Three-axis robot

Abstract

The present invention discloses a three-axis robot. [Solution] The three-axis robot includes a base plate, a first guide unit extending along a first direction, a first slide base, a first driving member for driving the first slide base to move along the first direction, a second guide unit extending along a second direction, a second slide base, a second driving member for driving the second slide base to move along the second direction, a third guide unit extending along a third direction, where the first direction, the second direction, and the third direction all intersect perpendicularly two by two, a third slide base, and a third driving member for driving the third slide base to move along the third direction. Compared with the prior art, the three-axis robot according to the present invention has a compact overall structure, high rigidity, and occupies a small space.

Description

[Technical field]

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

[0002] The conventional three-axis robot structure is mainly an orthogonal three-axis structure formed by directly combining three three-axis robots or single-axis motion modules, which is not a compact structure and occupies a large space. Summary of the Invention [Problem to be solved by the invention]

[0003] SUMMARY OF THE PRESENT EMBODIMENT The present invention aims to provide a three-axis robot to solve the technical problems in the prior art. [Means for solving the problem]

[0004] The present invention provides a three-axis robot, the three-axis robot comprising: A substrate; a first guide unit provided on the substrate and extending along a first direction; a first slide base connected to the first guide unit to form a guide engagement; a first driving member provided on the substrate, the first driving member having an output end connected to the first slide base, the first slide base being moved along the first direction; a second guide unit provided on the first slide base and extending along a second direction; a second slide base connected to the second guide unit to form a guide engagement; a second driving member provided on the first slide base, the second slide base being moved along the second direction by an output end connected to the second slide base; a third guide unit provided on the second slide base, extending along a third direction, and perpendicularly intersecting the first direction, the second direction, and the third direction, two by two; a third slide base connected to the third guide unit to form a guide engagement; a third driving member provided on the second slide base, the third driving member having an output end connected to the third slide base, the third slide base being driven to move along the third direction.

[0005] In the three-axis robot as described above, preferably, the first drive member includes a first drive motor, a first fixed base, a first drive screw, a first screw nut, a first bearing base, and a first coupling, the first fixed base is provided on the base plate, the first drive motor is fixed to the first fixed base, the output shaft of the first drive motor is connected to the first drive screw via the first coupling, the first drive screw is rotatably supported by the first bearing base, the first screw nut is screwed onto the first drive screw, and the first slide base is fixedly connected to the first screw nut.

[0006] In the three-axis robot as described above, preferably, a first accommodating cavity is provided in the first fixed base, the first accommodating cavity has a first opening in a first side wall of the first fixed base, at least a part of the first slide base extends into the first accommodating cavity through the first opening, the first accommodating cavity has a first through hole in a second side wall of the first fixed base, the first bearing stand is drilled into the first through hole, and the first drive motor is fixed to an outer wall surface of the second side wall.

[0007] In the three-axis robot as described above, preferably, the second drive member includes a second drive motor, a second drive screw, a second screw nut, a second bearing stand, and a second coupling, the second drive motor is fixed to the first slide base, an output shaft of the second drive motor is connected to the second drive screw via the second coupling, the second drive screw is rotatably supported by the second bearing stand, the second screw nut is threadedly engaged with the second drive screw, and the second slide base is fixedly connected to the second screw nut.

[0008] In the three-axis robot as described above, preferably, a second accommodating cavity is provided in the first slide base, the second driving motor is fixed to the top of the first slide base, the second driving screw and the second screw nut are both accommodated in the second accommodating cavity, a second opening is provided in a side wall on the first side of the second accommodating cavity, the second guide unit is provided on an outer wall surface of the side wall on the first side of the second accommodating cavity, a connection block is provided on the second screw nut, and the connection block is connected to the third slide base after passing through the second opening, a second through hole is provided in a side wall on the second side of the second accommodating cavity, and the first screw nut is fixed in the second through hole.

