CN110948476A - Horizontal multi-joint robot - Google Patents

Abstract

The invention discloses a horizontal multi-joint robot which comprises a base, a large arm component, a small arm component and an action shaft, wherein the base comprises a base and an arm cylinder, a driving unit is arranged in the base, a transmission unit is arranged in the arm cylinder, the large arm component is connected with the base through the arm cylinder and can rotate around the axis of J1, a driving arm is arranged between the large arm component and the arm cylinder, the driving arm rotates around the axis of J1, the front end of the driving arm is connected with an attached rod, the other end of the attached rod is connected with the small arm component, the small arm component rotates around the axis of J2 under the driving of a plane four-bar linkage mechanism, and the action shaft is arranged at the other end of the small arm component and can rotate around the axis. The invention realizes low manufacturing cost and high-speed movement of the robot.

Description

Horizontal multi-joint robot

Technical Field

The invention relates to the technical field of robots, in particular to a horizontal multi-joint robot.

Background

A horizontal articulated Robot SCARA (selective company Assembly Robot arm) is a horizontal articulated Robot which has four axes and four degrees of freedom of motion, namely X, Y and Z translational degrees of freedom and Z rotational degrees of freedom. The large arm and the small arm are in a two-rod structure connected in series, and can extend into a limited space to carry out work like a human arm and then retract. The first, second and fourth shafts have rotation characteristic, the third shaft has linear movement characteristic, and the third and fourth shafts can be manufactured into corresponding different forms according to different working requirements. Therefore, the SCARA robot is widely used in various fields such as electronic product industry, automobile industry, plastic industry, pharmaceutical industry and food industry to perform operations such as carrying, assembling, spraying and welding.

For example, chinese patent CN109551515A discloses a horizontal articulated industrial robot having a base fixed to a ceiling surface, a first arm connected to the base and rotatable in a horizontal plane, a second arm connected to the first arm and rotatable in a horizontal plane, and a connecting cylinder provided between a large arm assembly and a small arm assembly. The problem of motion interference between the large arm and the small arm is solved, but all driving motors of the robot are arranged on all joints or in small arm assemblies, so that the weight and the rotational inertia of the robot arm are increased, and the running speed and the beat of the robot are reduced.

Disclosure of Invention

In order to solve the above problems, the present invention provides a horizontal multi-joint robot, which optimizes the structure to reduce the weight and the moment of inertia of the robot arm, increases the power of the driving motor to increase the operation speed of the robot without increasing the weight of the moving parts, and can adopt a longer arm extension to improve the motion flexibility of the robot.

The first technical scheme adopted by the invention is as follows: the utility model provides a horizontal multi-joint robot, the on-line screen storage device comprises a base, big arm component, forearm subassembly and action axle, the base includes base and an arm section of thick bamboo, be equipped with drive unit in the base, be equipped with drive unit in the arm section of thick bamboo, big arm component passes through an arm section of thick bamboo and pedestal connection and can rotate around J1 axis under drive unit's drive, be equipped with the actuating arm between big arm component and the arm section of thick bamboo, the actuating arm can rotate around J1 axis under drive unit's drive, the front end of actuating arm is connected with the appendage bar, the forearm subassembly is connected to the other end of appendage bar, the actuating arm, the appendage bar, big arm component, forearm subassembly component becomes four-bar linkage in plane, the forearm subassembly can rotate around J2 axis under four-bar linkage in plane's drive, the other end that the forearm subassembly was located to the.

Adopt above-mentioned technical scheme, change the connecting cylinder between forearm subassembly and the big arm subassembly into the arm section of thick bamboo of setting between big arm subassembly and base, the arm section of thick bamboo not only plays the effect of extension base and big arm interval, and transmit drive unit's power to big arm and actuating arm as drive disk, thereby realize the rotation of big arm and actuating arm, and realize the rotation of forearm through the actuating arm, drive unit and drive unit all set up in the base, make most quality of robot move to the J1 epaxial, the inertia of action axle has greatly been reduced, the functioning speed and the beat of robot have been promoted, and the functioning speed of robot is further promoted to accessible increase drive unit's motor power.

