CN110977951A - horizontal robot - Google Patents
horizontal robot Download PDFInfo
- Publication number
- CN110977951A CN110977951A CN201911394619.4A CN201911394619A CN110977951A CN 110977951 A CN110977951 A CN 110977951A CN 201911394619 A CN201911394619 A CN 201911394619A CN 110977951 A CN110977951 A CN 110977951A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- horizontal
- horizontal swing
- reducer
- spline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 45
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000002441 reversible effect Effects 0.000 claims description 2
- 229920001296 polysiloxane Polymers 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000003466 welding Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000005507 spraying Methods 0.000 abstract description 4
- 230000007704 transition Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 6
- 239000000741 silica gel Substances 0.000 description 6
- 229910002027 silica gel Inorganic materials 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提供了一种水平机器人，包括底座；第一水平摆臂可旋转地安装于底座上；第一驱动单元，设于底座上，其使第一水平摆臂相对底座旋转；第二水平摆臂可旋转地安装于第二连接端上；第二驱动单元，设于第二水平摆臂上，其使第二水平摆臂相对第二连接端旋转；丝杠花键组件，安装于第二水平摆臂上，其具有丝杆花键；第三驱动单元和第四驱动单元安装于第二水平摆臂上，第三驱动单元和四驱动单元联合运动，可以驱动完成丝杠花键实现在水平方向上的正反转旋转运动。本结构简单可靠，减少了影响精度的过渡件，精度得到提高，可以满足轻工电子行业的高速高精的零件搬运、装配、焊接、喷涂等工序流程，大大提高流水线的生产效率。
The invention provides a horizontal robot, which includes a base; a first horizontal swing arm is rotatably mounted on the base; a first drive unit is arranged on the base, which makes the first horizontal swing arm rotate relative to the base; a second horizontal swing arm The arm is rotatably installed on the second connecting end; the second driving unit is arranged on the second horizontal swing arm, which makes the second horizontal swing arm rotate relative to the second connecting end; the screw spline assembly is installed on the second On the horizontal swing arm, it has a screw spline; the third drive unit and the fourth drive unit are installed on the second horizontal swing arm, and the third drive unit and the fourth drive unit move together, and the screw spline can be driven to complete the Positive and negative rotational movement in the horizontal direction. The structure is simple and reliable, the transition parts affecting the accuracy are reduced, the accuracy is improved, and it can meet the high-speed and high-precision parts handling, assembly, welding, spraying and other processes in the light industry and electronics industry, and greatly improve the production efficiency of the assembly line.
Description
Technical Field
The embodiment of the invention relates to the technical field of industrial robots, in particular to a horizontal robot.
Background
The horizontal multi-joint industrial robot is suitable for plane positioning, is widely applied to various application fields such as assembly, welding, sealing and carrying which need high efficiency at present, but because the existing horizontal robot has a relatively complex structure and more transition pieces and is not modularized, the weight of a robot end mechanism in the prior art is large, and is extremely unfavorable for high speed and high precision, so that the universal precision is not high, and the mass production is not facilitated.
Disclosure of Invention
The invention aims to provide a horizontal robot, and aims to solve the problems that the horizontal robot in the prior art is complex in structure and not beneficial to batch production.
The horizontal robot provided by the embodiment of the invention comprises:
a horizontal robot, comprising: a base; the first horizontal swing arm is provided with a first connecting end and a second connecting end, and the first connecting end of the first horizontal swing arm is rotatably arranged on the base; the first driving unit is arranged on the base and enables the first horizontal swing arm to rotate relative to the base; the second horizontal swing arm is provided with a rotating end, and the rotating end of the second horizontal swing arm is rotatably arranged on the second connecting end; the second driving unit is arranged on the second horizontal swinging arm and enables the second horizontal swinging arm to rotate relative to the second connecting end; the screw rod spline assembly is arranged on one side, away from the rotating end, of the second horizontal swing arm and is provided with a screw rod spline which penetrates through the second horizontal swing arm from top to bottom; the third driving unit is arranged on the second horizontal swing arm and used for driving the lead screw spline to do up-and-down spiral motion; the fourth driving unit is arranged on the second horizontal swing arm and is arranged at an interval with the third driving unit, and the fourth driving unit is used for driving the lead screw spline to move up and down along the height direction of the second horizontal swing arm; the third driving unit and the fourth driving unit move jointly to drive the lead screw spline to complete forward and reverse rotation movement in the horizontal direction.
As a further preferred scheme, the first driving unit includes a first servo motor and a first reducer, the first servo motor is fixedly disposed on the base, and the first reducer is connected to the first servo motor and the first connection end.
