Plane joint type robot

Abstract

The utility model discloses a plane joint type robot which comprises a base, a first joint component and a second joint component, the second joint component is arranged on the first joint component, a third joint component and a fourth joint component are arranged on the base, and the third joint component comprises a supporting body, a first driving piece, a ball screw and a lifting disc. The ball screw is connected to the supporting body, the first driving piece is connected with the ball screw, the lifting disc is connected with the ball screw through a lead screw nut, the fourth joint component comprises a mounting disc, a first gear, a second gear, a mounting plate, a second driving piece and a connecting arm, the first gear is connected with the mounting disc, the mounting disc is connected with the lifting disc, and the second gear is connected with the second driving piece. The connecting arm is connected with the mounting disc through the mounting plate, the second driving piece is arranged on the connecting arm and connected with the second gear, and the second gear is meshed with the first gear. Through cooperation of the third joint component and the fourth joint component, the overall rigidity of the robot is guaranteed, and meanwhile the lifting and rotating operation range of the robot is effectively expanded.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a planar articulated robot. Background Technology

[0002] In recent years, China's industrial robot market has developed rapidly, accounting for approximately one-third of the global market. Among these, SCARA industrial automation robots have seen particularly rapid growth. Although SCARA industrial automation robots only ranked second in sales revenue in 2020, their share has been gradually increasing in recent years, and their growth rate has surpassed that of multi-joint automated artificial intelligence robots, which currently hold the top position. Similarly, the electronics industry, a major downstream application area for SCARA robots, has also developed rapidly, promoting the application and development of SCARA robots. SCARA industrial robots are now capable of performing light and relatively simple tasks.

[0003] A Chinese patent with publication number CN109291039A discloses a planar articulated robot. The robot's first axis serves as the linear up-and-down movement of the SCARA robot, expanding the range of motion while maintaining overall rigidity. However, due to the linear motion of the first axis, the robot's rotation range is limited by the support column of the first axis, and it cannot perform 360° rotation.

[0004] Chinese patent publication number CN103895013A discloses a planar articulated robot drive mechanism. The first axis serves as the rotation axis of the SCARA robot, allowing for 360° rotation and expanding the range of motion. However, the end axis is a linear lifting axis, which is affected by the height of the base. To increase the linear lifting range, it needs to be installed on a high base, and the linear lifting axis also needs to be lengthened, increasing the load on the robot's first axis. Furthermore, rotation of the robot's first axis can lead to excessive rotational inertia of the robot as a whole, reducing the robot's rigidity. Utility Model Content

[0005] The main objective of this invention is to overcome the deficiencies of the aforementioned background technology and provide a planar articulated robot.

[0006] To achieve the above objectives, this utility model proposes a planar articulated robot, comprising a base, a first joint component, and a second joint component. The second joint component is mounted on the first joint component. The base is provided with a third joint component and a fourth joint component. The third joint component includes a support body, a first drive component, a ball screw, and a lifting plate. The support body is mounted on the base, the ball screw is mounted on the support body, and a screw nut is provided on the ball screw. The first drive component is connected to one end of the ball screw, and the lifting plate is connected to the screw nut. A through groove is provided on the side of the support body, and the lifting plate is connected to the fourth joint component through the through groove. The fourth joint component includes a mounting plate, a first gear, a second gear, a mounting plate, a second drive component, and a connecting arm. The first gear is connected to the mounting plate and sleeved on the support body. The mounting plate is connected to the lifting plate, and the mounting plate is rotatably connected to the mounting plate. The connecting arm is mounted on the mounting plate, the second drive component is mounted on the connecting arm, the second gear is connected to the output end of the second drive component, and the second gear meshes with the first gear. The connecting arm is connected to the first joint component. When the robot is in operation, the first drive component drives the ball screw to rotate, and the screw nut on the ball screw drives the lifting plate. The fourth joint component connected to the lifting plate moves up and down synchronously. The third joint component is used for the robot's linear up and down movement, expanding the range of motion of the lifting motion while maintaining overall rigidity. The second drive component drives the second gear to rotate, and the second gear, through meshing with the first gear, drives the connecting arm to rotate around the axis of the first gear, realizing the 360° rotation of the fourth joint component. Through the cooperation of the third and fourth joint components, the robot's overall rigidity is ensured while effectively expanding its lifting and rotation range.

[0007] To further optimize the technical solution, the support body is now a cylindrical structure. This ensures that the support body as a whole has high axial and radial load capacity.

