WO2019114206A1 - 一种高性能水平关节四轴机器人 - Google Patents

一种高性能水平关节四轴机器人 Download PDF

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Publication number
WO2019114206A1
WO2019114206A1 PCT/CN2018/089168 CN2018089168W WO2019114206A1 WO 2019114206 A1 WO2019114206 A1 WO 2019114206A1 CN 2018089168 W CN2018089168 W CN 2018089168W WO 2019114206 A1 WO2019114206 A1 WO 2019114206A1
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WO
WIPO (PCT)
Prior art keywords
driving
arm assembly
disposed
module unit
assembly
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Application number
PCT/CN2018/089168
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English (en)
French (fr)
Inventor
田军
刘耀俊
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慧灵科技（深圳）有限公司
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Application filed by 慧灵科技（深圳）有限公司 filed Critical 慧灵科技（深圳）有限公司
Priority to US16/484,738 priority Critical patent/US11014228B2/en
Publication of WO2019114206A1 publication Critical patent/WO2019114206A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
    • F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H25/2454—Brakes; Rotational locks

Definitions

  • the utility model relates to the technical field of horizontal joint four-axis robot equipment, in particular to a high-performance horizontal joint four-axis robot with reasonable structural design, stable operation and high precision.
  • the horizontal joint four-axis robot has been widely used and has a very important role in the environment of handling, processing and assembly. It has the characteristics of flexible movement, compact structure, small space requirement and high repeatability. It can be accurate and fast. To achieve space, the horizontal joint four-axis robot has the advantages of small size, flexibility and low cost compared with the six-axis industrial robot. It will be an inevitable trend in the future industrial pipeline, and the horizontal joint four-axis will be increased. The research of robots is also very necessary. At present, the main brands of horizontal joint four-axis robots at home and abroad include Epson, Hyundai and KUKA.
  • the utility model provides a high-performance horizontal joint four-axis robot with reasonable structural design, stable operation and high precision.
  • the solution to solve the technical problem of the present invention is to provide a high performance horizontal joint four-axis robot, comprising a robot body, a first arm assembly connected to the robot body, and a second arm connected at one end to the first arm assembly. a body assembly and a rotating R-axis assembly disposed on the second arm assembly opposite to the other side of the first arm assembly;
  • the robot body assembly including a linear module unit disposed in a vertical direction along which the linear module can be a fixing base for moving up and down the unit and a driving assembly for driving the fixing base and disposed at a lower portion of the linear module unit;
  • the driving assembly includes a first driving motor disposed at a lower portion of the linear module unit and the first driving motor a coupling connecting the output shaft;
  • a second driving motor for driving the rotation of the first arm assembly relative to the robot body is disposed inside the fixing seat, and the first arm assembly is internally provided for driving the second arm assembly a third driving motor that rotates relative to the first arm assembly;
  • the robot body assembly further comprises a base, a total support plate and a side plate fixedly connected to the total support plate; the linear module unit is located between the total support plate and the side edge; and the linear module unit is closely attached to the main a support plate is disposed; a slider seat is disposed between the linear module unit and the fixed seat; the fixed seat is fixedly connected with the slider seat; and a tank drag chain is arranged on one side of the linear module unit and is used for supporting the tank The towline support plate of the drag chain.
  • the upper part of the base and the lower part of the linear module unit are further provided with a mounting flange for connecting the main support plate and the side plate; the mounting flange is fixedly connected with the main support plate and the lower part of the side plate;
  • the upper part is also fixedly provided with a total outlet plate, a first motor driving plate for driving the operation of the first driving motor; an electromagnetic brake is fixedly arranged on the top of the linear module unit, and a screw shaft and a slider are arranged inside the linear module unit.
  • the seat is movably connected with the screw shaft, and the first driving motor drives the screw shaft to rotate, and drives the slider seat to move up and down relative to the linear module unit.
  • the fixing seat is further provided with a first active synchronous wheel connected to the output shaft of the second driving motor, a first driven synchronous wheel, and a first connecting the first active synchronous wheel and the first driven synchronous wheel.
