CN108555888B

CN108555888B - Robot

Info

Publication number: CN108555888B
Application number: CN201810654625.8A
Authority: CN
Inventors: 李久林; 张文欣; 沈显东; 张天翼; 张秀峰; 马徐武; 杨裕才; 柳明正; 何胜红; 赵必顺
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2024-01-30
Anticipated expiration: 2038-06-22
Also published as: WO2019242246A1; CN108555888A

Abstract

The present invention provides a robot comprising: the first connecting arm assembly is used for installing the screw rod spline component; a second link arm assembly rotatably mounted to a lower side of the first link arm assembly; the second connecting arm assembly is rotatably arranged at the lower side of the third connecting arm assembly, so that the screw rod spline component moves under the drive of the second connecting arm assembly and the third connecting arm assembly; the rack comprises a rack main body, a first supporting beam and a second supporting beam, wherein the first supporting beam and the second supporting beam are arranged on the rack main body, and the first supporting beam and the second supporting beam are arranged in parallel; the third connecting arm assembly comprises a connecting plate, the connecting plate is installed on the frame, the first end of the connecting plate is connected with the first supporting beam, the second end of the connecting plate is connected with the second supporting beam, and therefore the first connecting arm assembly, the second connecting arm assembly and the third connecting arm assembly are suspended on the frame. The problem that a robot in the prior art cannot operate products on a production line is solved.

Description

Robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot.

Background

Along with the development of intelligent equipment, the advantage of the robot in industrial manufacturing is more and more remarkable, wherein the robot with the multistage mechanical arm is widely applied, the mechanical arm positioned at the low position of the robot is fixed on the base on the ground, and the mechanical arm positioned at the high position is connected with the screw rod spline component, so that the screw rod spline component positioned at the high position drives the clamp to grasp and move a product.

However, the robot cannot operate products on the assembly line, and particularly has a small application range on the assembly line with a high height.

Disclosure of Invention

The invention mainly aims to provide a robot which solves the problem that the robot in the prior art cannot operate products on a production line.

In order to achieve the above object, the present invention provides a robot including: the first connecting arm assembly is used for installing the screw rod spline component; the second connecting arm assembly is positioned above the first connecting arm assembly, and the first connecting arm assembly is rotatably arranged on the lower side of the second connecting arm assembly; the third connecting arm assembly is positioned above the second connecting arm assembly, and the second connecting arm assembly is rotatably arranged on the lower side of the third connecting arm assembly, so that the screw rod spline component moves under the drive of the second connecting arm assembly and the third connecting arm assembly; the rack comprises a rack main body, a first supporting beam and a second supporting beam, wherein the first supporting beam and the second supporting beam are arranged on the rack main body, and the first supporting beam and the second supporting beam are arranged in parallel; the third connecting arm assembly comprises a connecting plate, the connecting plate is arranged on the frame, the first end of the connecting plate is connected with the first supporting beam, and the second end of the connecting plate is connected with the second supporting beam, so that the first connecting arm assembly, the second connecting arm assembly and the third connecting arm assembly are suspended on the frame.

Further, the first supporting beam is provided with a plurality of first fastening holes, and the first end of the connecting plate is provided with a plurality of second fastening holes, so that the first end of the connecting plate is connected with the first supporting beam through first fasteners penetrating through the first fastening holes and the second fastening holes; the second supporting beam is provided with a plurality of third fastening holes, and the second end of the connecting plate is provided with a plurality of fourth fastening holes, so that the second end of the connecting plate is connected with the second supporting beam through second fasteners penetrating through the third fastening holes and the fourth fastening holes.

Further, a plurality of first reserved hole sites are arranged on the first supporting beam, and the first reserved hole sites are arranged at intervals; the second support beam is provided with a plurality of second reserved hole sites, and the second reserved hole sites are arranged at intervals, so that the first end of the connecting plate is connected with the first support beam through a third fastener penetrating through the first reserved hole site and the second fastening hole, and the second end of the connecting plate is connected with the second support beam through a fourth fastener penetrating through the second reserved hole site and the fourth fastening hole.

Further, the robot further includes: and one end of the second transfer flange is connected with the third connecting arm assembly, and the other end of the second transfer flange is connected with the second connecting arm assembly so that the second connecting arm assembly rotates under the action of the third connecting arm assembly and the second transfer flange.

Further, the third connecting arm assembly further comprises a third hood, and the third hood is arranged on the connecting plate, so that a third accommodating space is formed between the third hood and the connecting plate; the third hood is provided with a wiring hole so that a cable of the robot enters the third accommodating space through the wiring hole.