[0009] In the three-axis robot as described above, preferably, the third drive member includes a third drive motor, a third drive screw, a third screw nut, a third bearing stand and a third coupling provided on the second slide base, an output shaft of the third drive motor is connected to the third drive screw via the third coupling, the third drive screw is rotatably supported on the third bearing stand, the third screw nut is screwed onto the third drive screw, and the third slide base is directly or indirectly connected to the third screw nut.

[0010] In the three-axis robot as described above, preferably, the third driving motor is fixed to a top of the second slide base, an output shaft of the third driving motor extends along the second direction, an adapter block is fixed to the third screw nut, a fourth guide unit is provided on the second slide base, and a fifth guide unit is provided on the third slide base, the fourth guide unit and the fifth guide unit are respectively connected to the adapter block, the fourth guide unit extends along the second direction, and the fifth guide unit extends along a fourth direction, and the fourth direction and the third direction form a predetermined included angle.

[0011] In the three-axis robot as described above, preferably, a third accommodating cavity is provided in the second slide base, and the third driving screw, the third screw nut, the adapter block and the fourth guide unit are all accommodated in the third accommodating cavity.

[0012] In the three-axis robot as described above, preferably, the first guide unit, the second guide unit, the third guide unit, the fourth guide unit and the fifth guide unit are a cross guide rail pair or a linear guide rail pair.

[0013] In the three-axis robot as described above, preferably, a zero reset switch is provided at each starting end of the movement path between the first slide base, the second slide base, and the third slide base, and a limit switch is provided at each end of the movement path between the first slide base, the second slide base, and the third slide base. Effect of the Invention

[0014] Compared with the prior art, in the present invention, the first guide unit and the first driving member are provided on the base, the second guide unit and the second driving member are provided on the first slide base, and the third guide unit and the third driving member are provided on the second slide base, so that the three-axis robot has a compact overall structure, high rigidity, and occupies a small space. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view of an overall structure according to the present invention. [Diagram 2] FIG. 2 is a plan view of the overall structure according to 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 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.

[0017] As shown in Figures 1 to 4, the present invention provides a three-axis robot, which includes a substrate 100, a first guide unit 200, a first slide base 300, a first driving member 400, a second guide unit 500, a second slide base 600, a second driving member 700, a third guide unit 800, a third slide base 900, and a third driving member 1000.

[0018] The base plate 100 is a horizontally extending flat plate structure, which serves as a base for loading and mounting the three-axis robot.

[0019] The first guide unit 200 is provided on the substrate 100, the first guide unit 200 extends along a first direction D1, and in an implementable embodiment, the plane in which the first direction D1 lies is a horizontal plane.

[0020] The bottom end of the first slide base 300 is connected to the first guide unit 200 to form a guide engagement, and the first guide unit 200 acts as a limit and a guide, thereby allowing the first slide base 300 to move only along the first direction D1.

[0021] The first driving member 400 is provided on the substrate 100, and an output end of the first driving member 400 is connected to the first slide base 300, thereby driving the first slide base 300 to move along the first direction D1.

[0022] The second guide unit 500 is provided at a side end of the first slide base 300, and extends along the second direction D2, with the plane in which the second direction D2 is positioned being a vertical plane.

[0023] The side end of the second slide base 600 is connected to the second guide unit 500 to form a guide engagement, and the second guide unit 500 acts as a limit and a guide, thereby allowing the second slide base 600 to move only along the second direction D2.

[0024] The second driving member 700 is provided on the first slide base 300, and an output end of the second driving member 700 is connected to the second slide base 600, thereby driving the second slide base 600 to move along the second direction D2.

[0025] The third guide unit 800 is provided at a side end of the second slide base 600, and extends along the third direction D3, where the first direction D1, the second direction D2 and the third direction D3 intersect perpendicularly in pairs, and the first direction D1, the second direction D2 and the third direction D3 respectively constitute three coordinate axes of a three-dimensional coordinate system, for example, the first direction D1 is the X-axis extension direction, the second direction D2 is the Z-axis extension direction, and the third direction D3 is the Y-axis extension direction.

