not conducive to the maintenance and transportation of the robot. Summary of the Utility Model

[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 provides a robot.

[0005] In view of this, the present application provides a robot, including: a machine table assembly, the machine table assembly includes a stator; an arm assembly, detachably arranged on the machine table assembly, the arm assembly includes a rotor and an arm body, the rotor is used to drive the arm body to move linearly in the first direction under the action of the stator, and the arm body includes: a swing arm, the swing arm can move up and down relative to the rotor in the second direction; a robotic arm, connected to the swing arm, the swing arm can drive the robotic arm to rotate around the first axis; an end effector, connected to the robotic arm, the robotic arm can drive the end effector to perform actions.

[0006] The robot provided by the present application includes a machine table assembly and an arm assembly. The end effector of the arm assembly is used to grasp workpieces.

[0007] The arm assembly is detachably connected to the machine table assembly. The arm assembly and the machine table assembly are two relatively independent structures. The arm assembly can be assembled on the machine table assembly and can also be detached from the machine table assembly. This setting facilitates the cleaning, maintenance and transportation of the arm assembly and the machine table assembly while ensuring the reliability of the connection between the arm assembly and the machine table assembly. That is, the arm assembly can be assembled on the machine table assembly or separated from the machine table assembly according to actual use needs. This setting simplifies the assembly structure of the robot, facilitates the installation and disassembly of the arm assembly and the machine table assembly, and is convenient for the assembly, repair and transportation of the robot.

[0008] In particular, when a component of the arm assembly is damaged, the arm assembly can be detached from the machine table assembly, and then the component of the arm assembly can be replaced, which has the advantages of convenient operation and high feasibility.

[0009] Further, the machine platform assembly includes a stator. The arm assembly includes a rotor and an arm body. The arm body includes a swing arm, a robotic arm, and an end effector. The end effector is used to perform actions. The rotor is used to drive the arm body (specifically, the workpiece grasped by the end effector of the arm body) to perform a linear motion in the first direction under the action of the stator. The end effector can perform a lifting motion relative to the machine platform assembly in the second direction under the drive of the swing arm, that is, drive the workpiece grasped by the end effector to perform a lifting motion in the second direction.

[0010] That is to say, the arm assembly can also drive the workpiece to perform a linear motion in the first direction, the arm assembly can also drive the workpiece to perform a lifting motion in the second direction, and the swing arm can drive the robotic arm to rotate around the first axis. Thus, it can be seen that the robot can drive the workpiece to move in multiple directions and multiple dimensions according to specific actual usage requirements, expanding the range of transporting the workpiece, making the range of handling the workpiece unrestricted, and improving the usage performance and market competitiveness of the product.

[0011] The machine platform assembly includes a stator, and the arm assembly includes a rotor. The stator and the rotor cooperate so that the rotor drives the arm body to perform a linear motion in the first direction under the action of the stator, that is, the rotor can drive the workpiece grasped by the arm body to perform a linear motion in the first direction. The cooperation between the stator and the rotor can effectively drive the grasped workpiece to move along a straight line at high speed and high precision, and can realize the high-speed movement of handling the workpiece, which is beneficial to improving the working cycle and working efficiency of the robot.

[0012] Further, the arm body can move in the first direction under the action of the rotor. 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 effector to perform a lifting motion in the second direction, where the first direction and the second direction are different. The end effector can perform actions under the action of the robotic arm. The rotor drives the arm body to achieve high-speed and high-precision rapid movement. The swing arm drives the robotic arm and the end effector to rotate to complete the posture adjustment of the workpiece while quickly moving the workpiece. The swing arm drives the robotic arm and the end effector to lift, that is, the swing arm drives the robotic arm and the end effector to lift and handle the workpiece. The robotic arm drives the end effector to perform actions to achieve the effect of adjusting the direction and posture of the handled workpiece.

[0013] By reasonably setting the structure of the robot, while ensuring the effective drive of the grasped workpiece to move at high speed and high precision, the posture of the workpiece can be adjusted from multiple directions and multiple angles, and the usage requirements of high-precision, high-speed, and high-repeatability work can be met.

[0014] According to the robot of the present application described above, the following additional technical features may also be provided:

[0015] In some embodiments, optionally, the machine platform assembly further includes a slide rail and a slider. The slider is slidably connected to the slide rail, and the arm assembly is detachably connected to the slider. Wherein, the slide rail extends in a first direction.

[0016] In this embodiment, the structure of the machine platform assembly is further defined such that the machine platform assembly further includes a slide rail and a slider. The slider is slidably connected to the slide rail, and the slider can slide relative to the slide rail.

[0017] Wherein, the arm assembly is detachably connected to the slider, that is, the arm assembly is detachably arranged on the machine platform assembly. The arm assembly can be assembled on the slider and can also be detached from the slider. This setting ensures the reliability of the connection between the arm assembly and the machine platform assembly while facilitating the cleaning, maintenance, and transportation of the arm assembly and the machine platform assembly. That is, the arm assembly can be assembled on the slider or separated from the slider according to actual usage needs. This setting simplifies the assembly structure of the robot, facilitates the installation and disassembly of the arm assembly and the machine platform assembly, and is convenient for the assembly, maintenance, and transportation of the robot.

[0018] It can be understood that the slider and the slide rail cooperate to define the movement trajectory of the arm assembly relative to the machine platform assembly, which can reduce the resistance when the mover drives the arm body under the action of the stator, and can ensure the effectiveness and feasibility of the mover driving the arm body to move linearly in the first direction under the action of the stator.

[0019] Wherein, the slide rail extends in the first direction, and the extension direction of the slide rail matches the movement direction of the arm body under the action of the mover, so that the arm assembly can move relative to the machine platform assembly in the first direction, avoiding the situation that the arm assembly deviates from the machine platform assembly, and providing a reliable structural support for ensuring that the grasped workpiece moves linearly at high speed and high precision.

[0020] In some embodiments, optionally, the machine platform assembly includes a slide rail, and the arm assembly includes a slider. The slider is detachably arranged on the slide rail, and the slider can slide along the slide rail. Wherein, the slide rail extends in a first direction.

[0021] In this embodiment, the mating structure of the machine platform assembly and the arm assembly is further defined.

[0022] The machine platform assembly includes a slide rail, and the arm assembly includes a slider.

[0023] The slider is detachably arranged on the slide rail, the slider is slidably connected to the slide rail, and the slider can slide relative to the slide rail.

[0024] Among them, the slider and the slide rail are detachably connected, that is, the arm assembly is detachably arranged on the machine table assembly. The slider and the slide rail cooperate to enable the arm assembly to be assembled on the machine table assembly and also to be detached from the machine table assembly. This setting facilitates the cleaning, maintenance and transportation of the arm assembly and the machine table assembly while ensuring the reliability of the connection between the arm assembly and the machine table assembly. That is, the slider of the arm assembly can be assembled on the slide rail of the machine table assembly or separated from the slide rail of the machine table assembly according to actual use needs. This setting simplifies the assembly structure of the robot, facilitates the installation and disassembly of the arm assembly and the machine table assembly, and is convenient for the assembly, maintenance and transportation of the robot.

[0025] It can be understood that the slider and the slide rail cooperate to define the movement trajectory of the arm assembly relative to the machine table assembly, which can reduce the resistance when the mover drives the arm body under the action of the stator, and can ensure the effectiveness and feasibility of the mover driving the arm body to move linearly in the first direction under the action of the stator.

[0026] Among them, the slide rail extends in the first direction, and the extension direction of the slide rail matches the movement direction of the arm body under the action of the mover, so that the arm assembly can move relative to the machine table assembly in the first direction, avoiding the situation that the arm assembly deviates from the machine table assembly, and providing a reliable structural support for ensuring that the grasped workpiece moves linearly at high speed and high precision.

[0027] In some embodiments, optionally, the arm assembly includes: a mounting plate, both the mover and the arm body are arranged on the mounting plate; the mounting plate is detachably connected to the slider.

[0028] In this embodiment, the structure of the arm assembly is further defined.

[0029] The arm assembly further includes a mounting plate. Either the mover or the arm body is arranged on the mounting plate. The mounting plate serves as the mounting carrier for the mover and the arm body and has the function of mounting and fixing the mover and the arm body.

[0030] Among them, when the arm assembly is detachably connected to the slider, the mounting plate is detachably connected to the slider. That is to say, the mover and the arm body are detachably connected to the slider through the mounting plate. The mover drives the mounting plate to move linearly in the first direction under the action of the stator. Since the arm body is mounted on the mounting plate, the arm body can move linearly in the first direction along with the mounting plate.

[0031] In some embodiments, optionally, the arm assembly includes: a mounting plate, both the mover and the arm body are arranged on the mounting plate; the mounting plate is detachably connected to the slide rail through the slider.

[0032] In this embodiment, the structure of the arm assembly is further defined.

[0033] The arm assembly further includes a mounting plate. Either the mover or the arm body is disposed on the mounting plate. The mounting plate serves as the mounting carrier for the mover and the arm body, and has the function of mounting and fixing the mover and the arm body.

