CN210452705U

CN210452705U - Universal four-axis horizontal joint robot

Info

Publication number: CN210452705U
Application number: CN201920913109.2U
Authority: CN
Inventors: 王新莉; 毕建平; 邵凤翔; 刘希东; 刘豫喜; 吕晨玮; 刘文娜
Original assignee: Henan Institute of Engineering
Current assignee: Henan Institute of Engineering
Priority date: 2019-06-18
Filing date: 2019-06-18
Publication date: 2020-05-05
Anticipated expiration: 2029-06-18

Abstract

The utility model discloses a general four-axis horizontal joint robot belongs to the robotechnology field. The four-axis horizontal joint robot comprises a first swing arm, a second swing arm and a lifting mechanism for driving the first swing arm and the second swing arm to move up and down; the lifting mechanism comprises a screw rod, a first sliding block arranged in a left-right sliding mode and a second sliding block arranged in an up-down sliding mode; the first sliding block is connected with the second sliding block through a connecting rod in rotating connection, and the first sliding block is in threaded connection with the screw rod. The utility model discloses a setting has the elevating system of screw rod, first slider and second slider to connect first slider and second slider through rotatable connecting rod, reciprocating of the accurate control second slider and mount pad of being convenient for, and can reduce the terminal volume of second swing arm, thereby the mount pad of the second swing arm below of being convenient for can get into narrower and small space and operate, in order to improve the commonality of this robot.

Description

Universal four-axis horizontal joint robot

Technical Field

The utility model relates to the technical field of robot, specifically a general four-axis horizontal joint robot.

Background

The robot refers to a machine device capable of automatically performing work, such as an automatic welding device, an automatic screw tightening device, a manipulator for automatically grabbing objects, and the like. With the development of internet information technology, robots are more and more widely applied, and in the future, it is a necessary trend that robots gradually replace traditional manual labor. The four-axis horizontal robot is high in flexibility and widely applied to the field of assembly and processing of parts.

However, the conventional four-axis horizontal robot has a spline screw rod rotating and lifting structure at the tail end, so that the height is high, the size is large, and the operation cannot be performed in a narrow space; for example, chinese patent CN205497476U discloses a four-axis horizontal multi-joint robot, which can provide momentum in the vertical direction by arranging a screw rod between the third axis and the fourth axis and a sliding mounting rack on the screw rod, but the volume of the end of the robot is increased due to the arrangement of the screw rod and the sliding mounting rack on the end, thereby limiting the application of the robot in many fields. Therefore, the four-axis horizontal robot needs to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a horizontal joint robot of general four-axis to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a universal four-axis horizontal joint robot comprises a base, a first swing arm, a second swing arm, a mounting base and a lifting mechanism for driving the first swing arm and the second swing arm to move up and down; the lifting mechanism comprises a screw rod, a first sliding block arranged in a left-right sliding mode and a second sliding block arranged in an up-down sliding mode; the first sliding block is connected with the second sliding block through a connecting rod in rotating connection, and the first sliding block is in threaded connection with the screw rod.

According to the preferred scheme adopted by the utility model, a group of first sliding rods are respectively arranged at two sides of the screw rod, and the first sliding rods are connected with the first sliding blocks in a sliding manner; the base on the symmetry be equipped with two sets of first mounting panels, first slide bar fix between two sets of first mounting panels, screw rod and first mounting panel rotate and be connected to pass one of them a set of first mounting panel and link to each other with first motor.

The utility model adopts another preferred proposal that the second sliding blocks are sleeved on a plurality of groups of second sliding rods which are arranged on the base; the second slide bar and the second slide block are in sliding connection, and a limiting block is arranged at the top of the second slide bar.

According to another preferred scheme adopted by the utility model, a first installation cylinder is installed on the edge of the second sliding block, the top of the first installation cylinder is rotatably connected with a first rotating shaft, and the first rotating shaft is fixedly connected with a first swing arm; the first mounting cylinder is internally provided with a second motor, and the second motor is connected with the first rotating shaft.

The utility model adopts another preferred scheme, a second installation cylinder is fixed at the bottom of one end of the first swing arm, which is far away from the first rotating shaft, the bottom of the second installation cylinder is rotatably connected with a second rotating shaft, and the second rotating shaft is fixedly connected with the second swing arm; and a third motor is arranged in the second mounting cylinder and connected with the second rotating shaft.

The utility model discloses an another kind of preferred scheme, the second swing arm on be equipped with the fourth motor, fourth motor and third pivot link to each other, third pivot bottom install the mount pad.

