1. A robot, comprising:

a base;

a first arm assembly rotatably mounted to the base;

the second support arm component is movably arranged on the first support arm component and extends and retracts along the axis direction of the first support arm component; the second support arm assembly penetrates through the first support arm assembly and is movably connected with the output end of the first support arm assembly, so that the second support arm assembly can rotate universally relative to the output end of the first support arm assembly;

moving the second arm assembly towards the first arm assembly, the second arm assembly retracting into and being received within the first arm assembly;

and the second support arm component moves back to the first support arm component, protrudes out of the first support arm component and can perform universal rotation.

2. A robot as set forth in claim 1, wherein a receiving groove is provided in said first arm assembly for receiving said second arm assembly; the first support arm component is also provided with a first guide rail groove, and the first guide rail groove extends towards the accommodating groove and is communicated with the accommodating groove;

the second support arm assembly faces the accommodating groove along the axis of the second support arm assembly; and a first guide rail is convexly arranged on the side surface of the second support arm component, and the first guide rail is movably connected with the first guide rail groove and rotates relative to the first guide rail groove.

3. The robot of claim 2, wherein said first arm assembly is provided with a first wire way and a second wire way respectively arranged on both sides of said first guide rail way, said second wire way being offset from said first wire way;

the first arm assembly further comprises a first control device and a first connecting wire; the first controller is positioned at the top of the first wire groove and is connected with the first connecting wire, and the first connecting wire extends along the axis of the first wire groove;

the second support arm assembly is provided with a second control device and a second connecting wire, and the second control device is connected with the bottom of the second wire groove and is positioned in the same horizontal direction with the first controller; the second connecting wire is connected with the second control device, extends along the axis of the second wire groove and surrounds up and down on the axis of the second wire groove.

4. The robot of claim 3, wherein an outer side of the first arm assembly is provided with an electrical cover that covers the second wire way and the first wire way; the first controller is fixed on the bottom surface of the first wire groove facing the electric appliance cover; the first connecting wire is arranged on the side surface of the first wire groove and embedded in the first wire groove; the connection place of the first connection wire and the first controller faces the electric appliance cover;

the second controller is fixed on the bottom surface of the second wire groove facing the electric cover; the second connecting wire is arranged on the side surface of the second wire groove and is embedded in the second wire groove; a connection point of the second connection wire and the second controller faces the electric cover; the second controller is relatively independent of the first controller.

5. The robot as set forth in claim 1, wherein a rotary table is provided on said base, said first arm assembly being mounted to said rotary table and rotating with rotation of said rotary table; the rotating platform is provided with a swing mechanism, the swing mechanism is accommodated in the base and swings in a reciprocating mode in the vertical direction relative to the base, and therefore the first support arm assembly is driven to swing relative to the base.

6. The robot of claim 1, wherein a first dust collection channel is provided in said first arm assembly, said first dust collection channel being disposed around an interior of said first arm assembly and surrounding a first drive assembly in said first arm assembly; the peripheral surface of the first dust collecting channel is annularly provided with dust collecting holes and faces the first driving component;

a second dust collecting channel is arranged in the second support arm component, is annularly arranged in the second support arm component and is communicated with the first dust collecting channel; the second dust collecting channel extends towards the connecting end of the first dust collecting channel;

the outside of first arm subassembly is equipped with the dust extraction mouth, should take out the dust mouth intercommunication first dust collection channel to can take out the dirt under the effect of negative pressure.

7. The robot of claim 1, wherein the second arm assembly is disposed on a side of the first arm assembly and is disposed opposite the first arm assembly; a second guide rail groove is formed in one side of the first support arm component, protrudes outwards and faces towards the first support arm component; the first arm assembly is provided with a second guide rail movably mounted to the second guide rail channel.

8. The robot as claimed in claim 7, wherein the robot is provided with a master control board; the master control board is accommodated in the base;

the transmission assembly of the first support arm assembly and the transmission assembly of the second support arm assembly are relatively independent, are positioned in different spaces, and are integrated with the control of the master control board.

9. The robot of claim 1, further comprising a horizontal movement assembly coupled between the first arm assembly and the second arm assembly and configured to move the second arm assembly in a horizontal direction relative to the first arm assembly.

10. The robot of claim 9, wherein said horizontal displacement assembly includes a fixed portion mounted to said first arm assembly and a displacement portion; the moving part is movably arranged on the fixed part and bears the second support arm component; the fixing part is accommodated in the first support arm component, extends towards the horizontal direction and does not exceed the first support arm component.

Background

The robot is widely applied to industrial production and gradually replaces ordinary workers to complete processes such as assembling and welding.