[0034] Wherein, when the machine table assembly includes a slide rail and the arm assembly includes a slider, and the slider is detachably connected to the slide rail, the mounting plate is connected to the slider, and the mounting plate is detachably connected to the slide rail through the slider. That is to say, the mover, the arm body and the mounting plate are detachably connected to the slide rail through the slider. The mover drives the mounting plate to move linearly in the first direction under the action of the stator. Since the arm body is mounted on the mounting plate, the arm body can move linearly in the first direction along with the mounting plate.

[0035] In some embodiments, optionally, the mounting plate has a first end face and a second end face in its thickness direction. The arm body is detachably disposed on the first end face, and the mover is detachably disposed on the second end face.

[0036] In this embodiment, the mating structure of the mounting plate, the mover and the arm body is further defined.

[0037] Wherein, the mounting plate includes a first end face and a second end face. The first end face and the second end face are opposite and spaced apart along the thickness direction of the mounting plate, and the second end face faces the stator.

[0038] The arm body is detachably disposed on the first end face, and the mover is detachably disposed on the second end face. That is to say, the arm body and the mover are mounted on different faces of the mounting plate. In this way, the space of the robot in the thickness direction of the mounting plate is reasonably utilized, which is beneficial to reducing the size of the arm assembly in the first direction. While ensuring the moving stroke of the arm assembly, it is beneficial to reduce the external dimension of the robot in the first direction, and thus beneficial to reducing the installation space of the robot.

[0039] Wherein, the arm body is detachably disposed on the first end face, so that the arm body can be assembled on the mounting plate and can also be detached from the mounting plate. That is to say, the arm assembly can be further disassembled and the arm assembly can be further split. This setting ensures the reliability of the connection between the arm body and the mounting plate, and is convenient for cleaning, maintenance and transportation of the arm body and the mounting plate. This setting can split the arm assembly into multiple relatively small-volume components, so that it is more convenient for the assembly, maintenance and transportation of the robot.

[0040] Wherein, the mover is detachably disposed on the second end face, so that the mover can be assembled on the mounting plate and can also be detached from the mounting plate. That is to say, the arm assembly can be further disassembled and the arm assembly can be further split. This setting ensures the reliability of the connection between the mover and the mounting plate, and is convenient for cleaning, maintenance and transportation of the mover and the mounting plate. This setting can split the arm assembly into multiple relatively small-volume components, so that it is more convenient for the assembly, maintenance and transportation of the robot.

[0041] In some embodiments, optionally, the mounting plate includes: a plate body, to which the arm body is detachably provided; two wing plates, between which the plate body is connected along a first direction; a part of each wing plate protrudes from the mover in a second direction, and the part of the wing plate protruding from the mover is connected to the slider.

[0042] In this embodiment, the mating structures of the mounting plate, the arm body, the mover and the slider are further defined.

[0043] The mounting plate includes a plate body and two wing plates, and the plate body is connected between the two wing plates along a first direction.

[0044] The arm body is detachably provided on the plate body, that is, the arm body is connected to a partial area of the mounting plate (i.e., the plate body).

[0045] A part of any one of the two wing plates protrudes from the mover in a second direction, and the part of the wing plate protruding from the mover is used for mating connection with the slider. This setting rationally arranges the assembly area of the mounting plate, so that the part of the wing plate mating with the slider will not interfere with the arm body and the mover, reduces the resistance when the arm assembly moves relative to the machine table assembly, enables the arm assembly to effectively drive the workpiece to be transported, and can ensure the effectiveness and feasibility of the mating connection of the mounting plate, the arm body, the mover and the slider.

[0046] In some embodiments, optionally, the mover has a third end face and a fourth end face in the second direction, a first part of the wing plate protrudes from the third end face and is connected to the slider, and a second part of the wing plate protrudes from the fourth end face and is connected to the slider.

[0047] In this embodiment, the mating structures of the mounting plate, the mover and the slider are further defined.

[0048] The mover has a third end face and a fourth end face that are opposite and spaced apart. The third end face and the fourth end face are arranged along the second direction.

[0049] A first part of each wing plate protrudes from the third end face and is connected to the slider, and a second part of each wing plate protrudes from the fourth end face and is connected to the slider.

[0050] That is, one mounting plate is connected to four sliders. Among them, the mounting plate is fixedly connected to the slider, or the mounting plate is detachably connected to the slider.

[0051] Optionally, the number of slide rails is two, the two slide rails are arranged at intervals along the second direction, each slide rail extends along the first direction, and each slide rail is connected to two sliders.

[0052] Optionally, the slide rail includes two sliding parts, the two sliding parts are arranged at intervals along the second direction, each sliding part extends along the first direction, and each sliding part is connected to two sliders.

[0053] Since the cooperation structure of the mounting plate, the mover, the arm assembly and the slider is reasonably arranged, it is beneficial to reduce the distance between the parts of the wing plate that are cooperatively connected to the two sliders in the second direction, and is beneficial to reduce the distance between the sliders arranged at intervals in the second direction. Furthermore, it is beneficial to reduce the span of the parts where the slide rail is cooperatively connected to the slider (for example, two slide rails, such as the two sliding parts of the slide rail), thereby being beneficial to improving the structural strength and rigidity of the mounting plate after the arm assembly and the machine table assembly are assembled. In this way, it is beneficial to reduce the influence of the magnetic attraction force between the stator and the mover on the bending deformation of the mounting plate, providing structural support for the stable operation of the robot, and is also beneficial to reducing the running noise of the robot, and is beneficial to improving the use performance and market competitiveness of the product.

[0054] In some embodiments, optionally, the arm assembly further includes: a lead screw and a first motor. The lead screw and the first motor are both detachably arranged on the mounting plate. The swing arm is screwed to the lead screw, and the first motor is used to drive the lead screw to rotate; or a linear motor, which is detachably arranged on the mounting plate, and the linear motor is used to drive the swing arm to move up and down.

[0055] In this embodiment, the robot includes a lead screw and a first motor.

[0056] Optionally, the first motor includes a servo motor.

[0057] Wherein, the swing arm is screwed to the lead screw, and the first motor drives the lead screw to rotate to drive the swing arm to move up and down along the length direction of the lead screw.

[0058] Optionally, both the lead screw and the first motor are arranged on the mounting plate. The nut of the lead screw and the swing arm are both connected to the guide block of the lead screw, that is, both the nut and the swing arm are screwed to the lead screw through the guide block. The first motor works to drive the lead screw to rotate, so that the swing arm makes a vertical up and down movement. Arranging the lead screw and the first motor on the mounting plate can achieve the stability and reliability of the overall operation of the arm assembly.

[0059] Alternatively, the robot further includes a linear motor, and the linear motor is used to drive the swing arm to move up and down in the second direction, so as to drive the swing arm to drive the robotic arm and the end effector to move up and down in the second direction.

[0060] Wherein, the lead screw is detachably arranged on the mounting plate. This enables the lead screw to be assembled on the mounting plate and also removed from the mounting plate. That is to say, the arm assembly can be further disassembled and split. This arrangement not only ensures the reliability of the connection between the lead screw and the mounting plate, but also facilitates the cleaning, maintenance and transportation of the lead screw and the mounting plate. This arrangement can split the arm assembly into multiple relatively small-sized components, so that it is more convenient for the assembly, maintenance and transportation of the robot.

[0061] Optionally, the connection method between the lead screw and the mounting plate includes any one of the following or a combination thereof: screw connection, riveting and plug connection.

[0062] The first motor is detachably mounted on the mounting plate. The first motor can be mounted on the mounting plate and can also be removed from the mounting plate. In other words, the arm assembly can be further disassembled and the arm assembly can be further disassembled. This arrangement ensures the reliability of the connection between the first motor and the mounting plate while facilitating the cleaning, maintenance and transportation of the first motor and the mounting plate. This arrangement can disassemble the arm assembly into a plurality of relatively small components, which makes it easier to assemble, repair and transport the robot.

[0063] Optionally, the connection method between the first motor and the mounting plate includes any one of the following or a combination thereof: screw connection, riveting and plug connection.

[0064] In some embodiments, optionally, the arm assembly further includes: two guide rails, each guide rail is detachably disposed on the mounting plate, the two guide rails are spaced apart along the first direction, and the swing arm is slidably connected to each guide rail; wherein the lead screw is located between the two guide rails.

[0065] In this embodiment, the structure of the arm assembly is further defined.

[0066] The arm assembly also includes two guide rails. The two guide rails are arranged at intervals along the first direction. Any one of the two guide rails is detachably connected to the mounting plate, and the swing arm is slidably connected to each guide rail.

[0067] The mounting plate serves as a mounting carrier for the two guide rails and has the function of mounting and fixing the two guide rails, thereby ensuring the matching dimensions of the two guide rails and the swing arm.

