Two-axis robot

Abstract

A robot base assembly comprises a robot mounting plate, a left supporting plate and a right supporting plate, a first servo motor and a first speed reducer are arranged on the left supporting plate, the first speed reducer is rotationally connected with a crank block, and a second servo motor and a second speed reducer are arranged on the right supporting plate. The second speed reducer is connected with a bearing seat and a limiting seat, and a rotating shaft is connected between the first speed reducer and the second speed reducer; the small arm assembly comprises a lower arm assembly and an upper arm assembly, the lower arm assembly is rotationally matched with the crank block, one end of the upper arm assembly is rotationally matched with the lower arm assembly, the middle of the upper arm assembly is rotationally fixed to the large arm assembly, and the other end of the upper arm assembly is connected with a gripper connecting base assembly. The hollow rotating platform is driven by rotating the gripper servo motor so that the gripper can rotate by 360 degrees, goods in all directions can be grabbed, and the grabbing range is large.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a two-axis robot. BACKGROUND

[0002] In many scenarios, production automation requires layout implementation of conveying material handling, stacking and tray placing in limited space.

[0003] The patent number CN201620535229.X discloses a two-axis stacking robot, which comprises a base, a horizontal driving mechanism, a vertical driving mechanism and a first motor mounted on the base, a first four-bar linkage mechanism connected by a front arm, a rear arm, a first connecting rod and a connecting arm, a second four-bar linkage mechanism connected by the connecting arm, a second connecting rod, a rear rod and a triangular arm first arm, and a third four-bar linkage mechanism connected by a triangular arm second arm, a front rod, a wrist and a front arm.

[0004] The above structure lacks rotation flexibility. In order to adapt to various application scenarios and improve the performance-price ratio of the structure, a handling manipulator structure is invented. A rotating shaft can be added at the end of the execution to realize multi-angle grabbing of materials. A horizontal or rotating mechanism can also be added under the base to realize multi-position and direction operation to meet more application scenarios in automation. SUMMARY

[0005] Therefore, it is necessary to propose a two-axis robot to solve the problem of insufficient flexibility of the existing two-axis robot.

[0006] The present application provides a two-axis robot, comprising:

[0007] A robot base assembly comprises a robot mounting plate, a left support plate and a right support plate, a first servo motor and a first speed reducer are arranged on the left support plate, a crank block is rotatably connected to the first speed reducer, a second servo motor and a second speed reducer are arranged on the right support plate, a bearing seat and a limiting seat are connected to the second speed reducer, and a rotating shaft is connected between the first speed reducer and the second speed reducer.

[0008] A large arm assembly comprises a first rotating arm and a second rotating arm, and the lower end of the second rotating arm is in gear with the second speed reducer.

[0009] A small arm assembly comprises a lower arm assembly and an upper arm assembly, the lower arm assembly is rotatably connected to the crank block, one end of the upper arm assembly is rotatably connected to the lower arm assembly, the middle part of the upper arm assembly is rotatably fixed to the large arm assembly, and the other end of the upper arm assembly is connected to a gripper connecting seat assembly.

[0010] In an embodiment, the lower arm assembly comprises a first lower arm and a second lower arm, the first lower arm is rotationally connected to the crank block, the lower end of the second lower arm is connected to the bearing seat, and the upper end of the second lower arm is connected to the rocker assembly.

[0011] In an embodiment, the rocker assembly is a three-point connection, the first point of the rocker assembly is rotationally connected to the upper end of the second lower arm, the second point of the rocker assembly is rotationally connected to the first rotating arm, and the third point of the rocker assembly is rotationally connected to the gripper connecting rod, and the other end of the gripper connecting rod is connected to the gripper connecting seat assembly.

[0012] In an embodiment, the upper arm assembly comprises a first upper arm, a second upper arm, and an upper arm connecting plate, one end of the first upper arm is rotationally connected to the first lower arm, the middle of the first upper arm is rotationally connected to the first rotating arm, and one end of the second upper arm is rotationally connected to the second rotating arm.