[0008] To further optimize the technical solution, multiple through slots are evenly formed on the side of the support body, and the lifting plate extends out of the support body through these slots to connect with the mounting plate. This improves the stability of the connection between the lifting plate and the mounting plate.

[0009] To further optimize the technical solution, a first guide rail is provided on the support body, and a first slider that cooperates with the first guide rail is provided on the mounting plate. The cooperation of the first guide rail and the first slider provides radial support for the ball screw, improving the rigidity and stability of the equipment.

[0010] To further optimize the technical solution, a second guide rail is provided on the mounting plate, and a second slider is provided on the mounting plate to cooperate with the second guide rail. The cooperation between the second guide rail and the second slider ensures the stability of the rotation of the fourth joint component.

[0011] To further optimize the technical solution, the first driving component is mounted on the top surface of the support body. This facilitates airflow for heat dissipation from the first driving component.

[0012] To further optimize the technical solution, the support body is equipped with reinforcing ribs inside. This facilitates the improvement of the overall rigidity of the support body.

[0013] To further optimize the technical solution, a connecting rod is provided on the mounting plate. One end of the connecting rod is rotatably connected to the mounting plate, and the other end is connected to the connecting arm. The connecting rod supports the connecting arm, increasing the load on the fourth joint component and ensuring the overall rigidity of the fourth joint component.

[0014] To further optimize the technical solution, the connecting rod is located at the end of the connecting arm furthest from the first joint component. This prevents the connecting rod from interfering with the normal rotation of the first joint component.

[0015] To further optimize the technical solution, the height of the connecting rod is less than the distance between the lower end of the through groove and the base. This prevents the connecting rod from contacting the base when the third joint component descends to the bottom.

[0016] The beneficial effects of this utility model include: when the robot is operating, the first driving component drives the ball screw to rotate, the screw nut on the ball screw drives the lifting plate, and the fourth joint component connected to the lifting plate moves up and down synchronously. The third joint component is used for the robot's linear up and down movement, expanding the range of motion of the lifting motion while maintaining the overall rigidity. The second driving component drives the second gear to rotate, and the second gear, through meshing with the first gear, drives the connecting arm to rotate around the axis of the first gear, realizing the 360° rotation of the fourth joint component. Through the cooperation of the third and fourth joint components, while ensuring the overall rigidity of the robot, its lifting and rotation range is effectively expanded. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the planar articulated robot in an embodiment of this utility model.

[0018] Figure 2 This is an embodiment of the present utility model. Figure 1 A sectional view of AA.

[0019] Figure 3 This is an embodiment of the present utility model. Figure 1 A cross-sectional view of BB.

[0020] Figure 4 This is an embodiment of the present utility model. Figure 1 Enlarged view of part C.

[0021] Reference numerals: 1. Base; 2. First joint component; 3. Second joint component; 4. Third joint component; 41. Support body; 411. Through groove; 412. First guide rail; 42. First drive component; 43. Ball screw; 431. Screw nut; 44. Lifting plate; 5. Fourth joint component; 51. Mounting plate; 511. Second guide rail; 52. First gear; 53. Second gear; 54. Mounting plate; 55. Second drive component; 56. Connecting arm; 6. First slider; 7. Second slider; 8. Reinforcing rib; 9. Connecting rod. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects of the embodiments of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0024] It should be understood that the terms "length", "width", "up", "down", "front", "back", "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 the embodiments of 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.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] Please see Figures 1 to 4In one embodiment, a planar articulated robot includes a base 1, a first joint component 2, and a second joint component 3. The second joint component 3 is mounted on the first joint component 2. A third joint component 4 and a fourth joint component 5 are mounted on the base 1. The third joint component 4 includes a support body 41, a first drive component 42, a ball screw 43, and a lifting plate 44. The support body 41 is connected to the center of the base 1. The two ends of the ball screw 43 are rotatably mounted at the center of the support body 41 and the center of the base 1, respectively. A screw nut 431 is provided on the ball screw 43. The output end of the first drive component 42... Connected to one end of the ball screw 43, the center of the lifting plate 44 passes through the ball screw 43 and is connected to the screw nut 431. A through groove 411 is provided on the side wall of the support body 41. The lifting plate 44 is connected to the fourth joint component 5 outside the support body 41 through the through groove 411. The fourth joint component 5 includes a mounting plate 51, a first gear 52, a second gear 53, a mounting plate 54, a second drive component 55, and a connecting arm 56. The first drive component 42 and the second drive component 55 are preferably servo motors. The first gear 52 is fixedly connected to the mounting plate 51 and coaxially sleeved on the support body 41. The mounting plate 51 and the lifting plate 44 are connected to the ball screw 43. The lowering plate 44 is fixedly connected, the mounting plate 54 is rotatably connected to the mounting plate 51, the connecting arm 56 is fixedly mounted on the mounting plate 54, the second driving member 55 is provided on the connecting arm 56, the output end of the second driving member 55 passes through the connecting arm 56 and the mounting plate 54, the second gear 53 is fixedly connected to the output end of the second driving member 55, the second gear 53 meshes with the first gear 52, and the connecting arm 56 is connected to the first joint component 2; in this embodiment, the ball screw 43 is driven to rotate by the first driving member 42, and the screw nut 431 on the ball screw 43 drives the lifting plate 44 to move up and down, and the lifting plate 44 moves up and down. The mounting plate 51 connected to 44 moves up and down synchronously outside the support body 41; the second drive component 55 drives the second gear 53 to rotate. Since the first gear 52 is fixed on the mounting plate 51, the second gear 53 rotates around the axis of the first gear 52 through the mounting plate 54 which is rotatably connected to the mounting plate 51, thereby driving the connecting arm 56 to rotate around the axis of the support body 41, so that the fourth joint component 5 can rotate 360°. Through the cooperation of the third joint component 4 and the fourth joint component 5, the planar joint robot can expand the lifting and rotating range of the robot's movement while ensuring the overall rigidity.

