CN109531555B - Four-axis horizontal joint robot - Google Patents
Four-axis horizontal joint robot Download PDFInfo
- Publication number
- CN109531555B CN109531555B CN201811478835.2A CN201811478835A CN109531555B CN 109531555 B CN109531555 B CN 109531555B CN 201811478835 A CN201811478835 A CN 201811478835A CN 109531555 B CN109531555 B CN 109531555B
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- fixedly connected
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- axis horizontal
- work machine
- rotating
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- 238000010191 image analysis Methods 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000003754 machining Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a four-axis horizontal joint robot, which comprises a machine base and a control system, wherein the top of the machine base is rotationally connected with a rotating sleeve, the left side of the rotating sleeve is fixedly connected with a rotating plate, the left side of the top of the rotating plate is rotationally connected with a working machine case, and the inner thread of the working machine case is connected with a lifting screw rod. This four-axis horizontal joint robot through setting up the swivel becket that can smoothly rotate on the frame to utilize main support frame and side support frame to support the rotor plate, can apply the partial weight of left side structure to the swivel becket, more stable when making the rotor plate rotate, and set up slide rail and slider, connecting rod cooperation, can play the effect of pulling to the work machine case in work machine case pivoted within a definite range, improve the connection stability between work machine case and the rotor plate promptly, avoid long-term use after because of the central skew makes the processing position appear the deviation, and then influence the quality of processing.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-axis horizontal joint robot.
Background
Robots are popular names for automatically controlled machines, which include all machines that simulate human behavior or ideas and simulate other living things (e.g., machine dogs, machine cats, etc.). There are also a number of taxonomies and disputes in the narrow definition of robots, some computer programs are even called robots. In the current industry, robots refer to man-made robotic devices capable of automatically performing tasks to replace or assist in human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and research and development are currently being conducted in the scientific community.
The robot can accept human command, run pre-programmed program and act according to the principle set by artificial intelligent technology, and has the task of assisting or replacing human work, such as industry, building industry, or dangerous work, and is one of the products of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important use in industry, medicine, agriculture, building industry, military, etc. and has gradually approaching to the concept of robot internationally. The joint robot is also called a joint arm robot or a joint mechanical arm, is one of the most common forms of industrial robots in the current industrial fields, and is suitable for mechanical automation operation in various industrial fields. Such as automatic assembly, painting, handling, welding, etc., it is classified differently according to its construction.
The existing joint robot is generally composed of a plurality of joints, steering is controlled by a motor, and the machining positions are switched and positioned by utilizing the cooperation of the joints, but the center of gravity of the joints deviates from a main machine seat, and electronic equipment in the joints is heavy, after long-time use, the structure loosens, so that the machining quality is affected, and regular maintenance is needed.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a four-axis horizontal joint robot, which solves the problems that the existing joint robot has heavy electronic equipment in joints due to the fact that the gravity center of the joints deviates from a main machine base, and the machining quality is affected due to the fact that the structure is loose after long-time use, and the machining position is caused by errors.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a four-axis horizontal joint robot, includes frame and control system, the top of frame rotates and is connected with the cover that rotates, the left side fixedly connected with pivoted board of cover, the left side at pivoted board top rotates and is connected with the work machine case, and the inside threaded connection of work machine case has the lift screw, the upper and lower both ends of lift screw all run through the work machine case and extend to the outside of work machine case, the left side fixedly connected with control box of frame, the annular has all been seted up to the centre on frame and control box surface, and the inside rotation of annular is connected with the swivel ring, the left side fixedly connected with main support frame of swivel ring, and the top of main support frame and the left side fixedly connected with of pivoted board bottom, the front and back both sides of swivel ring all fixedly connected with side support frame, two the top of side support frame respectively with the centre fixedly connected with slide rail of both sides around the pivoted board, the top of pivoted board just is located the right side fixedly connected with slide rail of work machine case bottom, the inside sliding connection in top of slider has the slider, and the right side fixedly connected with slide rail of slider through the connecting rod and work machine case bottom.
Preferably, the bottom of the working machine case is fixedly connected with a connecting seat on the right side of the lifting screw, and the top of the connecting seat is sequentially and fixedly connected with a laser emitter and a camera from left to right.
Preferably, the surface of the base is fixedly connected with a grating emitter below the rotating ring, the surface of the grating emitter is fixedly connected with a grating plate, and the surface of the grating emitter is electrically connected with the inner surface of the control box through a wire.