[0068] In addition, the swing arm is slidably connected to each guide rail, so that when the swing arm makes a lifting motion relative to the mover in the second direction, the guide rail can limit the sliding trajectory of the swing arm, preventing the swing arm from deviating from the preset position, thereby providing reliable structural support to ensure the working accuracy of the robot.

[0069] Among them, the swing arm is slidably connected to each guide rail. This setting increases the sliding area and sliding angle of the two guide rails and the swing arm, can ensure the stability of the swing arm when it is slidably connected to the guide rail, and reduce the amount of shaking when the swing arm is raised and lowered, which is beneficial to improving the accuracy of transferring workpieces.

[0070] In addition, the lead screw is located between the two guide rails. This arrangement reasonably utilizes the area of ​​the mounting plate in the first direction, and while ensuring the effectiveness and feasibility of installing and fixing the lead screw and the two guide rails, it is helpful to reduce the size of the arm assembly in the first direction compared to the case where the lead screw is located on one side of the two guide rails. In this way, while ensuring the movement stroke of the arm assembly, it is helpful to reduce the overall size of the robot in the first direction, thereby helping to reduce the installation space of the robot.

[0071] Each guide rail is detachably mounted on the mounting plate. Each guide rail can be mounted on the mounting plate and can also be removed from the mounting plate. In other words, the arm assembly can be further disassembled and the arm assembly can be further disassembled. This arrangement ensures the reliability of the connection between each guide rail and the mounting plate while facilitating the cleaning, maintenance and transportation of each guide rail and the mounting plate. This arrangement can disassemble the arm assembly into a plurality of relatively small components, which makes it more convenient to assemble, repair and transport the robot.

[0072] In some embodiments, optionally, the arm assembly further includes: two guide rails, each guide rail is detachably disposed on the mounting plate, the two guide rails are spaced apart along a first direction, and the swing arm is slidably connected to each guide rail; wherein the linear motor is located between the two guide rails.

[0073] In this embodiment, the structure of the arm assembly is further defined.

[0074] The arm assembly also includes two guide rails. The two guide rails are arranged at intervals along the first direction. Any one of the two guide rails is detachably connected to the mounting plate, and the swing arm is slidably connected to each guide rail.

[0075] The mounting plate serves as a mounting carrier for the two guide rails and has the function of mounting and fixing the two guide rails, thereby ensuring the matching dimensions of the two guide rails and the swing arm.

[0076] In addition, the swing arm is slidably connected to each guide rail, so that when the swing arm makes a lifting motion relative to the mover in the second direction, the guide rail can limit the sliding trajectory of the swing arm, preventing the swing arm from deviating from the preset position, thereby providing reliable structural support to ensure the working accuracy of the robot.

[0077] Among them, the swing arm is slidably connected to each guide rail. This setting increases the sliding area and sliding angle of the two guide rails and the swing arm, can ensure the stability of the swing arm when it is slidably connected to the guide rail, reduce the amount of shaking when the swing arm is raised and lowered, and is conducive to improving the accuracy of transferring workpieces.

[0078] In addition, the linear motor is located between the two guide rails. This arrangement reasonably utilizes the area of ​​the mounting plate in the first direction, and while ensuring the effectiveness and feasibility of installing and fixing the linear motor and the two guide rails, it is helpful to reduce the size of the arm assembly in the first direction compared to the linear motor being located on one side of the two guide rails. In this way, while ensuring the movement stroke of the arm assembly, it is helpful to reduce the overall size of the robot in the first direction, thereby helping to reduce the installation space of the robot.

[0079] Among them, each guide rail is detachably provided on the mounting plate, enabling each guide rail to be assembled onto the mounting plate and also detached from the mounting plate. That is to say, the arm assembly can be further disassembled and split. This setting ensures the reliability of the connection between each guide rail and the mounting plate while facilitating the cleaning, maintenance, and transportation of each guide rail and the mounting plate. This setting can split the arm assembly into multiple components with relatively small volumes, making it more convenient for the assembly, repair, and transportation of the robot.

[0080] In some embodiments, optionally, the machine platform assembly further includes: a machine platform, and both the stator and the slide rail are detachably provided on the machine platform.

[0081] In this embodiment, the structure of the machine platform assembly is further defined.

[0082] The machine platform assembly further includes a machine platform, and both the stator and the slide rail are detachably provided on the machine platform. The machine platform serves as the installation carrier for the stator and the slide rail, having the function of installing and fixing the stator and the slide rail. It can ensure the mating dimensions of the stator and the slide rail, providing structural support for the effective cooperation between the arm assembly and the machine platform assembly.

[0083] Among them, the stator is detachably provided on the machine platform, enabling the stator to be assembled onto the machine platform and also detached from the machine platform. That is to say, the machine platform assembly can be further disassembled and split. This setting ensures the reliability of the connection between the stator and the machine platform while facilitating the cleaning, maintenance, and transportation of the stator and the machine platform. This setting can split the machine platform assembly into multiple components with relatively small volumes, making it more convenient for the assembly, repair, and transportation of the robot.

[0084] Among them, the slide rail is detachably provided on the machine platform, enabling the slide rail to be assembled onto the machine platform and also detached from the machine platform. That is to say, the machine platform assembly can be further disassembled and split. This setting ensures the reliability of the connection between the slide rail and the machine platform while facilitating the cleaning, maintenance, and transportation of the slide rail and the machine platform. This setting can split the machine platform assembly into multiple components with relatively small volumes, making it more convenient for the assembly, repair, and transportation of the robot.

[0085] In some embodiments, optionally, the machine platform assembly further includes: a power supply unit; a grating scale, and both the power supply unit and the grating scale are detachably provided on the machine platform, and both the arm assembly and the grating scale are electrically connected to the power supply unit.

[0086] In this embodiment, the structure of the machine platform assembly is further defined, such that the machine platform assembly further includes a grating scale and a power supply unit.

[0087] Both the arm assembly and the linear scale are electrically connected to the power supply unit. That is to say, the arm assembly is electrically connected to the power supply unit, and the linear scale is electrically connected to the power supply unit. This setting enables the robot to have an automatic control function, improves the automation level of the robot, simplifies the operation difficulty of the robot, and thus is conducive to improving the use performance and market competitiveness of the robot.

[0088] Among them, the power supply unit is detachably arranged on the machine table. This enables the power supply unit to be assembled on the machine table and also to be disassembled from the machine table. That is to say, the machine table components can be further disassembled. This setting ensures the reliability of the connection between the power supply unit and the machine table, while facilitating the cleaning, maintenance, and transportation of the power supply unit and the machine table. This setting can disassemble the machine table components into multiple relatively small-volume component parts, so that it is more convenient for the assembly, repair, and transportation of the robot.

[0089] Among them, the linear scale is detachably arranged on the machine table. This enables the linear scale to be assembled on the machine table and also to be disassembled from the machine table. That is to say, the machine table components can be further disassembled. This setting ensures the reliability of the connection between the linear scale and the machine table, while facilitating the cleaning, maintenance, and transportation of the linear scale and the machine table. This setting can disassemble the machine table components into multiple relatively small-volume component parts, so that it is more convenient for the assembly, repair, and transportation of the robot.

[0090] 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.

[0091] In this embodiment, the type of the power supply unit is further defined, such that the power supply unit is a wireless power supply unit. In this way, the wiring difficulty of the robot is reduced, the operation difficulty of the robot is simplified, and it is beneficial to reduce the repair and maintenance costs of the robot.

[0092] Or the power supply unit includes a power supply line and a drag chain. The linear scale is electrically connected to the power supply line, and the arm assembly is electrically connected to the power supply line (the power supply lines connected to the arm assembly and the linear scale can be the same, or the power supply lines connected to the arm assembly and the linear scale can be different). Among them, the drag chain covers the power supply line. The drag chain can not only meet the use requirement of the bending arrangement of the power supply line, but also has the function of protecting the power supply line, avoiding the situation of the power supply line being damaged by external force, and is beneficial to extending the service life of the power supply line.

[0093] In some embodiments, optionally, the robotic arm includes a second motor, and the second motor drives the end effector to rotate around a second axis.

[0094] In this embodiment, the cooperation structure between the robotic arm and the end effector is further defined, such that the robotic arm includes a second motor, and the second motor drives the end effector to rotate around a second axis, so as to achieve the function of adjusting the direction and posture of the workpiece being carried.

[0095] In some embodiments, optionally, the end effector includes a suction cup, and a pipeline connected to the suction cup is disposed inside the robotic arm.

[0096] 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 arrangement of the suction cup is conducive to increasing the mating area between the end effector and the workpiece, and is conducive to improving the effectiveness and feasibility of grasping the workpiece.

[0097] In addition, a pipeline connected to the suction cup is disposed inside the robotic arm, that is, the pipeline is hidden inside the robotic arm to ensure the aesthetics of the appearance, and can play a role in protecting the pipeline to avoid damage to the pipeline.

[0098] Optionally, the suction cup includes a Bernoulli suction cup or a vacuum suction cup. This arrangement can ensure the reliability and stability of grasping the workpiece, will not damage the workpiece, and can also meet the use requirements for grasping small and delicate workpieces.

