阅读说明：本技术 一种直线径向伸缩运动的机器人 (Robot with linear radial telescopic motion ) 是由 谢小辉 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种直线径向伸缩运动的机器人,涉及机器人技术领域。本发明包括机座、大臂和二臂,机座为凹型结构,机座的上表面开设有安装槽,机座的内底面固定安装有第一电机,第一电机的输出端通过联轴器固定连接有第一旋转同步轮,且第一旋转同步轮位于安装槽内。本发明大臂与机座、大臂与二臂通过转动轴连接,大臂和二臂由一个电机通过同步轮、同步带传动,大臂安装在机座的一个轴承上由另一电机带动完成一个绕底座中心转动的动作的平面关节型机器人,其由一个电机的转动,通过同步带轮的连接带动两臂同时转动,两臂长度及传动比只需满足一定的运动关系,即可实现末端执行器在转动中心在其工作空间内的任意直线运动。(The invention discloses a robot capable of linearly and radially stretching and retracting, and relates to the technical field of robots. The invention comprises a machine base, a large arm and two arms, wherein the machine base is of a concave structure, the upper surface of the machine base is provided with a mounting groove, the inner bottom surface of the machine base is fixedly provided with a first motor, the output end of the first motor is fixedly connected with a first rotating synchronous wheel through a coupler, and the first rotating synchronous wheel is positioned in the mounting groove. The large arm and the base are connected through a rotating shaft, the large arm and the two arms are driven by a motor through a synchronous wheel and a synchronous belt, the large arm is arranged on a bearing of the base and is driven by another motor to complete a plane joint type robot rotating around the center of the base, the two arms are driven to rotate simultaneously through the rotation of the motor and the connection of the synchronous belt wheels, and the length and the transmission ratio of the two arms only need to meet a certain motion relation, so that the arbitrary linear motion of the end effector in the working space of the rotation center can be realized.)

1. The utility model provides a robot of radial concertina movement of straight line, includes frame (1), big arm (7) and two arms (10), its characterized in that: the motor base (1) is of a concave structure, an installation groove (18) is formed in the upper surface of the motor base (1), a first motor (3) is fixedly installed on the inner bottom surface of the motor base (1), the output end of the first motor (3) is fixedly connected with a first rotating synchronizing wheel (2) through a coupler, the first rotating synchronizing wheel (2) is located in the installation groove (18), a second motor (5) is fixedly installed on the inner bottom surface of the motor base (1), the output end of the second motor (5) penetrates through the motor base (1) through the coupler and is fixedly connected with a second rotating synchronizing wheel (19), and the second rotating synchronizing wheel (19) is meshed with the first rotating synchronizing wheel (2);

a speed reducer (6) is installed at one end of the second rotary synchronizing wheel (19), the speed reducer (6) is positioned in the large arm (7), a fixed shaft (9) is fixedly connected at one end inside the large arm (7), a large arm driven synchronizing wheel (8) is rotatably connected on the surface of the fixed shaft (9), the large arm driven synchronizing wheel (8) is in transmission connection with the speed reducer (6) through a belt, a first circular groove (17) is formed in one side of the large arm (7), the fixed shaft (9) penetrates through the two arms (10) and is fixedly connected with the two arms (10), a second circular groove (11) is formed in one end of one side face of the two arms (10), and a two arm driven synchronizing wheel (12) is rotatably connected inside the second circular groove (11), and the two-arm driven synchronizing wheel (12) is positioned inside the two arms (10), the two-arm driven synchronizing wheel (12) is in transmission connection with the large-arm driven synchronizing wheel (8) through a belt, and one end of the two-arm driven synchronizing wheel (12) is fixedly connected with a tail end arm plate (13).

2. The robot with linear radial telescopic motion as claimed in claim 1, wherein the inner bottom surface of the base (1) is fixedly provided with an RU228 inner ring (4), and the second motor (5) is arranged inside the RU228 inner ring (4).

3. A linear radial telescopic robot according to claim 1, characterized in that the surface of said end arm plate (13) is equipped with a connecting plate (16).

4. The robot with linear radial telescopic motion according to claim 1, characterized in that a mounting shaft (15) is fixedly connected in the two arms (10), and a threaded hole is formed in the mounting shaft (15).