Further, the third connecting arm assembly comprises a second wiring structure and a second wire passing protective sleeve, the second wiring structure is arranged in the third accommodating space and is arranged on the connecting plate, one end of the second wire passing protective sleeve is connected with the second wiring structure, and the other end of the second wire passing protective sleeve is connected with the second adapter flange, so that a cable located in the third accommodating space enters the second accommodating space of the second connecting arm assembly through the second wire passing protective sleeve and the second adapter flange.

Further, the third connecting arm assembly comprises a second wire fixing portion, and the second wire fixing portion is arranged on the second wiring structure, so that a cable located between the wiring hole and the second wire passing protective sleeve is fixed on the second wire fixing portion.

Further, the robot further includes: the second speed reducer is sleeved on the second wire passing protective sleeve, one end of the second speed reducer is connected with the connecting plate, and the other end of the second speed reducer is in driving connection with the second adapter flange, so that the second adapter flange rotates under the driving of the second speed reducer.

Further, the robot further includes: and one end of the first adapter flange is connected with the second connecting arm assembly, and the other end of the first adapter flange is connected with the first connecting arm assembly so that the first connecting arm assembly rotates under the action of the second connecting arm assembly and the first adapter flange.

Further, the second connecting arm assembly is provided with a second accommodating space, the second connecting arm assembly comprises a first wiring structure and a first wire passing protecting sleeve, the first wiring structure is arranged in the second accommodating space and is arranged on a first bottom plate of the second accommodating space, one end of the first wire passing protecting sleeve is connected with the first wiring structure, and the other end of the first wire passing protecting sleeve is connected with the first connecting flange, so that a cable positioned in the second accommodating space enters the first accommodating space of the first connecting arm assembly through the first wire passing protecting sleeve and the first connecting flange.

Further, the second connection arm assembly includes a first wire fixing portion provided on the first wiring structure so that the cable located in the second accommodation space is fixed on the first wire fixing portion.

Further, the robot further includes: the first speed reducer is sleeved on the first wire passing protective sleeve, one end of the first speed reducer is connected with the first bottom plate, and the other end of the first speed reducer is in driving connection with the first transfer flange so that the first transfer flange rotates under the driving of the first speed reducer.

Further, the robot further includes: the switching structure is used for connecting the first speed reducer with the first switching flange, and the first speed reducer is in driving connection with the first end of the switching structure so that the switching structure rotates under the driving action of the first speed reducer; the second end of the switching structure is fixedly connected with the first switching flange so that the first switching flange rotates under the drive of the switching structure.

According to the robot, the frame is arranged, the connecting plates of the third connecting arm assembly are fixed on the first supporting beam and the second supporting beam of the frame, and the first connecting arm assembly, the second connecting arm assembly and the third connecting arm assembly can be suspended on the frame. The robot can operate products on the assembly line, solves the problem that the robot cannot operate products on the assembly line with higher height, and improves the application range of the robot. And the movement range of the robot in suspension arrangement is wider.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 shows a schematic top view of an embodiment of a robot according to the invention;

FIG. 2 shows a cross-sectional view of the robot of FIG. 1 at section A-A;

fig. 3 shows a schematic top view of a third connecting arm assembly of a robot according to the invention;

FIG. 4 shows a cross-sectional view of the robot of FIG. 3 at section B-B;

fig. 5 shows a perspective view of an embodiment of a wiring structure of a robot according to the present invention;

fig. 6 shows a top view of an embodiment of a wiring structure of a robot according to the present invention;

fig. 7 shows a side view of an embodiment of a wiring structure of a robot according to the present invention;

fig. 8 shows a bottom view of an embodiment of a wiring structure of a robot according to the present invention;

FIG. 9 shows a cross-sectional view at section C-C of the wiring structure in FIG. 8;

fig. 10 shows a front view of an embodiment of an adapter structure of a robot according to the invention; and

fig. 11 shows a cross-sectional view of the transfer structure of fig. 10 at section D-D.