Disclosure of Invention

The invention aims to provide a robot, which solves the problem that the robot in the prior art occupies a large space in a general state.

In order to solve the technical problems, the invention adopts the following technical scheme:

according to one aspect of the invention, there is provided a robot comprising: a base; a first arm assembly rotatably mounted to the base; the second support arm component is movably arranged on the first support arm component and extends and retracts along the axis direction of the first support arm component; the second support arm assembly penetrates through the first support arm assembly and is movably connected with the output end of the first support arm assembly, so that the second support arm assembly can rotate universally relative to the output end of the first support arm assembly; moving the second arm assembly towards the first arm assembly, the second arm assembly retracting into and being received within the first arm assembly; and the second support arm component moves back to the first support arm component, protrudes out of the first support arm component and can perform universal rotation.

Optionally, a receiving groove for receiving the second support arm assembly is formed in the first support arm assembly; the first support arm component is also provided with a first guide rail groove, and the first guide rail groove extends towards the accommodating groove and is communicated with the accommodating groove;

the second support arm assembly faces the accommodating groove along the axis of the second support arm assembly; and a first guide rail is convexly arranged on the side surface of the second support arm component, and the first guide rail is movably connected with the first guide rail groove and rotates relative to the first guide rail groove.

Optionally, the first support arm assembly is provided with a first wire groove and a second wire groove which are respectively arranged at two sides of the first guide rail groove, and the second wire groove and the first wire groove are arranged in a staggered mode at intervals;

the first arm assembly further comprises a first control device and a first connecting wire; the first controller is positioned at the top of the first wire groove and is connected with the first connecting wire, and the first connecting wire extends along the axis of the first wire groove;

the second support arm assembly is provided with a second control device and a second connecting wire, and the second control device is connected with the bottom of the second wire groove and is positioned in the same horizontal direction with the first controller; the second connecting wire is connected with the second control device, extends along the axis of the second wire groove and surrounds up and down on the axis of the second wire groove.

Optionally, an electrical cover is arranged on the outer side surface of the first arm assembly, and covers the second wire groove and the first wire groove; the first controller is fixed on the bottom surface of the first wire groove facing the electric appliance cover; the first connecting wire is arranged on the side surface of the first wire groove and embedded in the first wire groove; the connection place of the first connection wire and the first controller faces the electric appliance cover;

the second controller is fixed on the bottom surface of the second wire groove facing the electric cover; the second connecting wire is arranged on the side surface of the second wire groove and is embedded in the second wire groove; a connection point of the second connection wire and the second controller faces the electric cover; the second controller is relatively independent of the first controller.

Optionally, a rotating table is arranged on the base, and the first arm assembly is mounted on the rotating table and rotates along with the rotation of the rotating table; the rotating platform is provided with a swing mechanism, the swing mechanism is accommodated in the base and swings in a reciprocating mode in the vertical direction relative to the base, and therefore the first support arm assembly is driven to swing relative to the base.

Optionally, a first dust collecting channel is arranged in the first arm assembly, and the first dust collecting channel is annularly arranged inside the first arm assembly and surrounds the first driving assembly in the first arm assembly; the peripheral surface of the first dust collecting channel is annularly provided with dust collecting holes and faces the first driving component;

a second dust collecting channel is arranged in the second support arm component, is annularly arranged in the second support arm component and is communicated with the first dust collecting channel; the second dust collecting channel extends towards the connecting end of the first dust collecting channel;

the outside of first arm subassembly is equipped with the dust extraction mouth, should take out the dust mouth intercommunication first dust collection channel to can take out the dirt under the effect of negative pressure.

Optionally, the second arm assembly is disposed at one side of the first arm assembly, and is arranged opposite to the first arm assembly; a second guide rail groove is formed in one side of the first support arm component, protrudes outwards and faces towards the first support arm component; the first arm assembly is provided with a second guide rail movably mounted to the second guide rail channel.

Optionally, the robot is provided with a master control board; the master control board is accommodated in the base;

the transmission assembly of the first support arm assembly and the transmission assembly of the second support arm assembly are relatively independent, are positioned in different spaces, and are integrated with the control of the master control board.

Optionally, the robot further includes a horizontal moving assembly, which is connected between the first arm assembly and the second arm assembly and drives the second arm assembly to move in a horizontal direction relative to the first arm assembly.

Optionally, the horizontal moving assembly comprises a fixed part and a moving part, and the fixed part is mounted on the first arm assembly; the moving part is movably arranged on the fixed part and bears the second support arm component; the fixing part is accommodated in the first support arm component, extends towards the horizontal direction and does not exceed the first support arm component.