[0013] In an embodiment, the first rotating arm and the second rotating arm are provided with a rotating arm connecting plate.

[0014] In an embodiment, the second rotating arm is provided with a rotating arm limiting groove, and the right supporting plate is provided with a rotating arm limiting block, and the rotating arm limiting block is on the rotating path of the rotating arm limiting groove.

[0015] In an embodiment, the crank block is further provided with a crank block limiting block.

[0016] In an embodiment, one side of the small arm assembly is provided with a cable pipe assembly, and the cable pipe assembly comprises an upper pipe package mounting plate, a pipe package fixing seat, a pipe package, and a lower pipe package mounting plate.

[0017] In an embodiment, the gripper connecting seat assembly comprises a gripper connecting plate and a gripper mounting plate, the gripper mounting plate is provided with a gripper servo motor and a hollow rotating platform, and the gripper servo motor and the hollow rotating platform are rotationally matched.

[0018] The technical advantages of the present application are:

[0019] 1. First, the overall structure is simple and efficient, the first servo motor and the second servo motor control the small arm assembly and the large arm assembly respectively, so that the two rotating shafts can be moved and adjusted in the horizontal and vertical directions, and the hollow rotating platform is driven by rotating the gripper servo motor to make the gripper rotate 360 degrees, so that the gripper can grasp goods in all directions, and the grasping range is large.

[0020] 2. Secondly, and stable, the load is large, through the first reducer to enlarge the output torque of the first servo motor, and the second reducer to enlarge the output torque of the second servo motor, can make the whole device can carry heavier goods, suitable for carrying, stacking, plate and other application scenarios.

[0021] 3. At the same time, set up the cable tube assembly, the whole device cable is placed in the cable tube, avoid the cable messy influence carrying, prevent the cable exposed wear, and conducive to the later maintenance, the whole is simple and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0023] Figure 1 The perspective view of the two-axis robot provided by an embodiment of the present application.

[0024] Figure 2 The enlarged view of the structure of A part in the Figure 1 provided by an embodiment of the present application.

[0025] Figure 3 The enlarged view of the structure of B part in the Figure 1 provided by an embodiment of the present application.

[0026] Figure 4 The rear view structure diagram of the two-axis robot provided by an embodiment of the present application.

[0027] Figure 5 The enlarged view of part of the structure in the Figure 4 provided by an embodiment of the present application.

[0028] Figure 6 The installation structure diagram of the second rotating arm provided by an embodiment of the present application.

[0029] Figure 7 The installation structure diagram of the crank block provided by an embodiment of the present application.

[0030] Figure 8 The connection structure diagram of the cable tube assembly provided by an embodiment of the present application.

[0031] Fig. 1 is a schematic view of a robot base assembly 1; Fig. 2 is a schematic view of a robot arm assembly 2; Fig. 3 is a schematic view of a robot arm assembly 3; Fig. 4 is a schematic view of a robot arm assembly 4; Fig. 5 is a schematic view of a robot arm assembly 5; Fig. 6 is a schematic view of a robot arm assembly 6; Fig. 7 is a schematic view of a robot arm assembly 7; Fig. 8 is a schematic view of a robot arm assembly 8. DETAILED DESCRIPTION

[0032] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0033] It should be noted that all directional indications, such as upper, lower, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0034] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and should not be understood as indicating or implying the relative importance of the technical features indicated or the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0035] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] As Figures 1-8The utility model provides a two -axis robot,

[0037] As Figure 1 Described, two -axis robot equipment most mainly have robot base assembly 1, big arm subassembly 2, small arm subassembly, grab hand connecting seat subassembly 5 and cable tube subassembly 8.