The utility model adopts another preferred proposal that the top of the second swing arm is provided with a first through hole and the bottom thereof is provided with a second through hole; an electric push rod and a third slide rod are installed in the second swing arm, the electric push rod is connected with a third slide block, and the third slide block is in sliding connection with the third slide rod; and the top of the third sliding block passes through the first through hole and is provided with a fourth motor, and the third rotating shaft passes through the second through hole and the third sliding block to be connected with the fourth motor.

Compared with the prior art, the utility model discloses an above-mentioned technical scheme can gain following technological effect:

(1) the utility model discloses simple structure, the commonality is high, and convenient for operation, have first motor through the setting, the screw rod, but the elevating system of horizontal gliding first slider and gliding second slider from top to bottom, and connect first slider and second slider through rotatable connecting rod, be convenient for reciprocating of accurate control second slider and mount pad, can save the harmonic reduction gear among the horizontal robot of traditional four-axis, and can reduce terminal height and the volume of second swing arm, thereby can reduce cost, and the mount pad of the second swing arm below of being convenient for can get into narrower and smaller space and operate, in order to improve the commonality of this robot.

(2) The utility model discloses still through set up electric putter, third slider and third slide bar in the second swing arm, can drive the mount pad and carry out the removal of horizontal direction to can further improve the flexibility of robot, and can be convenient for the mount pad remove about and operate in getting into narrow and small space.

Drawings

Fig. 1 is a schematic structural diagram of a general four-axis horizontal joint robot.

Fig. 2 is a sectional view taken along line a-a in fig. 1.

Fig. 3 is a partially enlarged view of B in fig. 1.

The labels in the figures are illustrated as follows: 1-base, 2-universal wheel, 3-first mounting plate, 4-first motor, 5-first sliding block, 6-screw rod, 7-first sliding rod, 8-second sliding block, 9-connecting rod, 10-second sliding rod, 11-limiting block, 12-first mounting cylinder, 13-second motor, 14-first rotating shaft, 15-first swing arm, 16-second mounting cylinder, 17-third motor, 18-second rotating shaft, 19-second swing arm, 20-fourth motor, 21-third rotating shaft, 22-mounting seat, 23-first through hole, 24-second through hole, 25-third sliding block, 26-electric push rod and 27-third sliding rod.

Detailed Description

The following specific embodiments are specifically and clearly described in the technical solutions of the present application with reference to the drawings provided in the present specification. The drawings in the specification are for clarity of presentation of the technical solutions of the present application, do not represent shapes or sizes in actual production or use, and the reference numerals of the drawings are not to be construed as limiting the claims concerned.

In addition, in the description of the present application, terms used should be construed broadly, and specific meanings of the terms may be understood by those skilled in the art according to actual situations. For example, the term "mounted" as used in this application may be defined as a fixed mounting that is removable or a fixed mounting that is not removable, etc.; the terms "set" and "provided" as used herein may be defined as either a contact or a non-contact arrangement, etc.; the terms "connected" and "connected," as used herein, can be defined as fixedly connected or movably connected, or the like; the term "match" as used herein may be defined as the same or similar in shape or size, etc.; all the terms of orientation used are used with reference to the drawings or are based on the direction defined by the actual situation and the common general knowledge.

Example 1

Referring to fig. 1, the embodiment provides a universal four-axis horizontal joint robot, which includes a base 1, a first swing arm 15, a second swing arm 19, a mounting base 22, and a lifting mechanism for driving the first swing arm 15 and the second swing arm 19 to move up and down; wherein, four groups of universal wheels 2 are arranged at the bottom of the base 1, which is convenient for the robot to move; the mounting seat 22 is arranged below the second swing arm 19 and is used for mounting processing tools such as a welding tool, a screwdriver, a manipulator and the like so as to carry out various processing operations, and the universality of the robot is improved; the lifting mechanism comprises a screw rod 6, a first sliding block 5 arranged in a left-right sliding mode and a second sliding block 8 arranged in an up-down sliding mode; the first sliding block 5 is connected with a second sliding block 8 through a connecting rod 9 which is connected in a rotating mode, and the first sliding block 5 is in threaded connection with the screw 6.

Specifically, a group of first sliding rods 7 is respectively arranged on two sides of the screw 6, and the first sliding rods 7 are in sliding connection with the first sliding block 5; two groups of first mounting plates 3 are symmetrically arranged on the base 1, the first sliding rod 7 is fixed between the two groups of first mounting plates 3, and the screw 6 is rotatably connected with the first mounting plates 3 and penetrates through one group of first mounting plates 3 to be connected with the first motor 4; one end of the connecting rod 9 is rotatably connected with the second sliding block 8, and the other end of the connecting rod is rotatably connected with the first sliding block 5; the second sliding blocks 8 are sleeved on a plurality of groups of second sliding rods 10, and the plurality of groups of second sliding rods 10 are arranged on the base 1; the second sliding rod 10 is connected with the second sliding block 8 in a sliding manner, and the top of the second sliding rod is provided with a limiting block 11.