As a preferable scheme, the second driving unit includes a second servo motor and a second speed reducer, the second servo motor is fixed to the second horizontal swing arm, a rotation shaft of the second servo motor downwardly passes through the rotation end and is connected to the second speed reducer, and the second speed reducer is disposed between the rotation end and the second connection end. The speed reducer can provide larger torque, and the operation reliability is ensured.
As a preferable scheme, the third driving unit comprises a third servo motor, a third speed reducer and a first belt wheel, and the third speed reducer is connected with the third servo motor and the first belt wheel; the first belt wheel drives the screw spline to do up-and-down spiral motion through the first synchronous belt; the fourth driving unit comprises a fourth servo motor, a fourth speed reducer and a second belt wheel, the fourth speed reducer is connected with the fourth servo motor and the second belt wheel, and the second belt wheel drives a lead screw spline to lift through a second synchronous belt; the third driving unit and the fourth driving unit move jointly to drive the lead screw spline shaft to rotate.
As a preferable scheme, the screw spline assembly further comprises a spline nut, a first driven gear, a ball screw nut and a second driven gear, and the screw spline assembly passes through the ball screw nut, the first driven gear, the spline nut and the second driven gear; the first driven gear is matched and fixed with the spline nut and is connected with a first belt wheel through a first synchronous belt; and the second driven gear is matched and fixed with the ball screw nut and is connected with a second belt pulley through a second synchronous belt.
Preferably, the first speed reducer, the second speed reducer, the third speed reducer and the fourth speed reducer are harmonic speed reducers.
As a preferable scheme, the screw rod spline assembly further comprises a protective cover, and the protective cover is mounted on the second connecting arm and covers the screw rod spline assembly, the third driving unit and the fourth driving unit.
As a preferable scheme, the lower ends of the first horizontal swing arm and the second horizontal swing arm are provided with anti-collision rods.
As a preferred scheme, the anti-collision rod comprises a fixing bolt and a silica gel sleeve, the fixing bolt is vertically arranged, and the silica gel sleeve is sleeved with the fixing bolt.
As a preferred scheme, the lead screw spline assembly further comprises a lead screw spline protecting cover, and the lead screw spline protecting cover is arranged on the periphery of the lead screw spline and located on the lower side of the second horizontal swing arm.
Compared with the prior art, the horizontal robot provided by the invention is simple and reliable, reduces transition pieces influencing the precision, improves the precision, can meet the process flows of high-speed and high-precision part carrying, assembling, welding, spraying and the like in the light industry and electronics industry, and greatly improves the production efficiency of a production line.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a perspective view of a horizontal robot in the present invention;
FIG. 2 is a front view of the horizontal robot of the present invention;
FIG. 3 is a cross-sectional view of FIG. 2;
detailed description of the embodiments reference is made to the accompanying drawings in which:
a base-1,
A first drive unit-2, a first servo motor-21, a first speed reducer-22,
A first horizontal swing arm-3, a first connecting end-31, a second connecting end-32,
A second drive unit-4, a second servo motor-41, a second reducer-42,
A second horizontal swing arm-5, a base-51, a first motor plate-511, a second motor plate-512,
A third driving unit-6, a third servo motor-61, a third reducer-62, a first belt wheel-63,
A fourth driving unit-7, a fourth servo motor-71, a second belt wheel-72,
A protective cover-8,
A screw spline assembly-9, a screw spline-91, a second driven gear-92, a ball screw nut-93, a first driven gear-94, a spline nut-95, a screw spline shield-96,
An anti-collision rod-10, a fixing bolt-101 and a silica gel sleeve-102.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "inner", "outer" and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-3, the invention discloses a horizontal robot, which can be applied to the processing procedures of carrying, inserting, assembling, welding, spraying and the like. The horizontal robot comprises a base 1, wherein the base 1 can be installed on a production line; the first horizontal swing arm 3 is provided with a first connecting end 31 and a second connecting end 32, and the first connecting end 31 is rotatably arranged on the base; the first driving unit 2 is arranged on the base and enables the first horizontal swing arm 3 to rotate relative to the base; a second horizontal swing arm 5 having a rotation end rotatably mounted on the second connection end; the second driving unit 4 is arranged on the second horizontal swinging arm and enables the second horizontal swinging arm 5 to rotate relative to the second connecting end; the screw rod spline assembly 9 is arranged on one side, far away from the rotating end, of the second horizontal swing arm 5 and is provided with a screw rod spline 91 which penetrates through the second horizontal swing arm from top to bottom; the third driving unit 6 is mounted on the second horizontal swing arm and used for driving the lead screw spline 91 to horizontally rotate; and the fourth driving unit 7 is installed on the second horizontal swing arm and is arranged at an interval with the third driving unit, and the fourth driving unit 7 is used for driving the screw spline 91 to move up and down along the height direction of the second horizontal swing arm 5.