  • a second rotating bearing is further disposed outside the output shaft of the second driving motor;
  • a connecting portion of the fixing base and the first arm body assembly is provided with a first transmission shaft connected to the first driven synchronous wheel and a second rotating bearing and a third rotating bearing disposed outside the first transmission shaft;
  • a wear-resistant bushing for supporting the second rotating bearing inner ring and preventing the first transmission shaft from axially swaying is disposed under the first driven synchronous wheel.
  • the first arm assembly includes a first arm upper cover, a first arm lower cover, a second active synchronous wheel disposed in the first arm upper cover and the first arm lower cover inner space, a second driven synchronous wheel, a second synchronous belt connecting the second active synchronous wheel and the second driven synchronous wheel, and a second encoder; an output shaft of the third driving motor is connected to the second active synchronous wheel; a third motor driving plate for driving the third driving motor and a wiring board; a fourth rotating bearing is further disposed outside the output shaft of the third driving motor; and the first arm assembly and the second arm body a connecting portion of the assembly is provided with a second transmission shaft connected to the second driven synchronous wheel and a fifth rotating bearing and a sixth rotating bearing disposed outside the second transmission shaft; and in the second driven synchronous wheel A wear sleeve for holding the inner ring of the fifth rotary bearing and preventing axial movement of the second drive shaft is disposed below.
  • the second arm assembly includes a second arm assembly upper cover, a second arm assembly lower cover, an I/O board, a fourth motor drive board, and a first portion disposed on the fourth drive motor a three encoder; one end of the second arm assembly is coupled to the second drive shaft.
  • a lower portion of the fourth driving motor of the rotating R-axis assembly is connected with a flange interface; and an upper portion of the fourth driving motor is connected to the second arm assembly by screws.
  • the high-performance horizontal joint four-axis robot of the present invention simultaneously sets the robot body 11 and the first arm assembly 12 connected to the robot body 11 at one end and the first arm assembly 12
  • the connected second arm assembly 13 and the rotating R-axis assembly disposed on the second arm assembly 13 opposite to the other side of the first arm assembly 12 are disposed in the lower portion of the linear module unit 115, including the first
  • the driving motor 141 and the driving assembly 14 connected to the output shaft of the first driving motor 141 are connected to the driving unit 14 of the first driving motor 141, and the driving component is disposed at the lower portion of the body, which improves the mode of the driving element in the upper part of the body in a conventional manner, and has higher stability and transmission.
  • the performance is excellent, the two robot arms are suspended, and the rotating R-axis is disposed at the end of the second arm assembly 13.
  • the robot arm of this structure is lighter, the length of the arm body is relatively short, the load is relatively small, and the structure is light, which is especially suitable for occasions where light load is required and the end is required for space.
  • FIG. 1 is a schematic view showing the structure of a three-dimensional state of a high performance horizontal joint four-axis robot according to the present invention.
  • FIG. 2 is a schematic view showing a three-dimensional state structure of another high-performance horizontal joint four-axis robot according to the present invention.
  • Fig. 3 is a perspective view showing the perspective state of another high-performance horizontal joint four-axis robot of the present invention.
  • FIG. 4 is a schematic view showing the structure of a side state of a high performance horizontal joint four-axis robot according to the present invention.
  • FIG. 5 is a schematic structural view of a side state of a first arm body of a high performance horizontal joint four-axis robot according to the present invention.
  • FIG. 6 is a schematic view showing the structure of a side state of a second arm body of a high performance horizontal joint four-axis robot according to the present invention.
  • FIG. 7 is a schematic view showing the structure of an explosion state of a high performance horizontal joint four-axis robot according to the present invention.