[0026] The third slide base 900 is connected to the third guide unit 800 to form a guide engagement, and the third guide unit 800 acts as a limit and guide, thereby allowing the third slide base 900 to move only along the third direction D3, and the third slide base 900 is provided with an end effector (not shown), and in an implementable embodiment, the second slide base 600 is provided with an output relay unit, which is used to connect the end effector, and the output relay unit can be replaced to accommodate different types of end effectors.

[0027] The third driving member 1000 is provided on the second slide base 600, and an output end of the third driving member 1000 is connected to the third slide base 900, whereby the third slide base 900 is driven to move along the third direction D3.

[0028] Based on the above embodiment, the operation process of the present application is as follows.

[0029] When the first driving member 400 is actuated, the first slide base 300 is driven to move along the first direction D1, thereby moving the end effector on the third slide base 900 to a predetermined position in the first direction D1; when the second driving member 700 is actuated, the second slide base 600 is driven to move along the second direction D2, thereby moving the end effector on the third slide base 900 to a predetermined position in the second direction D2; when the third driving member 1000 is actuated, the third slide base 900 is driven to move along the third direction D3, thereby moving the end effector on the third slide base 900 to a predetermined position in the third direction D3, and finally, the end effector moves independently in each of the three axial directions.

[0030] By providing the first guide unit 200 and the first driving member 400 on the substrate 100, the second guide unit 500 and the second driving member 700 on the first slide base 300, and the third guide unit 800 and the third driving member 1000 on the second slide base 600, the three-axis robot has a compact overall structure, is highly rigid, and occupies a small space.

[0031] In an embodiment of the present application, as shown in FIG. 3, the first driving member 400 includes a first driving motor 401, a first fixed base 402, a first driving screw 403, a first screw nut 404, a first bearing base 405 and a first coupling 406, the first fixed base 402 is provided on the substrate 100, the first driving motor 401 is fixed to the first fixed base 402, in order to operate the first driving motor 401 accurately and stably, it is preferable that the first driving motor 401 is a servo motor, the output shaft of the first driving motor 401 is connected to the first driving screw 403 via the first coupling 406, the first driving screw 403 is rotatably supported by the first bearing base 405, the extension direction of the first driving screw 403 is parallel to the first direction D1, the first screw nut 404 is screwed into the first driving screw 403, and the first slide base 300 is fixedly connected to the first screw nut 404.

[0032] When the first drive motor 401 is operated, power is transmitted to the first drive screw 403 via the first coupling 406, rotating the first drive screw 403. The screwing action between the first drive screw 403 and the first screw nut 404 converts the rotation of the first drive screw 403 into horizontal movement of the first screw nut 404 along the axial direction of the first drive screw 403, thereby enabling the first slide base 300 to move along the first direction D1, and further enabling the end effector to be positioned in the first direction D1.

[0033] 3, a first receiving cavity 407 is provided in the first fixed base 402, and a first opening 408 is provided in the first side wall of the first fixed base 402. At least a part of the first sliding base 300 extends into the first receiving cavity 407 through the first opening 408. In this way, the space occupied by the robot can be further compressed. In the process of the first sliding base 300 moving along the first direction D1, the overlapping area with the first fixed base 402 is a first through hole 409 is provided on the second side wall of the first fixed base 402, the first bearing base 405 is drilled into the first through hole 409, the first driving motor 401 is fixed to the outer wall surface of the second side wall, and the first driving screw 403 has one end connected to the first driving motor 401 via a first coupling 406 and the other end extending into the first accommodating cavity 407.