The second technical scheme adopted by the invention is an improvement on the first technical scheme, and the second technical scheme adopted by the invention is as follows: the driving unit comprises a first motor, a second motor, a third motor and a fourth motor; the transmission unit comprises a first transmission shaft, a second transmission shaft, a third transmission shaft and a fourth transmission shaft which are coaxially arranged; the large arm assembly is provided with a first large arm synchronous belt transmission unit and a second large arm synchronous belt transmission unit, and the small arm assembly is provided with a first small arm synchronous belt transmission unit and a second small arm synchronous belt transmission unit; the action shaft is provided with an execution shaft, a lifting nut and a rotating sleeve; the first motor drives the first transmission shaft to drive the driving arm to rotate around the axis of J1; the second motor drives the second transmission shaft to drive the big arm assembly to rotate around the axis of J1; a third motor drives a third transmission shaft to rotate, and the third transmission shaft drives a lifting nut to rotate through a first large arm synchronous belt transmission unit and a first small arm synchronous belt transmission unit so as to drive an execution shaft to move up and down; the fourth motor drives the fourth transmission shaft to rotate, and the fourth transmission shaft drives the rotary sleeve to rotate through the second large-arm synchronous belt transmission unit and the second small-arm synchronous belt transmission unit so as to drive the execution shaft to rotate around the axis of J3.

By adopting the technical scheme, the motion of the large arm, the small arm and the action shaft can be independently controlled, so that the action of the robot is more flexible. The action of the action shaft is transmitted through the synchronous belt, so that the arm extension of the mechanical arm is longer, the manufacturing cost is reduced, and the mass of the mechanical arm can be further reduced.

The third technical scheme adopted by the invention is an improvement on the second technical scheme, and the third technical scheme adopted by the invention is as follows: the first motor, the second motor, the third motor and the fourth motor respectively drive the first transmission shaft, the second transmission shaft, the third transmission shaft and the fourth transmission shaft to rotate through synchronous belts.

By adopting the technical scheme, the manufacturing cost can be further reduced, and the quality of the mechanical arm is reduced.

The fourth technical scheme adopted by the invention is an improvement on the third technical scheme, and the fourth technical scheme adopted by the invention is as follows: big arm component and forearm subassembly pass through the connecting axle to be connected, and the connecting axle includes first connecting axle and the second connecting axle of coaxial setting, and first connecting axle is used for connecting first big arm synchronous belt drive unit and first forearm synchronous belt drive unit, and the second connecting axle is used for connecting second big arm synchronous belt drive unit and second forearm synchronous belt drive unit.

By adopting the technical scheme, the volume of the robot arm cylinder can be reduced, and the quality of the mechanical arm is reduced.

The fifth technical scheme adopted by the invention is an improvement on the fourth technical scheme, and the fifth technical scheme adopted by the invention is as follows: and a cross roller bearing is arranged in the connecting joint of the small arm assembly and the large arm assembly, and is sleeved outside the connecting shaft and used for rotatably connecting the small arm joint and the large arm joint.

By adopting the technical scheme, the joint structure can be simplified, the installation is convenient, the quality of the joint is reduced, and the height of the joint is reduced.

The sixth technical solution adopted by the present invention is an improvement of the second technical solution, and the sixth technical solution adopted by the present invention is: the first large arm synchronous belt transmission unit, the second large arm synchronous belt transmission unit, the first small arm synchronous belt transmission unit and the second small arm synchronous belt transmission unit respectively comprise a driving belt wheel, a driven belt wheel and a synchronous belt for synchronously connecting the driving belt wheel and the driven belt wheel; the large arm driving belt wheel is connected with the transmission shaft, the large arm driven belt wheel and the small arm driving belt wheel are connected through the connecting shaft, and the small arm driven belt wheel is connected with the lifting nut and the rotating sleeve respectively.