  • a high performance horizontal joint four-axis robot 1 includes a robot body 11 , a first arm assembly 12 connected to the robot body 11 , and one end and a first arm assembly 12 . a connected second arm assembly 13 and a rotating R-axis assembly disposed on the second arm assembly 13 opposite to the other side of the first arm assembly 12; the robot body 11 assembly including a straight line disposed in a vertical direction a module unit 115, a fixing base 111 movable up and down along the linear module unit 115, and a driving assembly 14 for driving the fixing base 111 to move and disposed in a lower portion of the linear module unit 115; the driving assembly 14 is disposed on the straight line a first driving motor 141 at a lower portion of the module unit 115 and a coupling 142 connected to an output shaft of the first driving motor 141; and a driving body 1 for driving the first arm assembly 12 relative to the robot body 11 is disposed inside the fixing base 111 a rotating second drive motor 116,
  • the rotary R-axis assembly on the other side of the first arm assembly 12 is coupled to the lower portion of the linear module unit 115, includes a first drive motor 141, and is coupled to the output shaft of the first drive motor 141.
  • the driving component 14 is disposed on the lower part of the body, which improves the mode of the driving part in the upper part of the body in the conventional manner, has higher stability and excellent transmission performance, two robot arms are suspended, and the rotating R axis is disposed in the second arm body assembly.
  • the robot arm of this structure is lighter and the arm length is shorter.
  • the load is relatively small and the structure is light, which is especially suitable for occasions with light load and end space requirements.
  • the robot body 11 assembly further includes a base 112, a total support plate 113, and a side plate 114 fixedly coupled to the main support plate 113; the linear module unit 115 is located between the main support plate 113 and the side edge 114; And the linear module unit 115 is disposed close to the main support plate 113; a slider seat 118 is disposed between the linear module unit 115 and the fixed base 111; the fixed base 111 is fixedly connected with the slider base 118; The group unit 115 is provided with a tank drag chain 151 and a drag chain support plate 15 for supporting the tank drag chain 151.
  • the upper portion of the base 112 and the lower portion of the linear module unit 115 are further provided with a mounting flange 1121 for connecting the main support plate 113 and the side plate 114; the mounting flange 1121 is fixed to the lower portion of the main support plate 113 and the side plate 114.
  • a first outlet plate 1123 is disposed on the upper portion of the mounting flange 1121, and a first motor driving plate 1124 for driving the first driving motor 141 is mounted.
  • the linear module unit 115 is fixedly disposed with an electromagnetic brake 1151 at the top.
  • the linear module unit 115 is internally provided with a screw shaft.
  • the slider seat 118 is movably connected to the screw shaft.
  • the first driving motor 141 drives the screw shaft to rotate, and drives the slider holder 118 to move up and down relative to the linear module unit 115.
  • the fixing base 111 is further provided with a first active synchronous wheel 1162 connected to the output shaft of the second driving motor 116, a first driven synchronous wheel 1164, and the first active synchronous wheel 1162 and the first slave.
  • an output shaft of the second driving motor 116 a first rotating bearing is further disposed on the outer side;
  • a first transmission shaft 119 connected to the first driven synchronous wheel 1164 and a first transmission shaft are disposed at a connecting portion of the fixing base 111 and the first arm assembly 12 a second rotating bearing 1193 and a third rotating bearing 1192 on the outer side of the 119; and a bottom ring for holding the second rotating bearing 1193 against the inner ring of the second rotating bearing 1193 under the first driven synchronous wheel 1164
  • the dynamic wear-resistant bushing 1191 has
  • the first arm assembly 12 includes a first arm upper cover 122, a first arm lower cover 121, and a first arm upper cover 122 and a first arm lower cover 121.
  • the third driving motor 125 The output shaft is connected to the second active synchronous wheel 1251; further includes a third motor driving plate 123 for driving the third driving motor 125 to operate and a wiring board 126;
  • the third driving motor 125 is further provided with an outer side of the output shaft a four-rotation bearing; a second transmission shaft 127 connected to the second driven synchronous wheel 1253 and disposed outside the second transmission shaft 127 at a connection portion between the first arm assembly 12 and the second arm assembly 13 a fifth rotating bearing 1274 and a sixth rotating bearing 1273; and disposed under the second driven synchronous wheel 1253 for supporting the inner
  • the second arm assembly 13 includes a second arm assembly upper cover 133, a second arm assembly lower cover 131, an I/O board 132, a fourth motor drive board 134, and the fourth A third encoder 136 driving the upper portion of the motor 135; one end of the second arm assembly 13 is coupled to the second transmission shaft 127.