[0034] In an embodiment of the present application, the second driving member 700 includes a second driving motor 701, a second driving screw 702, a second screw nut 703, a second bearing stand 704 and a second coupling 705, the second driving motor 701 is fixed to the first slide base 300, in order to operate the second driving motor 701 accurately and stably, it is preferable that the second driving motor 701 is a servo motor, the output shaft of the second driving motor 701 is connected to the second driving screw 702 via the second coupling 705, the second driving screw 702 is rotatably supported by the second bearing stand 704, the extension direction of the second driving screw 702 is parallel to the second direction D2, the second screw nut 703 is screwed into the second driving screw 702, and the second slide base 600 is fixedly connected to the second screw nut 703.

[0035] When the second drive motor 701 is operated, power is transmitted to the second drive screw 702 via the second coupling 705, driving the second drive screw 702 to rotate. The screwing action between the second drive screw 702 and the second screw nut 703 converts the rotation of the second drive screw 702 into movement of the second screw nut 703 along the axial direction of the second drive screw 702, thereby enabling the second slide base 600 to move along the second direction D2, and further enabling the end effector to be positioned in the second direction D2.

[0036] 3, a second receiving cavity 301 is provided in the first slide base 300, a second driving motor 701 is fixed to the top of the first slide base 300, and a second driving screw 702 and a second screw nut 703 are both accommodated in the second receiving cavity 301, so that the space occupied by the robot can be reduced and the structure is more compact. A second opening 302 is provided on the first side wall of the second receiving cavity 301, a second guide unit 500 is provided on the outer wall surface of the first side wall of the second receiving cavity 301, and a second screw nut 703 is provided on the outer wall surface of the first side wall of the second receiving cavity 301. 03, a connection block 706 is provided, and the connection block 706 is connected to the third slide base 900 after passing through the second opening 302. By providing the second opening 302, the lifting and lowering movement of the second slide base 600 is avoided. A second through hole 303 is provided in the second side wall of the second accommodating cavity 301, and a first screw nut 404 is fixed in the second through hole 303. One end of the first driving screw 403 is connected to the first driving motor 401 via a first coupling 406, and the other end extends into the first accommodating cavity 407 and the second accommodating cavity 301, in order.

[0037] In the embodiment of the present application, as shown in FIG. 1 and FIG. 3, the third driving member 1000 includes a third driving motor 1001, a third driving screw 1002, a third screw nut 1003, a third bearing stand 1004, and a third coupling 1005. The third driving motor 1001 is fixed to the second slide base 600. In order to operate the second driving motor 701 accurately and stably, the third driving motor 1001 is preferably a servo motor. The output shaft of the third drive motor 1001 is connected to a third drive screw 1002 via a third coupling 1005, the third drive screw 1002 is rotatably supported on a third bearing stand 1004, the extension direction of the third drive screw 1002 is parallel to the third direction D3, the third screw nut 1003 is screwed into the third drive screw 1002, and the third slide base 900 is directly or indirectly connected to the third screw nut 1003.

[0038] When the third drive motor 1001 is operated, power is transmitted to the third drive screw 1002 via the third coupling 1005, rotating the third drive screw 1002. The screwing action between the third drive screw 1002 and the third screw nut 1003 converts the rotation of the third drive screw 1002 into movement of the third screw nut 1003 along the axial direction of the third drive screw 1002, thereby enabling the third slide base 900 to move along the third direction D3, and further enabling the end effector to be positioned in the third direction D3.

[0039] In a possible embodiment, as shown in FIGS. 1 to 4, the third driving motor 1001 is fixed to the top of the second slide base 600, and the third driving motor 1001 and the second driving motor 701 are provided on the same side, thus reducing the space occupied by the robot and reducing the width of the robot, making the overall structure of the robot more compact; the output shaft of the third driving motor 1001 extends along the second direction D2; the third screw nut 1003 has an adapter block 1006 fixed thereto; the second slide base 600 is provided with a fourth guide unit 1007; the third slide base 900 is provided with a fifth guide unit 1008; and the fourth guide unit 1007 and the fifth guide unit 1009 are connected to each other. 1. No. 08 are connected to the adapter block 1006, the fourth guide unit 1007 extends along the second direction D2, and the fifth guide unit 1008 extends along the fourth direction, with a predetermined angle formed between the fourth direction and the third direction D3. The fourth guide unit 1007 guides the adapter block 1006 to rise and fall vertically only along the second direction D2. During the process of raising and lowering the adapter block 1006, the fifth guide unit 1008 provides a component force to the third slide base 900 along the third direction D3. At the same time, due to the constraint of the third guide unit 800, the third slide base 900 is able to move only along the third direction D3, thereby driving the third slide base 900 to move.