Wherein the above figures include the following reference numerals:

10. a first link arm assembly; 11. a first accommodation space; 20. a second link arm assembly; 21. a second accommodation space; 22. a first wiring structure; 23. a first wire passing protective sleeve; 25. a first wire fixing part; 30. a third link arm assembly; 31. a connecting plate; 311. a second fastening hole; 312. a fourth fastening hole; 32. a third housing; 321. a wiring hole; 33. a third accommodation space; 34. a second wiring structure; 35. a second wire passing protective sleeve; 36. a second wire fixing part; 40. a frame; 41. a first support beam; 411. a first fastening hole; 42. a second support beam; 421. a third fastening hole; 50. a second adapter flange; 60. a second speed reducer; 70. a first adapter flange; 80. a first speed reducer; 90. a switching structure;

130. a wiring main body; 131. a housing cavity; 132. a communication hole; 133. a passing space; 134. positioning the bulge; 135. a limit groove; 136. a fifth fastening hole; 137. a sixth fastening hole; 138. a seventh fastening hole;

930. a transfer main body; 931. a receiving chamber; 9311. a first chamber section; 9312. a second chamber section; 9313. a first mounting surface; 932. a seventh fastening hole; 9321. a mounting hole section; 9322. avoiding the hole section; 933. eighth fastening holes; 9314. a third chamber section; 9315. a fourth chamber section; 9316. a second mounting surface; 934. and (5) detaching the hole.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

The present invention provides a robot, please refer to fig. 1 to 4, a first connecting arm assembly 10 for installing a screw spline member; a second link arm assembly 20, the second link arm assembly 20 being located above the first link arm assembly 10, the first link arm assembly 10 being rotatably mounted at a lower side of the second link arm assembly 20; the third connecting arm assembly 30, the third connecting arm assembly 30 is located above the second connecting arm assembly 20, the second connecting arm assembly 20 is rotatably installed at the lower side of the third connecting arm assembly 30, so that the screw spline component moves under the driving of the second connecting arm assembly 20 and the third connecting arm assembly 30; a frame 40, the frame 40 including a frame body and first and second support beams 41 and 42 provided on the frame body, the first and second support beams 41 and 42 being disposed in parallel; wherein the third link arm assembly 30 includes a link plate 31, the link plate 31 is mounted on the frame 40, a first end of the link plate 31 is connected with the first support beam 41, and a second end of the link plate 31 is connected with the second support beam 42, so that the first link arm assembly 10, the second link arm assembly 20, and the third link arm assembly 30 are suspended on the frame 40.

The robot of the present invention can suspend the first, second and third link arm assemblies 10, 20 and 30 from the frame 40 by providing the frame 40 and fixing the connection plate 31 of the third link arm assembly 30 to the first and second support beams 41 and 42 of the frame 40. The robot can operate products on the assembly line, solves the problem that the robot cannot operate products on the assembly line with higher height, and improves the application range of the robot. And the movement range of the robot in suspension arrangement is wider.

To achieve the fixation of the third link arm assembly 30, as shown in fig. 1, the first support beam 41 has a plurality of first fastening holes 411, and the first end of the link plate 31 is provided with a plurality of second fastening holes 311, so that the first end of the link plate 31 is connected to the first support beam 41 by first fasteners penetrating into the first fastening holes 411 and the second fastening holes 311; the second support beam 42 has a plurality of third fastening holes 421, and the second end of the connection plate 31 is provided with a plurality of fourth fastening holes 312 such that the second end of the connection plate 31 is connected to the second support beam 42 by second fasteners penetrating into the third fastening holes 421 and the fourth fastening holes 312.

In specific implementation, the first supporting beam 41 is provided with a plurality of first reserved hole sites, and the first reserved hole sites are arranged at intervals; the second support beam 42 is provided with a plurality of second reserved hole sites, and the plurality of second reserved hole sites are arranged at intervals, so that the first end of the connecting plate 31 is connected with the first support beam 41 through a third fastening member penetrating through the first reserved hole site and the second fastening hole 311, and the second end of the connecting plate 31 is connected with the second support beam 42 through a fourth fastening member penetrating through the second reserved hole site and the fourth fastening hole 312. Such an arrangement allows the third link arm assembly 30 to be fixed at different positions on the first and second support beams 41 and 42 to change the installation position of the third link arm assembly 30, and thus allows the installation position of the third link arm assembly 30 to be adjusted according to the working position of the robot on the production line.

In order to achieve the connection of the second connection arm assembly 20 and the third connection arm assembly 30, the robot further includes a second adapter flange 50, one end of the second adapter flange 50 is connected to the third connection arm assembly 30, and the other end of the second adapter flange 50 is connected to the second connection arm assembly 20 so that the second connection arm assembly 20 rotates under the action of the third connection arm assembly 30 and the second adapter flange 50.

