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, and in particular to a three-axis robot. [Background technology]

[0002] Conventional three-axis robot structures are mainly orthogonal three-axis structures formed by directly combining three three-axis robots or single-axis motion modules, which are not compact in structure and occupy a large space. Summary of the Invention [Problem to be solved by the invention]

[0003] SUMMARY OF THE INVENTION 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, thereby driving the first slide base to move 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 driven to move 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, with two of the third guide units perpendicularly intersecting the first direction, the second direction, and the third direction; 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, thereby driving the third slide base to move along the third direction.

[0005] The three-axis robot as described above, ,before 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, wherein 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 on the first bearing base, the first screw nut is threaded 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 within the first fixed base, the first accommodating cavity has a first opening in a side wall on a first side 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 side wall on a second side of the first fixed base, the first bearing stand is drilled within the first through hole, and the first drive motor is fixed to an outer wall surface of the side wall on the second side.

[0007] The three-axis robot as described above, ,beforeThe second drive member includes a second drive motor, a second drive screw, a second screw nut, a second bearing base, and a second coupling, wherein the second drive motor is fixed to the first slide base, the 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 base, the second screw nut is threaded onto 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, a second receiving cavity is provided within 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 received within the second receiving cavity, a second opening is provided on a side wall on a first side of the second receiving cavity, the second guide unit is provided on an outer wall surface of the side wall on the first side of the second receiving cavity, a connection block is provided on the second screw nut, and the connection block passes through the second opening and then guides the second screw nut to the second receiving cavity. 2 A second through hole is provided in a side wall of the second receiving cavity connected to the slide base, 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 base, and a third coupling provided on the second slide base, the 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 base, the third screw nut is threaded 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 drive motor is fixed to the top of the second slide base, the output shaft of the third drive 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 the 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 of the first sliding base, the second sliding base, and the third sliding base, and a limit switch is provided at each end of the movement path of the first sliding base, the second sliding base, and the third sliding base. [Effects 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 explanation of the drawings]

[0015] [Figure 1] 1 is a perspective view of the overall structure according to the present invention; [Figure 2] FIG. 1 is a plan view of the overall structure according to the present invention. [Figure 3] FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. [Figure 4] FIG. 1 is a schematic diagram showing an exploded configuration of the overall structure according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] The embodiments described below with reference to the drawings are merely illustrative and are intended to explain the present invention 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, and 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 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 lies 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 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 the side end of the second slide base 600, and extends along the third direction D3, with the first direction D1, the second direction D2, and the third direction D3 all intersecting perpendicularly in pairs, and the first direction D1, the second direction D2, and the third direction D3 respectively constituting 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, allowing the third slide base 900 to move only along the third direction D3. The third slide base 900 is provided with an end effector (not shown). 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 different types of end effectors can be adapted by replacing the output relay unit.

[0027] The third driving member 1000 is provided on the second slide base 600, and the output end of the third driving member 1000 is connected to the third slide base 900, thereby driving the third slide base 900 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 activated, the first slide base 300 is driven to move along the first direction D1, causing the end effector on the third slide base 900 to move to a predetermined position in the first direction D1; when the second driving member 700 is activated, the second slide base 600 is driven to move along the second direction D2, causing the end effector on the third slide base 900 to move to a predetermined position in the second direction D2; when the third driving member 1000 is activated, the third slide base 900 is driven to move along the third direction D3, causing the end effector on the third slide base 900 to move 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 base plate 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, high rigidity, 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 mounted on the substrate 100, and 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, the first driving motor 401 is preferably 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 threaded onto the first driving screw 403. The first slide base 300 is fixedly connected to the first screw nut 404.

[0032] When the first drive motor 401 is activated, power is transmitted to the first drive screw 403 via the first coupling 406, driving the first drive screw 403 to rotate. The threaded engagement 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] Furthermore, as shown in FIG. 3 , a first receiving cavity 407 is provided in the first fixed base 402, and the first receiving cavity 407 has a first opening 408 provided in a 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. During the process of the first sliding base 300 moving along the first direction D1, the overlapping area with the first fixed base 402 becomes The first receiving cavity 407 has a first through hole 409 formed on the second side wall of the first fixed base 402, a first bearing base 405 drilled in the first through hole 409, a first driving motor 401 fixed to the outer wall surface of the second side wall, and a first driving screw 403 connected at one end to the first driving motor 401 via a first coupling 406 and extending at the other end into the first receiving 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, the second driving motor 701 is preferably 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 threaded onto the second driving screw 702. The second slide base 600 is fixedly connected to the second screw nut 703.