5. A robot with linear radial telescopic motion according to claim 1, characterized in that the upper end of the fixed shaft (9) is fixedly connected with a gland plate (14).

6. The robot with linear radial telescopic motion of claim 1, wherein the surface of the peripheral side of the base (1) is provided with a mounting hole (20).

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot capable of linearly and radially stretching and retracting.

Background

In the industries of light industry, medicine, food, electronics and the like, particularly in the automatic production line of the semiconductor industry, a manipulator of which an end effector is required to perform high-speed operation in space is often required in the operations such as sorting, packaging and the like.

In order to solve the problems, the invention provides a robot with linear radial telescopic motion.

Disclosure of Invention

The invention aims to provide a robot with linear radial telescopic motion, which solves the problems that a driving device is arranged on a joint of the existing general plane joint type robot, the main arrangement type of the robot has the defects of large moment of inertia, poor rigidity, slow response speed and the like, the defects are more obvious in the working environment with large operation space and large load, and meanwhile, the driving device is arranged on the joint, so that the number of parts on a small arm is large, the occupied space is large, and the volume of a dust cover of the small arm is large.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention relates to a robot with linear radial telescopic motion, which comprises a base, a large arm and two arms, wherein the base is of a concave structure, the upper surface of the base is provided with a mounting groove, the inner bottom surface of the base is fixedly provided with a first motor, the output end of the first motor is fixedly connected with a first rotating synchronizing wheel through a coupler, the first rotating synchronizing wheel is positioned in the mounting groove, the inner bottom surface of the base is fixedly provided with a second motor, the output end of the second motor penetrates through the base through the coupler and is fixedly connected with a second rotating synchronizing wheel, and the second rotating synchronizing wheel is meshed with the first rotating synchronizing wheel;

the speed reducer is installed to the one end of the rotatory synchronizing wheel of second, the speed reducer is located big arm, the inside one end fixedly connected with fixed axle of big arm, the surface of fixed axle rotates and is connected with the passive synchronizing wheel of big arm, the passive synchronizing wheel of big arm passes through belt drive with the speed reducer and is connected, first circular slot has been seted up to one side of big arm, the fixed axle runs through two arms and two arm fixed connection, the second circular slot has been seted up to the one end of two arm side, the inside rotation of second circular slot is connected with the passive synchronizing wheel of two arms, and the passive synchronizing wheel of two arms is located the inside of two arms, the passive synchronizing wheel of two arms passes through belt drive with the passive synchronizing wheel of big arm and is connected, the terminal arm board of the one end fixedly connected with of the passive synchronizing wheel of two arms.

Furthermore, an RU228 inner ring is fixedly mounted on the inner bottom surface of the base, the second motor is mounted inside the RU228 inner ring, and the mounting firmness of the second motor in the base can be improved through the RU228 inner ring.

Furthermore, the surface of the tail end arm plate is provided with a connecting plate, so that the pollution of dust on the driven synchronizing wheel of the two arms can be reduced through the connecting plate.

Further, fixedly connected with installation axle in the two arms, set up the screw hole in the installation axle, can be easy to assemble the protection shield through the installation axle to this pollution that receives the dust in the two arms can be reduced.

Furthermore, the upper end of the fixed shaft is fixedly connected with a gland plate, and the pollution to the inside of the driven synchronizing wheel of the large arm can be reduced through the gland plate.

Furthermore, the surface of the periphery of the base is provided with mounting holes, and the device can be mounted on a robot for use by mounting bolts through the mounting holes.

The invention has the following beneficial effects:

the invention provides a plane joint robot with synchronous belt and wheel combined transmission by aiming at the problems in the prior art, compared with the transmission plane type articulated robot, the robot has the advantages of small rotation inertia, good rigidity, high response speed and high transmission precision, the robot consists of a base, a large arm, two arms and a tail end arm plate, wherein the large arm is connected with the base through a rotating shaft, the large arm and the two arms are driven by a motor through a synchronizing wheel and a synchronous belt, the large arm is arranged on a bearing of the base and is driven by another motor to complete a plane joint type robot rotating around the center of the base, the rotation of a motor drives two arms to rotate simultaneously through the connection of synchronous belt wheels, and the length and the transmission ratio of the two arms only need to satisfy a certain motion relation, so that the end effector can realize any linear motion in the working space of the rotation center.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic bottom view of the present invention;

