Small arm structure and hoisting type horizontal multi-joint robot

Abstract

The utility model relates to the technical field of robots, and discloses a small arm structure and a hoisting type horizontal multi-joint robot. The small arm structure can rotate around a first rotating shaft and comprises a mounting base, an executing mechanism, a first driving piece, a second driving piece and a spool fixing assembly, a ball spline lead screw shaft of the executing mechanism is coaxial with the second rotating shaft, and the first rotating shaft and the second rotating shaft are located at the two ends of the mounting base respectively; the first driving part is located between the first rotating shaft and the second rotating shaft and used for driving the ball spline lead screw shaft to move in the axial direction of the second rotating shaft. An output shaft of the second driving part is coaxial with the first rotating shaft and is used for driving the ball spline screw shaft to rotate around the second rotating shaft; the line pipe fixing assembly is used for fixing the positions of a connecting line and an air pipe connected with the energy supply device on the mounting base. According to the forearm structure and the hoisting type horizontal multi-joint robot, the rotational inertia of the forearm structure around the first rotating shaft is reduced, and the running speed of the hoisting type horizontal multi-joint robot is remarkably increased.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular relates to a forearm structure and a hoisting horizontal multi-joint robot. Background Technology

[0002] SCARA robots, short for Selective Compliance Assembly Robot Arm, are a special type of industrial robot with cylindrical coordinates. They have four degrees of freedom: translation along the X, Y, and Z axes and rotation around the Z-axis. Due to their high speed, high precision, and compact structure, they are widely used in fields such as electronics manufacturing, automotive industry, product packaging, and product handling.

[0003] SCARA robots mainly consist of a body, an upper arm structure, and a lower arm structure. The upper arm structure can rotate in a plane around its first connecting axis with the body, and the lower arm structure can rotate in a plane around its second connecting axis with the upper arm structure. A lead screw capable of rotation and vertical movement is also located at the end of the lower arm structure furthest from the second connecting axis. In existing SCARA robot lower arm structures, the drive and reduction components for driving the lead screw's rotation and vertical movement are all located on the lower arm structure and are distributed between the lead screw and the second connecting axis. This not only results in a large moment of inertia for the lower arm structure rotating around the second connecting axis, affecting the SCARA robot's operating speed, but also leads to a large overall size and weight of the lower arm structure, increasing the load capacity of the drive components driving the lower arm structure's rotation and increasing the operating cost of the SCARA robot.

[0004] Therefore, there is an urgent need for a forearm structure and a hoisting horizontal multi-joint robot to solve the above problems. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a forearm structure and a hoisting horizontal multi-joint robot, which reduces the weight of the forearm structure and the moment of inertia of the forearm structure about the first rotation axis, and significantly improves the operating speed of the hoisting horizontal multi-joint robot.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] On one hand, a forearm structure is provided, which is rotatable about a first rotation axis, the forearm structure comprising:

[0008] The mounting base has an installation space inside, which contains wiring and air pipes. The forearm structure can be connected to an external power supply device through the wiring and air pipes.

[0009] The actuator includes a ball spline screw shaft, which is coaxial with the second rotating shaft and is movably mounted on the mounting base. The first rotating shaft and the second rotating shaft are parallel to each other, and the first rotating shaft and the second rotating shaft are located at the two ends of the mounting base along a preset direction.

[0010] Both the first driving component and the first transmission assembly are mounted on the mounting base. The first driving component is located between the first rotating shaft and the second rotating shaft and is connected to the ball spline screw shaft through the first transmission assembly. The first driving component is used to drive the ball spline screw shaft to move axially along the second rotating shaft.

[0011] The second drive component and the second transmission assembly are both mounted on the mounting base. The output shaft of the second drive component is coaxial with the first rotating shaft and is connected to the ball spline screw shaft through the second transmission assembly. The second drive component is used to drive the ball spline screw shaft to rotate around the second rotating shaft.

[0012] The conduit fixing assembly is detachably installed in the installation space and is used to fix the position of the wiring and air pipes in the installation space.

[0013] Optionally, the conduit fixing assembly includes a first conduit fixing member and a second conduit fixing member, and the wiring includes a first wiring and a second wiring. The first conduit fixing member is detachably mounted on the mounting base and has a first limiting channel and a first tying groove. The first wiring and / or the air tube is disposed in the first tying groove and limited in the first limiting channel along its extension direction. The second conduit fixing member is detachably mounted on the second driving member and has a second tying groove. A second limiting channel is formed between the second conduit fixing member and the second driving member. The second wiring and / or the air tube can pass through the second limiting channel and be disposed in the second tying groove.

[0014] Optionally, the forearm structure further includes a first connector, a second connector, a third fastener, and a fourth fastener. The first drive member is connected to the first connector. The first connector has a first waist-shaped hole extending in a preset direction. The third fastener passes through the first waist-shaped hole and is fastened to the mounting base. The position of the third fastener within the first waist-shaped hole is adjustable. The second drive member is connected to the second connector. The second connector has a second waist-shaped hole extending in a preset direction. The fourth fastener passes through the second waist-shaped hole and is fastened to the mounting base. The position of the fourth fastener within the second waist-shaped hole is adjustable.