[0038] As Figures 1-4 Described, the basic power of the utility model is the robot base assembly 1 of composition, by robot mounting panel 11 and the left support plate 111 and right support plate 112 of setting respectively on the both sides of robot mounting panel 11, robot mounting panel 11 with left support plate 111 and right support plate 112 between all through screw fixed connection, can also adopt the die casting structure of integrated molding.

[0039] Specifically, the upper left support plate 111 is provided with a first servo motor 12 and a first speed reducer 13, the first speed reducer 13 is rotatably connected with a crank block 14, and the forward and reverse rotation of the first servo motor 12 can drive the first speed reducer 13 to rotate forward or reverse, thereby driving the crank block 14 to rotate.

[0040] As Figure 7 Described, one end of the crank block 14 is rotatably fixed on the output shaft of the first speed reducer 13, and the other end of the crank block 14 is connected to the small arm subassembly, which drives the small arm subassembly to rise or fall.

[0041] The crank block 14 is further provided with a crank block limiting block 141, and the crank block 14 is provided with a groove, and as the crank block 14 rotates, the groove and the crank block limiting block 141 abut each other, limiting the rotation angle of the crank block 14.

[0042] The crank block limiting block 141 and the crank block 14 cooperate to limit the rotation angle of the crank block 14 when the crank block 14 rotates.

[0043] And the right support plate 112 is provided with a second servo motor 15 and a second speed reducer 16, the second speed reducer 16 is connected with a bearing seat 17 and a limiting seat 18, and the first speed reducer 13 and the second speed reducer 16 are connected with a rotating shaft 19; the big arm subassembly 2 is directly rotatably connected to the rotating shaft 19, and the big arm subassembly is driven by the second speed reducer 16.

[0044] The first speed reducer 13 and the second speed reducer 16 adopt RV speed reducer in the structure.

[0045] Specifically, the big arm subassembly 2 of the utility model, including first swing arm 21 and second swing arm 22, the lower end of second swing arm 22 and second speed reducer 16 gear cooperation, control entire big arm subassembly 2 make entire big arm can rotate in vertical direction, the specific connection mode as Figure 1 And Figure 6As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0046] As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22. Figure 5 As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0047] As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22. Figure 2 As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0048] Figure 3 As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0049] As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22. Figures 4-8 As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0050] As shown in the first arm 21 is rotatably connected to the rotating shaft 19, the second arm 22 is provided with the arm limiting groove 220, the right support plate 112 is provided with the arm limiting block 221, the arm limiting block 221 is in the rotating path of the arm limiting groove 220, the arm limiting groove 220 rotates with the second arm 22, the two sides of the second arm 22 are the end wall of the groove, and the two ends of the arm limiting block 221 can abut on the arm limiting groove 220 respectively, so as to limit the rotation angle of the second arm 22.

[0051] The lower arm assembly 3 comprises a first lower arm 31 rotatably connected to the crank block 14 and a second lower arm 32, a lower end of which is connected to the bearing seat 17, and an upper end of which is connected with the rocker assembly 6.

[0052] As shown in the drawings, one side of the small arm assembly is provided with a cable pipe assembly 8, which comprises an upper pipe line package mounting plate 81, a pipe line package fixing seat 82, a pipe line package 83 and a lower pipe line package mounting plate 84. Figure 8 As shown in the drawings, one side of the small arm assembly is provided with a cable pipe assembly 8, which comprises an upper pipe line package mounting plate 81, a pipe line package fixing seat 82, a pipe line package 83 and a lower pipe line package mounting plate 84.

[0053] In summary, the utility model has simple and efficient overall structure, the first servo motor and the second servo motor control small arm assembly and big arm assembly respectively, so that two rotating shafts can be controlled to move and adjust in horizontal and vertical directions, the hollow rotating platform is driven by the rotating gripper servo motor, so that the gripper can rotate by 360 degrees and can grasp goods in all directions, the grasping range is large, the grasping is stable, the load is large, the output torque of the first servo motor is enlarged by the first speed reducer, and the output torque of the second servo motor is enlarged by the second speed reducer, so that the whole device can carry heavier goods, and is suitable for application scenes such as carrying, stacking and placing.