  • the structure design is reasonable and the stability is strong.
  • a lower portion of the fourth drive motor 135 of the rotating R-axis assembly is coupled to the flange interface 137; and an upper portion of the fourth drive motor 135 is coupled to the second arm assembly 13 by screws.
  • the high performance horizontal joint four-axis robot 1 of the present invention simultaneously sets the robot body 11, the first arm assembly 12 connected to the robot body 11, the one end and the first arm assembly 12
  • the connected second arm assembly 13 and the rotating R-axis assembly disposed on the second arm assembly 13 opposite to the other side of the first arm assembly 12 are disposed in the lower portion of the linear module unit 115, including the first A driving motor 141 and a driving assembly 14 connected to the output shaft of the first driving motor 141 to connect the driving member to the lower portion of the body improve the mode of the driving member in the upper portion of the body in a conventional manner, and the stability is higher.
  • the transmission performance is excellent, the two mechanical arms are suspended, and the rotating R-axis is disposed at the end of the second arm assembly 13.
  • the two mechanical arms and the rotating R-axis simultaneously move up and down, relatively speaking, considering the up and down movement.
  • the weight of the arm itself, the robot arm of this structure is light, the length of the arm body is relatively short, the load is relatively small, and the structure is light, which is especially suitable for occasions where light load and end space are required.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