By adopting the technical scheme, the synchronous belt is made of rubber, polyurethane and the like, so that the weight of a transmission part is further reduced for gear and chain transmission, meanwhile, the synchronous belt does not need to be lubricated, is convenient to maintain, and has higher transmission precision.

The seventh technical solution adopted by the present invention is an improvement of the sixth technical solution, and the seventh technical solution adopted by the present invention is: the first large arm synchronous belt transmission unit and the second large arm synchronous belt transmission unit are both arranged in the mounting cavity of the large arm body, and the synchronous belts of the two transmission units are arranged in parallel; in the installation cavity of the forearm arm body, first forearm synchronous belt drive unit and second forearm synchronous belt drive unit are all located, and the synchronous belts of the two drive units are arranged in parallel.

By adopting the technical scheme, the large arm body and the small arm body simultaneously play the functions of the protective cover, the structural design of the large arm assembly and the small arm assembly is simplified, and the quality of the robot is further reduced.

The eighth technical solution adopted by the present invention is an improvement of the seventh technical solution, and the eighth technical solution adopted by the present invention is: the large arm synchronous belt transmission unit and the small arm synchronous belt unit are both provided with eccentric shaft belt wheels, and the large arm synchronous belt and the small arm synchronous belt are both used for adjusting tension through the eccentric shaft belt wheels.

By adopting the technical scheme, the tension of the synchronous belt can be conveniently adjusted, and the reliability of the robot action is improved.

The ninth technical solution adopted by the present invention is an improvement of the first technical solution, and the ninth technical solution adopted by the present invention is: the auxiliary rod is rotatably connected to the front end of the driving arm through a rotating shaft and a bearing, and the other end of the auxiliary rod is rotatably connected to the arm body of the small arm assembly through the rotating shaft and the bearing.

By adopting the technical scheme, the robot can move more flexibly.

The invention has the beneficial effects that: the SCARA robot is an improvement on the prior art, a connecting cylinder between a small arm assembly and a large arm assembly is changed to be arranged between the large arm assembly and a base, and the connecting cylinder is not a moving part any more; the driving motors of all the shafts are arranged in the base in a rear mode, and meanwhile the power of the motors is increased to improve the running speed of the robot without increasing the weight of moving parts; the moving arms are driven by synchronous belts, so that the weight of moving parts is reduced to the maximum extent. The weight and the moment of inertia of the robot body are reduced, so that the running speed and the beat of the robot are effectively improved, and the production of the high-speed SCARA robot is feasible.

Drawings

Fig. 1 is a schematic perspective view of a horizontal articulated robot according to a first embodiment of the present invention.

Fig. 2 is an isometric view of fig. 1 from another angle.

Fig. 3 is a schematic sectional structure view of fig. 1.

Fig. 4 is a schematic structural view of a base of the horizontal multi-joint robot according to the first embodiment of the present invention.

Fig. 5 is a schematic structural view of a large arm assembly of the horizontal multi-joint robot according to the first embodiment of the present invention.

Fig. 6 is a schematic structural view of a small arm assembly of the horizontal multi-joint robot according to the first embodiment of the present invention.

Detailed Description

In order to better understand the present invention, the following examples are further provided to illustrate the present invention, but the present invention is not limited to the following examples.

The first embodiment of the invention provides a horizontal multi-joint robot which is a flip-chip robot and can be widely applied to sorting or carrying work of assembly line parts.