[0027] In a specific example, the support 41 is a cylindrical structure; the support 41 is preferably made of steel to ensure that the support 41 has high axial load and radial load.

[0028] In a preferred embodiment, four through slots 411 are evenly provided on the outer periphery of the support body 41, and the lifting plate 44 extends out of the support body 41 in a cross shape and connects with the mounting plate 51; this facilitates improving the stability of the connection between the lifting plate 44 and the mounting plate 51.

[0029] In a preferred embodiment, four first guide rails 412 are evenly provided on the outer periphery of the support body 41. The first guide rails 412 are linear guide rails and are arranged vertically along the length direction of the support body 41. The arrangement of the first guide rails 412 avoids the through groove 411. A first slider 6 that cooperates with the first guide rails 412 is provided on the mounting plate 51. Specifically, the first slider 6 is provided on the inner wall of the mounting plate 51. The first guide rails 412 and the first slider 6 cooperate to allow the mounting plate 51 to move up and down along the vertical direction of the support body 41 while providing radial support for the ball screw 43, thereby improving the rigidity and stability of the equipment.

[0030] In a preferred embodiment, the mounting plate 51 is provided with a second guide rail 511, which is an annular guide rail. The mounting plate 54 is provided with a second slider 7 that cooperates with the second guide rail 511. Specifically, two second guide rails 511 are provided on the same surface of the mounting plate 51. The two second guide rails 511 are connected to a second slider 7 to prevent the fourth joint component 5 from wobbling left and right during operation. The second guide rails 511 are respectively provided on the upper and lower surfaces of the mounting plate 51 and are arranged coaxially with the mounting plate 51. The mounting plate 54 has an overall U-shaped structure. The second slider 7 is provided at both ends of the opening of the mounting plate 54 and is respectively connected to the second guide rail 511 to make the mounting plate 54 firmly clamped on the outer circumference of the mounting plate 51. Alternatively, the second guide rail 511 is a T-shaped guide rail that is connected to the second slider 7 to prevent it from separating from the mounting plate 51 and to ensure the stability of the rotation of the fourth joint component 5.

[0031] In a preferred embodiment, the first driving member 42 is mounted on the top surface of the support 41 to facilitate airflow for heat dissipation of the first driving member 42.

[0032] In a preferred embodiment, the inner wall of the support body 41 is uniformly provided with reinforcing ribs 8; the reinforcing ribs 8 are set away from the lifting plate 44 to avoid affecting the lifting and moving of the lifting plate 44, and the overall rigidity of the support body 41 is improved by the reinforcing ribs 8.

[0033] In a preferred embodiment, a connecting rod 9 is provided at the bottom of the mounting plate 51. The connecting rod 9 is fixedly connected to the lower end of the U-shaped structure of the mounting plate 54, or a T-shaped annular groove is opened at the bottom of the mounting plate 51, and the connecting rod 9 is connected to the T-shaped annular groove. The other end of the connecting rod 9 is fixedly connected to the connecting arm 56. The connecting rod 9 supports the connecting arm 56 to increase the load of the fourth joint component 5, ensure the overall rigidity of the fourth joint component 5, and further ensure the stability of the rotation of the fourth joint component 5.