The first motor 4 is a normal and reverse rotation speed reduction motor commonly used in the prior art, and the specific model and structure thereof are not described herein again. The first motor 4 is driven to drive the screw 6 to rotate, and the first sliding block 5 is connected with the first sliding rod 7 in a sliding manner, so that the first sliding block 5 can be driven to move left and right along the direction of the first sliding rod 7 by the rotation of the screw 6; and because the first slider 5 is connected with the second slider 8 through the connecting rod 9 which is rotatably connected, and the second slider 8 is connected with the second slide bar 10 which is vertically arranged in a sliding manner, the second slider 8 can be driven to move up and down along the direction of the second slide bar 10 by the left-right movement of the first slide bar 7.

Through the setting of first motor 4, screw rod 6 and connecting rod 9, can improve the stability of second slider 8 when reciprocating, and be convenient for control the removal of second slider 8 to can save traditional harmonic speed reducer ware, reduce cost, and can reduce 19 terminal height of second swing arm and volume, so that the mount pad 22 of 19 below of second swing arm can get into narrower and small space and operate, so can further improve the commonality of this robot.

In addition, a first mounting cylinder 12 is mounted on the edge of the second sliding block 8, a first rotating shaft 14 is rotatably connected to the top of the first mounting cylinder 12, and the first rotating shaft 14 is fixedly connected with a first swing arm 15; a second motor 13 is installed in the first installation cylinder 12, and the second motor 13 is connected with a first rotating shaft 14; a second mounting cylinder 16 is fixed at the bottom of one end of the first swing arm 15 away from the first rotating shaft 14, a second rotating shaft 18 is rotatably connected at the bottom of the second mounting cylinder 16, and the second rotating shaft 18 is fixedly connected with a second swing arm 19; a third motor 17 is installed in the second installation cylinder 16, and the third motor 17 is connected with a second rotating shaft 18; the second swing arm 19 is provided with a fourth motor 20, the fourth motor 20 is connected with a third rotating shaft 21, and the bottom of the third rotating shaft 21 is provided with a mounting seat 22.

The second motor 13, the third motor 17 and the fourth motor 20 are common forward and reverse rotation speed reduction motors in the prior art, and therefore the specific structure and the specific model are not described herein again. Through driving second motor 13, third motor 17 or fourth motor 20, can drive first swing arm 15, second swing arm 19 or mount pad 22 and rotate to can improve the flexibility of robot, be convenient for carry out various accurate automatic processing operations.

Example 2

Referring to fig. 3, in order to facilitate the mounting seat 22 below the second swing arm 19 to move in the horizontal direction, this embodiment is improved on the basis of embodiment 1, specifically, the top of the second swing arm 19 is provided with a first through hole 23, and the bottom thereof is provided with a second through hole 24; an electric push rod 26 and a third slide bar 27 are installed in the second swing arm 19, the electric push rod 26 is connected with a third slide block 25, and the third slide block 25 is connected with the third slide bar 27 in a sliding manner; the top of the third sliding block 25 is provided with a fourth motor 20 through the first through hole 23, and the third rotating shaft 21 is connected with the fourth motor 20 through the second through hole 24 and the third sliding block 25.

The electric push rod is also a common electric push rod in the prior art, and the specific structure of the electric push rod is not described. The electric push rod 26 is driven to extend and retract, so that the third slide block 25 can be driven to slide along the direction of the third slide bar 27, and then the mounting seat 22 can be driven to move in the horizontal direction, so that the flexibility of the robot can be further improved, and the mounting seat 22 can be conveniently moved left and right to enter a narrow space for operation.

When the four-axis horizontal joint robot is used, the robot is moved to a place needing to be operated through the universal wheels 2, and then the first motor 4 can be driven to drive the second sliding block 8 and the second motor 13, the second swing arm 19 and the mounting seat 22 to move up and down; then, the first swing arm 15 can be driven to rotate by driving the second motor 13, the second swing arm 19 can be driven to rotate by driving the third motor 17, the mounting seat 22 can be driven to move horizontally left and right by driving the electric push rod 26, and the mounting seat 22 can be driven to rotate by driving the fourth motor 20.