[0040] Furthermore, a third accommodating cavity 601 is provided in the second slide base 600, and the third driving screw 1002, the third screw nut 1003, the adapter block 1006 and the fourth guide unit 1007 are all accommodated in the third accommodating cavity 601, thereby reducing the space occupied by the robot and making the structure more compact.

[0041] In an embodiment of the present application, the first guide unit 200, the second guide unit 500, the third guide unit 800, the fourth guide unit 1007 and the fifth guide unit 1008 are a cross guide rail pair or 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 through V-shaped grooves, the stationary guide rail and the sliding guide rail slide relatively through 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.

[0042] In the embodiment of the present application, as shown in FIG. 1 to FIG. 4, a reset-to-zero switch 1100 is provided at the beginning of each of the moving paths of the first sliding base 300, the second sliding base 600, and the third sliding base 900. The reset-to-zero switch 1100 determines the starting reference point of the first sliding base 300, the second sliding base 600, and the third sliding base 900. The reset-to-zero switch 1100, as the zero point of the robot 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 or not the robot can accurately return to the starting reference point affects the processing quality of the robot. The structure of the reset-to-zero switch 1100 can refer to the contents of the prior art, and the description thereof will be omitted here.

[0043] Furthermore, a limit switch 1200 is provided at the end of the movement path of the first sliding base 300, the second sliding base 600 and the third sliding base 900, and by further limiting the movement displacement distance of the first sliding base 300, the second sliding base 600 and the third sliding base 900, the movement of the first sliding base 300, the second sliding base 600 and the third sliding base 900 is made safe, reliable and stable. The structure of the limit switch can be referred to in the prior art, and a description thereof will be omitted here.

[0044] 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]

[0045] 100: Substrate 200: First guide unit 300: 1st slide base 301: Second containment cavity 302: Second opening 303:Second passage hole 400: First driving member 401: First drive motor 402: 1st fixed base 403: First drive screw 404: First screw nut 405: First bearing stand 406: 1st coupling 407: First containment cavity 408: First opening 409: 1st passage hole 500: Second guide unit 600: 2nd slide base 601: Third containment cavity 700: second driving member 701: Second drive motor 702: Second drive screw 703: 2nd screw nut 704: Second bearing stand 705: 2nd coupling 706: Connection block 800: 3rd guide unit 900: 3rd slide base 1000: third driving member 1001: 3rd drive motor 1002: 3rd drive screw 1003: 3rd screw nut 1004: 3rd bearing stand 1005: 3rd coupling 1006: Adapter block 1007: 4th guide unit 1008: 5th guide unit 1100:Reset switch 1200:Limit switch D1: 1st direction D2:Second direction D3: Third direction

Claims

1. a three-axis robot including a substrate, a first guide unit, a first slide base, a first drive member, a second guide unit, a second slide base, a second drive member, a third guide unit, a third slide base, and a third drive member; The first guide unit is provided on the substrate and extends along a first direction, the first slide base is connected to the first guide unit to form a guide engagement; the first driving member is provided on the substrate, and an output end of the first driving member is connected to the first slide base, thereby driving the first slide base to move along the first direction; the second guide unit is provided on the first slide base and extends along a second direction; the second slide base is connected to the second guide unit to form a guide engagement; the second driving member is provided on the first slide base, and an output end of the second driving member is connected to the second slide base, thereby driving the second slide base to move along the second direction; the third guide unit is provided on the second slide base and extends along a third direction, and the first direction, the second direction, and the third direction intersect each other perpendicularly two by two; the third slide base is connected to the third guide unit to form a guide engagement; The third driving member is provided on the second slide base, and an output end of the third driving member is connected to the third slide base, thereby driving the third slide base to move along the third direction.

