CN210307893U - Four-axis industrial robot - Google Patents
Four-axis industrial robot Download PDFInfo
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- CN210307893U CN210307893U CN201920993249.5U CN201920993249U CN210307893U CN 210307893 U CN210307893 U CN 210307893U CN 201920993249 U CN201920993249 U CN 201920993249U CN 210307893 U CN210307893 U CN 210307893U
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Abstract
The utility model provides a four-axis industrial robot, wherein a robot body comprises a base component as a waist joint shaft I of the robot body, a shaft II and a shaft III for changing the motion posture and the operation range of the robot body and a wrist component; the second shaft and the third shaft comprise a first parallelogram mechanism, a second parallelogram mechanism and a fork-shaped inverse quadrilateral mechanism, and the wrist component is used as a fourth shaft of the robot body; the first parallelogram mechanism is rotatably connected with the base component, and the first parallelogram mechanism, the second parallelogram mechanism and the wrist component are sequentially hinged; the fork-type reverse quadrilateral mechanism is respectively hinged with the first parallelogram mechanism and the second parallelogram mechanism. The robot has the characteristics of strong flexibility and quick action, and can realize the up-and-down large-amplitude swing and the front-and-back large-range expansion of the track of the end effector so as to adapt to the requirements of postures at different positions and greatly improve the automation level of loading and unloading and stacking and the loading and unloading efficiency in specific fields.
Description
Technical Field
The utility model relates to the technical field of robot, more specifically say, relate to a four-axis industrial robot.
Background
Traditional four-axis pile up neatly industrial robot is applicable to heavily loaded conventional application occasion usually, and robot body structure comprises big arm, forearm, tripod, link mechanism and buffer mostly, and the structure is heavy, bulky, response speed is slow, with high costs, hardly satisfies and plays a role in the transport, loading and unloading, picking up, unloading field of light load, high-speed requirement.
The loading and unloading of the multi-purpose parallel connection DELTA or SCARA robot are carried out on the occasions with light load and high speed requirements, although the applicability is strong, the precision is high, and the cost is high. Therefore, on the premise of safety, economy, practicality and reliability, how to fully exert the advantages of heavy load and high rigidity of the robot link mechanism for loading and unloading operation and how to highlight the characteristics of flexibility, changeability, realization of different form poses, quick action and the like of the planar multi-joint robot becomes one of important subjects required to be researched by industrial robots at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome shortcoming and not enough among the prior art, provide a four-axis industrial robot, this four-axis industrial robot has the flexibility stronger and the swift characteristics of action, realizes end effector orbit wide-ranging back and forth swing from top to bottom to adapt to the requirement of different positions gesture, improved loading and unloading, the automation level of pile up neatly and unloading efficiency on the specific field greatly.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a four-axis industrial robot which characterized in that: comprises a robot body; the robot body comprises a base assembly serving as a first waist joint shaft of the robot body, a second shaft, a third shaft and a wrist assembly, wherein the second shaft and the third shaft are used for changing the motion posture and the operation range of the robot body, and the wrist assembly is used for connecting and finely adjusting a clamp; the second shaft and the third shaft comprise a first parallelogram mechanism, a second parallelogram mechanism and a fork-shaped inverse quadrilateral mechanism, and the wrist component is used as a fourth shaft of the robot body; the first parallelogram mechanism is rotatably connected with the base component, and the first parallelogram mechanism, the second parallelogram mechanism and the wrist component are sequentially hinged; the fork-type reverse quadrilateral mechanism is hinged with the first parallelogram mechanism and the second parallelogram mechanism respectively.
In the above scheme, the utility model discloses the advantage of the high rigidity of full play robot, this robot simple structure has nimble changeable different forms and the swift characteristics of action. The utility model discloses a combined motion of two parallelograms and the reverse quadrangle of a fork type realizes that the end effector orbit is big swing from top to bottom and around flexible on a large scale to the requirement of adaptation different positions gesture has improved the automation level and the specific field of loading and unloading, pile up neatly greatly and has gone up unloading efficiency.