In the present embodiment, as shown in fig. 2 to 4, the third link arm assembly 30 further includes a third hood 32, the third hood 32 being housed on the link plate 31 such that a third accommodation space 33 is formed between the third hood 32 and the link plate 31; the third hood 32 is provided with a wiring hole 321 so that a cable of the robot enters the third accommodation space 33 through the wiring hole 321.

In particular, as shown in fig. 3, the third connecting arm assembly 30 includes a second wiring structure 34 and a second wire passing protecting sleeve 35, the second wiring structure 34 is disposed in the third accommodating space 33 and is mounted on the connecting plate 31, one end of the second wire passing protecting sleeve 35 is connected with the second wiring structure 34, and the other end of the second wire passing protecting sleeve 35 is connected with the second adapting flange 50, so that the cable located in the third accommodating space 33 enters the second accommodating space 21 of the second connecting arm assembly 20 through the second wire passing protecting sleeve 35 and the second adapting flange 50.

In order to fix the cable, as shown in fig. 3, the third connection arm assembly 30 includes a second wire fixing portion 36, and the second wire fixing portion 36 is disposed on the second wiring structure 34 such that the cable located between the wiring hole 321 and the second wire passing protection sleeve 35 is fixed on the second wire fixing portion 36.

In particular, as shown in fig. 3, the second wire fixing portion 36 includes a first wire fixing plate, a second wire fixing plate, and a cable tie, the second wire fixing plate is disposed vertically with respect to the first wire fixing plate, the first wire fixing plate is mounted on the second wiring structure 34, and the cable tie is fixed on the second wire fixing plate, so that the cable is fixed on the second wire fixing plate by the cable tie.

In this embodiment, as shown in fig. 3, the robot further includes a second speed reducer 60, the second speed reducer 60 is sleeved on the second wire passing protecting sleeve 35, one end of the second speed reducer 60 is connected with the connecting plate 31, and the other end of the second speed reducer 60 is in driving connection with the second adapting flange 50, so that the second adapting flange 50 rotates under the driving of the second speed reducer 60.

To connect the second connection arm assembly 20 and the first connection arm assembly 10, as shown in fig. 2, the robot further includes a first adapter flange 70, one end of the first adapter flange 70 is connected to the second connection arm assembly 20, and the other end of the first adapter flange 70 is connected to the first connection arm assembly 10 so that the first connection arm assembly 10 rotates under the action of the second connection arm assembly 20 and the first adapter flange 70.

In the present embodiment, as shown in fig. 2, the second connection arm assembly 20 has a second accommodation space 21, the second connection arm assembly 20 includes a first wiring structure 22 and a first wire passing protection sleeve 23, the first wiring structure 22 is disposed in the second accommodation space 21 and mounted on a first bottom plate of the second accommodation space 21, one end of the first wire passing protection sleeve 23 is connected with the first wiring structure 22, and the other end of the first wire passing protection sleeve 23 is connected with the first transfer flange 70, so that a cable located in the second accommodation space 21 enters the first accommodation space 11 of the first connection arm assembly 10 through the first wire passing protection sleeve 23 and the first transfer flange 70.

In order to fix the cable, as shown in fig. 2, the second connection arm assembly 20 includes a first wire fixing portion 25, and the first wire fixing portion 25 is disposed on the first wiring structure 22 such that the cable located in the second receiving space 21 is fixed on the first wire fixing portion 25.

In this embodiment, as shown in fig. 2, the robot further includes a first speed reducer 80, where the first speed reducer 80 is sleeved on the first wire passing protection sleeve 23, one end of the first speed reducer 80 is connected with the first bottom plate, and the other end of the first speed reducer 80 is connected with the first adapter flange 70 in a driving manner, so that the first adapter flange 70 rotates under the driving of the first speed reducer 80.

In this embodiment, as shown in fig. 2, the robot further includes a switching structure 90, where the switching structure 90 is used to connect the first speed reducer 80 with the first switching flange 70, and the first speed reducer 80 is in driving connection with a first end of the switching structure 90, so that the switching structure 90 rotates under the driving action of the first speed reducer 80; the second end of the switching structure 90 is fixedly connected to the first switching flange 70, so that the first switching flange 70 rotates under the driving of the switching structure 90.

In this embodiment, the robot further includes a third transmission assembly disposed on the connection plate 31, and the third transmission assembly is in transmission connection with the second connection arm assembly 20, so that the second connection arm assembly 20 rotates under the action of the third transmission assembly.