2. 2. The triaxial robot according to claim 1, wherein the first driving member includes a first driving motor, a first fixed base, a first driving screw, a first screw nut, a first bearing base, and a first coupling, the first fixed base is provided on the base plate, the first driving motor is fixed to the first fixed base, an output shaft of the first driving motor is connected to the first driving screw via the first coupling, the first driving screw is rotatably supported by the first bearing base, the first screw nut is screwed onto the first driving screw, and the first slide base is fixedly connected to the first screw nut.

3. 3. The three-axis robot according to claim 2, wherein a first accommodating cavity is provided within the first fixed base, the first accommodating cavity has a first opening in a first side wall of the first fixed base, at least a part of the first slide base extends into the first accommodating cavity through the first opening, the first accommodating cavity has a first passage hole in a second side wall of the first fixed base, the first bearing stand is drilled in the first passage hole, and the first drive motor is fixed to an outer wall surface of the second side wall.

4. 3. The triaxial robot according to claim 2, wherein the second drive member includes a second drive motor, a second drive screw, a second screw nut, a second bearing stand, and a second coupling, the second drive motor is fixed to the first slide base, an output shaft of the second drive motor is connected to the second drive screw via the second coupling, the second drive screw is rotatably supported by the second bearing stand, the second screw nut is screwed onto the second drive screw, and the second slide base is fixedly connected to the second screw nut.

5. 5. The triaxial robot according to claim 4, wherein the first slide base is provided with a second accommodating cavity, the second driving motor is fixed to a top of the first slide base, the second driving screw and the second screw nut are both accommodated in the second accommodating cavity, a first sidewall of the second accommodating cavity is provided with a second opening, the second guide unit is provided on an outer wall surface of the first sidewall of the second accommodating cavity, a connection block is provided on the second screw nut, and the connection block is connected to the third slide base after passing through the second opening, a second passage hole is provided on the second sidewall of the second accommodating cavity, and the first screw nut is fixed in the second passage hole.

6. 5. The triaxial robot according to claim 4, wherein the third drive member includes a third drive motor provided on the second slide base, a third drive screw, a third screw nut, a third bearing stand, and a third coupling, an output shaft of the third drive motor is connected to the third drive screw via the third coupling, the third drive screw is rotatably supported by the third bearing stand, the third screw nut is screwed onto the third drive screw, and the third slide base is directly or indirectly connected to the third screw nut.

7. 7. The triaxial robot of claim 6, wherein the third driving motor is fixed to a top of the second slide base, an output shaft of the third driving motor extends along the second direction, an adapter block is fixed to the third screw nut, a fourth guide unit is provided on the second slide base, and a fifth guide unit is provided on the third slide base, the fourth guide unit and the fifth guide unit are respectively connected to the adapter block, the fourth guide unit extends along the second direction, and the fifth guide unit extends along a fourth direction, and the fourth direction and the third direction form a predetermined included angle.

8. 8. The three-axis robot according to claim 7, wherein a third accommodating cavity is provided within the second slide base, and the third driving screw, the third screw nut, the adapter block and the fourth guide unit are all accommodated within the third accommodating cavity.

9. 8. The triaxial robot according to claim 7, wherein the first guide unit, the second guide unit, the third guide unit, the fourth guide unit and the fifth guide unit are a cross guide rail pair or a linear guide rail pair.

10. The three-axis robot according to any one of claims 1 to 9, characterized in that a zero reset switch is provided at each starting end of a movement path between the first slide base, the second slide base, and the third slide base, and a limit switch is provided at each end of a movement path between the first slide base, the second slide base, and the third slide base.

Images