[0099] In some embodiments, optionally, the swing arm includes a third motor, and the third motor is used to drive the robotic arm to rotate.

[0100] In this embodiment, the structure of the swing arm is further defined such that the swing arm includes a third motor.

[0101] Optionally, the third motor includes a servo motor or a torque motor.

[0102] Wherein, when the third motor includes a servo motor, the robot further includes a reducer, and the third motor is electrically connected to the reducer. The third motor is used to drive the robotic arm to rotate, and can meet the use requirements for the swing arm to drive the robotic arm to rotate.

[0103] Wherein, when the third motor includes a torque motor, the robot does not include a reducer.

[0104] The additional aspects and advantages of the present application will become apparent in the following description section, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0106] Figure 1 shows a schematic structural diagram of a robot according to an embodiment of the present application;

[0107] Figure 2 shows a schematic structural diagram of a machine table assembly according to an embodiment of the present application;

[0108] Figure 3 shows a schematic structural diagram of an arm assembly according to an embodiment of the present application.

[0109] Among them, Figures 1 to 3 The corresponding relationship between the reference numerals and the component names in

[0110] 10 Robot, 100 Machine platform assembly, 110 Stator, 120 Slide rail, 130 Machine platform, 140 Power supply unit, 142 Power supply line, 144 Drag chain, 150 Grating scale, 200 Arm assembly, 210 Rotor, 212 Third end face, 214 Fourth end face, 220 Arm body, 230 Swing arm, 232 Third motor, 240 Robot arm, 250 End effector, 252 Suction cup, 260 Mounting plate, 262 First end face, 263 Second end face, 264 Plate body, 265 Wing plate, 270 Lead screw, 280 First motor, 290 Guide rail, 300 Second motor, 400 Slide block, 500 Fastener, 600 First axis, 700 Second axis, 800 Pipeline. Detailed implementation manners

[0111] In order to more clearly understand the above objects, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0112] Many specific details are set forth in the following description in order to fully understand the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0113] The following refers to Figures 1 to 3 Robot 10 according to some embodiments of the present application.

[0114] As Figure 1 , Figure 2 and Figure 3 shown, a robot 10 according to some embodiments of the present application includes a machine platform assembly 100 and an arm assembly 200.

[0115] The machine platform assembly 100 includes a stator 110.

[0116] The arm assembly 200 is detachably provided on the machine platform assembly 100.

[0117] The arm assembly 200 includes a rotor 210 and an arm body 220.

[0118] The rotor 210 is used to drive the arm body 220 to perform a linear motion in the first direction under the action of the stator 110.

[0119] The arm body 220 includes a swing arm 230, a robot arm 240 and an end effector 250.

[0120] The swing arm 230 can move up and down relative to the mover 210 in the second direction.

[0121] The robotic arm 240 is connected to the swing arm 230.

[0122] The swing arm 230 can drive the robotic arm 240 to rotate around the first axis 600.

[0123] The end effector 250 is connected to the robotic arm 240.

[0124] The robotic arm 240 can drive the end effector 250 to perform actions.

[0125] The robot 10 provided by this application includes a machine base assembly 100 and an arm assembly 200. The end effector 250 of the arm assembly 200 is used to grasp workpieces.

[0126] The arm assembly 200 is detachably connected to the machine base assembly 100. The arm assembly 200 and the machine base assembly 100 are two relatively independent structures. The arm assembly 200 can be assembled on the machine base assembly 100 and can also be detached from the machine base assembly 100. This setting ensures the reliability of the connection between the arm assembly 200 and the machine base assembly 100 while facilitating the cleaning, maintenance, and transportation of the arm assembly 200 and the machine base assembly 100. That is, the arm assembly 200 can be assembled on the machine base assembly 100 or separated from the machine base assembly 100 according to actual usage needs. This setting simplifies the assembly structure of the robot 10, facilitates the installation and disassembly of the arm assembly 200 and the machine base assembly 100, and is convenient for the assembly, repair, and transportation of the robot 10.

[0127] In particular, when the components of the arm assembly 200 are damaged, the arm assembly 200 can be detached from the machine base assembly 100, and then the components of the arm assembly 200 can be replaced, which has the advantages of convenient operation and high feasibility.

[0128] Furthermore, the machine base assembly 100 includes a stator 110 and a mover 210. The arm assembly 200 includes a swing arm 230, a robotic arm 240, and an end effector 250. The end effector 250 is used to perform actions. The mover 210 is used to drive the arm assembly 200 (specifically, the workpiece grasped by the end effector 250 of the arm assembly 200) to move linearly in the first direction under the action of the stator 110. The end effector 250 can move up and down relative to the mover 210 in the second direction under the drive of the swing arm 230, that is, drive the workpiece grasped by the end effector 250 to move up and down in the second direction.

[0129] Further, the machine platform assembly 100 includes a stator 110. The arm assembly 200 includes a rotor 210 and an arm body 220. The arm body 220 includes a swing arm 230, a robotic arm 240, and an end effector 250. The end effector 250 is used to perform actions. The rotor 210 is used to drive the arm body 220 (specifically, the workpiece grasped by the end effector 250 of the arm body 220) to perform a linear motion in the first direction under the action of the stator 110. The end effector 250 can perform a lifting motion relative to the machine platform assembly 100 in the second direction under the drive of the swing arm 230, that is, drive the workpiece grasped by the end effector 250 to perform a lifting motion in the second direction.

[0130] That is to say, the arm assembly 200 can also drive the workpiece to perform a linear motion in the first direction, and the arm assembly 200 can also drive the workpiece to perform a lifting motion in the second direction. The swing arm 230 can drive the robotic arm 240 to rotate around the first axis 600. It can be seen from this that the robot 10 can drive the workpiece to move in multiple directions and multiple dimensions according to specific actual usage requirements, expanding the range of transporting the workpiece, making the range of handling the workpiece unrestricted, and improving the usage performance and market competitiveness of the product.

[0131] The machine platform assembly 100 includes a stator 110, and the arm assembly 200 includes a rotor 210. The stator 110 and the rotor 210 cooperate to enable the rotor 210 to drive the arm body 220 to perform a linear motion in the first direction under the action of the stator 110, that is, the rotor 210 can drive the workpiece grasped by the arm body 220 to perform a linear motion in the first direction. The cooperation of the stator 110 and the rotor 210 can effectively drive the grasped workpiece to move along a straight line at high speed and high precision, and can realize the high-speed movement of handling the workpiece, which is beneficial to improving the working cycle and working efficiency of the robot 10.

[0132] Further, the arm body 220 can move in the first direction under the action of the rotor 210. The robotic arm 240 can rotate around the first axis 600 under the action of the swing arm 230. The swing arm 230 can drive the robotic arm 240 and the end effector 250 to perform a lifting motion in the second direction, and the first direction and the second direction are different. The end effector 250 can perform actions under the action of the robotic arm 240. The rotor 210 drives the arm body 220 to achieve high-speed and high-precision rapid movement. The swing arm 230 drives the robotic arm 240 and the end effector 250 to rotate to adjust the posture of the workpiece while quickly moving the workpiece. The swing arm 230 drives the robotic arm 240 and the end effector 250 to lift, that is, the swing arm 230 drives the robotic arm 240 and the end effector 250 to lift and handle the workpiece. The robotic arm 240 drives the end effector 250 to perform actions to adjust the direction and posture of handling the workpiece.

[0133] By reasonably setting the structure of the robot 10, while ensuring the effective driving of the grasped workpiece to move at high speed and high precision, it can adjust the posture of the workpiece from multiple directions and angles, and can meet the usage requirements of high-precision, high-speed and high-repeatability work.

[0134] Optionally, the connection manner between the arm assembly 200 and the machine table assembly 100 includes any one of the following or a combination thereof: screwing, riveting, and plugging.

[0135] Optionally, the first direction is perpendicular to the second direction.

[0136] Optionally, the included angle between the first direction and the second direction is an acute angle.

[0137] Optionally, the included angle between the first direction and the second direction is an obtuse angle.

[0138] In some embodiments, optionally, as Figure 1 and Figure 2 shown, the machine table assembly 100 further includes a slide rail 120 and a slider 400.

[0139] The slider 400 is slidably connected to the slide rail 120.

[0140] The arm assembly 200 is detachably connected to the slider 400.

[0141] Wherein, the slide rail 120 extends along the first direction.

[0142] In this embodiment, the structure of the machine table assembly 100 is further defined such that the machine table assembly 100 further includes a slide rail 120 and a slider 400, the slider 400 is slidably connected to the slide rail 120, and the slider 400 can slide relative to the slide rail 120.