In specific implementation, the third transmission assembly comprises a third driving wheel, a third driven wheel and a third transmission belt sleeved on the third driving wheel and the third driven wheel, the third driven wheel is sleeved on the second wire passing protective sleeve 35, and the third driven wheel is in transmission connection with the second speed reducer 60 so as to drive the second speed reducer 60 to rotate; the third transmission belt passes through the second wiring structure 34 and is sleeved on the third driven wheel so that the third driven wheel rotates under the action of the third driving wheel and the third transmission belt.

In specific implementation, the robot further comprises a third driving motor, and the third driving motor is in driving connection with the third driving wheel to drive the third driving wheel to rotate.

In this embodiment, the robot further includes a second transmission assembly disposed in the second accommodating space 21, and the second transmission assembly is in transmission connection with the first connection arm assembly 10, so that the first connection arm assembly 10 rotates under the action of the second transmission assembly.

In specific implementation, the second transmission assembly comprises a second driving wheel, a second driven wheel and a second transmission belt sleeved on the second driving wheel and the second driven wheel, the second driven wheel is sleeved on the first wire passing protective sleeve 23, and the second driven wheel is in transmission connection with the first speed reducer 80 so as to drive the first speed reducer 80 to rotate; the second driving belt is sleeved on the second driven wheel through the first wiring structure 22 so that the second driven wheel rotates under the action of the second driving wheel and the second driving belt.

In specific implementation, the robot further comprises a second driving motor, and the second driving motor is in driving connection with the second driving wheel so as to drive the second driving wheel to rotate.

In this embodiment, the robot further includes a first transmission assembly disposed in the first accommodating space 11, and the first transmission assembly is in transmission connection with the screw spline member so that the screw spline member rotates and moves up and down under the action of the first transmission assembly.

When the robot is specifically implemented, the robot further comprises a first screw rod driving motor and a second screw rod driving motor, the first screw rod driving motor is used for driving the screw rod to move up and down, the second screw rod driving motor is used for driving the screw rod to rotate, and the first screw rod driving motor and the second screw rod driving motor are arranged in the first accommodating space 11.

In one embodiment, the first wiring structure and the second wiring structure are both wiring structures, and the specific structure of the wiring structures is as follows:

in this embodiment, please refer to fig. 5 to 9, a wiring structure is disposed in a connection arm assembly of a robot and is fixed on a bottom plate of the connection arm assembly, for installing a wire passing protection sleeve and accommodating a driven wheel sleeved on the wire passing protection sleeve, the wiring structure includes: the wiring body 130 is provided with a first end face and a second end face which are oppositely arranged, the second end face is provided with a containing cavity 131, and the containing cavity 131 extends towards the first end face so as to contain at least part of the wire passing protective sleeve and the driven wheel; the accommodating cavity 131 has a cavity top wall and a cavity inner wall surrounding the cavity top wall, and a communication hole 132 is formed between the cavity top wall and the first end surface, so that the wire passing protective sleeve is inserted in the communication hole 132.

During specific implementation, the wiring structure is characterized in that the accommodating cavity 131 is formed in the wiring main body 130, and the communicating hole 132 is formed in the accommodating cavity 131, wherein the axis of the communicating hole 132 is parallel to the axis of the accommodating cavity 131, so that the wire passing protecting sleeve is inserted into the communicating hole 132 and accommodated in the accommodating cavity 131 to fix the wire passing protecting sleeve, and then the cable of the robot is arranged in the wire passing protecting sleeve, and the problem of wiring and routing of the cable in the robot is solved. In addition, the accommodating cavity 131 is further used for accommodating the driven wheel sleeved on the wire passing protective sleeve, so that enough accommodating space can be provided for parts of the inner wall of the connecting arm assembly.

In the present embodiment, as shown in fig. 5, the wiring main body 130 has a passing space 133, and the passing space 133 is provided on the second end face and communicates with the accommodating chamber 131 so that the conveyor belt fitted over the driven pulley passes through the passing space 133 into the accommodating chamber 131. The space 133 has a first side wall and a second side wall parallel to each other, the inner wall of the cavity is a non-closed circumferential surface, the first side wall is connected with one end of the inner wall of the cavity, and the second side wall is connected with the other end of the inner wall of the cavity.

In order to realize positioning of the wiring structure, as shown in fig. 7 and 8, a positioning groove is provided on the bottom plate of the connecting arm, and a positioning protrusion 134 matched with the positioning groove is provided on the second end surface of the wiring main body 130, and the positioning protrusion 134 is clamped in the positioning groove, so that the wiring structure is positioned on the bottom plate.