As shown in fig. 1 and 2, the horizontal multi-joint robot includes a base 2, a large arm assembly 4, a small arm assembly 5 and an actuating shaft 6, the base 2 includes a base 21 and an arm cylinder 22, a driving unit is disposed in the base 21, a transmission unit is disposed in the arm cylinder 22, the large arm assembly 4 is connected with the base 21 through the arm cylinder 22 and can rotate around a J1 axis under the driving of the driving unit, a driving arm 3 is disposed between the large arm assembly 5 and the arm cylinder 22, the driving arm 3 can rotate around a J1 axis under the driving of the driving unit, the front end of the driving arm 3 is connected with an attachment rod 31, the other end of the attachment rod 31 is connected with the small arm assembly 5, the driving arm 3, the auxiliary rod 31, the large arm component 4 and the small arm component 5 form a plane four-bar linkage mechanism, the small arm component 5 can rotate around the axis of J2 under the drive of the plane four-bar linkage mechanism, and the action shaft 6 is arranged at the other end of the small arm component 5 and can rotate around the axis of J3 and can move up and down.

The structure and the operation of the horizontal articulated robot according to the first embodiment of the present invention will be further described with reference to the accompanying drawings.

Referring to fig. 3 and 4, the structure of the base 2 is described as follows:

the base 2 includes a base 21 and an arm cylinder 22 disposed below the base 21. The base 21 is provided with a mounting hole therein, and the mounting hole is used for being connected with a ceiling mounting surface through a bolt. The first motor 11, the second motor 12, the third motor 13 and the fourth motor 14 are mounted above the base 21. Be equipped with the installation cavity in the base 21, be equipped with drive belt assembly and band pulley assembly in the installation cavity.

The arm cylinder 22 includes an outer arm cylinder 221, a first transmission shaft 222, a second transmission shaft 223, a third transmission shaft 224, and a fourth transmission shaft 225. The first transmission shaft 222, the second transmission shaft 223, the third transmission shaft 224, and the fourth transmission shaft 225 are hollow shafts.

The outer arm cylinder 221 is vertically installed on the lower side surface of the base 21 through a screw, and a first transmission shaft 222, a second transmission shaft 223, a third transmission shaft 224 and a fourth transmission shaft 225 are coaxially arranged in the outer arm cylinder 221.

The first transmission shaft 222 is rotatably disposed in the outer arm cylinder 221 through a bearing, the upper end of the first transmission shaft 222 extends out of the outer cylinder wall and extends to the base mounting cavity, the upper end portion is fixedly connected with a first transmission belt wheel 226 through a screw, and a through hole is formed in the axial center portion of the first transmission belt wheel 226.

The second transmission shaft 223 is rotatably disposed in the first transmission shaft 222 through a bearing, the upper end of the second transmission shaft 223 extends out of the first transmission shaft 222 and the first transmission belt wheel 226 and extends to the base installation cavity, the upper end portion is fixedly connected with the second transmission belt wheel 227 through a screw, and a through hole is formed in the axial center portion of the second transmission belt wheel 227.

The third transmission shaft 224 is rotatably disposed in the second transmission shaft 223 through a bearing, the upper end of the third transmission shaft 224 extends out of the second transmission shaft 223 and the second transmission belt wheel 227 and extends to the base mounting cavity, the upper end portion is fixedly connected with the third transmission belt wheel 228 through a screw, and a through hole is formed in the axial center portion of the third transmission belt wheel 228.

The fourth transmission shaft 225 is rotatably disposed on the third transmission shaft 224 through a bearing, an upper end of the fourth transmission shaft 225 extends out of the third transmission shaft 224 and extends to the base mounting cavity through a third transmission pulley 228, and a fourth transmission pulley 229 is sleeved on an upper end portion of the fourth transmission shaft 225.

The first motor 11 drives the first transmission belt wheel 226 through the first synchronous belt 15 to drive the first transmission shaft 222 to rotate around the axis of J1 in the outer arm cylinder 221; the second motor 12 drives the second transmission belt wheel 227 through the second synchronous belt 16 to drive the second transmission shaft 223 to rotate around the axis of J1 in the first transmission shaft 222; the third motor 13 drives the third driving pulley 228 through the third timing belt 17 to drive the third driving shaft 224 to rotate around the axis of J1 in the second driving shaft 223; the fourth motor 14 drives the fourth driving pulley 229 through the fourth timing belt 18 to rotate the fourth driving shaft 225 around the axis of J1 on the third driving shaft 224.

