Single-axis robot

Abstract

The present invention discloses a single axis robot. [Solution] The single-axis robot includes a base plate, a first guide unit extending along a first direction, a first slide base having a first end connected to the first guide unit to form a guide engagement, a driving member connected to the first slide base, a second guide unit provided at a second end of the first slide base and extending along the second direction, a second slide base having a first end forming a guide engagement with the second end of the first slide base, and a third guide unit extending along a third direction, the plane in which the third direction lies is perpendicular to the plane in which the first direction lies. Compared to the prior art, the present invention provides the first slide base and the second slide base, and converts the motion along the drive screw axis direction into motion in a direction perpendicular to the drive screw axis direction through the guiding action of the first guide unit, the second guide unit, and the third guide unit.

Description

[Technical field]

[0001] The present invention relates to the field of robotics, in particular to single-axis robots. [Background technology]

[0002] The structure of a conventional single-axis robot is mainly a combination of a drive screw and a rotary motor, in which the drive screw is rotatably supported on a bearing stand, the output shaft of the rotary motor is connected to the drive screw by a coupling, a screw nut is screwed onto the drive screw, and an output member is fixed to the screw nut, and the drive screw is rotated by operating the rotary motor, so that the screw nut runs along the axial direction of the drive screw, and the direction of movement of the output member is parallel to the axial direction of the drive screw, and it is not possible to realize movement in a direction perpendicular to the axial direction of the ball screw. Summary of the Invention [Problem to be solved by the invention]

[0003] In order to solve the technical problems in the prior art, the present invention aims to provide a single-axis robot capable of converting motion along the axial direction of a drive screw into motion in a direction perpendicular to the axial direction of the drive screw. [Means for solving the problem]

[0004] The present invention provides a single-axis robot, A substrate; a first guide unit provided on the substrate and extending along a first direction; a first slide base having a first end connected to the first guide unit to form a guide engagement; a driving member connected to the first slide base to move the first slide base along the first direction; a second guide unit provided at a second end of the first slide base, extending along a second direction, and forming a predetermined angle between the second direction and the first direction; a second slide base having a first end forming a guide engagement with a second end of the first slide base; and a third guide unit extending along a third direction and connected to a second end of the second slide base to form a guide engagement, the plane in which the third direction lies being perpendicular to the plane in which the first direction lies.

[0005] In the single-axis robot as described above, preferably, a first guide slope is formed at a second end of the first slide base, and a second guide slope is formed at a first end of the second slide base, and the second slide base is connected to the second guide unit via the second guide slope to form a guide engagement.

[0006] In the single-axis robot as described above, preferably, the drive member includes a drive motor, a drive screw, a screw nut, a bearing base, and a coupling, the output shaft of the drive motor is connected to the drive screw by the coupling, the drive screw is rotatably supported by the bearing base, the screw nut is screwed onto the drive screw, and the first slide base is fixedly connected to the screw nut.

[0007] In the single-axis robot as described above, preferably, a mounting seat is provided on the base, an accommodating cavity is formed within the mounting seat, the first slide base and the second slide base are both at least partially accommodated within the accommodating cavity, and the third guide unit is fixed to an inner wall of the accommodating cavity.

[0008] In the single-axis robot as described above, preferably, the mounting seat includes a first plate, a second plate, a third plate, and a fourth plate, the first plate, the second plate, the third plate, and the fourth plate sequentially surround the accommodating cavity to form the accommodating cavity, and the third guide unit is provided on an inner wall surface of the first plate.

[0009] In the single-axis robot as described above, preferably, a reset-to-zero switch is further provided within the accommodation cavity, and the reset-to-zero switch is provided at a starting end of a moving path of the second slide base.

[0010] In the single-axis robot as described above, the predetermined included angle is preferably 0 to 90°.

[0011] In the single-axis robot as described above, preferably, the predetermined included angle is 45°.

[0012] In the single-axis robot as described above, preferably, the first guide unit and the second guide unit are all cross guide rail pairs, and the third guide unit is a linear guide rail pair, or the first guide unit, the second guide unit and the third guide unit are all linear guide rail pairs.