[0143] Wherein, the arm assembly 200 is detachably connected to the slider 400, that is, the arm assembly 200 is detachably arranged on the machine table assembly 100. The arm assembly 200 can be assembled on the slider 400 and can also be detached from the slider 400. This setting ensures the reliability of the connection between the arm assembly 200 and the machine table assembly 100 while facilitating the cleaning, maintenance and transportation of the arm assembly 200 and the machine table assembly 100. That is, the arm assembly 200 can be assembled on the slider 400 or separated from the slider 400 according to actual usage needs. This setting simplifies the assembly structure of the robot 10, facilitates the installation and disassembly of the arm assembly 200 and the machine table assembly 100, and is convenient for the assembly, maintenance and transportation of the robot 10.

[0144] It can be understood that the slider 400 cooperates with the slide rail 120 to define the movement track of the arm assembly 200 relative to the machine table assembly 100 when moving, which can reduce the resistance when the mover 210 drives the arm body 220 to move under the action of the stator 110, and can ensure the effectiveness and feasibility of the mover 210 driving the arm body 220 to move linearly in the first direction under the action of the stator 110.

[0145] Among them, the slide rail 120 extends along the first direction, and the extension direction of the slide rail 120 matches the movement direction of the arm body 220 under the action of the mover 210, so that the arm assembly 200 can move relative to the machine table assembly 100 along the first direction, avoiding the situation that the arm assembly 200 deviates from the machine table assembly 100, and providing a reliable structural support for ensuring that the grasped workpiece moves linearly at high speed and high precision.

[0146] In some embodiments, optionally, the machine table assembly 100 includes a slide rail 120, and the arm assembly 200 includes a slider 400.

[0147] The slider 400 is detachably arranged on the slide rail 120.

[0148] The slider 400 can slide along the slide rail 120.

[0149] Among them, the slide rail 120 extends along the first direction.

[0150] In this embodiment, the cooperation structure of the machine table assembly 100 and the arm assembly 200 is further defined.

[0151] The machine table assembly 100 includes a slide rail 120, and the arm assembly 200 includes a slider 400.

[0152] The slider 400 is detachably arranged on the slide rail 120, the slider 400 is slidably connected to the slide rail 120, and the slider 400 can slide relative to the slide rail 120.

[0153] Among them, the slider 400 is detachably connected to the slide rail 120, that is, the arm assembly 200 is detachably arranged on the machine table assembly 100. The slider 400 cooperates with the slide rail 120, so that the arm assembly 200 can be assembled on the machine table assembly 100 and can also be disassembled from the machine table assembly 100. This setting ensures the reliability of the connection between the arm assembly 200 and the machine table assembly 100 while facilitating the cleaning, maintenance and transportation of the arm assembly 200 and the machine table assembly 100. That is, the slider 400 of the arm assembly 200 can be assembled on the slide rail 120 of the machine table assembly 100 according to actual use needs, or the slider 400 of the arm assembly 200 can be separated from the slide rail 120 of the machine table assembly 100. This setting simplifies the assembly structure of the robot 10, facilitates the installation and disassembly of the arm assembly 200 and the machine table assembly 100, and is convenient for the assembly, maintenance and transportation of the robot 10.

[0154] It is understandable that the slider 400 cooperates with the slide rail 120 to define the movement track of the arm assembly 200 relative to the machine table assembly 100 when moving, which can reduce the resistance when the mover 210 drives the arm body 220 to move under the action of the stator 110, and can ensure the effectiveness and feasibility of the mover 210 driving the arm body 220 to move linearly in the first direction under the action of the stator 110.

[0155] Among them, the slide rail 120 extends in the first direction, and the extension direction of the slide rail 120 matches the movement direction of the arm body 220 under the action of the mover 210, so that the arm assembly 200 can move relative to the machine table assembly 100 in the first direction, avoiding the situation that the arm assembly 200 deviates from the machine table assembly 100, and providing a reliable structural support for ensuring that the grasped workpiece moves linearly at high speed and high precision.

[0156] In some embodiments, optionally, as Figure 1 shown, the arm assembly 200 includes a mounting plate 260.

[0157] Both the mover 210 and the arm body 220 are arranged on the mounting plate 260.

[0158] The mounting plate 260 is detachably connected to the slider 400.

[0159] In this embodiment, the structure of the arm assembly 200 is further defined.

[0160] The arm assembly 200 further includes a mounting plate 260. Any one of the mover 210 and the arm body 220 is arranged on the mounting plate 260. The mounting plate 260 serves as the mounting carrier of the mover 210 and the arm body 220, and has the function of mounting and fixing the mover 210 and the arm body 220.

[0161] Among them, when the arm assembly 200 is detachably connected to the slider 400, the mounting plate 260 is detachably connected to the slider 400. That is to say, the mover 210 and the arm body 220 are detachably connected to the slider 400 through the mounting plate 260. The mover 210 drives the mounting plate 260 to move linearly in the first direction under the action of the stator 110. Since the arm body 220 is mounted on the mounting plate 260, the arm body 220 can move linearly in the first direction along with the mounting plate 260.

[0162] The mounting plate 260 is detachably connected to the slider 400. The connection manner between the mounting plate 260 and the slider 400 includes any one of the following or a combination thereof: screwing, riveting, and plugging. The mounting plate 260 and the slider 400 can be assembled together or separated according to actual use requirements.

[0163] In some embodiments, optionally, the arm assembly 200 includes a mounting plate 260.

[0164] Both the mover 210 and the arm body 220 are disposed on the mounting plate 260.

[0165] The mounting plate 260 is detachably connected to the slide rail 120 through the slider 400.

[0166] In this embodiment, the structure of the arm assembly 200 is further defined.

[0167] The arm assembly 200 further includes a mounting plate 260. Either the mover 210 or the arm body 220 is disposed on the mounting plate 260. The mounting plate 260 serves as the mounting carrier for the mover 210 and the arm body 220, and has the function of mounting and fixing the mover 210 and the arm body 220.

[0168] Wherein, when the machine table assembly 100 includes a slide rail 120 and the arm assembly 200 includes a slider 400, and the slider 400 is detachably connected to the slide rail 120, the mounting plate 260 is connected to the slider 400, and the mounting plate 260 is detachably connected to the slide rail 120 through the slider 400. That is to say, the mover 210, the arm body 220 and the mounting plate 260 are detachably connected to the slide rail 120 through the slider 400. The mover 210 drives the mounting plate 260 to move linearly in the first direction under the action of the stator 110. Since the arm body 220 is mounted on the mounting plate 260, the arm body 220 can move linearly in the first direction along with the mounting plate 260.

[0169] Optionally, the mounting plate 260 is fixedly connected to the slider 400.

[0170] Optionally, the mounting plate 260 is detachably connected to the slider 400. The connection manner between the mounting plate 260 and the slider 400 includes any one or a combination of the following: screwing, riveting and plugging. The mounting plate 260 and the slider 400 can be assembled together or separated according to actual usage requirements.

[0171] In some embodiments, optionally, as Figure 1 shown, the mounting plate 260 has a first end face 262 and a second end face 263 in its thickness direction.

[0172] The arm body 220 is detachably disposed on the first end face 262.

[0173] The mover 210 is detachably disposed on the second end face 263.

[0174] In this embodiment, the mating structure of the mounting plate 260, the mover 210 and the arm body 220 is further defined.

[0175] Among them, the mounting plate 260 includes a first end face 262 and a second end face 263. The first end face 262 and the second end face 263 are opposite and spaced apart along the thickness direction of the mounting plate 260, and the second end face 263 faces the stator 110.

[0176] The arm body 220 is detachably provided on the first end face 262, and the rotor 210 is detachably provided on the second end face 263. That is to say, the arm body 220 and the rotor 210 are installed on different faces of the mounting plate 260. In this way, the space of the robot 10 in the thickness direction of the mounting plate 260 is reasonably utilized, which is beneficial to reducing the size of the arm assembly 200 in the first direction. While ensuring the moving stroke of the arm assembly 200, it is beneficial to reduce the external dimension of the robot 10 in the first direction, and further beneficial to reducing the installation space of the robot 10.

[0177] Among them, the rotor 210 is detachably provided on the second end face 263, so that the rotor 210 can be assembled on the mounting plate 260 and can also be detached from the mounting plate 260. That is to say, the arm assembly 200 can be further disassembled and the arm assembly 200 can be further split. This setting ensures the reliability of the connection between the rotor 210 and the mounting plate 260, and is convenient for cleaning, maintenance and transportation of the rotor 210 and the mounting plate 260. This setting can split the arm assembly 200 into multiple relatively small-sized component parts. In this way, it is more convenient for the assembly, maintenance and transportation of the robot 10.

[0178] In some embodiments, optionally, as Figure 3 shown, the mounting plate 260 includes a plate body 264 and two wing plates 265.

[0179] The arm body 220 is detachably provided on the plate body 264.

[0180] Along the first direction, the plate body 264 is connected between the two wing plates 265.

[0181] A part of the wing plate 265 protrudes from the rotor 210 in the second direction, and the part of the wing plate 265 that protrudes from the rotor 210 is connected to the slider 400.

[0182] In this embodiment, the mating structures of the mounting plate 260, the arm body 220, the rotor 210 and the slider 400 are further defined.