The first synchronous belt 15, the second synchronous belt 16, the third synchronous belt 17 and the fourth synchronous belt 18 form a transmission belt assembly arranged in the base mounting cavity. The first drive pulley 226, the second drive pulley 227, the third drive pulley 228 and the fourth drive pulley 229 form a pulley assembly disposed within the base mounting cavity.

Referring to fig. 3 and 2, the planar four-bar linkage is described as follows:

the driving arm 3 is arranged between the arm cylinder assembly 22 and the large arm assembly 4, the rear end of the driving arm 3 is provided with a through hole penetrating through the upper surface and the lower surface of the driving arm, the driving arm 3 is sleeved at the lower end of the second transmission shaft 223 through the through hole, and a bearing is arranged between the driving arm 3 and the second transmission shaft 223. The upper side surface of the rear end of the driving arm 3 is fixed to the lower end surface of the first transmission shaft 222 through a screw, and is driven by the first transmission shaft 222 to rotate around the axis of J1. The front end of the driving arm 3 is rotatably connected with one end of an attached rod 31 through a rotating shaft and a bearing, and the other end of the attached rod 31 is rotatably connected with the lower side surface of the small arm component 5 through the rotating shaft and the bearing. The large arm assembly 4, the driving arm 3, the attachment rod 31 and the small arm assembly 5 form a planar four-bar linkage mechanism, and the four-bar linkage mechanism is preferably parallelogram or trapezoid.

Referring to fig. 3, 5 and 6, the large arm assembly 4, the small arm assembly 5 and the connection relationship therebetween are described as follows:

the boom assembly 4 includes a boom body 41, a first boom timing belt 42, a second boom timing belt 43, a first boom driving pulley 44(441), a second boom driving pulley 45(451), a first boom timing belt tension pulley 46 and a second boom timing belt tension pulley 47, which are provided in the boom body 41.

The upper side surfaces of the front end and the rear end of the large arm body 41 are respectively provided with a circular truncated cone mounting part protruding out of the upper side surface, a mounting cavity is formed in the large arm body along the length direction of the large arm body, a first step through hole is formed in the rear end of the mounting cavity in a penetrating mode through the circular truncated cone mounting part, and a second step through hole is formed in the front end of the mounting cavity in a penetrating mode through the circular truncated cone mounting part.

The large arm body 41 is inserted into the lower end part of the second transmission shaft 223 through the large hole of the step through hole, and is driven by the second transmission shaft to rotate around the axis of J1. The lower end of the third transmission shaft 224 passes through the second transmission shaft 223 and the upper side surface of the large arm body 41 and extends to the mounting cavity of the large arm body, the first large arm driving pulley 44 is fixedly mounted on the third transmission shaft 224 through bolts, and a bearing is arranged between the third transmission shaft 224 and the large arm body 41. The first large arm driving pulley 44 is provided with a through hole at the axial center portion. The lower end of the fourth transmission shaft 225 passes through the third transmission shaft 224 and the first large arm driving pulley 44 and extends to the installation cavity of the large arm body, the second large arm driving pulley 45 is sleeved at the lower end of the fourth transmission shaft 225, and a bearing is arranged between the fourth transmission shaft 225 and the second large arm driving pulley 45.

The forearm assembly 5 comprises a forearm arm body 51, a first forearm synchronous belt 52, a second forearm synchronous belt 53, a first forearm driving and driven pulley 54(541), a second forearm driving and driven pulley 55(551), a first forearm synchronous belt tension pulley 56 and a second forearm synchronous belt tension pulley 57 which are arranged in the forearm arm body 51.

The downside of the front end of forearm arm body 51 and rear end all is equipped with the round platform installation department of salient downside, is equipped with the installation cavity along its length direction in the forearm arm body 51, and the rear end of installation cavity link up the round platform installation department and is equipped with first step through-hole, and the front end of installation cavity link up the upper and lower downside and be equipped with second through-hole and third step through-hole.