[0013] In the single-axis robot as described above, preferably, the second slide base is provided with an output relay unit. Effect of the Invention

[0014] Compared with the prior art, the present invention provides a first slide base and a second slide base, and through the guiding action of the first guide unit, the second guide unit and the third guide unit, converts the motion of the first slide base moving along the first direction into the motion of the second slide base moving along the third direction, and the driving member drives the first slide base to travel along the first direction through cooperation of the driving motor and the driving screw, and the third direction is perpendicular to the first direction, the first direction extends along the horizontal direction, and the third direction extends along the direction of gravity, thereby converting the motion along the axial direction of the driving screw into motion in a direction perpendicular to the axial direction of the driving screw. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view of an overall structure according to a first embodiment of the present invention. [Diagram 2] 1 is a plan view of an entire structure according to a first embodiment of the present invention. [Diagram 3] FIG. 3 is a cross-sectional view taken along line AA in FIG. [Figure 4] FIG. 2 is a schematic diagram showing an exploded configuration of the entire structure according to the first embodiment of the present invention. [Diagram 5] FIG. 1 is a perspective view of a hidden portion of an entire structure according to a first embodiment of the present invention. [Figure 6] FIG. 2 is a perspective view 2 of the entire structure according to the first embodiment of the present invention in a hidden portion member state. [Figure 7] FIG. 2 is a perspective view of a first slide base according to the first embodiment of the present invention. [Figure 8] FIG. 2 is a front view of a first slide base according to the first embodiment of the present invention. [Figure 9] FIG. 2 is a perspective view of a second slide base according to the first embodiment of the present invention. [Figure 10] FIG. 4 is a front view of a second slide base according to the first embodiment of the present invention. [Figure 11] FIG. 11 is a perspective view of the entire structure according to the second embodiment of the present invention in a hidden portion member state. [Figure 12]FIG. 11 is a schematic diagram showing an exploded configuration of the entire structure according to Example 2 of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The embodiments described below with reference to the drawings are illustrative and are intended to explain the present invention only and cannot be construed as limiting the present invention. EXAMPLES

[0017] Example 1 As shown in Figures 1 to 10, the present invention provides a single-axis robot, which includes a substrate 10, a first guide unit 20, a first slide base 30, a driving member 40, a second guide unit 50, a second slide base 60, and a third guide unit 70.

[0018] The base plate 10 is a horizontally extending flat plate structure, and serves as a base for loading and mounting the single-axis robot.

[0019] The first guide unit 20 is provided on the substrate 10, and extends along a first direction.

[0020] As shown in Figures 7 and 8, a first end of the first slide base 30 is connected to the first guide unit 20, which is used to guide the first slide base 30 to move along the first direction, and a first guide slope 31 is formed at a second end of the first slide base 30. In an embodiment of the present application, the bottom end of the first slide base 30 is connected to the first guide unit 20, the first guide slope 31 is formed at the top end of the first slide base 30, the plane on which the first direction is located is a horizontal plane, and the first guide unit 20 acts as a position restriction and guide, allowing the first slide base 30 to move only along the first direction.

[0021] The driving member 40 is connected to the first slide base 30, thereby driving the first slide base 30 to move along the first direction.

[0022] The second guide unit 50 is provided on the first guide inclined surface 31, the second guide unit 50 extends along the second direction, a predetermined included angle is formed between the second direction and the first direction, and the top end of the second guide unit 50 is closer to the driving member 40 than the bottom end.

[0023] As shown in FIG. 8 and FIG. 9, a second guide slope 61 is formed at a first end of the second slide base 60, and the second guide slope 61 is connected to the second guide unit 50. In the embodiment of the present application, the second guide slope 61 is formed at the bottom end of the second slide base 60. The first guide slope 31, the second guide slope 61, and the second guide unit 50 are all inclined with respect to a horizontal plane, and the three maintain the same extending direction. The predetermined included angle between the second direction and the first direction is 0 to 90°, not including the end value. When the first slide base 30 moves horizontally along the first direction, a vertical component force is provided to the second slide base 60 by contacting with the second slide base 60. Preferably, the predetermined included angle is 45°. In this way, a relatively large vertical component force can be provided to the second slide base 60, and the movement of the first slide base 30 is not hindered.