[0015] Optionally, the actuator further includes a ball spline nut, which is sleeved on the ball spline screw shaft and circumferentially limited to the ball spline screw shaft. The second transmission assembly includes a first driving pulley, a first driven pulley, and a first connecting belt. The first connecting belt is wound around the first driving pulley and the first driven pulley. The output end of the second drive member is connected to the first driving pulley, and the first driven pulley is sleeved on the ball spline screw shaft and fixedly connected to the ball spline nut.

[0016] Optionally, the second transmission assembly further includes a first reducer disposed in the installation space, and the output end of the second drive member is connected to the first drive pulley through the first reducer to reduce the speed of the first drive pulley.

[0017] Optionally, a bracket detachably connected to the mounting base is provided in the installation space, a second driving component is provided on the bracket, a support space is provided on the bracket, a first driving pulley is rotatably provided in the support space, a through hole is provided on the side wall of the bracket facing the actuator, and a first connecting belt is movably passed through the through hole.

[0018] Optionally, the mounting base includes a side cover and a housing extending in a preset direction. An opening is provided on the side wall of the housing opposite to the second rotation axis. The side cover is detachably connected to the housing to block the opening. A bracket is disposed in the inner cavity of the housing, and an observation hole is provided on the side of the bracket opposite to the second rotation axis.

[0019] Optionally, the forearm structure also includes two limiting rings, which are respectively located at both ends of the ball spline screw shaft. The limiting rings are used to limit the position of the ball spline screw shaft on the mounting base.

[0020] Optionally, the actuator further includes a ball screw nut sleeved on the ball spline screw shaft, the ball screw nut being threadedly connected to the ball spline screw shaft, the first transmission assembly including a second driving pulley, a second driven pulley and a second connecting belt, the second connecting belt being wound around the second driving pulley and the second driven pulley, the output end of the first drive member being connected to the second driving pulley, and the second driven pulley being sleeved on the ball spline screw shaft and fixedly connected to the ball screw nut.

[0021] On the other hand, a hoisting horizontal multi-joint robot is provided, including a base, a large arm structure and the aforementioned forearm structure. The large arm structure is rotatably mounted on the base around a third rotation axis and located below the base. The forearm structure is rotatably mounted on the large arm structure around a first rotation axis and located below the large arm structure. The third rotation axis and the first rotation axis are respectively located at both ends of the large arm structure along a preset direction, and the third rotation axis and the first rotation axis are parallel to each other.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] This invention provides a forearm structure and a suspended horizontal multi-joint robot. The ball spline screw shaft is coaxial with the second rotation axis. The first drive component is located between the first and second rotation axes, and the second drive component is coaxial with the first rotation axis. That is, only enough space needs to be left between the first and second rotation axes to install the second drive component. Compared with the existing forearm structure, the forearm structure provided in this embodiment does not need to leave space between the first and second rotation axes to install the second drive component, which reduces the length of the forearm structure along the preset direction and makes the overall forearm structure more compact. This not only reduces the weight of the forearm structure, but also reduces the rotational inertia of the forearm structure about the first rotation axis, significantly improving the operating speed of the forearm structure and the suspended horizontal multi-joint robot. The conduit fixing assembly can fix the position of the wiring and air pipes in the installation space, so that the wiring and air pipes can be neatly organized together, avoiding the messy distribution of wiring and air pipes in the forearm structure. This not only ensures the tightness and reliability of the electrical connection between the forearm structure and the boom structure, but also improves the convenience of the staff in managing and maintaining the wiring and air pipes. It also saves the space occupied by the wiring and air pipes, further improving the compactness of the forearm structure. Attached Figure Description

[0024] Figure 1 A schematic diagram of the structure of the hoisting horizontal multi-joint robot provided by this utility model;

[0025] Figure 2 A cross-sectional view of the forearm structure provided by this utility model;

[0026] Figure 3 A schematic diagram of the forearm structure provided by this utility model (hidden mounting base);

[0027] Figure 4 Wiring and air tube layout diagrams for the forearm structure provided by this utility model.

[0028] Figure 5 A schematic diagram of the first conduit fixing component for the forearm structure provided by this utility model;

[0029] Figure 6 A schematic diagram of the bottom surface of the mounting base for the forearm structure provided by this utility model;

[0030] Figure 7 A schematic diagram of the second drive component, first reducer, first drive pulley, and bracket of the forearm structure provided by this utility model;

[0031] Figure 8 A schematic diagram of the first driving component, the first drive pulley, and the first connecting component of the forearm structure provided by this utility model;

[0032] Figure 9A schematic diagram of the actuator of the forearm structure provided by this utility model;

[0033] Figure 10 A schematic diagram of the forearm structure bracket provided by this utility model.