The circular truncated cone mounting part on the upper side of the rear end of the large arm body 41 is opposite to the circular truncated cone mounting part on the lower side of the front end of the small arm body 51, and the outer diameters are equal. The large holes of the step through holes of the two circular truncated cone mounting parts are connected to form a mounting hole, and a crossed roller bearing is arranged in the mounting hole and plays a role in rotatably connecting the large arm assembly and the small arm assembly.

The second connecting shaft 72 is a hollow shaft and can be rotatably arranged in small holes of step through holes at the rear end of the large arm body 41 and the front end of the small arm body 51 through bearings, the upper end of the second connecting shaft 72 penetrates through a circular table mounting part at the front end of the small arm body 51 and extends to a second mounting cavity of the small arm body, the upper end part is fixedly sleeved with a second small arm driving belt wheel 55, and a through hole is formed in the axial center part of the second small arm driving belt wheel 55; the lower end of the second connecting shaft 72 passes through the circular truncated cone mounting part at the rear end of the large arm body 41 and extends to the large arm body mounting cavity, a first large arm driven belt wheel 441 is fixedly sleeved at the lower end part, and a through hole is formed in the axial center part of the first large arm driven belt wheel 441. The first connecting shaft 71 and the second connecting shaft 72 are coaxially arranged, the upper end of the first connecting shaft 71 passes through the second connecting shaft 72 and the second small arm driving pulley 55 to extend to the upper part of the mounting cavity of the arm body 51, and the upper end part of the first connecting shaft is fixedly sleeved with the first small arm driving pulley 54; the lower end of the first connecting shaft 71 passes through the second connecting shaft 72 and the first large arm driven pulley 441 and extends to the lower part of the mounting cavity of the large arm body 41, and the second large arm driven pulley 451 is fixedly sleeved at the lower end. Bearings are provided between the first connecting shaft 71 and the first large arm driven pulley 441 and the second small arm driving pulley 55.

The first large arm synchronous belt 42 is synchronously connected with the first large arm main belt pulley 44 and the first large arm driven belt pulley 441, and the first large arm synchronous belt 42 drives the second connecting shaft 72 to rotate around the axis of J2 in the joints of the large arm assembly and the small arm assembly. The second large arm timing belt 43 is synchronously connected with the second large arm main pulley 45 and the second large arm driven pulley 451, and the second large arm timing belt 43 drives the first connecting shaft 71 to rotate around the axis of J2 in the second connecting shaft 72. The first large arm timing belt 42 is tensioned by a first large arm timing belt tension pulley 46, and the second large arm timing belt 42 is tensioned by a second large arm timing belt tension pulley 47.

Referring to fig. 2 and 3, the action shaft 6 and its connection relationship with the small arm assembly 5 are described as follows:

the operation shaft 6 includes an execution shaft 61, a lifting nut 62, and a rotation sleeve 63.

The outer peripheral surface of the actuating shaft 61 is provided with a spiral thread and a spline type groove, and an internal spline matched with the spline type groove is arranged in the rotating sleeve 63; the lifting nut 62 is provided with an internal helical thread adapted to the helical thread. The lifting nut 62 is rotatably mounted in the second through hole of the small arm assembly 5 through a connecting flange, and a bearing is arranged between the lifting nut 62 and the connecting flange. The lower end of the lifting nut 62 extends into the mounting cavity of the small arm body 41, and the first small arm driven pulley 541 is fixedly mounted at the lower end of the lifting nut 62 by a screw. The rotating sleeve 63 is rotatably mounted in the third step through hole of the small arm assembly 5 through a connecting flange, and a bearing is arranged between the rotating sleeve 63 and the connecting flange. The upper end of the rotating sleeve 63 extends into the small arm assembly mounting cavity, and the second small arm driven pulley 551 is fixedly mounted at the upper end of the rotating sleeve 63 through screws.