[0024] The third guide unit 70 is connected to a second end of the second slide base 60, and the third guide unit 70 extends along a third direction. The third guide unit 70 is used to guide the second slide base 60 to move along the third direction, the third direction being perpendicular to the first direction. In an embodiment of the present application, the third guide unit 70 is connected to a side end of the second slide base 60, and the plane in which the third direction is located extends along the direction of gravity. The third guide unit 70 serves to regulate position and guide, thereby allowing the second slide base 60 to move only along the third direction.

[0025] Based on the above embodiment, the operation process of the present application is as follows.

[0026] In the initial state, the driving member 40 is actuated to drive the first slide base 30 to move, and the first slide base 30 moves along the first direction under the guidance of the first guide unit 20. In the process of the movement of the first slide base 30, the acting force is transmitted to the second slide base 60, and the first slide base 30 provides a vertical component force to the second slide base 60. The constraint guide of the third guide unit 70 enables the second slide base 60 to move vertically only along the direction of gravity.

[0027] In the embodiment of the present application, as shown in FIG. 1, FIG. 3, FIG. 4, FIG. 5 and FIG. 6, the driving member 40 includes a driving motor 41, a driving screw 42, a screw nut 43, a bearing base 44 and a coupling 45. The substrate 10 is provided with a motor fixing base 46, which has an “L”-shaped structure. The flat plate segments of the motor fixing base 46 are detachably fixed to the substrate 10 by bolt members. The driving motor 41 is fixed to the vertical plate segments of the motor fixing base 46, and the driving motor 41 can be accurately moved. In order to operate the drive motor 41 stably, it is preferable that the drive motor 41 is a servo motor, the bearing base 44 is fixed to a horizontal plate segment of the motor fixing base 46, the drive screw 42 is rotatably supported by the bearing base 44, the extension direction of the drive screw 42 is parallel to the first direction, the screw nut 43 is screwed onto the drive screw 42, the first slide base 30 is fixedly connected to the screw nut 43, and the output shaft of the drive motor 41 is connected to the drive screw 42 by a coupling 45.

[0028] When the drive motor 41 is operated, power is transmitted to the drive screw 42 via the coupling 45, rotating the drive screw 42. Through the screw-threading action between the drive screw 42 and the screw nut 43, the rotation of the drive screw 42 is converted into horizontal movement of the screw nut 43 along the axial direction of the drive screw 42, and the first slide base 30 can move along the first direction accordingly.

[0029] In the embodiment of the present application, as shown in FIGS. 1, 4, 5 and 6, a mounting seat 80 is provided on the substrate 10, and the mounting seat 80 is detachably fixed to the substrate 10 via a bolt member. An accommodating cavity 81 is formed in the mounting seat 80, and the accommodating cavity 81 is recessed at the top of the mounting seat 80. The first slide base 30 and the second slide base 60 are both at least partially accommodated in the accommodating cavity 81, thereby protecting the first slide base 30 and the second slide base 60. The third guide unit 70 is fixed to the inner wall of the accommodating cavity 81, and the second slide base 60 is connected to the third guide unit 70. The top of the accommodating cavity 81 is designed to be open, so that interference with the vertical movement of the second slide base 60 can be avoided. The inner wall of the accommodating cavity 81 facing the third guide unit 70 is provided with a through hole 82 for the driving screw 42 to pass through.

