A four-axis horizontal joint robot

Abstract

The present invention discloses a four-axis horizontal joint robot, including a machine base and a control system, wherein the top of the machine base is rotatably connected to a rotating sleeve, the left side of the rotating sleeve is fixedly connected to a rotating plate, the left side of the top of the rotating plate is rotatably connected to a working chassis, and the internal thread of the working chassis is connected to a lifting screw, and the present invention relates to the technical field. The four-axis horizontal joint robot, by providing a smoothly rotatable rotating ring on the machine base, and using a main support frame and a side support frame to support the rotating plate, can apply part of the weight of the left structure to the rotating ring, so that the rotating plate is more stable when rotating, and the slide rail is provided to cooperate with the slider and the connecting rod, which can pull the working chassis within a certain range of rotation of the working chassis, that is, improve the connection stability between the working chassis and the rotating plate, and avoid deviation of the processing position due to center offset after long-term use, thereby affecting the processing quality.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a four-axis horizontal articulated robot. Background Technology

[0002] Robots are a common term for automated machines, which include all machines that mimic human behavior or thought, as well as those that mimic other living beings (such as robotic dogs and robotic cats). In a narrower sense, there are many classifications and controversies surrounding the definition of robots, and some computer programs are even referred to as robots. In modern industry, a robot refers to an artificial machine device capable of automatically performing tasks to replace or assist human work. The ideal highly realistic robot is a product of advanced integrated cybernetics, mechatronics, computer science and artificial intelligence, materials science, and bionics; the scientific community is currently researching and developing in this direction.

[0003] Robots can be commanded by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence. Their task is to assist or replace human workers in jobs such as manufacturing, construction, or hazardous work. They are products of advanced integrated cybernetics, mechatronics, computer science, materials science, and bionics, and have important applications in industry, medicine, agriculture, construction, and even the military. Internationally, the concept of robots is gradually converging. Generally, people accept the idea that a robot is a machine that achieves various functions through its own power and control capabilities. Robots typically consist of actuators, drive units, detection devices, control systems, and complex mechanical components. Articulated robots, also known as articulated arm robots or articulated robotic arms, are one of the most common forms of industrial robots in today's industrial fields, suitable for automated mechanical operations in many industries. Examples include automated assembly, painting, material handling, and welding. They can be classified in different ways according to their structure.

[0004] Existing articulated robots typically consist of multiple joints that are controlled by motors for steering. The coordination of multiple joints enables the switching and positioning of processing positions. However, because the center of gravity of the joints is off from the main body and the electronic equipment inside the joints is relatively heavy, the structure may loosen after long-term use, leading to errors in the processing position and affecting the processing quality. Regular maintenance is required. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a four-axis horizontal articulated robot, which solves the problem that existing articulated robots suffer from structural loosening after prolonged use due to the center of gravity of the joints deviating from the main body and the heavy electronic equipment inside the joints, leading to errors in the processing position and affecting the processing quality.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a four-axis horizontal articulated robot, comprising a base and a control system. A rotating sleeve is rotatably connected to the top of the base. A rotating plate is fixedly connected to the left side of the rotating sleeve. A working housing is rotatably connected to the top left side of the rotating plate. A lifting screw is threadedly connected inside the working housing. Both ends of the lifting screw penetrate the working housing and extend to the outside of the working housing. A control box is fixedly connected to the left side of the base. An annular groove is formed in the middle of the surfaces of the base and the control box. A rotating ring is rotatably connected inside the annular groove. A main support frame is fixedly connected to the left side of the rotating ring. The top of the main support frame is fixedly connected to the left side of the bottom of the rotating plate. Side support frames are fixedly connected to the front and rear sides of the rotating ring. The tops of the two side support frames are respectively fixedly connected to the middle of the front and rear sides of the rotating plate. A slide rail is fixedly connected to the top of the rotating plate and to the right side of the bottom of the working housing. A slider is slidably connected inside the top of the slide rail. The top of the slider is fixedly connected to the right side of the bottom of the working housing via a connecting rod.

[0009] Preferably, a connecting seat is fixedly connected to the bottom of the working chassis and to the right of the lifting screw, and a laser emitter and a camera are fixedly connected to the top of the connecting seat from left to right.