[0034] in:

[0035] 100. Forearm structure; 200. Boom structure; 201. Second reducer; 300. Base; 301. Third reducer;

[0036] J1, First rotation axis; J2, Second rotation axis; J3, Third rotation axis;

[0037] 1. Mounting base; 11. Mounting space; 12. Cover; 13. Housing; 131. Button; 132. Data cable interface; 133. Air nozzle; 134. Stepped hole; 14. Rotating sleeve; 15. Protective cover;

[0038] 2. Actuator; 21. Ball spline screw shaft; 211. Limit ring; 22. Ball spline nut; 23. Ball screw nut;

[0039] 31. First driving component; 32. First transmission assembly; 321. Second driving pulley; 322. Second driven pulley; 323. Second connecting belt;

[0040] 41. Second driving component; 42. Second transmission assembly; 421. First driving pulley; 422. First driven pulley; 423. First connecting belt; 424. First reducer;

[0041] 5. Conduit fixing assembly; 51. First conduit fixing component; 511. First limiting channel; 512. First cable tie groove; 513. Connecting hole; 52. Second conduit fixing component; 521. Second cable tie groove; 522. Second limiting channel;

[0042] 61. Wiring; 611. Wiring 1; 612. Wiring 2; 613. Wiring 3; 62. Air tube;

[0043] 71. First fastener; 72. Second fastener; 73. Third fastener; 74. Fourth fastener; 75. Fifth fastener; 76. Sixth fastener; 77. Seventh fastener;

[0044] 81. First connector; 811. First slotted hole; 82. Second connector;

[0045] 91. First pad; 92. Bracket; 921. Support space; 922. Clearance hole; 923. Threaded hole; 924. Observation hole; 93. Second pad. Detailed Implementation

[0046] It should be understood that in the description of this utility model, the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0047] It should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0049] Example 1

[0050] like Figures 1 to 10 As shown, this embodiment provides a forearm structure 100, which reduces the weight of the forearm structure 100 and the moment of inertia of the forearm structure 100 about the first rotation axis J1, and significantly improves the operating speed of the hoisting horizontal multi-joint robot.

[0051] See Figure 2 , Figure 3 and Figure 4 The forearm structure 100 is rotatable around a first rotating axis J1 and includes a mounting base 1, an actuator 2, a first drive component 31, a first transmission assembly 32, a second drive component 41, a second transmission assembly 42, and a conduit fixing assembly 5. The mounting base 1 has a mounting space 11, within which a wiring 61 and an air pipe 62 are installed. The forearm structure 100 can be connected to an external power supply device via the wiring 61 and the air pipe 62. The actuator 2 includes a ball spline screw shaft 21, which is coaxial with the second rotating axis J2 and movably passes through the mounting base 1. The first rotating axis J1 and the second rotating axis J2 are parallel to each other, and the first rotating axis J1 and the second rotating axis J2 are respectively located on the mounting base 1 along a preset direction. Figure 2The first drive member 31 and the first transmission assembly 32 are both disposed on the mounting base 1. The first drive member 31 is located between the first rotating shaft J1 and the second rotating shaft J2, and is connected to the ball spline screw shaft 21 through the first transmission assembly 32. The first drive member 31 is used to drive the ball spline screw shaft 21 to move axially along the second rotating shaft J2. The second drive member 41 and the second transmission assembly 42 are both disposed on the mounting base 1. The output shaft of the second drive member 41 is coaxial with the first rotating shaft J1, and is connected to the ball spline screw shaft 21 through the second transmission assembly 42. The second drive member 41 is used to drive the ball spline screw shaft 21 to rotate around the second rotating shaft J2. The conduit fixing assembly 5 is detachably disposed in the mounting space 11 and is used to fix the position of the wiring 61 and the air pipe 62 in the mounting space 11. The preset direction is perpendicular to the extension direction of the second rotating shaft J2.

[0052] The forearm structure 100 provided in this embodiment has a ball spline screw shaft 21 coaxial with the second rotating shaft J2. The first drive assembly is located between the first rotating shaft J1 and the second rotating shaft J2, and the second drive member 41 is coaxial with the first rotating shaft J1. That is, only enough space needs to be left between the first rotating shaft J1 and the second rotating shaft J2 to install the second drive member 41. Compared with the existing forearm structure 100, the forearm structure 100 provided in this embodiment does not need to leave space between the first rotating shaft J1 and the second rotating shaft J2 to install the second drive member 41, which reduces the length of the forearm structure 100 along the preset direction, making the forearm structure 100 more compact. This not only reduces the weight of the forearm structure 100, but also reduces the moment of inertia of the forearm structure 100 about the first rotating shaft J1, significantly improving the operating speed of the forearm structure 100 and the hoisting horizontal multi-joint robot. The conduit fixing assembly 5 can fix the position of the wiring 61 and the air pipe 62 within the installation space 11, so that the wiring 61 and the air pipe 62 can be neatly arranged together, avoiding the messy distribution of the wiring 61 and the air pipe 62 within the forearm structure 100. This not only ensures the tightness and reliability of the electrical connection between the forearm structure 100 and the upper arm structure 200, and improves the convenience of management and maintenance of the wiring 61 and the air pipe 62 by the staff, but also saves the space occupied by the wiring 61 and the air pipe 62, further improving the compactness of the forearm structure 100.