[0030] In an implementable embodiment, as shown in Figures 1, 3, 4, 5 and 6, the mounting base 80 includes a first plate 83, a second plate 84, a third plate 85 and a fourth plate 86, the bottoms of the first plate 83, the second plate 84, the third plate 85 and the fourth plate 86 are detachably connected to the substrate 10 via bolt members, the first plate 83, the second plate 84, the third plate 85 and the fourth plate 86 sequentially surround each other to form an accommodating cavity 81, the first plate 83 is disposed opposite the third plate 85, the second plate 84 is disposed opposite the fourth plate 86, the third guide unit 70 is disposed on the inner wall surface of the first plate 83, the through hole 82 is disposed in the third plate 85, and the first slide base 30 and the second slide base 60 are both accommodated in the accommodating cavity 81.

[0031] In the embodiment of the present application, as shown in FIG. 4 and FIG. 5, a reset-zero switch 87 is further provided in the receiving cavity 81, the reset-zero switch 87 is provided on the moving path of the second slide base 60 moving along the third direction, the reset-zero switch 87 is provided at the starting end of the moving path of the second slide base 60, and the reset-zero switch 87 determines the starting reference point of the second slide base 60. The reset-zero switch 87, as the zero point of the robot's motion, triggers the reset operation every time the robot is energized and started. Returning to the starting reference point is one of the important functions of the robot, and whether the robot can accurately return to the starting reference point will affect the processing quality of the robot. The structure of the reset-zero switch 87 may refer to the contents of the prior art, and a description thereof will be omitted here.

[0032] Furthermore, a position control switch is further provided at the end of the movement path of the second slide base 60, which further limits the movement displacement distance of the second slide base 60, making the movement of the second slide base 60 safe, reliable and stable. The structure of the position control switch can be referred to in the prior art, and a description thereof will be omitted here.

[0033] In an embodiment of the present application, as shown in FIG. 4, the first guide unit 20 and the second guide unit 50 are both cross guide rail pairs, and the third guide unit 70 is a linear guide rail pair, the cross guide rail pair includes a stationary guide rail, a sliding guide rail, and a roller retainer, the stationary guide rail and the sliding guide rail are respectively connected to both sides of the roller retainer via V-shaped grooves, the stationary guide rail and the sliding guide rail slide relatively via the roller retainer, and the linear guide rail pair includes a guide rail body and a slider slidably mounted on the linear guide rail body.

[0034] In an implementable embodiment, the cross guide rail pair of the first guide unit 20 extends along a first direction, with its stationary guide rail connected to the substrate 10 and its sliding guide rail connected to the first slide base 30, thereby guiding the sliding of the first slide base 30 along the first direction relative to the substrate 10; the cross guide rail pair of the second guide unit 50 extends along a second direction, with its stationary guide rail connected to the first guide slope 31 in the first slide base 30 and its sliding guide rail connected to the second guide slope 61 in the second slide base 60, thereby guiding the sliding of the second slide base 60 along the second direction relative to the first slide base 30; and the linear guide rail pair of the third guide unit 70 extends along a third direction, with its guide rail body provided on the first plate body 83 and a slider fixed to the second slide base 60, thereby guiding the sliding of the second slide base 60 along the third direction relative to the first plate body 83. As can be understood by those skilled in the art, the relative positions of the stationary guide rail and the sliding guide rail, and the relative positions of the guide rail body and the slider can be interchanged and are not limited here.

[0035] In an embodiment of the present application, as shown in FIG. 4, the second slide base 60 is provided with an output relay unit 90, which is used to connect an end effector (not shown), and by replacing the output relay unit 90, it is possible to adapt to different types of end effectors.

[0036] Example 2 This embodiment differs from Example 1 in that, as shown in Figures 11 and 12, the first guide unit 20, the second guide unit 50 and the third guide unit 70 are all linear guide rail pairs, and the linear guide rail pair includes a guide rail main body and a slider slidably mounted on the linear guide rail main body.