[0010] Preferably, a grating emitter is fixedly connected to the surface of the base and below the rotating ring, and a grating plate is fixedly connected to the surface of the grating emitter. The surface of the grating emitter is electrically connected to the inner surface of the control box through a wire.

[0011] Preferably, the top of the machine housing is fixedly connected with a working indicator light and an error indicator light from left to right, and the bottom of the base is fixedly connected with a fixed flange seat.

[0012] Preferably, the right side of the base, above the rotating ring, and the right side of the top of the work box are both connected to a clamping pipe, and a wire harness tube is clamped between the two clamping pipes.

[0013] Preferably, the control system includes a processor, a position control module, a position comparison module, an image analysis module, and a motor assembly.

[0014] Preferably, the output terminal of the processor is connected to the input terminals of the image analysis module, the motor group, the laser emitter, the grating emitter, the working indicator light, and the error indicator light, respectively.

[0015] Preferably, the input terminal of the processor is connected to the output terminals of the camera and the position control module, respectively, the output terminal of the image analysis module is connected to the input terminal of the position comparison module, and the position comparison module and the processor are bidirectionally connected.

[0016] (III) Beneficial Effects

[0017] This invention provides a four-axis horizontal articulated robot. Compared with the prior art, it has the following advantages:

[0018] (1) This four-axis horizontal articulated robot has annular grooves in the middle of the base and the control box surface, and a rotating ring is rotatably connected inside the annular grooves. The left side of the rotating ring is fixedly connected to the main support frame, and the top of the main support frame is fixedly connected to the left side of the bottom of the rotating plate. The front and rear sides of the rotating ring are fixedly connected to the side support frames, and the tops of the two side support frames are fixedly connected to the middle of the front and rear sides of the rotating plate respectively. The top of the rotating plate and the right side of the bottom of the working machine box are fixedly connected to the slide rail. The top of the slide rail is slidably connected to the slider, and the top of the slider is fixedly connected to the right side of the bottom of the working machine box through the connecting rod. By setting a smoothly rotating ring on the base and using the main support frame and the side support frame to support the rotating plate, part of the weight of the left side structure can be applied to the rotating ring, making the rotating plate more stable when rotating. The slide rail, slider, and connecting rod can play a pulling role on the working machine box within a certain range of rotation, that is, improve the connection stability between the working machine box and the rotating plate, and avoid the deviation of the processing position due to center offset after long-term use, thus affecting the processing quality.

[0019] (2) The four-axis horizontal articulated robot has a connecting seat fixedly connected to the bottom of the working machine box and to the right of the lifting screw. A laser emitter and a camera are fixedly connected to the top of the connecting seat from left to right. A grating emitter is fixedly connected to the surface of the machine box and below the rotating ring. A grating plate is fixedly connected to the surface of the grating emitter. The surface of the grating emitter is electrically connected to the inner surface of the control box through wires. By setting the grating emitter and the squares on the surface grating plate being narrower at the top and wider at the bottom, the grating projected by the tilt is a normal square. The light emitted by the laser emitter is compared with the grating and captured and analyzed by the camera. The processing position can be accurately located, and it can be determined whether there is an error in the processing position of the robot during operation, so as to avoid affecting the processing effect and improve the processing accuracy and quality.

[0020] (3) The four-axis horizontal joint robot has a working indicator light and an error indicator light fixedly connected from left to right on the top of the working machine box. By setting the working indicator light and the error indicator light, the working status and whether an error occurs can be displayed in real time during operation, so that the user can see it intuitively and ensure the normal use of the equipment. Attached Figure Description

[0021] Figure 1 This is a front view of the structure of the present invention;

[0022] Figure 2 This is a perspective view of the structure of the present invention;

[0023] Figure 3 For the present invention Figure 1 A magnified view of a section at point A in the middle;

[0024] Figure 4 For the present invention Figure 1 A magnified view of a section at point B in the middle;

[0025] Figure 5 This is a system principle block diagram of the present invention.