[0053] Optionally, the conduit fixing assembly 5 includes a first conduit fixing member 51 and a second conduit fixing member 52, and the wiring 61 includes a first wiring member 611 and a second wiring member 612. The first conduit fixing member 51 is detachably mounted on the mounting base 1. The first conduit fixing member 51 is provided with a first limiting channel 511 and a first cable ties 512. The first wiring member 611 and / or the air tube 62 are disposed in the first cable ties 512 and limited in the first limiting channel 511 along its extension direction. The second conduit fixing member 52 is detachably mounted on the second driving member 41. The second conduit fixing member 52 is provided with a second cable ties 521, and a second limiting channel 522 is formed between the second conduit fixing member 52 and the second driving member 41. The second wiring member 612 and / or the air tube 62 can pass through the second limiting channel 522 and are disposed in the second cable ties 521. Wiring 1 611 and air pipe 62 are located in the first cable tie groove 512, and wiring 2 612 and air pipe 62 are located in the second cable tie groove 521. This ensures that wiring 61 and air pipe 62 remain taut within the installation space 11, preventing them from tangling. The first limiting channel 511 and the second limiting channel 522 restrict the extension path of wiring 61 and air pipe 62, ensuring that they do not move or tangle within the installation space 11. This also prevents interference and wear between wiring 61 and air pipe 62 during maintenance and repair by personnel, ensuring the stability of the forearm structure 100 during operation.

[0054] In this embodiment, see Figure 1 , Figure 2 and Figure 4 The first conduit fixing member 51 is located between the first driving member 31 and the second driving member 41. The wiring 611 is a wire connected to the first driving member 31. The wire is arranged along a portion of the outer contour of the first driving member 31, the extension direction of the first limiting channel 511 and a portion of the outer contour of the second driving member 41, and extends along the axial direction of the first rotating shaft J1 to the upper arm structure 200.

[0055] For example, see Figure 2 , Figure 4 and Figure 5 The first driving member 31 extends vertically, the first conduit fixing member 51 has an L-shaped cross-section, and the first limiting channel 511 extends along the extending direction of the first conduit fixing member 51, so that it extends vertically ( Figure 4 The wire 611, which extends in the Z direction, can be changed to extend in a preset direction. In use, the wire 611 can be tied to the first cable tie groove 512 using cable ties.

[0056] Further, see Figure 2 and Figure 5The first conduit fixing member 51 is also provided with a connecting hole 513. The forearm structure 100 also includes a first fastener 71, which passes through the connecting hole 513 and is fastened to the mounting base 1 to fix the first conduit fixing member 51 to the mounting base 1.

[0057] The hoisting horizontal multi-joint robot includes a control module for controlling the movement of the upper arm structure 200 and the lower arm structure 100 along various axes. (See reference...) Figure 4 and Figure 6 The bottom surface of the mounting base 1 is provided with a button 131, a data cable interface 132 and an air nozzle 133. Wiring 2 612 is a wire that electrically connects the button 131 and the data cable interface 132 to the control module, so that the user can control the movement of the forearm structure 100 through the button 131. The external air supply device can be connected to the air pipe 62 in the installation space 11 through the air nozzle 133 to provide power for the pneumatic tools such as pneumatic grippers and pneumatic drill bits on the hoisting horizontal multi-joint robot.

[0058] In this embodiment, one end of the second connector 612 is connected to the button 131 or the data cable interface 132, and the other end passes through the second limiting channel 522 along the outer contour of the second drive member 41 and extends axially along the first rotating shaft J1 to the upper arm structure 200. One end of the air pipe 62 is connected to the air nozzle 133, and the other end passes through the second limiting channel 522 along the outer contour of the second drive member 41 and extends axially along the first rotating shaft J1 to the upper arm structure 200. The second wire ties 521 is configured in the same way as the first wire ties 512, and will not be described again here.

[0059] Specifically, see Figure 2 and Figure 7 The forearm structure 100 also includes a second fastener 72. The second conduit fixing member 52 is connected to the second driving member 41 through the second fastener 72, and the second conduit fixing member 52 and the outer wall of the second driving member 41 are spaced apart. The gap between the second conduit fixing member 52 and the second driving member 41 is the second limiting channel 522.

[0060] For example, the first fastener 71 and the second fastener 72 are both bolts or screws, and the button 131, the data cable interface 132 and the air nozzle 133 are fixed to the bottom surface of the mounting base 1 by nuts or screws.

[0061] Further, see Figure 1 , Figure 2 and Figure 4 Wiring 61 also includes wiring three 613, which is a wire connected to the second drive member 41. Wiring three 613 extends along the outer contour of the second drive member 41 and extends along the axial direction of the first rotation axis J1 to the boom structure 200.