As shown in fig. 3, the first driving unit includes a first servo motor 21 and a first reducer 22, the first servo motor is fixed in the base, and a rotating shaft of the first servo motor extends out of the base. The first decelerator 22 is disposed at an upper end of the first servo motor 21 to decelerate the first servo motor. The upper end of the first speed reducer is connected with a first connecting end 31 of the first horizontal swing arm 3.
The second driving unit 4 includes a second servo motor 41 and a second reducer 42, the second servo motor 41 is fixed on the rotation end of the second horizontal swing arm, the rotation shaft thereof downwardly passes through the rotation end and is connected to the second reducer 42, and the second reducer is disposed between the rotation end and the second connection end. The speed reducer can provide larger torque, and the operation reliability is ensured.
In order to make the structure of the second swing arm more compact, the stability of the structure is improved. A base 51 is arranged on the second horizontal swing arm, the base 51 is provided with a plurality of side plates, and a first motor plate 511 and a second motor plate 512 are arranged on the side plates, and the first motor plate 511 and the second motor plate 512 are horizontally arranged and are respectively used for fixing a third driving unit and a fourth driving unit. The third driving unit and the fourth driving unit are fixed by one base, so that the structural rigidity is favorably improved, and the high-precision requirement of transmission can be ensured.
As shown in fig. 3, the third driving unit 6 includes a third servo motor 61, a third reducer 62 and a first pulley 63, the third servo motor 61 is fixed to the first motor plate, the third reducer connects the third servo motor and the first pulley, and the first pulley 63 drives the screw spline 91 to rotate horizontally through a first synchronous belt. The fourth driving unit 7 includes a fourth servo motor 71, a fourth speed reducer and a second belt pulley 72, the fourth servo motor is fixed to the second motor plate 512, the fourth speed reducer is connected to the fourth servo motor 71 and the second belt pulley 72, and the second belt pulley 72 drives the screw spline 91 to ascend and descend through a second synchronous belt.
The screw spline assembly 9 further comprises a spline nut 95, a first driven gear 94, a screw nut 95 and a second driven gear 92, the screw spline assembly passing through the ball screw nut 93, the first driven gear 94, the ball screw nut 93 and the second driven gear 92. The first driven gear is matched with a spline nut 95 and is connected with a first belt wheel through a first synchronous belt, and the spline nut rotates to drive a screw rod spline to move horizontally and circumferentially. The second driven gear matches ball screw nut 93 to connect the second belt pulley through the second hold-in range, the screw nut is rotatory to drive the lead screw spline and carry out the axial motion activity.
Preferably, the first speed reducer 22, the second speed reducer 42, the third speed reducer 62 and the fourth speed reducer are all harmonic speed reducers, which is beneficial to improving the stability of transmission.
In order to avoid the dust to get into terminal joint, horizontal robot still sets up a protection casing 8, protection casing 8 is installed on the second linking arm and the cladding lead screw spline assembly, third drive unit and fourth drive unit. The protection casing is equipped with the wiring mouth, and the wiring mouth is located the top of rotating part.
The lower ends of the first horizontal swing arm 3 and the second horizontal swing arm 5 are both provided with an anti-collision rod 10 so as to play a role in rotation protection. The anti-collision rod comprises a fixing bolt 101 and a silica gel sleeve 102, the fixing bolt 101 is vertically arranged and fixed with the first horizontal swing arm 3 or the second horizontal swing arm 5, and the silica gel sleeve 102 is sleeved with the fixing bolt. When the first horizontal swing arm is in a national degree and the second horizontal swing arm is in excessive swing, the silica gel sleeve 102 can play a role in buffering protection, and damage to the robot is reduced.
For avoiding lead screw spline assembly lower extreme to receive the striking and get into the dust, lead screw spline assembly still is equipped with lead screw spline guard shield 96, and lead screw spline periphery is located to lead screw spline guard shield and is located second horizontal swinging arm downside.
During operation, the first driving unit 2 drives the first horizontal swing arm 3 to rotate around the base, and the second driving unit 4 drives the second horizontal swing arm 5 to rotate around the second connecting part 32 of the first horizontal swing arm; the third servo motor 61 drives the first belt pulley 63 to rotate, the first synchronizing wheel 94 rotates under the driving action of the first belt pulley 63 and the first synchronizing belt, the spline nut 95 rotates, and the ball spline performs up-and-down spiral motion; the fourth servo motor 71 drives the second belt pulley 72 to rotate, the second synchronous pulley 92 rotates under the driving action of the second belt pulley 72 and the second synchronous belt, and the ball screw nut 93 rotates, so that the ball screw performs lifting motion; when the third servo motor and the fourth servo motor synchronously rotate forwards and backwards, the spline of the screw rod is driven to rotate forwards and backwards.