[0026] In the diagram, 1-base, 2-control system, 3-rotating sleeve, 4-rotating plate, 5-working machine box, 6-lifting screw, 7-control box, 8-ring groove, 9-rotating ring, 10-main support frame, 11-side support frame, 12-slide rail, 13-slider, 14-connecting rod, 15-connecting seat, 16-laser emitter, 17-camera, 18-grating emitter, 19-grating plate, 20-working indicator light, 21-error indicator light, 22-fixed flange seat, 23-clamping pipe, 24-wire harness tube, 25-processor, 26-position control module, 27-position comparison module, 28-image analysis module, 29-motor unit. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1-5This invention provides a technical solution: a four-axis horizontal articulated robot, including a base 1 and a control system 2. A grating emitter 18 is fixedly connected to the surface of the base 1 below the rotating ring 9, and a grating plate 19 is fixedly connected to the surface of the grating emitter 18. The surface of the grating emitter 18 is electrically connected to the inner surface of the control box 7 via wires. A retaining tube 23 is connected to the right side of the base 1 above the rotating ring 9 and to the right side of the top of the working chassis 5. A wire harness tube 24 is snapped between the two retaining tubes 23. The wire harness tube 24 is detachable from the retaining tubes 2 and is a flexible tube. The control system 2 includes a processor 25, a position control module 26, a position comparison module 27, an image analysis module 28, and a motor assembly 29. The device 25 uses an ARM9 series processor, and the motor assembly 29 consists of multiple motors fixed inside the device for steering. The output of the processor 25 is connected to the input of the image analysis module 28, the motor assembly 29, the laser emitter 16, the grating emitter 18, the working indicator light 20, and the error indicator light 21. The input of the processor 25 is connected to the output of the camera 17 and the position control module 26. The output of the image analysis module 28 is connected to the input of the position comparison module 27, which is bidirectionally connected to the processor 25. A rotating sleeve 3 is rotatably connected to the top of the base, and a rotating plate 4 is fixedly connected to the left side of the rotating sleeve 3. A working housing 5 is rotatably connected to the top left side of the rotating plate 4, and the working housing 5 has internal threads. A lifting screw 6 is connected to the bottom of the working housing 5, and a connecting seat 15 is fixedly connected to the right side of the lifting screw 6. A laser emitter 16 and a camera 17 are fixedly connected to the top of the connecting seat 15 from left to right. A work indicator light 20 and an error indicator light 21 are fixedly connected to the top of the working housing 5 from left to right. By setting the work indicator light 20 and the error indicator light 21, the working status and whether errors have occurred can be displayed in real time during operation, allowing the user to intuitively see the status and ensure the normal use of the equipment. A fixing flange seat 22 is fixedly connected to the bottom of the base 1. Both the upper and lower ends of the lifting screw 6 penetrate the working housing 5 and extend to the outside of the working housing 5. A control box 7 is fixedly connected to the left side of the base 1. The surfaces of the base 1 and the control box 7 are connected in the middle... Each spacer is provided with an annular groove 8, and a rotating ring 9 is rotatably connected inside the annular groove 8. The rotating ring 9 can be a bearing to improve the smoothness of rotation. A main support frame 10 is fixedly connected to the left side of the rotating ring 9, and the top of the main support frame 10 is fixedly connected to the left side of the bottom of the rotating plate 4. Side support frames 11 are fixedly connected to both the front and rear sides of the rotating ring 9. The tops of the two side support frames 11 are fixedly connected to the middle of the front and rear sides of the rotating plate 4, respectively. A slide rail 12 is fixedly connected to the top of the rotating plate 4 and to the right side of the bottom of the working machine box 5. The openings on both sides of the slide rail 12 and the edges of the slider 13 are chamfered so that when engaged, the top of the slide rail 12 is slidably connected to the slider 13, and the top of the slider 13 is fixedly connected to the right side of the bottom of the working machine box 5 through a connecting rod 14.By installing a smoothly rotatable rotating ring 9 on the base 1, and using the main support frame 10 and side support frames 11 to support the rotating plate 4, part of the weight of the left-side structure can be applied to the rotating ring 9, making the rotating plate 4 more stable during rotation. Furthermore, the slide rail 12, in conjunction with the slider 13 and connecting rod 14, can provide a pulling effect on the working machine housing 5 within a certain range of rotation, thus improving the connection stability between the working machine housing 5 and the rotating plate 4. This prevents deviations in the processing position due to center offset after prolonged use, which would otherwise affect the processing quality.