[0062] Optionally, see Figure 2 , Figure 7 and Figure 8 The forearm structure 100 also includes a first connector 81, a second connector 82, a third fastener 73, and a fourth fastener 74. The first drive member 31 is connected to the first connector 81. The first connector 81 has a first waist-shaped hole 811 extending in a preset direction. The third fastener 73 passes through the first waist-shaped hole 811 and is fastened to the mounting base 1, and its position within the first waist-shaped hole 811 is adjustable. The second drive member 41 is connected to the second connector 82. The second connector 82 has a second waist-shaped hole (not shown in the figure) extending in a preset direction. The fourth fastener 74 passes through the second waist-shaped hole and is fastened to the mounting base 1, and its position within the second waist-shaped hole is adjustable. The first connector 81 can be fixed to the mounting base 1 by the third fastener 73, thus achieving the connection between the first drive member 31 and the mounting base 1. The second connector 82 can be fixed to the mounting base 1 by the fourth fastener 74, thus achieving the connection between the second drive member 41 and the mounting base 1. When installing the first drive component 31, after the third fastener 73 passes through the first oblong hole 811 and extends into the mounting base 1, the first oblong hole 811 enables the first connector 81 to drive the first drive component 31 to make a small displacement on the mounting base 1, so that the first transmission assembly 32 can be more tightly connected with the first drive component 31 and the ball spline screw shaft 21, thereby improving the transmission efficiency of the first transmission assembly 32 and ensuring the transmission accuracy of the first transmission assembly 32; the function of the second oblong hole is the same as that of the first oblong hole 811, and will not be described again here.

[0063] For example, both the first connector 81 and the second connector 82 are flanges, and both the third fastener 73 and the fourth fastener 74 are bolts or screws.

[0064] Optionally, see Figure 2 , Figure 3 and Figure 9The actuator 2 also includes a ball spline nut 22, which is sleeved on the ball spline screw shaft 21 and circumferentially limited to the ball spline screw shaft 21. The second transmission assembly 42 includes a first driving pulley 421, a first driven pulley 422 and a first connecting belt 423. The first connecting belt 423 is wound around the first driving pulley 421 and the first driven pulley 422. The output end of the second drive member 41 is connected to the first driving pulley 421. The first driven pulley 422 is sleeved on the ball spline screw shaft 21 and fixedly connected to the ball spline nut 22. The second driving component 41 drives the first driving pulley 421 to rotate. The first driving pulley 421 drives the first driven pulley 422 to rotate through the first connecting belt 423. The first driven pulley 422 drives the ball spline nut 22, which is fixedly connected to it, to rotate. The ball spline nut 22 can drive the ball spline screw shaft 21 to rotate accordingly, thus realizing the rotation of the ball spline screw shaft 21 along the second rotation axis J2.

[0065] Specifically, the ball spline nut 22 has a through hole through which the ball spline screw shaft 21 passes. An external spline is provided on the wall of the through hole, and an internal spline is provided on the ball spline screw shaft 21 to mate with the external spline. This allows the ball spline nut 22 to rotate and drive the ball spline screw shaft 21 to rotate accordingly. Furthermore, the internal spline runs the entire length of the ball spline screw shaft 21 along its axial direction, ensuring that regardless of how the ball spline screw shaft 21 moves along its axial direction, the ball spline nut 22 can drive the ball spline screw shaft 21 to rotate via the internal and external splines.

[0066] In this embodiment, see Figure 2 , Figure 3 and Figure 7 The second transmission assembly 42 also includes a first reducer 424 disposed in the mounting space 11. The output end of the second drive member 41 is connected to the first drive pulley 421 through the first reducer 424 to reduce the rotational speed of the first drive pulley 421. The reduced rotational speed of the first drive pulley 421 can convert the high-speed transmission of the second drive member 41 into a low-speed, high-torque transmission, allowing the ball spline screw shaft 21 to still rotate normally when a large torque is required. The reduction in the rotational speed of the first drive pulley 421 can also reduce the rotational speeds of the first drive pulley 421 and the first driven pulley 422, allowing the power of the second drive member 41 to be smoothly output to the ball spline screw shaft 21, greatly improving the stability of the arm structure 100 operation and reducing noise and vibration during operation.

[0067] Specifically, see Figure 2 and Figure 7The forearm structure 100 also includes a first pad 91, a fifth fastener 75, and a sixth fastener 76. The output shaft of the second drive member 41 is connected to the first reducer 424. The output shaft of the first reducer 424 passes through the first drive pulley 421. The first pad 91 is located on the side of the first drive pulley 421 opposite to the first reducer 424. The fifth fastener 75 passes through the first pad 91 and is fastened to the output shaft of the first reducer 424 to connect the first reducer 424 to the first drive pulley 421. The first reducer 424 is fixed to the second connector 82 by the sixth fastener 76 to securely mount the first reducer 424 and the second drive member 41 on the mounting base 1.

[0068] For example, the second drive component 41 is a motor, and the fifth fastener 75 and the sixth fastener 76 are both bolts or screws.

[0069] In this embodiment, see Figure 2 , Figure 7 and Figure 10 A bracket 92, detachably connected to the mounting base 1, is provided within the installation space 11. A second driving component 41 is mounted on the bracket 92, which has a support space 921. A first drive pulley 421 is rotatably mounted within the support space 921. A through hole is provided on the side wall of the bracket 92 facing the actuator 2, through which a first connecting belt 423 movably passes. The bracket 92 supports the first drive pulley 421 and the second driving component 41 within the installation space 11. Furthermore, because the first drive pulley 421 is rotatably mounted within the support space 921 of the bracket 92, the space of the bracket 92 is fully utilized, reducing the vertical space occupied by the second driving component 41 and the second transmission assembly 42. This allows for a more compact forearm structure 100, further reducing the moment of inertia of the forearm structure 100 about the first rotation axis J1. Additionally, the through hole prevents the bracket 92 from interfering with the transmission of the first connecting belt 423.