Preferably, the top of the working machine case is fixedly connected with a working indicator lamp and an error indicator lamp from left to right in sequence, and the bottom of the machine base is fixedly connected with a fixed flange seat.
Preferably, the right side of frame just is located the top of swivel becket and the right side at work machine case top all communicates has the joint pipe, two joint has the pencil pipe between the joint pipe.
Preferably, the control system comprises a processor, a position control module, a position comparison module, an image analysis module and a motor group.
Preferably, the output end of the processor is respectively connected with the input ends of the image analysis module, the motor group, the laser emitter, the grating emitter, the working indicator lamp and the error indicator lamp.
Preferably, the input end of the processor is connected with the output ends of the camera and the position control module respectively, the output end of the image analysis module is connected with the input end of the position comparison module, and the position comparison module is in bidirectional connection with the processor.
(III) beneficial effects
The invention provides a four-axis horizontal joint robot. Compared with the prior art, the method has the following beneficial effects:
(1) The four-axis horizontal joint robot has the advantages that the annular grooves are formed in the middle of the surfaces of the machine base and the control box, the rotating ring is connected to the inner portion of the annular grooves in a rotating mode, the main support frame is fixedly connected to the left side of the bottom of the rotating plate, the side support frames are fixedly connected to the front side and the rear side of the rotating ring, the tops of the two side support frames are respectively fixedly connected with the middle of the front side and the rear side of the rotating plate, the top of the rotating plate is fixedly connected with the sliding rail on the right side of the bottom of the working machine box, the sliding block is connected to the top of the sliding rail in a sliding mode, the top of the sliding block is fixedly connected with the right side of the bottom of the working machine box through the connecting rod, the rotating ring capable of rotating in a smooth mode is arranged on the machine base, the main support frame and the side support frames are utilized to support the rotating plate, part of the left side structure is applied to the rotating ring, the rotating plate is more stable, the sliding rail is arranged to be matched with the sliding block and the connecting rod within a certain rotating range of the working machine box, namely, the working machine box is pulled, the working machine box is prevented from being influenced by the fact that the working quality is influenced due to the fact that the center deviation after the working machine box is used for a long time.
(2) This four-axis horizontal joint robot, through the bottom at the work machine case and be located the right side fixedly connected with connecting seat of lifting screw, and the top of connecting seat from left to right fixedly connected with laser emitter and camera in proper order, the surface of frame just is located the below fixedly connected with grating transmitter of swivel becket, and the fixed surface of grating transmitter has the grating board, the surface of grating transmitter passes through wire and the internal surface electric connection of control box, through setting up grating transmitter, and the square on the surface grating board is narrow under, make the grating that the slope projection was for normal square, utilize the light that laser emitter sent to compare with the grating, and be shot the analysis by the camera, can be accurate fix a position the processing position, and then judge whether the error appears in the processing position of robot at the during operation, avoid influencing the processing effect, then improved machining precision and quality.
(3) This four-axis horizontal joint robot from left to right fixedly connected with work pilot lamp and error indicator lamp in proper order through the top at the work machine case, through setting up work pilot lamp and error indicator lamp, can show operating condition and appear the error in real time at the during operation, make the user can audio-visual the seeing, guarantee the normal use of equipment.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a perspective view of the structure of the present invention;
FIG. 3 is an enlarged view of a portion of the invention at A in FIG. 1;
FIG. 4 is an enlarged view of a portion of the invention at B in FIG. 1;
fig. 5 is a system schematic block diagram of the present invention.