[0183] The mounting plate 260 includes a plate body 264 and two wing plates 265. Along the first direction, the plate body 264 is connected between the two wing plates 265.

[0184] The arm body 220 is detachably provided on the plate body 264, that is to say, the arm body 220 is connected to a local area of the mounting plate 260 (that is, the plate body 264).

[0185] A part of any one of the two wing plates 265 protrudes from the mover 210 in the second direction, and the part of the wing plate 265 protruding from the mover 210 is used for mating connection with the slider 400. This setting rationally arranges the assembly area of the mounting plate 260, so that the part of the wing plate 265 mating with the slider 400 will not interfere with the arm body 220 and the mover 210, reducing the resistance when the arm assembly 200 moves relative to the machine table assembly 100, enabling the arm assembly 200 to effectively drive the workpiece to be transported, and ensuring the effectiveness and feasibility of the mating connection of the mounting plate 260, the arm body 220, the mover 210 and the slider 400.

[0186] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the mover 210 has a third end face 212 and a fourth end face 214 in the second direction.

[0187] The first part of the wing plate 265 protrudes from the third end face 212 and is connected to the slider 400.

[0188] The second part of the wing plate 265 protrudes from the fourth end face 214 and is connected to the slider 400.

[0189] In this embodiment, the mating structure of the mounting plate 260, the mover 210 and the slider 400 is further defined.

[0190] The mover 210 has a relatively and spaced-apart third end face 212 and a fourth end face 214. The third end face 212 and the fourth end face 214 are arranged in the second direction.

[0191] The first part of each wing plate 265 protrudes from the third end face 212 and is connected to the slider 400, and the second part of each wing plate 265 protrudes from the fourth end face 214 and is connected to the slider 400.

[0192] That is, one mounting plate 260 is matingly connected with four sliders 400. Among them, the mounting plate 260 is fixedly connected with the slider 400, or the mounting plate 260 is detachably connected with the slider 400.

[0193] Optionally, the number of the slide rails 120 is two, the two slide rails 120 are spaced apart in the second direction, each slide rail 120 extends in the first direction, and each slide rail 120 is matingly connected with two sliders 400.

[0194] Optionally, the slide rail 120 includes two sliding parts, the two sliding parts are spaced apart in the second direction, each sliding part extends in the first direction, and each sliding part is matingly connected with two sliders 400.

[0195] This setting, due to the reasonable layout of the mating structures of the mounting plate 260, mover 210, arm assembly 200, and slider 400, is beneficial to reducing the spacing between the parts of the wing plate 265 that are matingly connected to the two sliders 400 in the second direction, and is beneficial to reducing the spacing between the sliders 400 arranged at intervals in the second direction. Furthermore, it is beneficial to reducing the span of the parts of the slide rail 120 that are matingly connected to the slider 400 (for example, two slide rails 120, such as the two sliding parts of the slide rail 120), thereby being beneficial to improving the structural strength and stiffness of the mounting plate 260 after the arm assembly 200 and the machine platform assembly 100 are assembled. In this way, it is beneficial to reducing the influence of the magnetic attraction force between the stator 110 and the mover 210 on the bending deformation of the mounting plate 260, providing structural support for the stable operation of the robot 10, and is also beneficial to reducing the operating noise of the robot 10 and improving the use performance and market competitiveness of the product.

[0196] In some embodiments, optionally, as Figure 3 shown, the arm assembly 200 further includes a lead screw 270 and a first motor 280. The lead screw 270 and the first motor 280 are both detachably provided on the mounting plate 260. The swing arm 230 is screwed to the lead screw 270. The first motor 280 is used to drive the lead screw 270 to rotate.

[0197] Or the arm assembly 200 further includes a linear motor. The linear motor is detachably provided on the mounting plate 260. The linear motor is used to drive the swing arm 230 to perform a lifting motion.

[0198] In this embodiment, the robot 10 includes a lead screw 270 and a first motor 280.

[0199] Optionally, the first motor 280 includes a servo motor.

[0200] Wherein, the swing arm 230 is screwed to the lead screw 270, and the first motor 280 drives the lead screw 270 to rotate to drive the swing arm 230 to lift along the length direction of the lead screw 270.

[0201] Optionally, both the lead screw 270 and the first motor 280 are provided on the mounting plate 260. The nut of the lead screw 270 and the swing arm 230 are both connected to the guiding block of the lead screw 270. That is to say, the nut and the swing arm 230 are both screwed to the lead screw 270 through the guiding block. The first motor 280 operates to drive the lead screw 270 to rotate, so that the swing arm 230 makes a vertical lifting motion. Arranging the lead screw 270 and the first motor 280 on the mounting plate 260 can achieve the stability and reliability of the overall operation of the arm assembly 200.

[0202] Or, the robot 10 further includes a linear motor, and the linear motor is used to drive the swing arm 230 to perform a lifting motion in the second direction, so as to drive the swing arm 230 to drive the robotic arm 240 and the end effector 250 to perform a lifting motion in the second direction.

[0203] Among them, the lead screw 270 is detachably arranged on the mounting plate 260, enabling the lead screw 270 to be assembled on the mounting plate 260 and also to be detached from the mounting plate 260. That is to say, the arm assembly 200 can be further disassembled and split. This setting ensures the reliability of the connection between the lead screw 270 and the mounting plate 260 while facilitating the cleaning, maintenance and transportation of the lead screw 270 and the mounting plate 260. This setting can split the arm assembly 200 into multiple component parts with relatively small volumes, making it more convenient for the assembly, repair and transportation of the robot 10.

[0204] Optionally, the connection method between the lead screw 270 and the mounting plate 260 includes any one or a combination of the following: screwing, riveting and plugging.

[0205] Among them, the first motor 280 is detachably arranged on the mounting plate 260, enabling the first motor 280 to be assembled on the mounting plate 260 and also to be detached from the mounting plate 260. That is to say, the arm assembly 200 can be further disassembled and split. This setting ensures the reliability of the connection between the first motor 280 and the mounting plate 260 while facilitating the cleaning, maintenance and transportation of the first motor 280 and the mounting plate 260. This setting can split the arm assembly 200 into multiple component parts with relatively small volumes, making it more convenient for the assembly, repair and transportation of the robot 10.

[0206] Optionally, the connection method between the first motor 280 and the mounting plate 260 includes any one or a combination of the following: screwing, riveting and plugging.

[0207] In some embodiments, optionally, as Figure 3 shown, the arm assembly 200 further includes two guide rails 290.

[0208] Each guide rail 290 is detachably arranged on the mounting plate 260.

[0209] The two guide rails 290 are arranged at intervals in the first direction.

[0210] The swing arm 230 is slidably connected to each guide rail 290.

[0211] Among them, the lead screw 270 is located between the two guide rails 290.

[0212] In this embodiment, the structure of the arm assembly 200 is further defined.

[0213] The arm assembly 200 further includes two guide rails 290. Along the first direction, the two guide rails 290 are arranged at intervals. Any one of the two guide rails 290 is detachably connected to the mounting plate 260, and the swing arm 230 is slidably connected to each guide rail 290.

[0214] The mounting plate 260 serves as a mounting carrier for the two guide rails 290 , and has the function of mounting and fixing the two guide rails 290 , thereby ensuring the matching dimensions of the two guide rails 290 and the swing arm 230 .

[0215] In addition, the swing arm 230 is slidably connected to each guide rail 290. In this way, when the swing arm 230 performs a lifting motion in the second direction relative to the mover 210, the guide rail 290 can limit the sliding trajectory of the swing arm 230, thereby preventing the swing arm 230 from deviating from the preset position, thereby providing reliable structural support to ensure the working accuracy of the robot 10.

[0216] Among them, the swing arm 230 is slidably connected to each guide rail 290. This setting increases the sliding area and sliding angle of the two guide rails 290 and the swing arm 230, can ensure the stability of the swing arm 230 when it is slidably connected to the guide rail 290, and reduce the amount of shaking when the swing arm 230 is raised or lowered, which is beneficial to improving the accuracy of transferring workpieces.

[0217] In addition, the lead screw 270 is located between the two guide rails 290. This arrangement reasonably utilizes the area of ​​the mounting plate 260 in the first direction, and while ensuring the effectiveness and feasibility of installing and fixing the lead screw 270 and the two guide rails 290, it is helpful to reduce the size of the arm assembly 200 in the first direction compared to the case where the lead screw 270 is located on one side of the two guide rails 290. In this way, while ensuring the moving stroke of the arm assembly 200, it is helpful to reduce the outer dimensions of the robot 10 in the first direction, thereby helping to reduce the installation space of the robot 10.

[0218] Each guide rail 290 is detachably mounted on the mounting plate 260. Each guide rail 290 can be assembled on the mounting plate 260, and each guide rail 290 can also be removed from the mounting plate 260. In other words, the arm assembly 200 can be further disassembled and the arm assembly 200 can be further disassembled. This arrangement facilitates the cleaning, maintenance and transportation of each guide rail 290 and the mounting plate 260 while ensuring the reliability of the connection between each guide rail 290 and the mounting plate 260. This arrangement can disassemble the arm assembly 200 into a plurality of relatively small components, which makes it more convenient to assemble, maintain and transport the robot 10.