一种高性能水平关节四轴机器人（1），包括机器人本体（11）、与该机器人本体相连接的第一臂体组件（12）、一端与第一臂体组件相连接的第二臂体组件（13）以及设置于第二臂体组件上、相对于第一臂体组件另一侧旋转的R轴组件；所述机器人本体包括呈竖直方向设置的直线模组单元（115）、可沿该直线模组单元上下移动的固定座（111）以及用于驱动该固定座移动、设置于直线模组单元下部的驱动组件（14）；该驱动组件包括设置于直线模组单元下部的第一驱动电机（141）以及与第一驱动电机的输出轴相连接的联轴器（142）。所述高性能水平关节四轴机器人臂体较轻，臂体长度比较短，负载比较小，结构轻巧，特别适用轻负载且末端对空间有要求的场合。

Description

一种高性能水平关节四轴机器人 [技术领域]
本实用新型涉及水平关节四轴机器人设备技术领域，尤其涉及一种结构设计合理，运行稳定，精确度高的高性能水平关节四轴机器人。
[背景技术]
水平关节四轴机器人目前已经被非常广泛应用，在搬运、加工、装配等环境中有非常重要的作用，它本身具有动作灵活、结构紧凑、空间要求小、重复定位精度高等特点，能够精确、快速达到空间的一点,水平关节四轴机器人相对于六轴工业机器人来说具有体积小，灵活，成本低等优势，在未来工业流水线中被大量使用将会是必然趋势,加大对水平关节四轴机器人的研究也非常必要，目前国内外水平关节四轴机器人的主要品牌包括爱普生、雅马哈、库卡等企业。
目前市场上现有的水平关节四轴机器人大多数结构采用谐波减速器或者RV减速器,上下Z轴和旋转R轴设在末端，前面两个大臂体组成两个机械臂，从而实现四轴机器人在空间上的不同动作,这种机械臂具有负载比较大，臂长可以很长，精度高等特点，但是价格比较高,由于上下Z轴和旋转R轴设在末端，末端的结构空间比较大，不适应在空间狭小的场合工作。
基于上述问题，怎样才能有效的优化设备结构，使得机械臂可以更好的应用于多种不同的场合，本领域的技术人员进行了大量的研发和实验，从臂体的结构与原理方面入手进行改进和改善，并取得了较好的成绩。
[实用新型内容]
为克服现有技术所存在的问题，本实用新型提供一种结构设计合理，运行稳定，精确度高的高性能水平关节四轴机器人。
本实用新型解决技术问题的方案是提供一种高性能水平关节四轴机器人，包括机器人本体、与该机器人本体相连接的第一臂体组件、一端与第一臂体组件相连接的第二臂体组件以及设置于第二臂体组件上、相对于第一臂体组件另一侧的旋转R轴组件；所述机器人本体组件包括呈竖直方向设置的直线模组单元、可沿 该直线模组单元上下移动的固定座以及用于驱动该固定座移动、设置于直线模组单元下部的驱动组件；该驱动组件包括设置于直线模组单元下部的第一驱动电机以及与第一驱动电机的输出轴相连接的联轴器；在所述固定座内侧设置有用于驱动第一臂体组件相对机器人本体旋转的第二驱动电机，且第一臂体组件内部设置有用于驱动第二臂体组件相对第一臂体组件旋转的第三驱动电机；所述旋转R轴组件包括设置于第二臂体组件最外端端头部位的第四驱动电机。
优选地，所述机器人本体组件还包括底座、总支撑板以及与总支撑板固定连接的侧板；所述直线模组单元位于总支撑板与侧边之间；且直线模组单元贴紧主支撑板设置；在所述直线模组单元与固定座之间设置有滑块座；固定座与滑块座固定连接；所述直线模组单元一侧设置有坦克拖链以及用于支撑该坦克拖链的拖链支撑板。
优选地，所述底座上部、直线模组单元下部还设置有用于连接总支撑板与侧板的安装法兰；该安装法兰与总支撑板与侧板下部固定连接；在所述安装法兰上部还固定设置有总出线板、用于驱动第一驱动电机运行的第一电机驱动板；所述直线模组单元顶部固定设置有电磁制动器，直线模组单元内部设置有丝杠轴，滑块座与丝杠轴活动连接，第一驱动电机驱动丝杠轴旋转，带动滑块座相对直线模组单元上下移动。
优选地，所述固定座内部还设置有与第二驱动电机的输出轴相连的第一主动同步轮、第一从动同步轮、连接该第一主动同步轮与第一从动同步轮的第一同步带、设置于该第二驱动电机上部的第一编码器以及用于驱动电机旋转的第二电机驱动板；所述第二驱动电机的输出轴外侧还设置有第一旋转轴承；在所述固定座与第一臂体组件的连接部位设置有与第一从动同步轮相连接的第一传动轴以及设置于第一传动轴外侧的第二旋转轴承和第三旋转轴承；且在该所述第一从动同步轮下方设置有用于顶住第二旋转轴承内圈、防止第一传动轴轴向窜动的耐磨轴套。