[0070] Specifically, see Figure 7 In the center position, the second drive member 41 and the first reducer 424 are both located above the bracket 92, and the first reducer 424 is fixed to the top of the bracket 92 by the second connector 82. The setting of the second waist-shaped hole allows the second drive member 41 and the first reducer 424 to move slightly relative to the bracket 92.

[0071] Further, see Figure 1 , Figure 7 and Figure 10The bottom of the bracket 92 is provided with a vertically penetrating clearance hole 922. The first pad 91 and the fifth fastener 75 are located in the clearance hole 922 to further reduce the space occupied by the first drive pulley 421, the first pad 91 and the fifth fastener 75 in the vertical direction, and improve the structural compactness of the forearm structure 100.

[0072] Specifically, see Figure 2 , Figure 6 and Figure 10 The base plate of the mounting base 1 is provided with a stepped hole 134 that runs vertically through it. The bottom of the bracket 92 is provided with a threaded hole 923 that engages with the threaded bolt or screw. The shank of the bolt or screw passes through the stepped hole 134 and is fastened in the threaded hole 923. The head of the bolt or screw contacts the stepped surface of the stepped hole 134, so that the bracket 92 can be detachably installed on the base plate of the mounting base 1 and the bolt or screw is prevented from protruding from the bottom surface of the mounting base 1, thus affecting the aesthetics of the forearm structure 100.

[0073] Further, see Figure 2 and Figure 10 The mounting base 1 includes a side cover 12 and a housing 13 extending in a preset direction. An opening is provided on the side wall of the housing 13 opposite to the second rotating shaft J2. The side cover 12 is detachably connected to the housing 13 to seal the opening. A bracket 92 is disposed within the inner cavity of the housing 13, and an observation hole 924 is provided on the side of the bracket 92 opposite to the second rotating shaft J2. When the side cover 12 is removed from the housing 13, the opening is released, allowing personnel to observe the engagement between the first drive pulley 421 and the first connecting belt 423 through the opening and the observation hole 924. This facilitates monitoring and maintenance of the operation of the second transmission assembly 42.

[0074] Specifically, see Figure 1 and Figure 2The mounting base 1 also includes a rotating sleeve 14 and a protective cover 15. The rotating sleeve 14 extends axially along the first rotating shaft J1. One end of the rotating sleeve 14 is rotatably connected to the upper arm structure 200, allowing the upper arm structure 200 to drive the entire lower arm structure 100 to rotate around the first rotating shaft J1 via the rotating sleeve 14. The other end of the rotating sleeve 14 is fixedly connected to the upper surface of the housing 13, and the inner cavity of the rotating sleeve 14 communicates with the inner cavity of the housing 13. The second drive member 41 and the first reducer 424 are both located within the inner cavity of the rotating sleeve 14. The protective cover 15 is fixed to the upper surface of the housing 13, and a protective space communicating with the inner cavity of the housing 13 is formed between the protective cover 15 and the upper surface of the housing 13. The first drive member 31 and part of the actuator 2 are located within the protective space. That is, the inner cavity of the housing 13, the inner cavity of the rotating sleeve 14, and the protective space together form a closed installation space 11 to prevent damage to the actuator 2, the first drive component 31, the first transmission component 32, the second drive component 41, and the second transmission component 42, thus ensuring the safety and stability of the arm structure 100 during operation.

[0075] Further, see Figure 2 and Figure 5 The first fastener 71 passes through the connecting hole 513 and the upper surface of the housing 13 and is fastened to the bottom of the rotating sleeve 14 to fix the first conduit fixing member 51 to the mounting base 1.

[0076] For example, both the rotating sleeve 14 and the housing 13 are connected to the housing 13 by bolts or screws.

[0077] Optionally, see Figure 2 and Figure 9 The forearm structure 100 also includes two limiting rings 211, which are respectively disposed at both ends of the ball spline screw shaft 21. The limiting rings 211 are used to limit the position of the ball spline screw shaft 21 on the mounting base 1, and prevent the ball spline screw shaft 21 from displacing too much along its axial direction, causing the ball spline screw shaft 21 to detach from the mounting base 1. That is, the setting of the limiting rings 211 ensures the stability of the movement of the ball spline screw shaft 21 on the mounting base 1.

[0078] Specifically, see Figure 2 The upper end of the ball spline screw shaft 21 is located within the protective space, and the lower end of the ball spline screw shaft 21 passes through the inner cavity of the housing 13 and extends to the outside of the housing 13. The limiting ring 211 located at the upper end of the ball spline screw shaft 21 can limit the maximum downward displacement of the ball spline screw shaft 21, and the limiting ring 211 located at the lower end of the ball spline screw shaft 21 can limit the maximum upward displacement of the ball spline screw shaft 21.