[0219] Optionally, the guide rail 290 and the mounting plate 260 are connected in any one of the following ways or a combination thereof: screw connection, riveting and plug connection.

[0220] In some embodiments, optionally, the arm assembly 200 further includes two guide rails 290 .

[0221] Each guide rail 290 is detachably mounted on the mounting plate 260 .

[0222] The two guide rails 290 are arranged at intervals along the first direction.

[0223] The swing arm 230 is slidably connected to each guide rail 290 .

[0224] The linear motor is located between the two guide rails 290 .

[0225] In this embodiment, the structure of the arm assembly 200 is further defined.

[0226] The arm assembly 200 further includes two guide rails 290 . Along the first direction, the two guide rails 290 are arranged at intervals. Any one of the two guide rails 290 is detachably connected to the mounting plate 260 , and the swing arm 230 is slidably connected to each guide rail 290 .

[0227] The mounting plate 260 serves as a mounting carrier for the two guide rails 290 , and has the function of mounting and fixing the two guide rails 290 , thereby ensuring the matching dimensions of the two guide rails 290 and the swing arm 230 .

[0228] In addition, the swing arm 230 is slidably connected to each guide rail 290. In this way, when the swing arm 230 performs a lifting motion in the second direction relative to the mover 210, the guide rail 290 can limit the sliding trajectory of the swing arm 230, thereby preventing the swing arm 230 from deviating from the preset position, thereby providing reliable structural support to ensure the working accuracy of the robot 10.

[0229] Among them, the swing arm 230 is slidably connected to each guide rail 290. This setting increases the sliding area and sliding angle of the two guide rails 290 and the swing arm 230, can ensure the stability of the swing arm 230 when it is slidably connected to the guide rail 290, and reduce the amount of shaking when the swing arm 230 is raised or lowered, which is beneficial to improving the accuracy of transferring workpieces.

[0230] In addition, the linear motor is located between the two guide rails 290. This arrangement reasonably utilizes the area of ​​the mounting plate 260 in the first direction, and while ensuring the effectiveness and feasibility of installing and fixing the linear motor and the two guide rails 290, it is helpful to reduce the size of the arm assembly 200 in the first direction compared to the linear motor being located on one side of the two guide rails 290. In this way, while ensuring the moving stroke of the arm assembly 200, it is helpful to reduce the outer dimensions of the robot 10 in the first direction, thereby helping to reduce the installation space of the robot 10.

[0231] Among them, each guide rail 290 is detachably arranged on the mounting plate 260, enabling each guide rail 290 to be assembled on the mounting plate 260 and also detached from the mounting plate 260. That is to say, the arm assembly 200 can be further disassembled and assembled, and the arm assembly 200 can be further split. This setting ensures the reliability of the connection between each guide rail 290 and the mounting plate 260 while facilitating the cleaning, maintenance, and transportation of each guide rail 290 and the mounting plate 260. This setting can split the arm assembly 200 into multiple component parts with relatively small volumes, making it more convenient for the assembly, maintenance, and transportation of the robot 10.

[0232] Optionally, the connection method between the guide rail 290 and the mounting plate 260 includes any one of the following or a combination thereof: screwing, riveting, and plugging.

[0233] In some embodiments, optionally, as Figure 1 and Figure 2 shown, the machine platform assembly 100 further includes a machine platform 130.

[0234] The stator 110 and the slide rail 120 are both detachably arranged on the machine platform 130.

[0235] In this embodiment, the structure of the machine platform assembly 100 is further defined.

[0236] The machine platform assembly 100 further includes a machine platform 130. The stator 110 and the slide rail 120 are both detachably arranged on the machine platform 130. The machine platform 130 serves as the installation carrier for the stator 110 and the slide rail 120, and has the function of installing and fixing the stator 110 and the slide rail 120. It can ensure the mating dimensions of the stator 110 and the slide rail 120, providing structural support for the effective cooperation between the arm assembly 200 and the machine platform assembly 100.

[0237] Among them, the stator 110 is detachably arranged on the machine platform 130, enabling the stator 110 to be assembled on the machine platform 130 and also detached from the machine platform 130. That is to say, the machine platform assembly 100 can be further disassembled and assembled, and the machine platform assembly 100 can be further split. This setting ensures the reliability of the connection between the stator 110 and the machine platform 130 while facilitating the cleaning, maintenance, and transportation of the stator 110 and the machine platform 130. This setting can split the machine platform assembly 100 into multiple component parts with relatively small volumes, making it more convenient for the assembly, maintenance, and transportation of the robot 10.

[0238] Among them, the slide rail 120 is detachably provided on the machine table 130, enabling the slide rail 120 to be assembled on the machine table 130 and also to be disassembled from the machine table 130. That is to say, the machine table assembly 100 can be further disassembled, and the machine table assembly 100 can be further split. This setting ensures the reliability of the connection between the slide rail 120 and the machine table 130 while facilitating the cleaning, maintenance, and transportation of the slide rail 120 and the machine table 130. This setting can split the machine table assembly 100 into multiple relatively small-sized component parts, making it more convenient for the assembly, repair, and transportation of the robot 10.

[0239] The connection method between any one of the stator 110 and the slide rail 120 and the machine table 130 includes any one of the following or a combination thereof: screw connection, riveting, and plugging.

[0240] In some embodiments, optionally, as Figure 1 and Figure 2 shown, the machine table assembly 100 further includes a grating scale 150 and a power supply unit 140.

[0241] The power supply unit 140 and the grating scale 150 are both detachably provided on the machine table 130.

[0242] Both the arm assembly 200 and the grating scale 150 are electrically connected to the power supply unit 140.

[0243] In this embodiment, the structure of the machine table assembly 100 is further defined, such that the machine table assembly 100 further includes a grating scale 150 and a power supply unit 140.

[0244] Both the arm assembly 200 and the grating scale 150 are electrically connected to the power supply unit 140. That is, the arm assembly 200 is electrically connected to the power supply unit 140, and the grating scale 150 is electrically connected to the power supply unit 140. This setting enables the robot 10 to have an automatic control function, improves the automation level of the robot 10, simplifies the operation difficulty of the robot 10, and thus is beneficial to improving the use performance and market competitiveness of the robot 10.

[0245] Among them, the power supply unit 140 is detachably provided on the machine table 130, enabling the power supply unit 140 to be assembled on the machine table 130 and also to be disassembled from the machine table 130. That is to say, the machine table assembly 100 can be further disassembled, and the machine table assembly 100 can be further split. This setting ensures the reliability of the connection between the power supply unit 140 and the machine table 130 while facilitating the cleaning, maintenance, and transportation of the power supply unit 140 and the machine table 130. This setting can split the machine table assembly 100 into multiple relatively small-sized component parts, making it more convenient for the assembly, repair, and transportation of the robot 10.

[0246] Among them, the grating scale 150 is detachably arranged on the machine table 130, enabling the grating scale 150 to be assembled on the machine table 130 and also to be disassembled from the machine table 130. That is to say, the machine table assembly 100 can be further disassembled, and the machine table assembly 100 can be further split. This setting ensures the reliability of the connection between the grating scale 150 and the machine table 130 while facilitating the cleaning, maintenance, and transportation of the grating scale 150 and the machine table 130. This setting can split the machine table assembly 100 into multiple components with relatively small volumes, making it more convenient for the assembly, repair, and transportation of the robot 10.

[0247] The connection method of any one of the power supply unit 140 and the grating scale 150 to the machine table 130 includes any one of the following or a combination thereof: screw connection, riveting, and plug connection.

[0248] Among them, the detection data of the grating scale 150 is used to determine the position of the mover 210.

[0249] In some embodiments, optionally, the power supply unit 140 is a wireless power supply unit.

[0250] Or, as Figure 1 and Figure 2 shown, the power supply unit 140 includes a power supply line 142 and a drag chain 144, and the drag chain 144 wraps the power supply line 142.

[0251] In this embodiment, the type of the power supply unit 140 is further defined so that the power supply unit 140 is a wireless power supply unit. In this way, the wiring difficulty of the robot 10 is reduced, the operation difficulty of the robot 10 is simplified, and it is beneficial to reduce the repair and maintenance costs of the robot 10.

[0252] Or the power supply unit 140 includes a power supply line 142 and a drag chain 144. The grating scale 150 is electrically connected to the power supply line 142, and the arm assembly 200 is electrically connected to the power supply line 142 (the power supply line 142 connecting the arm assembly 200 and the grating scale 150 can be the same, or the power supply line 142 connecting the arm assembly 200 and the grating scale 150 can be different). Among them, the drag chain 144 wraps the power supply line 142. The drag chain 144 can not only meet the use requirement of the power supply line 142 for bending arrangement but also has the function of protecting the power supply line 142, avoiding the situation of the power supply line 142 being damaged by external force, and is beneficial to extending the service life of the power supply line 142.