In the figure, 1-base, 2-control system, 3-rotating sleeve, 4-rotating plate, 5-working machine box, 6-lifting screw, 7-control box, 8-ring groove, 9-rotating ring, 10-main support frame, 11-side support frame, 12-slide rail, 13-slide block, 14-connecting rod, 15-connecting seat, 16-laser emitter, 17-camera, 18-grating emitter, 19-grating plate, 20-working indicator lamp, 21-error indicator lamp, 22-fixed flange seat, 23-clamping tube, 24-wire harness tube, 25-processor, 26-position control module, 27-position comparison module, 28-image analysis module and 29-motor group.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the embodiment of the present invention provides a technical solution: a four-axis horizontal joint robot comprises a machine base 1 and a control system 2, wherein a grating emitter 18 is fixedly connected to the surface of the machine base 1 and positioned below a rotating ring 9, a grating plate 19 is fixedly connected to the surface of the grating emitter 18, the surface of the grating emitter 18 is electrically connected with the inner surface of a control box 7 through wires, clamping pipes 23 are respectively communicated with the right side of the machine base 1 and positioned above the rotating ring 9 and the right side of the top of a working machine box 5, a wire harness pipe 24 is clamped between the two clamping pipes 23, the wire harness pipe 24 is detachable from the clamping pipes 2, the wire harness pipe 24 is a hose, the control system 2 comprises a processor 25, a position control module 26, a position comparison module 27, an image analysis module 28 and a motor group 29, the processor 25 is an ARM9 series processor, the motor group 29 is a plurality of motors and is fixed inside the device for steering, the output end of the processor 25 is respectively connected with the input ends of the image analysis module 28, the motor group 29, the laser emitter 16, the grating emitter 18, the working indicator lamp 20 and the error indicator lamp 21, the input end of the processor 25 is respectively connected with the output ends of the camera 17 and the position control module 26, the output end of the image analysis module 28 is connected with the input end of the position contrast module 27, the position contrast module 27 is in bidirectional connection with the processor 25, the top of the machine base is rotationally connected with the rotating sleeve 3, the left side of the rotating sleeve 3 is fixedly connected with the rotating plate 4, the left side of the top of the rotating plate 4 is rotationally connected with the working machine box 5, the internal thread of the working machine box 5 is connected with the lifting screw 6, the bottom of the working machine box 5 is fixedly connected with the connecting seat 15 which is positioned on the right side of the lifting screw 6, the top of the connecting seat 15 is sequentially fixedly connected with the laser emitter 16 and the camera 17 from left to right, the top of the working machine case 5 is fixedly connected with a working indicator lamp 20 and an error indicator lamp 21 from left to right, the working state and whether an error occurs can be displayed in real time during working by arranging the working indicator lamp 20 and the error indicator lamp 21, a user can visually see the working state and the error, normal use of equipment is ensured, the bottom of the machine base 1 is fixedly connected with a fixed flange seat 22, the upper end and the lower end of the lifting screw 6 penetrate through the working machine case 5 and extend to the outside of the working machine case 5, the left side of the machine base 1 is fixedly connected with a control box 7, the middle of the surfaces of the machine base 1 and the control box 7 is provided with a ring groove 8, the inside of the ring groove 8 is rotationally connected with a rotating ring 9, the rotating ring 9 can be a bearing, the rotating smoothness degree is improved, the left side of the rotating ring 9 is fixedly connected with a main support frame 10, the top of the main support frame 10 is fixedly connected with the left side of the bottom of the rotating plate 4, the front and back sides of the rotating ring 9 are fixedly connected with side supporting frames 11, the tops of the two side supporting frames 11 are respectively and fixedly connected with the middle of the front and back sides of the rotating plate 4, the right side of the top of the rotating plate 4 and positioned at the bottom of the working machine box 5 is fixedly connected with a sliding rail 12, the openings at the two sides of the sliding rail 12 and the edge of the sliding block 13 are provided with chamfers, so that the sliding block 13 is slidingly connected inside the top of the sliding rail 12 during clamping, the top of the sliding block 13 is fixedly connected with the right side of the bottom of the working machine box 5 through a connecting rod 14, the rotating ring 9 capable of rotating smoothly is arranged on the machine base 1, the main supporting frame 10 and the side supporting frames 11 are utilized to support the rotating plate 4, part of the weight of the left side structure can be applied to the rotating ring 9, the rotating plate 4 is enabled to rotate more stably, the sliding rail 12 is arranged to be matched with the sliding block 13 and the connecting rod 14, and the sliding rail 13 can rotate within a certain range of the rotation of the working machine box 5, the machine case 5 is pulled, namely, the connection stability between the machine case 5 and the rotating plate 4 is improved, and deviation of machining positions caused by center deviation after long-term use is avoided, so that the machining quality is affected.