The horizontal robot adopts a modular design and has strong universality. The servo motor and the harmonic speed reducer are adopted to drive each joint, so that the precision and the speed of the tail end and the processing production efficiency are obviously improved, and the requirements of the technical procedures of carrying, inserting, assembling, welding, spraying and the like in the electronic light industry are effectively met.
It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention and to provide a more thorough understanding of the present disclosure. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911394619.4A CN110977951A (en) | 2019-12-30 | 2019-12-30 | horizontal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911394619.4A CN110977951A (en) | 2019-12-30 | 2019-12-30 | horizontal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110977951A true CN110977951A (en) | 2020-04-10 |
Family
ID=70078803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911394619.4A Withdrawn CN110977951A (en) | 2019-12-30 | 2019-12-30 | horizontal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110977951A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847320A (en) * | 2021-02-23 | 2021-05-28 | 西双版纳望旺生物科技有限公司 | Horizontal four-joint robot |
| CN115055789A (en) * | 2022-08-08 | 2022-09-16 | 江苏菲达宝开电气股份有限公司 | Laser tracking robot welding system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181546A (en) * | 2002-11-29 | 2004-07-02 | Kitano Engineering Co Ltd | Arm type transferring apparatus |
| CN105345807A (en) * | 2015-11-30 | 2016-02-24 | 无锡艾度科技有限公司 | Efficient robot |
| US20180229378A1 (en) * | 2017-02-16 | 2018-08-16 | Fanuc Corporation | Horizontal articulated robot and reverse installation method thereof |
| CN110315311A (en) * | 2019-07-24 | 2019-10-11 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Feeding robot |
| CN211867811U (en) * | 2019-12-30 | 2020-11-06 | 广州数控设备有限公司 | Horizontal robot |
-
2019
- 2019-12-30 CN CN201911394619.4A patent/CN110977951A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181546A (en) * | 2002-11-29 | 2004-07-02 | Kitano Engineering Co Ltd | Arm type transferring apparatus |
| CN105345807A (en) * | 2015-11-30 | 2016-02-24 | 无锡艾度科技有限公司 | Efficient robot |
| US20180229378A1 (en) * | 2017-02-16 | 2018-08-16 | Fanuc Corporation | Horizontal articulated robot and reverse installation method thereof |
| CN110315311A (en) * | 2019-07-24 | 2019-10-11 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Feeding robot |
| CN211867811U (en) * | 2019-12-30 | 2020-11-06 | 广州数控设备有限公司 | Horizontal robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847320A (en) * | 2021-02-23 | 2021-05-28 | 西双版纳望旺生物科技有限公司 | Horizontal four-joint robot |
| CN115055789A (en) * | 2022-08-08 | 2022-09-16 | 江苏菲达宝开电气股份有限公司 | Laser tracking robot welding system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204209684U (en) | The high speed SCARA robot that full fixed electrical machinery drives | |
| CN102806565B (en) | Fruit picking robot manipulator | |
| CN2917979Y (en) | Industrial mechanical arm | |
| CN203697006U (en) | Intelligent five-shaft manipulator | |
| CN203495947U (en) | Horizontal multi-joint robot not driven by belt | |
| CN102476383B (en) | Planar articulated robot arm mechanism | |
| CN104742116A (en) | Novel five-degree-of-freedom robot mechanism | |
| CN107745393A (en) | Plane joint manipulator for bearing ring forging and stamping loading and unloading | |
| CN211867811U (en) | Horizontal robot | |
| CN110977951A (en) | horizontal robot | |
| CN109760029A (en) | Platypelloid type one armed robot based on synchronous belt pulley transmission | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| CN206998924U (en) | A six-degree-of-freedom robotic arm based on a rotating platform | |
| CN104827488A (en) | Vertical position driving mechanism of four-freedom-degree high-speed conveying robot | |
| CN106040896B (en) | A kind of serial-parallel mirror punching press loading and unloading manipulator | |
| CN201881384U (en) | Arm mechanism of planar multi-joint robot | |
| CN105479451B (en) | A kind of planar redundant robot | |
| CN104723324A (en) | Four-degree-of-freedom electric multi-joint mechanical arm | |
| CN107150334B (en) | Plane joint robot | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN109278031B (en) | Hollow six-joint industrial robot | |
| CN204566133U (en) | A kind of four-degree-of-freedom high speed carrying robot mechanism | |
| CN104626114B (en) | The detachable light-duty sorting machine people of a kind of multiple degrees of freedom | |
| CN109760036A (en) | Apery both arms cooperation robot based on synchronous belt pulley transmission | |
| CN108326832A (en) | A kind of five degree of freedom high speed parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200410 |
|
| WW01 | Invention patent application withdrawn after publication |