FIG. 2 is a schematic view of a top side structure of the present invention;

fig. 3 is a schematic top view of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below: 1. a machine base; 2. a first rotating synchronizing wheel; 3. a first motor; 4. an RU228 inner ring; 5. a second motor; 6. a speed reducer; 7. a large arm; 8. a large arm driven synchronizing wheel; 9. a fixed shaft; 10. two arms; 11. a second circular groove; 12. a two-arm passive synchronizing wheel; 13. a terminal arm plate; 14. pressing a cover plate; 15. installing a shaft; 16. a connecting plate; 17. a first circular groove; 18. mounting grooves; 19. a second rotating synchronizing wheel; 20. and (7) installing holes.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", and the like, indicate orientations or positional relationships, are used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-3, the invention relates to a robot with linear and radial telescopic motion, which comprises a base 1, a large arm 7 and two arms 10, wherein the base 1 is of a concave structure, an installation groove 18 is formed in the upper surface of the base 1, a first motor 3 is fixedly installed on the inner bottom surface of the base 1, the output end of the first motor 3 is fixedly connected with a first rotating synchronizing wheel 2 through a coupler, the first rotating synchronizing wheel 2 is positioned in the installation groove 18, a second motor 5 is fixedly installed on the inner bottom surface of the base 1, the output end of the second motor 5 penetrates through the base 1 through the coupler and is fixedly connected with a second rotating synchronizing wheel 19, and the second rotating synchronizing wheel 19 is meshed with the first rotating synchronizing wheel 2;

the speed reducer 6 is installed to the one end of second rotatory synchronizing wheel 19, speed reducer 6 is located big arm 7, the inside one end fixedly connected with fixed axle 9 of big arm 7, the surface of fixed axle 9 is rotated and is connected with big arm passive synchronizing wheel 8, big arm passive synchronizing wheel 8 is connected through belt drive with speed reducer 6, first circular slot 17 has been seted up to one side of big arm 7, fixed axle 9 runs through two arms 10 and two arm 10 fixed connection, second circular slot 11 has been seted up to the one end of two arms 10 side, second circular slot 11 internal rotation is connected with two arm passive synchronizing wheel 12, and two arm passive synchronizing wheel 12 is located the inside of two arms 10, two arm passive synchronizing wheel 12 is connected through belt drive with big arm passive synchronizing wheel 8, the terminal arm board 13 of the one end fixedly connected with of two arm passive synchronizing wheel 12.

The inner bottom surface of the engine base 1 is fixedly provided with the RU228 inner ring 4, the second motor 5 is arranged inside the RU228 inner ring 4, the installation firmness of the second motor 5 in the engine base 1 can be improved through the RU228 inner ring 4, the surface of the tail end arm plate 13 is provided with the connecting plate 16, and the pollution of dust on the driven synchronizing wheel 12 of the two arms can be reduced through the connecting plate 16.

Fixedly connected with installation axle 15 in the two arms 10, set up the screw hole in the installation axle 15, can the easy to assemble protection shield through installation axle 15 to this pollution that receives the dust in can reducing two arms 10, the upper end fixedly connected with gland plate 14 of fixed axle 9 can reduce the pollution that the driven synchronizing wheel 8 of big arm received through gland plate 14 is inside, mounting hole 20 has been seted up on the surface of frame 1 week side, can use this device to install on the robot through mounting hole 20 with construction bolt.

As shown in fig. 1-3, in the present invention, preferably, the power of the first motor 3 is 750w, the power of the second motor 5 is 1000w, and the present embodiment is a method for using a robot with linear radial stretching motion: big arm 7 and frame 1, big arm 7 passes through rotation axis connection with two arms 10, big arm 7 and two arms 10 pass through the synchronizing wheel by a motor, synchronous belt drive, big arm 7 is installed and is driven by another motor and accomplish a plane joint type robot around base center pivoted action on a bearing of frame 1, it is by the rotation of a motor, it drives two arms and rotates simultaneously through synchronous pulley's connection, two arm length and drive ratio only need satisfy certain motion relation, can realize the arbitrary linear motion of end effector in its workspace at the center of rotation.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.