According to the technical scheme, the embodiment of the invention at least has the following advantages and positive effects:

in the robot of the embodiment of the invention, the first support arm component is rotatably arranged on the base; the second support arm component is movably arranged on the first support arm component and extends and retracts along the axial direction of the first support arm component; the second support arm assembly penetrates through the first support arm assembly and is movably connected with the output end of the first support arm assembly, so that the second support arm assembly can rotate universally relative to the output end of the first support arm assembly; the second support arm component moves towards the first support arm component, the second support arm component retracts into the first support arm component and is contained in the first support arm component, so that the second support arm component makes full use of the space of the first support arm component to achieve the effect that the first support arm component is contained in the first support arm component in a general state, the space occupied by the robot in the general state is further reduced, and the fine design of the robot is achieved. In addition, the second support arm component moves back to the first support arm component, protrudes out of the first support arm component and can rotate in a universal mode.

Drawings

FIG. 1 is a perspective view of a robot according to an embodiment of the present application;

FIG. 2 is a schematic circuit diagram of a robot according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an internal structure of a robot according to an embodiment of the present application;

FIG. 4 is a schematic view of a wire way of a robot according to an embodiment of the present application;

FIG. 5 is a schematic view of a robot duct according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a robot according to another embodiment of the present application.

Detailed Description

Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.

The robot is widely applied to industrial production and gradually replaces ordinary workers to complete processes such as assembling and welding. The normal state is a state in which the robot does not operate.

Referring to fig. 1 to 6, the present invention provides a robot, which includes a base 1, a first arm assembly 2 and a second arm assembly 3, wherein the first arm assembly 2 and the second arm assembly 3 are both provided with independently driven manipulators for performing motions in various directions, such as welding, assembling, and the like, and are not limited herein.

Referring to fig. 1 to 6, the base 1 serves as a chassis of the robot and has a certain stability to maintain the movement of the first and second arm assemblies 2 and 3. Wherein, be equipped with revolving stage 11 on base 1, this revolving stage 11 realizes circular motion under the drive of rotating electrical machines and hold-in range.

The base 1 can be also internally provided with a master control board 12, and the master control board 12 is used as a Central Processing Unit (CPU) for operation and control, adjusting the movement of the first support arm component 2 and the second support arm, and realizing speed control and steering control.

Referring to fig. 1 to 6, the first arm assembly 2 is rotatably mounted to the base 1, is mounted on the rotating table 11, and rotates along with the rotation of the rotating table 11, so that the circular motion of the first arm assembly 2 is realized, so that the first arm assembly 2 can move in multiple directions.

Still be, be equipped with swing mechanism on the revolving stage 11, this swing mechanism hold in the base 1, and relative base 1 is reciprocal swing in vertical direction, in order to drive first arm subassembly 2 for the base 1 swings, wherein, swing mechanism sets up between revolving stage 11 and first arm subassembly 2, and swing mechanism fixed mounting is in revolving stage 11, connects and drives first arm subassembly 2 swing to realize first arm subassembly 2 at the ascending swing of vertical side, improve first arm subassembly 2's direction of operation, further improve its flexibility, in order to overcome various service environment. Wherein, swing mechanism can adopt location portion and swing arm portion, and this swing arm portion swings for location portion to connect first arm subassembly 2, when the swing of swing arm portion, first arm subassembly 2 moves in the upper and lower direction slope, so that do reciprocating swing motion.

Specifically, first arm component 2 includes first motor, gear, synchronous belt drive spare, and first motor drives the gear to it is rotatory to drive synchronous belt drive spare through the gear, so that first arm component 2 keeps away from the one end of base 1 and swings for base 1, realizes the swing arm motion of first arm component 2, does not do the restriction here, can refer to the swing arm mechanism of present robot.

In addition, a containing groove 26 for containing the second support arm component 3 is arranged in the first support arm component 2; first arm subassembly 2 still is equipped with first guide rail groove 21, first guide rail groove 21 orientation the holding tank 26 extends, and with holding tank 26 intercommunication realizes accomodating of second arm subassembly 3 through holding tank 26 to second arm subassembly 3 enters into to holding tank 26 along first guide rail groove 21, realizes that second arm subassembly 3 holds in first arm subassembly 2 fast.

The first arm assembly 2 is provided with a first wire groove 22 and a second wire groove 23 which are respectively arranged at two sides of the first guide rail groove 21, the second wire groove 23 is arranged at intervals and staggered with the first wire groove 22, and the first arm assembly 2 further comprises a first control device 24 and a first connecting wire 25; the first control means 24 is located at the top of the first wire groove 22 and is connected to the first connecting wire 25, the first connecting wire 25 extending along the axis of the first wire groove 22. The individual control of the first arm assembly 2 by the first control means 24 avoids intervention by other controls and enables individual control for subsequent replacement and removal. Alternatively, the first control device 24 may be a circuit board, which is not limited herein.