[0034] In a preferred embodiment, the connecting rod 9 is located at the end of the connecting arm 56 away from the first joint component 2; this prevents the connecting rod 9 from affecting the normal rotation of the first joint component 2.

[0035] In a preferred embodiment, the height of the connecting rod 9 is less than the distance between the lower end of the through groove 411 and the base 1, so as to avoid the connecting rod 9 colliding with the base 1 when the third joint component 4 descends to the bottom, which would cause damage to the equipment.

[0036] Working principle: When the robot operates, the first drive component 42 drives the ball screw 43 to rotate, and the screw nut 431 on the ball screw 43 drives the lifting plate 44 to move up and down. The mounting plate 51 connected to the lifting plate 44 moves up and down synchronously outside the support body 41. The first slider 6 slides along the first guide rail 412. The second drive component 55 drives the second gear 53 to rotate. The first gear 52 and the second gear 53 mesh. The second gear 53 moves around the axis of the first gear 52. The mounting plate 54 connected to the second gear 53 and the connecting arm 56 connected to the mounting plate 54 rotate synchronously around the axis of the support body 41. The second slider 7 installed at the bottom of the mounting plate 54 slides synchronously along the second guide rail 511. The connecting arm 56 drives the connecting rod 9 and the first joint component 2 to rotate synchronously. The first joint component 2 rotates on the connecting arm 56 to move the second joint component 3 to the corresponding work position. The second joint component 3 rotates to perform the corresponding work.

[0037] The above description, in conjunction with specific / preferred embodiments, provides a further detailed explanation of the present invention and should not be construed as limiting the specific implementation of the present invention to these descriptions. For those skilled in the art, various substitutions or modifications can be made to these described embodiments without departing from the concept of the present invention, and all such substitutions or modifications should be considered within the protection scope of the present invention. In the description of this specification, the reference to terms such as "an embodiment," "some embodiments," "preferred embodiment," "example," "specific example," or "some examples," etc., indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations may be made herein without departing from the scope of protection of the patent application.

Claims

1. A planar articulated robot comprising a base, a first joint member, and a second joint member, the second joint member being provided on the first joint member, characterized by: The third joint part comprises a supporting body, a first driving member, a ball screw and a lifting disc, the supporting body is arranged on the base, the ball screw is arranged on the supporting body, a screw nut is arranged on the ball screw, the first driving member is connected with one end of the ball screw, the lifting disc is connected with the screw nut, a through slot is arranged on the side of the supporting body, the lifting disc is connected with the fourth joint part through the through slot, the fourth joint part comprises a mounting disc, a first gear, a second gear, a mounting plate, a second driving member and a connecting arm, the first gear is connected with the mounting disc and is sleeved on the supporting body, the mounting disc is connected with the lifting disc, the mounting plate is rotatably connected with the mounting disc, the connecting arm is arranged on the mounting plate, the second driving member is arranged on the connecting arm, the second gear is connected with the output end of the second driving member, the second gear is engaged with the first gear, and the connecting arm is connected with the first joint part.

2. A planar articulated robot as claimed in claim 1, characterized in that: The supporting body is in a cylindrical structure.

3. The planar articulated robot of claim 1, wherein: A plurality of through slots are uniformly arranged on the side of the supporting body, and the lifting disc is connected with the mounting disc by extending out of the supporting body through the plurality of through slots.

4. The planar articulated robot of claim 1, wherein: A first guide rail is arranged on the supporting body, and a first sliding block matched with the first guide rail is arranged on the mounting disc.

5. The planar articulated robot of claim 1, wherein: A second guide rail is arranged on the mounting disc, and a second sliding block matched with the second guide rail is arranged on the mounting plate.

6. The planar articulated robot of claim 1, wherein: The first driving member is arranged on the top surface of the supporting body.

7. The planar articulated robot of claim 1, wherein: A reinforcing rib is arranged in the supporting body.

8. The planar articulated robot of claim 1, wherein: A connecting rod is arranged on the mounting disc, one end of the connecting rod is rotatably connected with the mounting disc, and the other end of the connecting rod is connected with the connecting arm.

9. A planar articulated robot as claimed in claim 8, characterized in that: The connecting rod is arranged at the end of the connecting arm away from the first joint part.

10. A planar articulated robot as claimed in claim 9, characterized in that: The height of the connecting rod is smaller than the distance from the lower end of the through slot to the base.

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