[0079] Optionally, see Figure 2 , Figure 3 and Figure 9The actuator 2 also includes a ball screw nut 23 sleeved on the ball spline screw shaft 21. The ball screw nut 23 is threadedly connected to the ball spline screw shaft 21. The first transmission assembly 32 includes a second driving pulley 321, a second driven pulley 322, and a second connecting belt 323. The second connecting belt 323 is wound around the second driving pulley 321 and the second driven pulley 322. The output end of the first drive member 31 is connected to the second driving pulley 321. The second driven pulley 322 is sleeved on the ball spline screw shaft 21 and fixedly connected to the ball screw nut 23. The first drive member 31 drives the second driving pulley 321 to rotate. The second driving pulley 321 drives the second driven pulley 322 to rotate through the second connecting belt 323. The second driven pulley 322 drives the ball screw nut 23 fixedly connected to it to rotate. The ball screw nut 23, through its threads, can drive the ball spline screw shaft 21 to move axially along the second rotation axis J2.

[0080] In this embodiment, see Figure 2 and Figure 8 The forearm structure 100 also includes a second pad 93 and a seventh fastener 77. The output shaft of the first drive member 31 passes through the second drive pulley 321. The second pad 93 is located on the side of the second drive pulley 321 away from the first drive member 31. The seventh fastener 77 passes through the first pad 91 and is fastened to the output shaft of the first drive member 31.

[0081] For example, the first drive element 31 is a motor, and the seventh fastener 77 is a bolt or screw.

[0082] Further, see Figure 2 In the orientation of the housing 13, both the ball screw nut 23 and the ball spline nut 22 are located in the inner cavity of the housing 13, with the ball screw nut 23 located above the ball spline nut 22. The ball screw nut 23 is rotatably connected to the upper surface of the housing 13, and the ball spline nut 22 is connected to the lower surface of the housing 13.

[0083] Example 2

[0084] like Figure 1As shown, this embodiment provides a hoisting horizontal multi-joint robot, including a base 300, a large arm structure 200, and a forearm structure 100 as described in Embodiment 1. The large arm structure 200 is rotatably mounted on the base 300 about a third rotation axis J3 and is located below the base 300. The forearm structure 100 is rotatably mounted on the large arm structure 200 about a first rotation axis J1 and is located below the large arm structure 200. The third rotation axis J3 and the first rotation axis J1 are located at opposite ends of the large arm structure 200 along a predetermined direction, and the third rotation axis J3 and the first rotation axis J1 are parallel to each other. The hoisting horizontal multi-joint robot provided in this embodiment achieves four degrees of freedom of movement while also being compact in structure and lightweight, thereby significantly improving the operating speed and motion performance of the hoisting horizontal multi-joint robot.

[0085] Specifically, the boom structure 200 is equipped with a third drive member, a first transmission member, and a second reducer 201. The output end of the third drive member is connected to the input end of the second reducer 201 via the first transmission member. The output end of the second reducer 201 is connected to the rotating sleeve 14. The third drive member drives the rotating sleeve 14 to rotate around the first rotating shaft J1 via the first transmission member and the second reducer 201. The second reducer 201 is used to reduce the rotational speed of the rotating sleeve 14. The base 300 is equipped with a fourth drive member, a second transmission member, and a third reducer 301. The output end of the fourth drive member is connected to the input end of the third reducer 301 via the second transmission member. The output end of the third reducer 301 is connected to the boom structure 200. The fourth drive member drives the boom structure 200 to rotate around the third rotating shaft J3 via the second transmission member and the third reducer 301. The third reducer 301 is used to reduce the rotational speed of the boom structure 200.

[0086] For example, both the first and second transmission components are transmission belts.

[0087] The above description is only a specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model fall within the protection and disclosure scope of the present utility model.

Claims

1. A small arm structure (100) capable of rotating around a first rotation axis (J1), characterized in that, The small arm structure (100) comprises: a mounting seat (1) provided with a mounting space (11) in which a wiring (61) and an air pipe (62) are arranged, and the small arm structure (100) can be connected with an external energy supply device through the wiring (61) and the air pipe (62); an actuator (2) comprising a ball spline screw shaft (21) coaxial with a second rotation axis (J2) and movably penetrating the mounting seat (1), the first rotation axis (J1) and the second rotation axis (J2) are parallel to each other, and the first rotation axis (J1) and the second rotation axis (J2) are located at two ends of the mounting seat (1) along a predetermined direction; a first driving member (31) and a first transmission assembly (32) are arranged in the mounting seat (1), the first driving member (31) is located between the first rotation axis (J1) and the second rotation axis (J2) and is in transmission connection with the ball spline screw shaft (21) through the first transmission assembly (32), and the first driving member (31) is used to drive the ball spline screw shaft (21) to move along the axial direction of the second rotation axis (J2); a second driving member (41) and a second transmission assembly (42) are arranged in the mounting seat (1), the output shaft of the second driving member (41) is coaxial with the first rotation axis (J1) and is in transmission connection with the ball spline screw shaft (21) through the second transmission assembly (42), and the second driving member (41) is used to drive the ball spline screw shaft (21) to rotate around the second rotation axis (J2); a wire tube fixing assembly (5) is detachably arranged in the mounting space (11), and the wire tube fixing assembly (5) is used to fix the positions of the wiring (61) and the air pipe (62) in the mounting space (11).