The first small arm synchronous belt 52 is synchronously connected with the first small arm driven pulley 541 and the first small arm driving pulley 54, and the first small arm synchronous belt 52 drives the lifting nut 62 to rotate around the axis of the J3 in the forward direction or the reverse direction to drive the actuating shaft 61 to move linearly upwards or downwards.

The second small arm synchronous belt 53 is synchronously connected with the second small arm driven belt pulley 551 and the second small arm driving belt pulley 55, the second small arm synchronous belt 53 drives the rotating sleeve 63 to rotate around the axis of J3, and the rotating sleeve 63 drives the driving execution shaft 61 to rotate synchronously. The lower end of the execution shaft 61 is connected with an end effector, so that the sorting of parts on the production line is realized. The first forearm synchronous belt 52 is tensioned by a first forearm synchronous belt tensioning wheel 56, and the second forearm synchronous belt 53 is tensioned by a second forearm synchronous belt tensioning wheel 57.

The working mode of the embodiment 1 is as follows:

the first motor 11 drives the first transmission shaft 222 to rotate through the first synchronous belt 15 and the first transmission belt wheel 226, and drives the driving arm 3 to rotate around the axis of J1; the driving arm 3 drives the small arm component 5 to rotate around the J2 axis through the attachment rod 31.

The second motor 12 drives the second transmission shaft 223 to rotate through the second synchronous belt 16 and the second transmission belt wheel 227, and drives the large arm assembly 4 to rotate around the axis of the J1.

The third motor 13 drives the third transmission shaft 224 to rotate through the third synchronous belt 17 and the third transmission belt wheel 228, and the third transmission shaft 224 drives the lifting nut 62 to rotate through the first large arm main belt wheel 44, the first large arm synchronous belt 42, the first large arm driven belt wheel 441, the second connection shaft 72, the first small arm driving belt wheel 54, the first small arm synchronous belt 52 and the first small arm driven belt wheel 541, so as to drive the executing shaft 61 to move up and down.

The fourth motor 14 drives the fourth transmission shaft 225 to rotate through the fourth synchronous belt 18 and the fourth transmission belt wheel 229, the fourth transmission shaft 225 drives the rotary sleeve 63 to rotate through the second large arm main belt wheel 45, the second large arm synchronous belt 43, the second large arm driven belt wheel 451, the first connecting shaft 71, the second small arm driving belt wheel 55, the second small arm synchronous belt 53 and the second small arm driven belt wheel 551, and the actuating shaft 61 is driven to rotate around the axis of J3.

In order to reduce the weight, the large arm body 41 and the small arm body 51 are preferably made of a light material having a certain strength and toughness, such as an aluminum alloy, a titanium alloy, or a carbon fiber.

In the above embodiment, the small arm assembly 5 is located above the large arm assembly 4, in other embodiments, the small arm assembly 5 may also be located below the large arm assembly 4, the adjustment attachment rod 31 is connected below the driving arm 3, and the large arm assembly 4, the driving arm 3, the attachment rod 31, and the small arm assembly 5 form a planar four-bar linkage mechanism, preferably, the four-bar linkage mechanism is parallelogram or trapezoid.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (9)

1. The utility model provides a horizontal multi-joint robot, includes base, big arm component, forearm subassembly and action axle, its characterized in that: the base includes base and an arm section of thick bamboo, be equipped with drive unit in the base, be equipped with transmission unit in the arm section of thick bamboo, big arm subassembly passes through an arm section of thick bamboo and pedestal connection and can rotate around J1 axis under drive unit's drive, be equipped with the actuating arm between big arm subassembly and the arm section of thick bamboo, the actuating arm can rotate around J1 axis under drive unit's drive, the front end of actuating arm is connected with attaches the pole, attach the other end connection forearm subassembly of pole, the actuating arm, the attaching rod, big arm subassembly, forearm subassembly component becomes plane four-bar mechanism, the forearm subassembly can rotate around J2 axis under plane four-bar mechanism's drive, the other end that the forearm subassembly was located to the action axle just can rotate and elevating movement around J3 axis.