优选地，所述第一臂体组件包括第一臂体上盖、第一臂体下盖、设置于第一臂体上盖与第一臂体下盖内部空间中的第二主动同步轮、第二从动同步轮、连接 该第二主动同步轮与第二从动同步轮的第二同步带以及第二编码器；该第三驱动电机的输出轴与第二主动同步轮相连；还包括用于驱动第三驱动电机运行的第三电机驱动板以及走线板；所述第三驱动电机的输出轴外侧还设置有第四旋转轴承；在所述第一臂体组件与第二臂体组件的连接部位设置有与第二从动同步轮相连接的第二传动轴以及设置于第二传动轴外侧的第五旋转轴承和第六旋转轴承；且在该所述第二从动同步轮下方设置有用于顶住第五旋转轴承内圈、防止第二传动轴轴向窜动的耐磨轴套。
优选地，所述第二臂体组件包括第二臂体组件上盖、第二臂体组件下盖、I/O板卡、第四电机驱动板以及设置于所述第四驱动电机上部的第三编码器；该所述第二臂体组件一端与第二传动轴相连接。
优选地，所述旋转R轴组件的第四驱动电机下部连接有法兰接口；且第四驱动电机上部通过螺丝与第二臂体组件相连。
与现有技术相比，本实用新型一种高性能水平关节四轴机器人通过同时设置机器人本体11、与该机器人本体11相连接的第一臂体组件12、一端与第一臂体组件12相连接的第二臂体组件13以及设置于第二臂体组件13上、相对于第一臂体组件12另一侧的旋转R轴组件，结合设置于直线模组单元115下部、包括设第一驱动电机141以及与第一驱动电机141的输出轴相连接联轴器142的驱动组件14，将驱动部件设置于本体下部，改进了传统方式驱动部件在本体上部的模式，稳定性更高且传动性能优良，两个机械臂悬空，旋转R轴设置在第二臂体组件13末端，上下Z轴运动时，两个机械臂和旋转R轴同时上下运动，相对而言，考虑到上下运动的臂体自身重量，这种结构的机器人臂体较轻，臂体长度比较短，负载比较小，结构轻巧，特别适用轻负载且末端对空间有要求的场合。
[附图说明]
图1是本实用新型一种高性能水平关节四轴机器人的立体状态结构示意图。
图2是本实用新型一种高性能水平关节四轴机器人的另一视角的立体状态结构示意图。
图3是本实用新型一种高性能水平关节四轴机器人的另一视角的立体状态结 构示意图。
图4是本实用新型一种高性能水平关节四轴机器人的侧面状态结构示意图。
图5是本实用新型一种高性能水平关节四轴机器人中第一臂体的侧面状态结构示意图。
图6是本实用新型一种高性能水平关节四轴机器人中第二臂体的侧面状态结构示意图。
图7是本实用新型一种高性能水平关节四轴机器人的爆炸状态结构示意图。
[具体实施方式]
为使本实用新型的目的，技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用于解释本实用新型，并不用于限定此实用新型。
请参阅图1至图7，本实用新型一种高性能水平关节四轴机器人1包括机器人本体11、与该机器人本体11相连接的第一臂体组件12、一端与第一臂体组件12相连接的第二臂体组件13以及设置于第二臂体组件13上、相对于第一臂体组件12另一侧的旋转R轴组件；所述机器人本体11组件包括呈竖直方向设置的直线模组单元115、可沿该直线模组单元115上下移动的固定座111以及用于驱动该固定座111移动、设置于直线模组单元115下部的驱动组件14；该驱动组件14包括设置于直线模组单元115下部的第一驱动电机141以及与第一驱动电机141的输出轴相连接的联轴器142；在所述固定座111内侧设置有用于驱动第一臂体组件12相对机器人本体11旋转的第二驱动电机116，且第一臂体组件12内部设置有用于驱动第二臂体组件13相对第一臂体组件12旋转的第三驱动电机125；所述旋转R轴组件包括设置于第二臂体组件13最外端端头部位的第四驱动电机135。
通过同时设置机器人本体11、与该机器人本体11相连接的第一臂体组件12、一端与第一臂体组件12相连接的第二臂体组件13以及设置于第二臂体组件13上、相对于第一臂体组件12另一侧的旋转R轴组件，结合设置于直线模组单元115下部、包括设第一驱动电机141以及与第一驱动电机141的输出轴相连接联 轴器142的驱动组件14，将驱动部件设置于本体下部，改进了传统方式驱动部件在本体上部的模式，稳定性更高且传动性能优良，两个机械臂悬空，旋转R轴设置在第二臂体组件13末端，上下Z轴运动时，两个机械臂和旋转R轴同时上下运动，相对而言，考虑到上下运动的臂体自身重量，这种结构的机器人臂体较轻，臂体长度比较短，负载比较小，结构轻巧，特别适用轻负载且末端对空间有要求的场合。