[0035] When the second drive motor 701 is activated, power is transmitted to the second drive screw 702 via the second coupling 705, driving the second drive screw 702 to rotate. The threaded engagement 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 sliding base 300, a second driving motor 701 is fixed to the top of the first sliding base 300, and a second driving screw 702 and a second screw nut 703 are both accommodated in the second receiving cavity 301, thereby reducing the space occupied by the robot and making the structure 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 connecting block 706 is provided on the second screw nut 703. After the connecting block 706 passes through the second opening 302, Second slide base 600 The second slide base 600 is connected to the first coupling 406, and the second opening 302 is provided to avoid limiting the up and down movement of the second slide base 600. The second side wall of the second accommodating cavity 301 is provided with a second through hole 303, and the first screw nut 404 is fixed in the second through hole 303. The first driving screw 403 has one end connected to the first driving motor 401 via the first coupling 406, and the other end extending into the first accommodating cavity 407 and the second accommodating cavity 301, in that order.

[0037] In the embodiment of the present application, as shown in FIGS. 1 and 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 the 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 threaded onto 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 activated, power is transmitted to the third drive screw 1002 via the third coupling 1005, driving the third drive screw 1002 to rotate. The threaded engagement 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 drive motor 1001 is fixed to the top of the second slide base 600, and the third drive motor 1001 and the second drive motor 701 are provided on the same side, thus reducing the space occupied by the robot, reducing the width of the robot, and making the overall structure of the robot more compact. The output shaft of the third drive 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 has a fourth guide unit 1007, and the third slide base 900 has a fifth guide unit 1008, and the fourth guide unit 1007 and the fifth guide unit 1009 are connected to each other. 10 and 11 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 move up and down vertically only along the second direction D2. During the process of moving the adapter block 1006 up and down, the fifth guide unit 1008 provides a component of 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 can 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 within 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 within the third accommodating cavity 601, thereby reducing the space occupied by the robot and making the structure more compact.

[0041] In the 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 via V-shaped grooves, the stationary guide rail and the sliding guide rail slide relative to each other 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.

[0042] In the embodiment of the present application, as shown in FIGS. 1 to 4, a reset-zero switch 1100 is provided at each of the starting points of the movement paths of the first sliding base 300, the second sliding base 600, and the third sliding base 900. The reset-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-zero switch 1100, which serves as the zero point of the robot movement, triggers a 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 affects the processing quality of the robot. The structure of the reset-zero switch 1100 can refer to the prior art, and a 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, which further limits the movement displacement distance of the first sliding base 300, the second sliding base 600, and the third sliding base 900, making the movement of the first sliding base 300, the second sliding base 600, and the third sliding base 900 safe, reliable, and stable. The structure of the limit switch can refer to the content of the prior art, and a description thereof will be omitted here.

[0044] The above has described in detail the structure, features and operational effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, and the present invention is not limited to the scope of implementation shown in the drawings. Any modifications made in accordance with the concept of the present invention or modifications to equivalent embodiments of equivalent changes shall still fall 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: First 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: Second slide base 601: Third Containment Cavity 700: Second driving member 701: Second drive motor 702: Second drive screw 703: Second 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: Third drive motor 1002: Third drive screw 1003: Third 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 two by two at right angles; 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; 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 threaded onto the first driving screw, and the first slide base is fixedly connected to the first screw nut; the second drive member includes a second drive motor, a second drive screw, a second screw nut, a second bearing base, 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 base, the second screw nut is threaded onto the second drive screw, and the second slide base is fixedly connected to the second screw nut; a second receiving cavity is provided within the first slide base, the second drive motor is fixed to a top of the first slide base, the second drive screw and the second screw nut are both received in the second receiving cavity, a second opening is provided in a side wall on a first side of the second receiving cavity, the second guide unit is provided on an outer wall surface of the side wall on the first side of the second receiving cavity, a connection block is provided on the second screw nut, and the connection block is connected to the second slide base after passing through the second opening, a second passage hole is provided in a side wall on the second side of the second receiving cavity, and the first screw nut is fixed in the second passage hole.

2. 2. The triaxial robot according to claim 1, wherein a first accommodating cavity is provided within the first fixed base, the first accommodating cavity has a first opening in a side wall on a first side of the first fixed base, at least a portion 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 side wall on a second side 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 side wall on the second side.

3. 2. The triaxial robot according to claim 1, wherein the third drive member includes a third drive motor, a third drive screw, a third screw nut, a third bearing base, and a third coupling, the third drive motor having an output shaft connected to the third drive screw via the third coupling, the third drive screw rotatably supported by the third bearing base, the third screw nut threadedly engaged with the third drive screw, and the third slide base connected directly or indirectly to the third screw nut.

4. 4. The triaxial robot of claim 3, wherein the third drive motor is fixed to a top of the second slide base, an output shaft of the third drive 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 the fourth direction, and the fourth direction and the third direction form a predetermined included angle.

5. 5. The triaxial robot according to claim 4, wherein a third receiving 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 received within the third receiving cavity.

6. The triaxial robot according to any one of claims 1 to 5, characterized in that a zero reset switch is provided at each starting end of the movement paths of 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 paths of the first slide base, the second slide base, and the third slide base.

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