In specific implementation, the positioning groove is a circular groove, the positioning protrusion 134 is a circular protrusion, and the circumferential outer wall of the circular protrusion is matched with the second circumferential inner wall of the circular groove, so that the positioning protrusion 134 is clamped in the positioning groove.

In particular, the inner wall of the accommodating cavity 131 is flush with the third circumferential inner wall of the annular protrusion. Such arrangement facilitates processing of the wiring structure and reduces production cost.

In this embodiment, as shown in fig. 6 and 9, one end of the wire passing protective sleeve is provided with a mounting portion, a first end surface of the wiring main body 130 is provided with a limit groove 135, and the mounting portion is limited in the limit groove 135. The arrangement is convenient for installing and positioning the wire passing protective sleeve.

In order to achieve the fixation of the wire passing protective cover, as shown in fig. 6, the wire passing protective cover has a plurality of first mounting holes, a plurality of fifth fastening holes 136 are provided on the limiting groove 135, the plurality of fifth fastening holes 136 are uniformly distributed along the circumference of the communication hole 132, and the plurality of fifth fastening holes 136 and the plurality of first mounting holes are provided in one-to-one correspondence, so that the wire passing protective cover is fixed on the wiring body 130 by fifth fasteners inserted in the first mounting holes and the fifth fastening holes 136.

In order to fix the wiring body 130, as shown in fig. 6, a plurality of sixth fastening holes 137 are provided on the second end surface of the wiring body 130, and the plurality of sixth fastening holes 137 are provided at intervals so that the wiring body 130 is fixed to the base plate by sixth fasteners inserted into the sixth fastening holes 137.

In order to achieve fixation of the wire fixing portion, as shown in fig. 6, a plurality of seventh fastening holes 138 are provided on the first end surface of the wiring main body 130, and the plurality of seventh fastening holes 138 are provided at intervals so that the wire fixing portion is fixed to the wiring main body 130 by seventh fasteners inserted into the seventh fastening holes 138.

In one embodiment, the specific structure of the switching structure 90 is as follows:

in this embodiment, referring to fig. 10 and 11, a switching structure 90 is used for connecting a first speed reducer and a first switching flange, and includes: the transfer main body 930, the transfer main body 930 has a third end surface and a fourth end surface which are oppositely arranged, the transfer main body 930 also has a containing cavity 931 extending from the third end surface to the fourth end surface, and at least part of the first speed reducer is arranged in the containing cavity 931 so as to connect the first speed reducer with the transfer main body; the fourth end face is used for connecting with the first transfer flange so that the first speed reducer is connected with the first transfer flange through the transfer main body 930.

In the present embodiment, the adapting structure 90 includes an adapting body 930, where the adapting body 930 has a receiving cavity 931, and at least a portion of the first speed reducer is disposed in the receiving cavity 931; one end of the adaptor main body 930 is connected with the first speed reducer, and the other end of the adaptor main body 930 is connected with the first adaptor flange, so that the adaptor structure 90 realizes connection of the first speed reducer and the first adaptor flange. In the production process, through adopting this switching structure 90 can realize being connected between the speed reducer of adapter flange and model mismatch, solved the speed reducer to different models and produced the high problem of manufacturing cost that the processing adapter flange of different models led to the fact, improved adapter flange's commonality.

In the present embodiment, as shown in fig. 11, the accommodation chamber 931 has a first chamber section 9311 and a second chamber section 9312, at least a portion of the first speed reducer is disposed within the first chamber section 9311 and the second chamber section 9312, the first chamber section 9311 is disposed on a third end face and extends toward a fourth end face, the second chamber section 9312 is disposed at an end of the first chamber section 9311 near the fourth end face, and a first mounting face 9313 is provided between the first chamber section 9311 and the second chamber section 9312 such that the first speed reducer is mounted on the first mounting face 9313.

In order to achieve connection of the adapter structure 90 with the first speed reducer, as shown in fig. 10, the first speed reducer has a plurality of seventh mounting holes, and the adapter body 930 has a plurality of seventh fastening holes 932, and the plurality of seventh fastening holes 932 are disposed between the first mounting surface 9313 and the fourth end surface and uniformly distributed along the circumferential direction of the second cavity segment 9312, so that the adapter structure 90 is connected with the first speed reducer by seventh fasteners penetrating through the seventh fastening holes 932 and the seventh mounting holes.