优选地，所述机器人本体11组件还包括底座112、总支撑板113以及与总支撑板113固定连接的侧板114；所述直线模组单元115位于总支撑板113与侧边114之间；且直线模组单元115贴紧主支撑板113设置；在所述直线模组单元115与固定座111之间设置有滑块座118；固定座111与滑块座118固定连接；所述直线模组单元115一侧设置有坦克拖链151以及用于支撑该坦克拖链151的拖链支撑板15。
优选地，所述底座112上部、直线模组单元115下部还设置有用于连接总支撑板113与侧板114的安装法兰1121；该安装法兰1121与总支撑板113与侧板114下部固定连接；在所述安装法兰1121上部还固定设置有总出线板1123、用于驱动第一驱动电机141运行的第一电机驱动板1124；所述直线模组单元115顶部固定设置有电磁制动器1151，直线模组单元115内部设置有丝杠轴，滑块座118与丝杠轴活动连接，第一驱动电机141驱动丝杠轴旋转，带动滑块座118相对直线模组单元115上下移动。
优选地，所述固定座111内部还设置有与第二驱动电机116的输出轴相连的第一主动同步轮1162、第一从动同步轮1164、连接该第一主动同步轮1162与第一从动同步轮1164的第一同步带1163、设置于该第二驱动电机116上部的第一编码器1161以及用于驱动电机旋转的第二电机驱动板117；所述第二驱动电机116的输出轴外侧还设置有第一旋转轴承；在所述固定座111与第一臂体组件12的连接部位设置有与第一从动同步轮1164相连接的第一传动轴119以及设置于第一传动轴119外侧的第二旋转轴承1193和第三旋转轴承1192；且在该所述第一从动同步轮1164下方设置有用于顶住第二旋转轴承1193内圈、防止第一传动 轴119轴向窜动的耐磨轴套1191，结构设计合理，使用寿命长。
优选地，所述第一臂体组件12包括第一臂体上盖122、第一臂体下盖121、设置于第一臂体上盖122与第一臂体下盖121内部空间中的第二主动同步轮1251、第二从动同步轮1253、连接该第二主动同步轮1251与第二从动同步轮1253的第二同步带1252以及第二编码器124；该第三驱动电机125的输出轴与第二主动同步轮1251相连；还包括用于驱动第三驱动电机125运行的第三电机驱动板123以及走线板126；所述第三驱动电机125的输出轴外侧还设置有第四旋转轴承；在所述第一臂体组件12与第二臂体组件13的连接部位设置有与第二从动同步轮1253相连接的第二传动轴127以及设置于第二传动轴127外侧的第五旋转轴承1274和第六旋转轴承1273；且在该所述第二从动同步轮1253下方设置有用于顶住第五旋转轴承1274内圈、防止第二传动轴127轴向窜动的耐磨轴套1271。
优选地，所述第二臂体组件13包括第二臂体组件上盖133、第二臂体组件下盖131、I/O板卡132、第四电机驱动板134以及设置于所述第四驱动电机135上部的第三编码器136；该所述第二臂体组件13一端与第二传动轴127相连接。结构设计合理，稳定性强。
优选地，所述旋转R轴组件的第四驱动电机135下部连接有法兰接口137；且第四驱动电机135上部通过螺丝与第二臂体组件13相连。
与现有技术相比，本实用新型一种高性能水平关节四轴机器人1通过同时设置机器人本体11、与该机器人本体11相连接的第一臂体组件12、一端与第一臂体组件12相连接的第二臂体组件13以及设置于第二臂体组件13上、相对于第一臂体组件12另一侧的旋转R轴组件，结合设置于直线模组单元115下部、包括设第一驱动电机141以及与第一驱动电机141的输出轴相连接联轴器142的驱动组件14，将驱动部件设置于本体下部，改进了传统方式驱动部件在本体上部的模式，稳定性更高且传动性能优良，两个机械臂悬空，旋转R轴设置在第二臂体组件13末端，上下Z轴运动时，两个机械臂和旋转R轴同时上下运动，相对而言，考虑到上下运动的臂体自身重量，这种结构的机器人臂体较轻，臂体长度比较短，负载比较小，结构轻巧，特别适用轻负载且末端对空间有要求的场合。