2. The arm structure (100) according to claim 1, characterized in that The wire tube fixing assembly (5) comprises a first wire tube fixing member (51) and a second wire tube fixing member (52), the wiring (61) comprises a wiring one (611) and a wiring two (612), the first wire tube fixing member (51) is detachably arranged in the mounting seat (1), the first wire tube fixing member (51) is provided with a first limiting channel (511) and a first wire slot (512), the wiring one (611) and / or the air pipe (62) are arranged in the first wire slot (512) and limited in the first limiting channel (511) along the extending direction thereof; the second wire tube fixing member (52) is detachably arranged in the second driving member (41), the second wire tube fixing member (52) is provided with a second wire slot (521), and a second limiting channel (522) is formed between the second wire tube fixing member (52) and the second driving member (41), and the wiring two (612) and / or the air pipe (62) can pass through the second limiting channel (522) and be arranged in the second wire slot (521).

3. The arm structure (100) according to claim 1, characterized in that The small arm structure (100) further comprises a first connecting piece (81), a second connecting piece (82), a third fastener (73) and a fourth fastener (74), the first driving piece (31) is connected with the first connecting piece (81), the first connecting piece (81) is provided with a first waist-shaped hole (811) extending along the preset direction, the third fastener (73) penetrates through the first waist-shaped hole (811) and is fastened to the mounting seat (1), and the position of the third fastener (73) in the first waist-shaped hole (811) is adjustable; the second driving piece (41) is connected with the second connecting piece (82), the second connecting piece (82) is provided with a second waist-shaped hole extending along the preset direction, the fourth fastener (74) penetrates through the second waist-shaped hole and is fastened to the mounting seat (1), and the position of the fourth fastener (74) in the second waist-shaped hole is adjustable.

4. The arm structure (100) according to claim 1, characterized in that The actuating mechanism (2) further comprises a ball spline nut (22), the ball spline nut (22) is sleeved on the ball spline screw shaft (21) and is circumferentially limited on the ball spline screw shaft (21), the second transmission assembly (42) comprises a first driving pulley (421), a first driven pulley (422) and a first connecting belt (423), the first connecting belt (423) is wound on the first driving pulley (421) and the first driven pulley (422), the output end of the second driving piece (41) is connected with the first driving pulley (421), and the first driven pulley (422) is sleeved on the ball spline screw shaft (21) and is fixedly connected with the ball spline nut (22).

5. The arm structure (100) according to claim 4, characterized in that The second transmission assembly (42) further comprises a first speed reducer (424) arranged in the mounting space (11), and the output end of the second driving piece (41) is connected with the first driving pulley (421) through the first speed reducer (424) to reduce the rotating speed of the first driving pulley (421).

6. The arm structure (100) according to claim 4, characterized in that A support (92) detachably connected with the mounting seat (1) is arranged in the mounting space (11), the second driving piece (41) is arranged on the support (92), the support (92) is provided with a supporting space (921), the first driving pulley (421) is rotatably arranged in the supporting space (921), a through hole is arranged on the side wall of the support (92) facing the actuating mechanism (2), and the first connecting belt (423) is movably arranged in the through hole.

7. The arm structure (100) according to claim 6, characterized in that The mounting seat (1) comprises a side cover (12) and a shell (13) extending along the preset direction, an opening is arranged on the side wall of the shell (13) away from the second rotating shaft (J2), the side cover (12) is detachably connected with the shell (13) and is used for plugging the opening, the support (92) is arranged in the inner cavity of the shell (13), and an observation hole (924) is arranged on the side of the support (92) away from the second rotating shaft (J2).

8. The arm structure (100) according to any one of claims 1-7, characterized in that The small arm structure (100) further comprises two limiting rings (211), which are arranged at two ends of the ball screw shaft (21) respectively, and are used for limiting the position of the ball screw shaft (21) on the mounting seat (1).

9. The arm structure (100) according to any one of claims 1-7, characterized in that The actuator (2) further comprises a ball screw nut (23) sleeved on the ball screw shaft (21), the ball screw nut (23) is in threaded connection with the ball screw shaft (21), the first transmission assembly (32) comprises a second driving pulley (321), a second driven pulley (322) and a second connecting belt (323), the second connecting belt (323) is arranged around the second driving pulley (321) and the second driven pulley (322), the output end of the first driving member (31) is connected with the second driving pulley (321), and the second driven pulley (322) is sleeved on the ball screw shaft (21) and fixedly connected with the ball screw nut (23).

10. A hoisted horizontal multi-joint robot, characterized by The robot comprises a base (300), a large arm structure (200) and a small arm structure (100) as claimed in any one of claims 1-9, the large arm structure (200) is rotatably arranged on the base (300) and located below the base (300) around a third rotation axis (J3), the small arm structure (100) is rotatably arranged on the large arm structure (200) and located below the large arm structure (200) around the first rotation axis (J1), the third rotation axis (J3) and the first rotation axis (J1) are respectively located at two ends of the large arm structure (200) along the preset direction, and the third rotation axis (J3) and the first rotation axis (J1) are parallel to each other.

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