[0037] In an implementable embodiment, the linear guide rail pair of the first guide unit 20 extends along a first direction, has its guide rail body connected to the substrate 10, and a slider connected to the first slide base 30, thereby guiding the sliding of the first slide base 30 along the first direction relative to the substrate 10; the linear guide rail pair of the second guide unit 50 extends along a second direction, has its guide rail body connected to the first guide inclined surface 31 in the first slide base 30, and a slider connected to the second guide inclined surface 61 in the second slide base 60, thereby guiding the sliding of the second slide base 60 along the second direction relative to the first slide base 30; and the linear guide rail pair of the third guide unit 70 extends along a third direction, has its guide rail body provided on the first plate body 83, and a slider fixed to the second slide base 60, thereby guiding the sliding of the second slide base 60 along the third direction relative to the first plate body 83. As can be understood by those skilled in the art, the relative positions of the guide rail body and the slider can be interchanged and are not limited here.

[0038] The above describes in detail the structure, features and operational effects of the present invention based on the embodiments shown in the drawings. The above are only preferred embodiments of the present invention, and the present invention is not limited to the scope of implementation shown in the drawings. Any modifications made according to the concept of the present invention or equivalent modifications to equivalent embodiments that are equivalent changes should still be within the scope of protection of the present invention as long as they do not deviate from the spirit contained in the specification and drawings. [Explanation of symbols]

[0039] 10 Substrate 20 First guide unit 30 First Slide Base 31 First guide slope 40 Driving member 41 Drive motor 42 Drive screw 43 Screw Nut 44 Bearing stand 45 Coupling 46 Motor fixing stand 50 Second guide unit 60 Second Slide Base 61 Second guide slope 70 3rd guide unit 80 Mounting seat 81 Storage Cavity 82 Passing hole 83 1st plate 84 Second plate 85 Third plate 86 4th plate 87 Return to zero switch 90 Output relay unit

Claims

1. A single-axis robot, A substrate; a first guide unit provided on the substrate and extending along a first direction; a first slide base having a first end connected to the first guide unit to form a guide engagement; a driving member connected to the first slide base to move the first slide base along the first direction; a second guide unit provided at a second end of the first slide base, extending along a second direction, and forming a predetermined angle between the second direction and the first direction; a second slide base having a first end forming a guide engagement with a second end of the first slide base; a third guide unit extending along a third direction and connected to a second end of the second slide base to form a guide engagement, the plane in which the third direction lies being perpendicular to the plane in which the first direction lies.

2. 2. The single-axis robot according to claim 1, wherein a first guide slope is formed at a second end of the first slide base, a second guide slope is formed at a first end of the second slide base, and the second slide base is connected to the second guide unit via the second guide slope to form a guide engagement.

3. 2. The single-axis robot according to claim 1, wherein the drive member includes a drive motor, a drive screw, a screw nut, a bearing base, and a coupling, an output shaft of the drive motor is connected to the drive screw by the coupling, the drive screw is rotatably supported by the bearing base, the screw nut is screwed onto the drive screw, and the first slide base is fixedly connected to the screw nut.

4. 2. The single-axis robot according to claim 1, characterized in that a mounting seat is provided on the base, an accommodating cavity is formed within the mounting seat, the first slide base and the second slide base are both at least partially accommodated within the accommodating cavity, and the third guide unit is fixed to an inner wall of the accommodating cavity.

5. 5. The single-axis robot according to claim 4, characterized in that the mounting base includes a first plate, a second plate, a third plate, and a fourth plate, the first plate, the second plate, the third plate, and the fourth plate sequentially surround the accommodating cavity to form the accommodating cavity, and the third guide unit is provided on an inner wall surface of the first plate.

6. 5. The single-axis robot according to claim 4, further comprising a reset switch provided within the receiving cavity, the reset switch being provided at a starting end of a moving path of the second slide base.

7. 2. The single-axis robot according to claim 1, wherein the predetermined angle is between 0 and 90 degrees.

8. 2. The single-axis robot according to claim 1, wherein the predetermined included angle is 45 degrees.

9. 2. The single-axis robot according to claim 1, wherein the first guide unit and the second guide unit are all cross guide rail pairs, and the third guide unit is a linear guide rail pair, or the first guide unit, the second guide unit, and the third guide unit are all linear guide rail pairs.

10. 2. The single-axis robot according to claim 1, wherein the second slide base is provided with an output relay unit.

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