The second shaft and the third shaft comprise a rotating support assembly, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a first tripod, a second tripod, a first driving device and a second driving device;
the rotary support component is rotatably connected with the base component, is connected with one end of the second connecting rod through a first driving device and is hinged with one end of the first connecting rod through a first hinge shaft; the other ends of the first connecting rod and the second connecting rod are hinged with the first tripod through a second hinge shaft and a third hinge shaft respectively; one ends of the third connecting rod and the fourth connecting rod are hinged with the first tripod through a fourth hinged shaft and a second hinged shaft respectively, and the other ends of the third connecting rod and the fourth connecting rod are hinged with the second tripod through a fifth hinged shaft and a sixth hinged shaft respectively; one end of the fifth connecting rod is hinged with the second tripod through a fifth hinge shaft, and the other end of the fifth connecting rod is hinged with the sixth connecting rod through a seventh hinge shaft; and one end of the sixth connecting rod, which is far away from the fifth connecting rod, is connected with the rotary support assembly through a second driving device.
The first connecting rod, the second connecting rod, the connecting line of the first hinge shaft and the first driving device, and the connecting line of the second hinge shaft and the third hinge shaft form a first parallelogram mechanism.
And the connecting line of the third connecting rod, the fourth connecting rod, the third hinge shaft and the fourth hinge shaft and the connecting line of the fifth hinge shaft and the sixth hinge shaft form a second parallelogram mechanism.
And the connecting lines of the second connecting rod, the fifth connecting rod, the sixth connecting rod, the third hinge shaft and the fifth hinge shaft form a fork-shaped inverse quadrilateral mechanism.
The first driving device comprises a second servo motor and a second joint reducer; the second joint reducer comprises an input end, an output end and an installation fixed end, the installation fixed end of the second joint reducer is connected with one side of the rotating support assembly through a bolt, the output end of the second joint reducer is connected with the second connecting rod, the input end of the second joint reducer is connected with the second servo motor, and the second servo motor is driven to rotate to drive the second connecting rod to rotate.
The second driving device comprises a third servo motor and a third joint speed reducer; the third joint speed reducer comprises an input end, an output end and an installation fixed end, the installation fixed end of the third joint speed reducer is connected to the other side of the rotating support assembly through a bolt, the output end of the third joint speed reducer is connected with a sixth connecting rod, and the input end of the third joint speed reducer is connected with a third servo motor to realize that the third servo motor drives the sixth connecting rod to rotate;
the second servo motor and the third servo motor are symmetrically arranged on two sides of the rotary support component and are arranged oppositely.
The utility model drives a first parallelogram and a second parallelogram link mechanism through a second servo motor and a second joint reducer; the fork-type inverse quadrilateral linkage mechanism is driven by the third servo motor and the third joint speed reducer to realize the up-and-down large-amplitude swing and the front-and-back large-range expansion of the robot and change the motion attitude and the operation range of the robot. Meanwhile, the second servo motor and the third servo motor are symmetrically arranged on two sides of the rotary support assembly, so that inertia change can be effectively reduced, and the robot can move faster.
The first connecting rod, the second connecting rod and the sixth connecting rod are respectively provided with a limiting block so as to avoid singularities of the first parallelogram mechanism, the second parallelogram mechanism and the fork-type inverse quadrilateral mechanism in the kinematics solution.
The wrist assembly comprises a wrist frame body, a fourth servo motor, a fourth joint reducer and an end effector for connecting the clamp; the wrist frame body is connected with the second tripod; the end effector is connected with the fourth joint reducer; and the fourth servo motor is arranged on the wrist frame body and is connected with the fourth joint reducer, so that the end effector is driven to rotate around the axis direction of the end effector.
The rotatable connection of the rotating support assembly and the base assembly is as follows: the base assembly comprises a base, a first servo motor, a primary gear reduction mechanism and a first joint reducer; the first servo motor is arranged on the top surface of the base and is connected with the input end of the primary gear reduction mechanism; the mounting fixed end of the first joint speed reducer is fixedly connected to the top surface of the base through a bolt, the input end of the first joint speed reducer is connected with the output end of the primary gear speed reducing mechanism, and the output end of the first joint speed reducer is connected with the rotary support assembly; the rotation of the first servo motor is converted and output through the primary gear reduction mechanism, and the rotation of the rotary support assembly around the vertical line of the base assembly at-170 degrees on the horizontal plane is realized.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect: the utility model discloses a four-axis industrial robot has the stronger and swift characteristics of action of flexibility, realizes that the end effector orbit is wide-ranging around and swings from top to bottom to adapt to the requirement of different positions gesture, improved loading and unloading, pile up neatly automation level and the unloading efficiency in the specific field greatly.