When the device is used, an instruction is sent to the processor 25 by the position control module 26, the processor 25 controls the motor group 29 to work, each motor in the motor group 29 drives the rotating sleeve 3, the working machine case 5 and the lifting screw 6 to work respectively to process a workpiece, the main support frame 10 and the side support frames 11 support the rotating plate 4 during work, the rotating ring 9 synchronously rotates along with the rotating plate 4, meanwhile, the processor 25 controls the laser emitter 16, the camera 17, the grating emitter 18 and the working indicator lamp 20 to work, the grating emitter 18 emits light rays, the grating emitter 19 blocks the light rays, grid-shaped positioning lines are projected on the ground, meanwhile, the laser emitter 16 emits light rays with different colors from the positioning lines, the light rays irradiate on a processing surface, the camera 17 records a picture, picture data is transmitted to the image analysis module 28 through the processor 25, the image analysis module 28 analyzes the position of the processing point according to the comparison of the light rays of the laser emitter 16 and the positioning lines, then the position comparison module 27 is utilized to compare the picture data with the position data arranged in the position control module 26, whether errors exist or not, if errors exist, the error indicator lamp 25 is controlled to light the maintenance staff waits for the work to be warned, and the error indicator is carried out.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a four-axis horizontal joint robot, includes frame (1) and control system (2), the top rotation of frame is connected with and rotates cover (3), the left side fixedly connected with rotor plate (4) of rotor cover (3), the left side rotation at rotor plate (4) top is connected with work machine case (5), and the inside threaded connection of work machine case (5) has lift screw (6), the outside that work machine case (5) and extension to work machine case (5) are all run through at the upper and lower both ends of lift screw (6), its characterized in that: the control box (7) is fixedly connected to the left side of the machine base (1), the annular grooves (8) are formed in the middle of the surfaces of the machine base (1) and the control box (7), the rotating rings (9) are rotatably connected to the inside of the annular grooves (8), the main support frame (10) is fixedly connected to the left side of the rotating ring (9), the top of the main support frame (10) is fixedly connected to the left side of the bottom of the rotating plate (4), the side support frames (11) are fixedly connected to the front side and the rear side of the rotating ring (9), the tops of the side support frames (11) are respectively fixedly connected with the middle of the front side and the rear side of the rotating plate (4), the slide rails (12) are fixedly connected to the right side of the top of the rotating plate (4) and the bottom of the working machine box (5), the slide blocks (13) are slidably connected to the inside of the tops of the slide rails (12), and the tops of the slide blocks (13) are fixedly connected to the right side of the bottom of the working machine box (5) through connecting rods (14).
The surface of the base (1) is fixedly connected with a grating emitter (18) below the rotating ring (9), the surface of the grating emitter (18) is fixedly connected with a grating plate (19), and the surface of the grating emitter (18) is electrically connected with the inner surface of the control box (7) through a wire;
the bottom of the working machine case (5) is fixedly connected with a connecting seat (15) on the right side of the lifting screw (6), and the top of the connecting seat (15) is sequentially and fixedly connected with a laser emitter (16) and a camera (17) from left to right;
the control system (2) comprises a processor (25), a position control module (26), a position comparison module (27), an image analysis module (28) and a motor group (29).
2. A four-axis horizontal articulated robot according to claim 1, wherein: the top of the working machine case (5) is fixedly connected with a working indicator lamp (20) and an error indicator lamp (21) in sequence from left to right, and the bottom of the machine base (1) is fixedly connected with a fixed flange seat (22).
3. A four-axis horizontal articulated robot according to claim 1, wherein: the right side of frame (1) and be located the top of swivel becket (9) and the right side at work machine case (5) top all communicate has joint pipe (23), two joint pipe (23) between joint have pencil pipe (24).
4. A four-axis horizontal articulated robot according to claim 1, wherein: the output end of the processor (25) is respectively connected with the input ends of the image analysis module (28), the motor group (29), the laser emitter (16), the grating emitter (18), the working indicator lamp (20) and the error indicator lamp (21).
5. A four-axis horizontal articulated robot according to claim 1, wherein: the input end of the processor (25) is respectively connected with the output ends of the camera (17) and the position control module (26), the output end of the image analysis module (28) is connected with the input end of the position comparison module (27), and the position comparison module (27) is in bidirectional connection with the processor (25).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478835.2A CN109531555B (en) | 2018-12-05 | 2018-12-05 | Four-axis horizontal joint robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478835.2A CN109531555B (en) | 2018-12-05 | 2018-12-05 | Four-axis horizontal joint robot |
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| CN109531555A CN109531555A (en) | 2019-03-29 |
| CN109531555B true CN109531555B (en) | 2024-02-23 |
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| CN111590640A (en) * | 2020-06-09 | 2020-08-28 | 武汉臻迪智能技术有限公司 | Auxiliary mechanism for improving eccentricity of four-axis robot |
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| US10717187B2 (en) * | 2016-02-01 | 2020-07-21 | AM Networks LLC | Desktop robotic arm with interchangeable end effectors |
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| CN105081394A (en) * | 2014-05-09 | 2015-11-25 | 波音公司 | Path repeatable machining for full sized determinant assembly |
| CN107520088A (en) * | 2016-06-15 | 2017-12-29 | 精工爱普生株式会社 | robot, control device and robot system |
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