[0253] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the robotic arm 240 includes a second motor 300.

[0254] The second motor 300 drives the end effector 250 to rotate around the second axis 700.

[0255] In this embodiment, the mating structure of the robotic arm 240 and the end effector 250 is further defined such that the robotic arm 240 includes a second motor 300, and the second motor 300 drives the end effector 250 to rotate about the second axis 700 to adjust the direction and attitude of the workpiece being carried.

[0256] In some embodiments, optionally, as Figure 1 and Figure 3 shown, the end effector 250 includes a suction cup 252.

[0257] A pipeline 800 connected to the suction cup 252 is provided inside the robotic arm 240.

[0258] In this embodiment, the end effector 250 includes a suction cup 252, and the second motor 300 is used to drive the suction cup 252 to rotate. The suction cup 252 is used to adsorb the workpiece. The structural setting of the suction cup 252 is beneficial to increasing the mating area between the end effector 250 and the workpiece, and is beneficial to improving the effectiveness and feasibility of grasping the workpiece.

[0259] In addition, a pipeline 800 connected to the suction cup 252 is provided inside the robotic arm 240, that is, the pipeline 800 is hidden inside the robotic arm 240 to ensure the aesthetics of the appearance and protect the pipeline 800 from being damaged.

[0260] Optionally, the suction cup 252 includes a Bernoulli suction cup or a vacuum suction cup. This setting can ensure the reliability and stability of grasping the workpiece without damaging the workpiece, and can also meet the use requirements for grasping small and delicate workpieces.

[0261] In some embodiments, optionally, as Figure 3 shown, the swing arm 230 includes a third motor 232.

[0262] The third motor 232 is used to drive the robotic arm 240 to rotate.

[0263] In this embodiment, the structure of the swing arm 230 is further defined such that the swing arm 230 includes a third motor 232.

[0264] Optionally, the third motor 232 includes a servo motor or a torque motor.

[0265] Among them, when the third motor 232 includes a servo motor, the robot 10 further includes a reducer, and the third motor 232 is electrically connected to the reducer. The third motor 232 is used to drive the robotic arm 240 to rotate, which can meet the use requirements for the swing arm 230 to drive the robotic arm 240 to rotate.

[0266] Among them, when the third motor 232 includes a torque motor, the robot 10 does not include a reducer.

[0267] Optionally, the robot 10 of the present application is applicable to photovoltaic string soldering and rapid flexible grasping of moving workpieces. During the high-precision and high-speed linear motion process, it can flexibly grasp handling workpieces such as photovoltaic wafers through actions such as the swing arm 230, lifting, and posture adjustment, can efficiently handle and move workpieces, and can improve the working cycle and efficiency of the whole machine.

[0268] Through a modular installation method, the present application forms two major modules, namely the machine platform assembly 100 and the arm assembly 200. As Figure 1 shown, the two major modules can be independently assembled and disassembled, and the two major modules are only connected to each other through fasteners 500 (such as bolts and screws), which greatly facilitates the installation and disassembly between the modules and is convenient for assembly, maintenance, and transportation.

[0269] At the same time, through the modular design of the arm assembly 200, the structure is more compact, which is beneficial to reducing the installation span of the two slide rails 120 of the machine platform assembly 100, and then improving the strength and rigidity of the mounting plate 260, so that the mounting plate 260 is not easily deformed due to the magnetic attraction force between the mover 210 and the stator 110.

[0270] As Figure 1 shown, the robot 10 includes a machine platform assembly 100, an arm assembly 200, and fasteners 500. Both the machine platform assembly 100 and the arm assembly 200 are independent module units.

[0271] As Figure 2 shown, the machine platform assembly 100 includes a machine platform 130, slide rails 120 (such as linear slide rails 120), sliders 400, slide rails 120, a drag chain 144, and a grating scale 150. The slide rails 120, slide rails 120, drag chain 144, and grating scale 150 are all detachably arranged on the machine platform 130.

[0272] As Figure 3 shown, the arm assembly 200 includes a mounting plate 260, a mover 210, guide rails 290 (such as linear guide rails), a lead screw 270 (such as a ball screw), a first motor 280, a swing arm 230, a robotic arm 240, and a terminal execution part 250 (such as a suction cup 252 or other actuators). The mover 210, guide rails 290, lead screw 270, first motor 280, swing arm 230, robotic arm 240, and terminal execution part 250 are all detachably arranged on the mounting plate 260. The mounting plate 260 is fixed on the slider 400 through the fasteners 500, thereby realizing the connection of the two modules.

[0273] By coaxializing the center line of the lead screw 270 with the center line of the swing arm 230, the spatial layout is optimized. Meanwhile, the installation positions of the screw holes on the mounting plate 260 are optimized, further reducing the span of the two sliders 400 in the second direction, thereby improving the strength and rigidity of the mounting plate 260 of the robot 10 and reducing the influence of the magnetic suction force between the mover 210 and the stator 110 on the bending deformation of the mounting plate 260.

[0274] Among them, the shape of the machine table 130 is "door" - shaped or "T" - shaped, that is, the machine table 130 is a door - shaped machine table, or the machine table 130 is a T - shaped machine table.

[0275] In this application, the term "a plurality of" refers to two or more, unless otherwise clearly defined. Terms such as "installation", "connection", "attachment", "fixation" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "attachment" can be a direct attachment or an indirect attachment through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above - mentioned terms in this application can be understood according to specific circumstances.

[0276] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above - mentioned terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The above is only the preferred embodiment of this application and is not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A robot, characterized in that: include: A machine assembly, the machine assembly comprising a stator; An arm assembly is detachably mounted on the machine assembly, the arm assembly comprises a mover and an arm body, the mover is used to drive the arm body to perform linear motion in a first direction under the action of the stator, and the arm body comprises: A swing arm, wherein the swing arm can perform lifting motion relative to the mover in a second direction; A mechanical arm connected to the swing arm, wherein the swing arm can drive the mechanical arm to rotate around a first axis; An end effector connected to the robot arm, and the robot arm can drive the end effector to perform an action; The arm assembly further comprises a mounting plate, the mover and the arm body are both arranged on the mounting plate; the mounting plate comprises a plate body, the arm body is detachably arranged on the plate body.

2. The robot according to claim 1, characterized in that: The platform assembly further comprises a slide rail and a slider, the slider is slidably connected to the slide rail, and the arm assembly is detachably connected to the slider; or The platform assembly includes a slide rail, and the arm assembly includes a slider, the slider is detachably mounted on the slide rail, and the slider can slide along the slide rail; Wherein, the slide rail extends along the first direction.

3. The robot according to claim 2, characterized in that: The mounting plate is detachably connected to the slider, or the mounting plate is detachably connected to the slide rail via the slider.

4. The robot according to claim 3, characterized in that: The mounting plate has a first end surface and a second end surface in the thickness direction thereof, the arm body is detachably provided on the first end surface, and the mover is detachably provided on the second end surface.

5. The robot according to claim 3, characterized in that: The mounting plate also includes: Two wing plates, along the first direction, the plate body is connected between the two wing plates; A portion of the wing plate protrudes out of the mover in the second direction, and a portion of the wing plate protruding out of the mover is connected to the slider.

6. The robot according to claim 5, characterized in that: The mover has a third end face and a fourth end face in the second direction, the first portion of the wing plate protrudes from the third end face and is connected to the slider, and the second portion of the wing plate protrudes from the fourth end face and is connected to the slider.

7. The robot according to any one of claims 3 to 6, characterized in that: The arm assembly further comprises: A lead screw and a first motor, wherein the lead screw and the first motor are both detachably mounted on the mounting plate, the swing arm is threadedly connected to the lead screw, and the first motor is used to drive the lead screw to rotate; or A linear motor is detachably mounted on the mounting plate, and is used to drive the swing arm to perform lifting motion.

8. The robot according to claim 7, characterized in that: The arm assembly further comprises: Two guide rails, each of which is detachably disposed on the mounting plate, the two guide rails are spaced apart along the first direction, and the swing arm is slidably connected to each of the guide rails; Wherein, the lead screw or the linear motor is located between the two guide rails.

9. The robot according to any one of claims 2 to 6, characterized in that: The machine assembly also includes: The machine platform, the stator and the slide rail are both detachably arranged on the machine platform.

10. The robot according to claim 9, characterized in that: The machine assembly also includes: Power Supply Department; The grating ruler, the power supply part and the grating ruler are both detachably arranged on the machine platform, and the arm assembly and the grating ruler are both electrically connected to the power supply part.

11. The robot according to claim 10, 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.

12. The robot according to any one of claims 1 to 6, characterized in that: The robot arm includes a second motor, and the second motor drives the end effector to rotate around a second axis.

13. The robot according to claim 12, characterized in that: The end effector comprises a suction cup, and a pipeline connected to the suction cup is arranged in the robot arm.

14. The robot according to any one of claims 1 to 6, characterized in that: The swing arm includes a third motor, and the third motor is used to drive the mechanical arm to rotate.

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