Drawings
FIG. 1 is a three-dimensional model of a robot body according to the present invention;
fig. 2 is a schematic diagram of the initial position attitude of the robot of the present invention (link six vertical horizontal planes);
figure 3 is a side view of the initial position attitude of the robot of the present invention;
FIG. 4 is a schematic diagram of the robot trajectory peak attitude of the present invention;
FIG. 5 is a schematic diagram of the robot trajectory closest point pose of the present invention;
FIG. 6 is a schematic diagram of the robot trajectory farthest point attitude of the present invention;
FIG. 7 is a schematic diagram of the lowest point attitude of the robot trajectory of the present invention;
FIG. 8 is a schematic diagram of the robot of the present invention;
wherein, 1 is a base component, 2 is a rotary support component, 3 is a first connecting rod, 4 is a second connecting rod, 5 is a third connecting rod, 6 is a fourth connecting rod, 7 is a fifth connecting rod, 8 is a sixth connecting rod, 9 is a first tripod, 10 is a second tripod, 11 is a wrist component, 12 is a first servo motor, 13 is a first joint reducer, 14 is a second servo motor, 15 is a second joint reducer, 16 is a third servo motor, 17 is a third joint reducer, 18 is a fourth servo motor, 19 is a fourth joint reducer, 20 is an end effector, 101 is a first articulated shaft, 102 is a second articulated shaft, 103 is a third articulated shaft, 104 is a fourth articulated shaft, 105 is a fifth articulated shaft, 106 is a sixth articulated shaft, and 107 is a seventh articulated shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1 to 8, the utility model discloses a four-axis industrial robot includes the robot body, and this robot body includes as robot body waist joint axle one base subassembly 1, the axle two and the axle three that are used for changing robot body motion gesture and operation range and be used for connecting and finely tune wrist subassembly 11 of anchor clamps, and wherein, axle two and axle three include first parallelogram mechanism, second parallelogram mechanism and the anti-quadrangle mechanism of forked type, and wrist subassembly 11 is as robot body's axle four. The first parallelogram mechanism is rotatably connected with the base component 1, the first parallelogram mechanism, the second parallelogram mechanism and the wrist component 11 are sequentially hinged, and the fork-shaped reverse quadrilateral mechanism is respectively hinged with the first parallelogram mechanism and the second parallelogram mechanism.
Specifically, the second shaft and the third shaft comprise a rotating support assembly 2, a first connecting rod 3, a second connecting rod 4, a third connecting rod 5, a fourth connecting rod 6, a fifth connecting rod 7, a sixth connecting rod 8, a first tripod 9, a second tripod 10, a first driving device and a second driving device, wherein, the rotary support component 2 is rotatably connected with the base component 1, the rotary support component 2 is connected with one end of the second connecting rod 3 through the first driving device, the other ends of the first connecting rod 3 and the second connecting rod 4 are hinged with the first tripod 9 through a second hinge shaft 102 and a third hinge shaft 103 respectively, one ends of the third connecting rod 5 and the fourth connecting rod 6 are hinged with the first tripod 9 through a fourth hinge shaft 104 and a second hinge shaft 102 respectively, and the other ends of the third connecting rod 5 and the fourth connecting rod 6 are hinged with the second tripod 10 through a fifth hinge shaft 105 and a sixth hinge shaft 106 respectively; one end of the fifth connecting rod 7 is hinged with the second tripod 10 through a fifth hinge shaft 105, the other end is hinged with the sixth connecting rod 8 through a seventh hinge shaft 107, and one end of the sixth connecting rod 8 far away from the fifth connecting rod 7 is connected with the rotating support assembly 2 through a second driving device.
The utility model discloses a first connecting rod 3, second connecting rod 4, first articulated shaft 101 and first drive arrangement line and second articulated shaft 102 and third articulated shaft 103 line form first parallelogram mechanism (see the ABCD of fig. 8). The connection of the third link 5, the fourth link 6, the third hinge shaft 103 and the fourth hinge shaft 104 and the connection of the fifth hinge shaft 105 and the sixth hinge shaft 106 form a second parallelogram mechanism (see BEFG in fig. 8). The second link 4, the fifth link 7, the sixth link 8, and the third hinge shaft 103 and the fifth hinge shaft 105 are connected to form a fork-type inverse quadrilateral mechanism (see CDMF of fig. 8).
The utility model discloses first drive arrangement includes second servo motor 14 and second joint reduction gear 15, and second joint reduction gear 15 includes input, output and installation stiff end, and bolted connection is passed through in one side of rotatory support subassembly 2 to the installation stiff end of second joint reduction gear 15, and the output and the second connecting rod of second joint reduction gear 15 are connected, and the input and the second servo motor 14 of second joint reduction gear 15 are connected, realize 4 rotary motion of 14 rotary drive second connecting rods of second servo motor.