An electric appliance cover is arranged on the outer side surface of the first support arm component 2 and covers the second wire groove 23 and the first wire groove 22; the first control means 24 is fixed to the bottom surface of the first wire groove 22 facing the electrical cover; the first connecting wire 25 is mounted on the side of the first wire groove 22 and embedded in the first wire groove 22; the junction of the first connection wire 25 and the first control device 24 faces the electric cover to facilitate the replacement of the first connection wire 25 and the first control device 24, and the worker can concentrate on the first wire groove 22 to detect and manage the electric devices of the first arm assembly 2.

Referring to fig. 1 to 6, the second arm assembly 3 is movably mounted to the first arm assembly 2 and extends and retracts along the axial direction of the first arm assembly 2; the second support arm component 3 penetrates through the first support arm component 2 and is movably connected with the output end of the first support arm component 2, so that the second support arm component 3 can rotate universally relative to the output end of the first support arm component 2.

The second arm component 3 moves towards the first arm component 2, the second arm component 3 retracts into the first arm component 2 and is contained in the first arm component 2, the second arm component 3 makes full use of the space of the first arm component 2, the first arm component 2 is contained in the first arm component 2 in a general state, the space occupied by the robot in the general state is further reduced, and the fine design of the robot is achieved. In addition, when the second arm assembly 3 moves away from the first arm assembly 2, the second arm assembly 3 protrudes out of the first arm assembly 2 and can rotate in a universal direction, so that the multidirectional operation of the second arm assembly 3 is realized.

The second arm assembly 3 faces the receiving groove 26 along its axis; a first guide rail 31 is convexly arranged on the side surface of the second arm component 3, the first guide rail 31 is movably connected with the first guide rail groove 21 to realize the extension and contraction of the second arm component 3 relative to the first arm component 2, wherein, the first guide rail 31 and the first guide rail groove 21 can realize meshing transmission or sliding groove transmission, the first guide rail 31 is driven by the motor to rotate and realize transmission with the first guide rail groove 21, thereby, relative rotation of the first guide rail 31 with respect to the first guide rail groove 21 is achieved, so that extension and contraction of the second arm assembly 3 with respect to the first arm assembly 2 are facilitated, make full use of the space of first arm subassembly 2 for second arm subassembly 3 realizes that first arm subassembly 2 accomodates in first arm subassembly 2 under general state, further reduces the robot and occupies space under general state, realizes the design that becomes more meticulous of robot.

The second arm assembly 3 is provided with a second control device 32 and a second connecting wire 33, the second control device 32 is connected with the bottom of the second wire groove 23 and is in the same horizontal direction with the first control device 24; the second connecting wire 33 is connected with the second control device 32, extends along the axis of the second wire groove 23, and is vertically surrounded on the axis of the second wire groove 23, so as to be matched with the extension and retraction of the second arm component 3 relative to the first arm component 2, avoid the second connecting wire 33 from being pulled and wound in the extension and retraction process of the second arm component 3, ensure that the second connecting wire 33 is normally used in the extension and retraction process of the second arm component 3, and in addition, the second control device 32 and the first control device 24 are in the same horizontal direction, so that the space of the first arm component 2 is fully utilized, and a sufficient maintenance space is reserved when the second arm component 3 is replaced. Optionally, the second control device 32 is electrically connected to the first control device 24, is independent of the first control device, and is centrally controlled by the general control board 12. The second control device 32 may be a circuit board.

The second controller is fixed on the bottom surface of the second wire groove 23 facing the electric cover; the second connecting wire 33 is mounted on the side surface of the second wire groove 23 and embedded in the second wire groove 23; the connection of the second connection wire 33 and the second controller faces the electric appliance cover to facilitate replacement of the second connection wire 33 and the second controller, and a worker can concentrate on the second wire groove 23 to detect and manage the electric appliances of the second arm assembly 3.

A first dust collecting channel 27 is arranged in the first arm component 2, and the first dust collecting channel 27 is annularly arranged inside the first arm component 2 and surrounds a first driving component in the first arm component 2; the first dust collecting channel 27 is provided with dust collecting holes around its outer circumference and faces the first driving assembly, collects dust inside the first arm assembly 2 through the first dust collecting channel 27, and cleans the inside of the first arm assembly 2.