[0029] In use, the position control module 26 sends instructions to the processor 25, which controls the motor assembly 29 to work. Each motor in the motor assembly 29 drives the rotating sleeve 3, the workpiece housing 5, and the lifting screw 6 to process the workpiece. During operation, the main support frame 10 and the side support frame 11 support the rotating plate 4, and the rotating ring 9 rotates synchronously with the rotating plate 4. Simultaneously, the processor 25 controls the laser emitter 16, camera 17, grating emitter 18, and work indicator light 20 to operate. The grating emitter 18 emits light, which, after being blocked by the grating plate 19, projects a grid pattern onto the ground. The positioning line is set, and the laser emitter 16 emits light of a different color than the positioning line. The light shines on the processing surface, and the camera 17 records the scene. The image data is transmitted to the image analysis module 28 through the processor 25. The image analysis module 28 analyzes the position of the processing point based on the comparison between the light from the laser emitter 16 and the positioning line. Then, the position comparison module 27 compares it with the position data set in the position control module 26 to determine if there is an error. If there is an error, the processor 25 controls the error indicator light 21 to flash as a warning, waiting for the staff to repair it.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-axis horizontal articulated robot, comprising a base (1) and a control system (2), wherein a rotating sleeve (3) is rotatably connected to the top of the base, a rotating plate (4) is fixedly connected to the left side of the rotating sleeve (3), a working housing (5) is rotatably connected to the top left side of the rotating plate (4), and a lifting screw (6) is threadedly connected inside the working housing (5), wherein both the upper and lower ends of the lifting screw (6) penetrate the working housing (5) and extend to the outside of the working housing (5), characterized in that: A control box (7) is fixedly connected to the left side of the base (1). A ring groove (8) is provided in the middle of the surface of the base (1) and the control box (7). A rotating ring (9) is rotatably connected inside the ring groove (8). A main support frame (10) is fixedly connected to the left side of the rotating ring (9). The top of the main support frame (10) is fixedly connected to the left side of the bottom of the rotating plate (4). Side support frames (11) are fixedly connected to the front and rear sides of the rotating ring (9). The tops of the two side support frames (11) are fixedly connected to the middle of the front and rear sides of the rotating plate (4). A slide rail (12) is fixedly connected to the top of the rotating plate (4) and to the right side of the bottom of the working machine box (5). A slider (13) is slidably connected inside the top of the slide rail (12). The top of the slider (13) is fixedly connected to the right side of the bottom of the working machine box (5) through a connecting rod (14).

2. A four-axis horizontal articulated robot according to claim 1, characterized in that: A connecting seat (15) is fixedly connected to the bottom of the working housing (5) and to the right of the lifting screw (6), and a laser emitter (16) and a camera (17) are fixedly connected to the top of the connecting seat (15) from left to right.

3. A four-axis horizontal articulated robot according to claim 1, characterized in that: A grating emitter (18) is fixedly connected to the surface of the base (1) and below the rotating ring (9), and a grating plate (19) is fixedly connected to the surface of the grating emitter (18). The surface of the grating emitter (18) is electrically connected to the inner surface of the control box (7) through a wire.

4. A four-axis horizontal articulated robot according to claim 1, characterized in that: The top of the machine housing (5) is fixedly connected with a working indicator light (20) and an error indicator light (21) from left to right, and the bottom of the base (1) is fixedly connected with a fixed flange seat (22).

5. A four-axis horizontal articulated robot according to claim 1, characterized in that: The right side of the base (1) and above the rotating ring (9) and the right side of the top of the working box (5) are connected to the clamping pipe (23), and the wire harness tube (24) is clamped between the two clamping pipes (23).

6. A four-axis horizontal articulated robot according to claim 1, characterized in that: The control system (2) includes a processor (25), a position control module (26), a position comparison module (27), an image analysis module (28), and a motor assembly (29).

7. A four-axis horizontal articulated robot according to claim 6, characterized in that: The output of the processor (25) is connected to the input of the image analysis module (28), the motor group (29), the laser emitter (16), the grating emitter (18), the working indicator (20), and the error indicator (21), respectively.

8. A four-axis horizontal articulated robot according to claim 6, characterized in that: The input terminal of the processor (25) is connected to the output terminal of the camera (17) and the position control module (26) respectively. The output terminal of the image analysis module (28) is connected to the input terminal of the position comparison module (27). The position comparison module (27) and the processor (25) are bidirectionally connected.

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