The second driving device comprises a third servo motor 16 and a third joint speed reducer 17, wherein the third joint speed reducer 17 comprises an input end, an output end and a mounting fixed end, the mounting fixed end of the third joint speed reducer 17 is connected to the other side of the rotating support assembly 2 through a bolt, the output end of the third joint speed reducer 17 is connected with the sixth connecting rod 8, and the input end of the third joint speed reducer 17 is connected with the third servo motor 16, so that the third servo motor 16 drives the sixth connecting rod 8 to rotate. The second servo motor 14 and the third servo motor 16 are symmetrically arranged on two sides of the rotary support assembly 2 and are arranged oppositely. The utility model drives a first parallelogram and a second parallelogram link mechanism through a second servo motor 14 and a second joint reducer 15; the fork-type inverse quadrilateral linkage mechanism is driven by the third servo motor 16 and the third joint speed reducer 17 to realize the up-and-down large-amplitude swing and the front-and-back large-range expansion of the robot and change the motion attitude and the operation range of the robot. Meanwhile, the second servo motor 14 and the third servo motor 16 are symmetrically arranged on two sides of the rotating support assembly 2, so that inertia change can be effectively reduced, and the robot can move faster.
Limiting blocks are arranged on the first connecting rod 3, the second connecting rod 4 and the sixth connecting rod 8, so that singularities of the first parallelogram mechanism, the second parallelogram mechanism and the fork-type inverse quadrilateral mechanism in kinematics solution are avoided.
The utility model discloses a wrist subassembly 11 includes wrist support body, fourth servo motor 18, fourth joint reduction gear 19 and is used for joint jig's end effector 20, and wherein, the wrist support body is connected with second tripod 10, and end effector 20 is connected with fourth joint reduction gear 19, and fourth servo motor 18 sets up on the wrist support body and is connected with fourth joint reduction gear 19, realizes that drive end effector 20 is rotatory around its axis direction.
And the rotatable connection of the rotating support assembly 2 and the base assembly 1 means that: the base component 1 comprises a base, a first servo motor 12, a first-stage gear reduction mechanism and a first joint reducer 13, wherein the first servo motor 12 is installed on the top surface of the base and is connected with the input end of the first-stage gear reduction mechanism, the installation fixed end of the first joint reducer 13 is fixedly connected to the top surface of the base through a bolt, the input end of the first joint reducer 13 is connected with the output end of the first-stage gear reduction mechanism, the output end of the first joint reducer 13 is connected with the rotary support component 2, the first servo motor 12 rotates and outputs the converted first-stage gear reduction mechanism, and the rotary support component 2 rotates at the horizontal plane of-170 degrees to 170 degrees around the vertical line of the base component.
The utility model discloses a four-axis industrial robot has the stronger and swift characteristics of action of flexibility, realizes that end effector 20 orbit is wide-ranging around swing from top to bottom and to adapt to the requirement of different positions gesture, has improved the automation level of loading and unloading, pile up neatly greatly and has gone up unloading efficiency in the specific field.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A four-axis industrial robot which characterized in that: comprises a robot body; the robot body comprises a base assembly serving as a first waist joint shaft of the robot body, a second shaft, a third shaft and a wrist assembly, wherein the second shaft and the third shaft are used for changing the motion posture and the operation range of the robot body, and the wrist assembly is used for connecting and finely adjusting a clamp; the second shaft and the third shaft comprise a first parallelogram mechanism, a second parallelogram mechanism and a fork-shaped inverse quadrilateral mechanism, and the wrist component is used as a fourth shaft of the robot body; the first parallelogram mechanism is rotatably connected with the base component, and the first parallelogram mechanism, the second parallelogram mechanism and the wrist component are sequentially hinged; the fork-type reverse quadrilateral mechanism is hinged with the first parallelogram mechanism and the second parallelogram mechanism respectively.