In particular, as shown in fig. 11, the seventh fastening member is a screw, the seventh fastening hole 932 includes a mounting hole section 9321 and an avoidance hole section 9322, the avoidance hole section 9322 is disposed at an end of the mounting hole section 9321 away from the third end face, and a screw head of the screw is disposed in the avoidance hole section 9322 so as to avoid the first flange. Such an arrangement facilitates installation of the first adapter flange and avoids wear to the first adapter flange.

In order to achieve the connection between the first adapter flange and the adapter structure 90, as shown in fig. 11, the first adapter flange has a plurality of eighth mounting holes, the adapter body 930 has a plurality of eighth fastening holes 933, and the plurality of eighth fastening holes 933 are disposed on the fourth end surface and uniformly distributed along the circumferential direction of the second cavity section 9312, so that the first adapter flange is connected to the adapter structure 90 by the eighth fastening members penetrating into the eighth mounting holes and the eighth fastening holes 933.

Preferably, as shown in fig. 10, a plurality of eighth fastening holes 933 are provided around a plurality of seventh fastening holes 932.

In the present embodiment, as shown in fig. 11, the accommodation cavity 931 has a third cavity segment 931, the third cavity segment 931 being provided on the fourth end face and extending toward the third end face such that a wire passing protection sleeve penetrating inside the first speed reducer communicates with the first switching flange through the third cavity segment 931.

In the present embodiment, as shown in fig. 11, the accommodation cavity 931 has a fourth cavity segment 9315, the fourth cavity segment 9315 being disposed at an end of the third cavity segment 9314 near the third end face, the third cavity segment 9314 and the fourth cavity segment 9315 having a second mounting face 9316 therebetween such that a bearing disposed between the transit body 930 and the wire passing boot is abutted on the second mounting face 9316. Wherein, the arrangement of fourth cavity section 9315 facilitates the machining of the adapter body.

In order to achieve accurate positioning of the transfer structure 90 and facilitate quick assembly disassembly of the transfer structure 90, the transfer body 930 has a disassembly hole 934, the disassembly hole 934 is a through hole, so that the transfer structure 90 is positioned by inserting a positioning pin in the disassembly hole 934 and a positioning hole of the first speed reducer when the transfer structure 90 is installed, and the transfer structure 90 is disassembled by inserting a jacking structure in the disassembly hole 934 when the transfer structure 90 is disassembled.

Preferably, as shown in fig. 10, the disassembly holes 934 are provided around the plurality of eighth fastening holes 933, wherein the disassembly holes 934 are provided at a side of the eighth fastening holes 933 near the outer circumferential surface of the adapter body 930. Such an arrangement facilitates installation and removal of the adapter structure 90.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising:

a first connecting arm assembly (10) for mounting a lead screw spline member;

a second connecting arm assembly (20), the second connecting arm assembly (20) being located above the first connecting arm assembly (10), the first connecting arm assembly (10) being rotatably mounted on the underside of the second connecting arm assembly (20);

a third connecting arm assembly (30), wherein the third connecting arm assembly (30) is positioned above the second connecting arm assembly (20), and the second connecting arm assembly (20) is rotatably arranged at the lower side of the third connecting arm assembly (30) so that the screw spline component moves under the driving of the second connecting arm assembly (20) and the third connecting arm assembly (30);

a frame (40), wherein the frame (40) comprises a frame main body, a first supporting beam (41) and a second supporting beam (42) which are arranged on the frame main body, and the first supporting beam (41) and the second supporting beam (42) are arranged in parallel;

wherein the third connecting arm assembly (30) comprises a connecting plate (31), the connecting plate (31) is mounted on the frame (40), a first end of the connecting plate (31) is connected with the first supporting beam (41), and a second end of the connecting plate (31) is connected with the second supporting beam (42) so that the first connecting arm assembly (10), the second connecting arm assembly (20) and the third connecting arm assembly (30) are hung on the frame (40);

the first support beam (41) is provided with a plurality of first fastening holes (411), and the first end of the connecting plate (31) is provided with a plurality of second fastening holes (311) so that the first end of the connecting plate (31) is connected with the first support beam (41) through first fasteners penetrating through the first fastening holes (411) and the second fastening holes (311); the second support beam (42) has a plurality of third fastening holes (421), and the second end of the connection plate (31) is provided with a plurality of fourth fastening holes (312), so that the second end of the connection plate (31) is connected with the second support beam (42) by a second fastening member penetrating into the third fastening holes (421) and the fourth fastening holes (312);

the first support beam (41) is provided with a plurality of first reserved hole sites, a plurality of first reserved hole sites are arranged at intervals, the second support beam (42) is provided with a plurality of second reserved hole sites, a plurality of second reserved hole sites are arranged at intervals, so that the first end of the connecting plate (31) is connected with the first support beam (41) through a third fastening piece penetrating through the first reserved hole sites and the second fastening holes (311), and the second end of the connecting plate (31) is connected with the second support beam (42) through a fourth fastening piece penetrating through the second reserved hole sites and the fourth fastening holes (312).