To sum up, the utility model discloses a setting has first motor 4, screw rod 6, but first slider 5 of horizontal slip and gliding second slider 8's elevating system from top to bottom, and connect first slider 5 and second slider 8 through rotatable connecting rod 9, be convenient for reciprocating of accurate control second slider 8 and mount pad 22, can save the harmonic reduction gear among the horizontal robot of traditional four-axis, and can reduce 19 terminal height and the volume of second swing arm, thereby can reduce cost, and the mount pad 22 of the 19 below of second swing arm of being convenient for can get into narrower and smaller space and operate, in order to improve the commonality of this robot. Additionally, the utility model discloses a set up electric putter 26, third slider 25 and third slide bar 27 in second swing arm 19, can drive mount pad 22 and carry out the removal of horizontal direction to can further improve the flexibility of robot, and can be convenient for remove about mount pad 22 and move and operate in getting into narrow and small space.

It should be noted that the above embodiments are only specific and clear descriptions of technical solutions and technical features of the present application. However, to those skilled in the art, aspects or features that are part of the prior art or common general knowledge are not described in detail in the above embodiments.

In addition, the technical solutions of the present application are not limited to the above-described embodiments, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined, so that other embodiments that can be understood by those skilled in the art may be formed.

Claims

1. A universal four-axis horizontal joint robot comprises a base (1), a first swing arm (15), a second swing arm (19) and a mounting seat (22), wherein a plurality of groups of universal wheels (2) are mounted at the bottom of the base (1), and the mounting seat (22) is arranged below the second swing arm (19), and is characterized by further comprising a lifting mechanism for driving the first swing arm (15) and the second swing arm (19) to move up and down, wherein the lifting mechanism comprises a screw rod (6), a first sliding block (5) arranged in a left-right sliding mode and a second sliding block (8) arranged in a vertical sliding mode; the first sliding block (5) is connected with the second sliding block (8) through a connecting rod (9) in rotating connection, and the first sliding block (5) is in threaded connection with the screw rod (6).

2. A universal four-axis horizontal joint robot as claimed in claim 1, wherein a set of first sliding rods (7) is respectively arranged at two sides of the screw (6), and the first sliding rods (7) are slidably connected with the first sliding blocks (5); base (1) on the symmetry be equipped with two sets of first mounting panels (3), first slide bar (7) fix between two sets of first mounting panels (3), screw rod (6) rotate with first mounting panel (3) and be connected to pass one of them a set of first mounting panel (3) and link to each other with first motor (4).

3. A universal four-axis horizontal articulated robot according to claim 1, characterized in that said second sliding blocks (8) are fitted on a plurality of groups of second sliding bars (10), said plurality of groups of second sliding bars (10) being mounted on said base (1); the second sliding rod (10) is connected with the second sliding block (8) in a sliding mode, and the top of the second sliding rod is provided with a limiting block (11).

4. The universal four-axis horizontal joint robot is characterized in that a first mounting cylinder (12) is mounted on the edge of the second sliding block (8), a first rotating shaft (14) is rotatably connected to the top of the first mounting cylinder (12), and the first rotating shaft (14) is fixedly connected with a first swing arm (15); and a second motor (13) is arranged in the first mounting cylinder (12), and the second motor (13) is connected with the first rotating shaft (14).

5. The universal four-axis horizontal joint robot as claimed in claim 1 or 4, wherein a second mounting cylinder (16) is fixed to the bottom of one end of the first swing arm (15) far away from the first rotating shaft (14), a second rotating shaft (18) is rotatably connected to the bottom of the second mounting cylinder (16), and the second rotating shaft (18) is fixedly connected with a second swing arm (19); and a third motor (17) is arranged in the second mounting cylinder (16), and the third motor (17) is connected with a second rotating shaft (18).

6. A universal four-axis horizontal joint robot as claimed in claim 5, characterized in that said second swing arm (19) is provided with a fourth motor (20), said fourth motor (20) is connected to a third rotating shaft (21), and a mounting seat (22) is installed at the bottom of said third rotating shaft (21).

7. A universal four-axis horizontal joint robot as claimed in claim 6, characterized in that said second swing arm (19) is provided with a first through hole (23) at the top and a second through hole (24) at the bottom; an electric push rod (26) and a third slide bar (27) are installed in the second swing arm (19), the electric push rod (26) is connected with a third slide block (25), and the third slide block (25) is in sliding connection with the third slide bar (27); the top of the third sliding block (25) penetrates through the first through hole (23) to be provided with a fourth motor (20), and the third rotating shaft (21) penetrates through the second through hole (24) and the third sliding block (25) to be connected with the fourth motor (20).