2. The horizontal multi-joint robot of claim 1, wherein: the driving unit comprises a first motor, a second motor, a third motor and a fourth motor; the transmission unit comprises a first transmission shaft, a second transmission shaft, a third transmission shaft and a fourth transmission shaft which are coaxially arranged; the large arm assembly is provided with a first large arm synchronous belt transmission unit and a second large arm synchronous belt transmission unit, and the small arm assembly is provided with a first small arm synchronous belt transmission unit and a second small arm synchronous belt transmission unit; the action shaft is provided with an execution shaft, a lifting nut and a rotating sleeve; the first motor drives the first transmission shaft to drive the driving arm to rotate around the axis of J1; the second motor drives the second transmission shaft to drive the big arm assembly to rotate around the axis of J1; a third motor drives a third transmission shaft to rotate, and the third transmission shaft drives a lifting nut to rotate through a first large arm synchronous belt transmission unit and a first small arm synchronous belt transmission unit so as to drive an execution shaft to move up and down; the fourth motor drives the fourth transmission shaft to rotate, and the fourth transmission shaft drives the rotary sleeve to rotate through the second large-arm synchronous belt transmission unit and the second small-arm synchronous belt transmission unit so as to drive the execution shaft to rotate around the axis of J3.

3. The horizontal multi-joint robot of claim 2, wherein: the first motor, the second motor, the third motor and the fourth motor respectively drive the first transmission shaft, the second transmission shaft, the third transmission shaft and the fourth transmission shaft to rotate through synchronous belts.

4. The horizontal multi-joint robot of claim 3, wherein: big arm component and forearm subassembly pass through the connecting axle to be connected, and the connecting axle includes first connecting axle and the second connecting axle of coaxial setting, and first connecting axle is used for connecting first big arm synchronous belt drive unit and first forearm synchronous belt drive unit, and the second connecting axle is used for connecting second big arm synchronous belt drive unit and second forearm synchronous belt drive unit.

5. The horizontal multi-joint robot of claim 4, wherein: and a cross roller bearing is arranged in the connecting joint of the small arm assembly and the large arm assembly, and is sleeved outside the connecting shaft and used for rotatably connecting the small arm joint and the large arm joint.

6. The horizontal multi-joint robot of claim 2, wherein: the first large arm synchronous belt transmission unit, the second large arm synchronous belt transmission unit, the first small arm synchronous belt transmission unit and the second small arm synchronous belt transmission unit respectively comprise a driving belt wheel, a driven belt wheel and a synchronous belt for synchronously connecting the driving belt wheel and the driven belt wheel; the large arm driving belt wheel is connected with the transmission shaft, the large arm driven belt wheel and the small arm driving belt wheel are connected through the connecting shaft, and the small arm driven belt wheel is connected with the lifting nut and the rotating sleeve respectively.

7. The horizontal multi-joint robot of claim 6, wherein: the first large arm synchronous belt transmission unit and the second large arm synchronous belt transmission unit are both arranged in the mounting cavity of the large arm body, and the synchronous belts of the two transmission units are arranged in parallel; in the installation cavity of the forearm arm body, first forearm synchronous belt drive unit and second forearm synchronous belt drive unit are all located, and the synchronous belts of the two drive units are arranged in parallel.

8. The horizontal multi-joint robot of claim 7, wherein: the large arm synchronous belt transmission unit and the small arm synchronous belt unit are both provided with eccentric shaft belt wheels, and the large arm synchronous belt and the small arm synchronous belt are both used for adjusting tension through the eccentric shaft belt wheels.

9. The horizontal multi-joint robot of claim 1, wherein: the auxiliary rod is rotatably connected to the front end of the driving arm through a rotating shaft and a bearing, and the other end of the auxiliary rod is rotatably connected to the arm body of the small arm assembly through the rotating shaft and the bearing.

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