2. The robot of claim 1, further comprising:

and one end of the second transfer flange (50) is connected with the third connecting arm assembly (30), and the other end of the second transfer flange (50) is connected with the second connecting arm assembly (20), so that the second connecting arm assembly (20) rotates under the action of the third connecting arm assembly (30) and the second transfer flange (50).

3. The robot according to claim 2, characterized in that the third connecting arm assembly (30) further comprises a third hood (32), the third hood (32) being housed on the connecting plate (31) such that a third accommodation space (33) is formed between the third hood (32) and the connecting plate (31); the third hood (32) is provided with a wiring hole (321) so that a cable of the robot enters the third accommodating space (33) through the wiring hole (321).

4. A robot according to claim 3, characterized in that the third connecting arm assembly (30) comprises a second wiring structure (34) and a second wire passing protecting sleeve (35), the second wiring structure (34) being arranged in the third accommodation space (33) and being mounted on the connecting plate (31), one end of the second wire passing protecting sleeve (35) being connected with the second wiring structure (34), the other end of the second wire passing protecting sleeve (35) being connected with the second adapter flange (50) so that the cable located in the third accommodation space (33) enters the second accommodation space (21) of the second connecting arm assembly (20) through the second wire passing protecting sleeve (35) and the second adapter flange (50).

5. The robot of claim 4, wherein the third connection arm assembly (30) comprises a second wire fixing portion (36), the second wire fixing portion (36) being arranged on the second wiring structure (34) such that a cable located between the wiring hole (321) and the second wire passing protective sleeve (35) is fixed on the second wire fixing portion (36).

6. The robot of claim 4, further comprising:

the second speed reducer (60), second speed reducer (60) cover is established on second wire passing lag (35), one end of second speed reducer (60) with connecting plate (31) are connected, the other end of second speed reducer (60) with second adapter flange (50) drive connection, so that second adapter flange (50) rotate under second speed reducer (60) drive.

7. The robot of claim 1, further comprising:

and one end of the first adapter flange (70) is connected with the second connecting arm assembly (20), and the other end of the first adapter flange (70) is connected with the first connecting arm assembly (10) so that the first connecting arm assembly (10) rotates under the action of the second connecting arm assembly (20) and the first adapter flange (70).

8. The robot of claim 7, wherein the second connection arm assembly (20) has a second accommodation space (21), the second connection arm assembly (20) includes a first wiring structure (22) and a first wire passing protection sleeve (23), the first wiring structure (22) is disposed in the second accommodation space (21) and is mounted on a first bottom plate of the second accommodation space (21), one end of the first wire passing protection sleeve (23) is connected with the first wiring structure (22), and the other end of the first wire passing protection sleeve (23) is connected with the first adapter flange (70) so that a cable located in the second accommodation space (21) enters the first accommodation space (11) of the first connection arm assembly (10) through the first wire passing protection sleeve (23) and the first adapter flange (70).

9. The robot according to claim 8, wherein the second connection arm assembly (20) comprises a first wire fixing portion (25), the first wire fixing portion (25) being provided on the first wiring structure (22) such that a cable located in the second accommodation space (21) is fixed on the first wire fixing portion (25).

10. The robot of claim 8, further comprising:

the first speed reducer (80), first speed reducer (80) cover is established on first line lag (23), the one end of first speed reducer (80) with first bottom plate is connected, the other end of first speed reducer (80) with first adapter flange (70) drive connection, so that first adapter flange (70) rotate under the drive of first speed reducer (80).

11. The robot of claim 10, further comprising:

the switching structure (90) is used for connecting the first speed reducer (80) with the first switching flange (70), and the first speed reducer (80) is in driving connection with the first end of the switching structure (90) so that the switching structure (90) rotates under the driving action of the first speed reducer (80); the second end of the switching structure (90) is fixedly connected with the first switching flange (70), so that the first switching flange (70) rotates under the driving of the switching structure (90).