以上所述的本实用新型实施方式，并不构成对本实用新型保护范围的限定。任何在本实用新型的精神和原则之内所作的修改、等同替换和改进等，均应包含在本实用新型的权利要求保护范围之内。

Claims (7)

  1. 一种高性能水平关节四轴机器人，其特征在于：包括机器人本体、与该机器人本体相连接的第一臂体组件、一端与第一臂体组件相连接的第二臂体组件以及设置于第二臂体组件上、相对于第一臂体组件另一侧的旋转R轴组件；所述机器人本体组件包括呈竖直方向设置的直线模组单元、可沿该直线模组单元上下移动的固定座以及用于驱动该固定座移动、设置于直线模组单元下部的驱动组件；该驱动组件包括设置于直线模组单元下部的第一驱动电机以及与第一驱动电机的输出轴相连接的联轴器；在所述固定座内侧设置有用于驱动第一臂体组件相对机器人本体旋转的第二驱动电机，且第一臂体组件内部设置有用于驱动第二臂体组件相对第一臂体组件旋转的第三驱动电机；所述旋转R轴组件包括设置于第二臂体组件最外端端头部位的第四驱动电机。
  2. 如权利要求1所述的一种高性能水平关节四轴机器人，其特征在于：所述机器人本体组件还包括底座、总支撑板以及与总支撑板固定连接的侧板；所述直线模组单元位于总支撑板与侧边之间；且直线模组单元贴紧主支撑板设置；在所述直线模组单元与固定座之间设置有滑块座；固定座与滑块座固定连接；所述直线模组单元一侧设置有坦克拖链以及用于支撑该坦克拖链的拖链支撑板。
  3. 如权利要求2所述的一种高性能水平关节四轴机器人，其特征在于：所述底座上部、直线模组单元下部还设置有用于连接总支撑板与侧板的安装法兰；该安装法兰与总支撑板与侧板下部固定连接；在所述安装法兰上部还固定设置有总出线板、用于驱动第一驱动电机运行的第一电机驱动板；所述直线模组单元顶部固定设置有电磁制动器，直线模组单元内部设置有丝杠轴，滑块座与丝杠轴活动连接，第一驱动电机驱动丝杠轴旋转，带动滑块座相对直线模组单元上下移动。
  4. 如权利要求1所述的一种高性能水平关节四轴机器人，其特征在于：所述固定座内部还设置有与第二驱动电机的输出轴相连的第一主动同步轮、第一从动同步轮、连接该第一主动同步轮与第一从动同步轮的第一同步带、设置于该第二驱动电机上部的第一编码器以及用于驱动电机旋转的第二电机驱动板；所述第二驱动电机的输出轴外侧还设置有第一旋转轴承；在所述固定座与第一臂体组件的连接部位设置有与第一从动同步轮相连接的第一传动轴以及设置于第一传动 轴外侧的第二旋转轴承和第三旋转轴承；且在该所述第一从动同步轮下方设置有用于顶住第二旋转轴承内圈、防止第一传动轴轴向窜动的耐磨轴套。
  5. 如权利要求4所述的一种高性能水平关节四轴机器人，其特征在于：所述第一臂体组件包括第一臂体上盖、第一臂体下盖、设置于第一臂体上盖与第一臂体下盖内部空间中的第二主动同步轮、第二从动同步轮、连接该第二主动同步轮与第二从动同步轮的第二同步带以及第二编码器；该第三驱动电机的输出轴与第二主动同步轮相连；还包括用于驱动第三驱动电机运行的第三电机驱动板以及走线板；所述第三驱动电机的输出轴外侧还设置有第四旋转轴承；在所述第一臂体组件与第二臂体组件的连接部位设置有与第二从动同步轮相连接的第二传动轴以及设置于第二传动轴外侧的第五旋转轴承和第六旋转轴承；且在该所述第二从动同步轮下方设置有用于顶住第五旋转轴承内圈、防止第二传动轴轴向窜动的耐磨轴套。
  6. 如权利要求1所述的一种高性能水平关节四轴机器人，其特征在于：所述第二臂体组件包括第二臂体组件上盖、第二臂体组件下盖、I/O板卡、第四电机驱动板以及设置于所述第四驱动电机上部的第三编码器；该所述第二臂体组件一端与第二传动轴相连接。
  7. 如权利要求1或6所述的一种高性能水平关节四轴机器人，其特征在于：所述旋转R轴组件的第四驱动电机下部连接有法兰接口；且第四驱动电机上部通过螺丝与第二臂体组件相连。
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