Be equipped with second collection dirt passageway 34 in the second armset 3, this second collection dirt passageway 34 ring is located the inside of second armset 3, and with first collection dirt passageway 27 intercommunication realizes that the dust in second collection dirt passageway 34 and the first collection dirt passageway 27 can unified processing to run through the inside of whole robot, in addition, the outside of first armset 2 is equipped with takes out dirt mouth 28, should take out dirt mouth 28 intercommunication first collection dirt passageway 27 to can take out the dirt under the effect of negative pressure, make the staff can realize the inside cleanness to the robot in the outside, be convenient for realize the inside cleanness of robot, improve the life of robot, and establish dustless space.

In order to accommodate the extension and retraction of the second arm assembly 3, the second dust collection channel 34 extends and retracts toward the attached end of the first dust collection channel 27 to facilitate the extension and retraction of the second arm assembly 3.

Referring to fig. 1 to 6, in addition, a heat dissipation channel 35 is arranged in each of the second arm assembly 3 and the first arm assembly 2, the heat dissipation channel 35 is mainly arranged around the first control device 24 and the second controller and absorbs heat emitted by the first control device 24 and the second controller, the heat dissipation channel 35 is in butt joint with the first dust collection channel 27 and the first dust collection channel 27, and the heat of the heat dissipation channel 35 is driven by the airflow of the second dust collection channel 34 and the first dust collection channel 27, so that the heat dissipation of the first control device 24 and the second controller is realized, the service life of the first control device 24 and the second controller is prolonged, and the maintenance frequency is reduced. Wherein, the side of the heat dissipation channel 35 is provided with a heat sink, and the heat sink absorbs the heat of the first controller 24 and the second controller.

Referring to fig. 1 to 6, in another embodiment, the second arm assembly 3 is disposed at one side of the first arm assembly 2 and is arranged opposite to the first arm assembly 2; a second guide rail groove is formed in one side of the first support arm component 2, protrudes outwards and faces towards the first support arm component 2; the first support arm component 2 is provided with a second guide rail, the second guide rail is movably arranged in the second guide rail groove, the second support arm component 3 is stacked with the first support arm component 2 in the horizontal direction, the second support arm component 3 makes full use of the space of the first support arm component 2 in the horizontal direction, and the space occupied by the whole robot is reduced.

Referring to fig. 1 to 6, specifically, the second arm assembly 3 includes a second motor, a gear, and a synchronous belt drive component, the second motor drives the gear, and drives the synchronous belt drive component to rotate through the gear, so that one end of the second arm assembly 3 away from the base 1 swings relative to the base 1, and the swing arm motion of the first arm assembly 2 is realized, where no limitation is made, and the swing arm mechanism of the existing robot can be referred to. The transmission assembly of the second arm assembly 3 and the transmission assembly of the second arm assembly 3 are relatively independent and are located in different spaces, and are integrated to be controlled by the master control board 12, and the transmission assemblies can be gears or synchronous belt transmission pieces.

Still what is, the robot still includes horizontal migration subassembly 4, and this horizontal migration subassembly 4 connect in first arm subassembly 2 with between the second arm subassembly 3 to drive second arm subassembly 3 move in the horizontal direction for first arm subassembly 2, realize the lateral shifting of second arm subassembly 3 for first arm subassembly 2, so that second arm subassembly 3 realizes moving in the both sides of first arm subassembly 2, and be suitable for the work on the both sides of first arm subassembly 2, and do not influence second arm subassembly 3 for the flexible of first arm subassembly 2.

Specifically, the horizontal movement assembly 4 includes a fixed portion 41 and a moving portion 42, and the fixed portion 41 is mounted to the first arm assembly 2; the moving part 42 is movably mounted on the fixed part 41 and carries the second arm assembly 3; the fixing portion 41 is accommodated in the first arm assembly 2 and extends in the horizontal direction without exceeding the first arm assembly 2. The second arm assembly 3 moves laterally with the movement of the moving part 42 and produces a change in position with the first arm assembly 2.

In another embodiment, the two ends of the first arm assembly 2 are respectively provided with a first engaging portion and a first connecting portion, the first engaging portion is abutted to the base 1 to fix the first arm assembly 2 relative to the base 1, the two ends of the second arm assembly 3 are respectively provided with a second engaging portion and a second connecting portion, the second connecting portion is connected with an external fixture, the second engaging portion is abutted to the first connecting portion to connect the second arm assembly 3 and the first arm assembly 2, wherein the second engaging portion and the first engaging portion belong to the same standard component and are made by the same standard specification, so that the second arm assembly 3 can replace the first arm assembly 2, and the versatility of the robot is improved, and the standardization of parts is realized.

While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.