2. Four-axis industrial robot according to claim 1, characterized in that: the second shaft and the third shaft comprise a rotating support assembly, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a first tripod, a second tripod, a first driving device and a second driving device;
the rotary support component is rotatably connected with the base component, is connected with one end of the second connecting rod through a first driving device and is hinged with one end of the first connecting rod through a first hinge shaft; the other ends of the first connecting rod and the second connecting rod are hinged with the first tripod through a second hinge shaft and a third hinge shaft respectively; one ends of the third connecting rod and the fourth connecting rod are hinged with the first tripod through a fourth hinged shaft and a second hinged shaft respectively, and the other ends of the third connecting rod and the fourth connecting rod are hinged with the second tripod through a fifth hinged shaft and a sixth hinged shaft respectively; one end of the fifth connecting rod is hinged with the second tripod through a fifth hinge shaft, and the other end of the fifth connecting rod is hinged with the sixth connecting rod through a seventh hinge shaft; and one end of the sixth connecting rod, which is far away from the fifth connecting rod, is connected with the rotary support assembly through a second driving device.
3. Four-axis industrial robot according to claim 2, characterized in that: the first connecting rod, the second connecting rod, the connecting line of the first hinge shaft and the first driving device, and the connecting line of the second hinge shaft and the third hinge shaft form a first parallelogram mechanism.
4. Four-axis industrial robot according to claim 2, characterized in that: and the connecting line of the third connecting rod, the fourth connecting rod, the third hinge shaft and the fourth hinge shaft and the connecting line of the fifth hinge shaft and the sixth hinge shaft form a second parallelogram mechanism.
5. Four-axis industrial robot according to claim 2, characterized in that: and the connecting lines of the second connecting rod, the fifth connecting rod, the sixth connecting rod, the third hinge shaft and the fifth hinge shaft form a fork-shaped inverse quadrilateral mechanism.
6. Four-axis industrial robot according to claim 2, characterized in that: the first driving device comprises a second servo motor and a second joint reducer; the second joint reducer comprises an input end, an output end and an installation fixed end, the installation fixed end of the second joint reducer is connected with one side of the rotating support assembly through a bolt, the output end of the second joint reducer is connected with the second connecting rod, the input end of the second joint reducer is connected with the second servo motor, and the second servo motor is driven to rotate to drive the second connecting rod to rotate.
7. Four-axis industrial robot according to claim 6, characterized in that: the second driving device comprises a third servo motor and a third joint speed reducer; the third joint speed reducer comprises an input end, an output end and an installation fixed end, the installation fixed end of the third joint speed reducer is connected to the other side of the rotating support assembly through a bolt, the output end of the third joint speed reducer is connected with a sixth connecting rod, and the input end of the third joint speed reducer is connected with a third servo motor to realize that the third servo motor drives the sixth connecting rod to rotate;
the second servo motor and the third servo motor are symmetrically arranged on two sides of the rotary support component and are arranged oppositely.
8. Four-axis industrial robot according to claim 2, characterized in that: the first connecting rod, the second connecting rod and the sixth connecting rod are respectively provided with a limiting block so as to avoid singularities of the first parallelogram mechanism, the second parallelogram mechanism and the fork-type inverse quadrilateral mechanism in the kinematics solution.
9. Four-axis industrial robot according to claim 2, characterized in that: the wrist assembly comprises a wrist frame body, a fourth servo motor, a fourth joint reducer and an end effector for connecting the clamp; the wrist frame body is connected with the second tripod; the end effector is connected with the fourth joint reducer; and the fourth servo motor is arranged on the wrist frame body and is connected with the fourth joint reducer, so that the end effector is driven to rotate around the axis direction of the end effector.
10. Four-axis industrial robot according to claim 2, characterized in that: the rotatable connection of the rotating support assembly and the base assembly is as follows: the base assembly comprises a base, a first servo motor, a primary gear reduction mechanism and a first joint reducer; the first servo motor is arranged on the top surface of the base and is connected with the input end of the primary gear reduction mechanism; the mounting fixed end of the first joint speed reducer is fixedly connected to the top surface of the base through a bolt, the input end of the first joint speed reducer is connected with the output end of the primary gear speed reducing mechanism, and the output end of the first joint speed reducer is connected with the rotary support assembly; the rotation of the first servo motor is converted and output through the primary gear reduction mechanism, and the rotation of the rotary support assembly around the vertical line of the base assembly at-170 degrees on the horizontal plane is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920993249.5U CN210307893U (en) | 2019-06-28 | 2019-06-28 | Four-axis industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920993249.5U CN210307893U (en) | 2019-06-28 | 2019-06-28 | Four-axis industrial robot |
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| CN210307893U true CN210307893U (en) | 2020-04-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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2019
- 2019-06-28 CN CN201920993249.5U patent/CN210307893U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
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