[0054] The technical features of the above-described embodiments can be combined in any manner, and the method steps are not limited in execution order.

[0055] The above-described embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but should not be understood as limiting the patent scope of the application. It should be noted that, for ordinary skilled persons in the art, without departing from the concept of the application, several modifications and improvements can be made, which are all within the protection scope of the application. Therefore, the protection scope of the application should be subject to the appended claims.

Claims

1. A two-axis robot, characterized in that, include: The robot base assembly (1) includes a robot mounting plate (11), a left support plate (111) and a right support plate (112). The left support plate (111) is provided with a first servo motor (12) and a first reducer (13). The first reducer (13) is rotatably connected to a crank block (14). The right support plate (112) is provided with a second servo motor (15) and a second reducer (16). The second reducer (16) is connected to a bearing seat (17) and a limit seat (18). A rotating shaft (19) is connected between the first reducer (13) and the second reducer (16). The boom assembly (2) includes a first rotating arm (21) and a second rotating arm (22), with the lower end of the second rotating arm (22) geared to a second reducer (16); The forearm assembly includes a lower arm assembly (3) and an upper arm assembly (4). The lower arm assembly (3) and the crank block (14) are rotatably engaged. One end of the upper arm assembly (4) is rotatably engaged with the lower arm assembly (3). The middle part of the upper arm assembly (4) is rotatably fixed on the upper arm assembly (2). The other end of the upper arm assembly (4) is connected to a gripper connecting seat assembly (5).

2. The two-axis robot according to claim 1, characterized in that, The lower arm assembly (3) includes a first lower arm (31) and a second lower arm (32). The first lower arm (31) is rotatably connected to the crank block (14). The lower end of the second lower arm (32) is connected to the bearing seat (17). The upper end of the second lower arm (32) is connected to a rocker assembly (6).

3. The two-axis robot according to claim 2, characterized in that, The rocker assembly (6) is a three-point connector. The first point (61) of the rocker assembly (6) is rotatably connected to the upper end of the second lower arm (32). The second point (62) of the rocker assembly (6) is rotatably connected to the first rotating arm (21). The third point (63) of the rocker assembly (6) is rotatably connected to a gripper connecting rod (7). The other end of the gripper connecting rod (7) is connected to the gripper connecting seat assembly (5).

4. The two-axis robot according to claim 3, characterized in that, The upper arm assembly (4) includes a first upper arm (41), a second upper arm (42) and an upper arm connecting plate (43). One end of the first upper arm (41) is rotatably connected to the first lower arm (31), the middle part of the first upper arm (41) is rotatably connected to the first rotating arm (21), and one end of the second upper arm (42) is rotatably connected to the second rotating arm (22).

5. The two-axis robot according to claim 1, characterized in that, A connecting plate (23) is provided between the first rotating arm (21) and the second rotating arm (22).

6. The two-axis robot according to claim 1, characterized in that, The second rotating arm (22) is provided with a rotating arm limiting groove (220), and the right support plate (112) is provided with a rotating arm limiting block (221). The rotating arm limiting block (221) is located on the rotation path of the rotating arm limiting groove (220).

7. The two-axis robot according to claim 6, characterized in that, The crank block (14) is also provided with a crank block limiting block (141).

8. The two-axis robot according to claim 1, characterized in that, The forearm assembly has a cable conduit assembly (8) on one side, which includes an upper cable package mounting plate (81), a cable package fixing seat (82), a cable package (83), and a lower cable package mounting plate (84).

9. The two-axis robot according to claim 8, characterized in that, The gripper connecting seat assembly (5) includes a gripper connecting plate (51) and a gripper mounting plate (54). The gripper mounting plate (54) is provided with a gripper servo motor (52) and a hollow rotating platform (53). The gripper servo motor (52) and the hollow rotating platform (53) rotate in cooperation.

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