Four-axis linkage horizontal joint robot

Abstract

The utility model discloses a four-axis linkage horizontal joint robot which comprises a base, the top end of the base is fixedly connected with a cable, and the top end of the base is fixedly connected with a fixing assembly. The fixing assembly comprises a fixing plate, the top of the fixing plate is rotationally connected with a connecting plate, and the side, away from the fixing plate, of the connecting plate is rotationally connected with a connecting base. According to the utility model, the upper clamping plate and the lower clamping plate are installed at proper positions of a cable, the positions of the upper clamping plate and the lower clamping plate are fixed by using the connecting bolts, so that the cable is clamped, and the connecting spring is installed between the fixing plate and the connecting plate in a compressed state; the connecting plate is driven by the elastic force of the connecting spring to drive the cable to move upwards, so that the cable gradually tends to be in a tightened state, the fixing section is always located on the central axis of the base when the robot works, and the mechanical arm is prevented from being in contact with and being wound around the cable.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a four-axis linkage horizontal articulated robot. Background Technique

[0002] A robot refers to a machine device that can automatically perform work, such as an automatic welding device, an automatic screw tightening device, and a manipulator for automatically grasping objects, etc. With the development of Internet information technology, the application of robots is becoming more and more extensive, and in the future, it is an inevitable trend for robots to gradually replace traditional manual labor. A four-axis linkage horizontal articulated robot is an industrial robot that has four degrees of freedom and can perform flexible movements and operations in the horizontal direction.

[0003] When the robot is working, each servo motor is powered by a cable to ensure the normal operation of each part of the robot and achieve flexible movement and operation in the horizontal direction. However, since the cable is generally exposed to the outside, when the robotic arm moves or rotates, it is easy to contact or entangle with the cable, thus affecting the normal operation of the robot. Content of the Utility Model

[0004] The purpose of the utility model is to provide a four-axis linkage horizontal articulated robot to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A four-axis linkage horizontal articulated robot, including a base, a cable is fixedly connected to the top end of the base, and a fixing component is fixedly connected to the top end of the base; the fixing component includes a fixing plate, a connecting plate is rotatably connected to the top of the fixing plate, a connecting seat is rotatably connected to the side of the connecting plate away from the fixing plate, an upper clamping plate is fixedly connected to the side of the connecting seat away from the connecting plate, a connecting bolt is threadedly connected to the middle of the upper clamping plate, a lower clamping plate is threadedly connected to the surface of the connecting bolt, and a connecting spring is fixedly connected to the bottom end of the connecting plate.

[0006] As a further preferred of this technical solution, the upper clamping plate and the lower clamping plate are located on the surface of the cable, threaded grooves are provided in the middle of the upper clamping plate and the lower clamping plate, and the side of the connecting spring away from the connecting plate is fixedly connected to the fixing plate.

[0007] As a further preferred of this technical solution, an installation base plate is fixedly connected to the bottom end of the base, a first servo motor is fixedly connected to the inner wall of the base, a movable arm is fixedly sleeved on the output end of the first servo motor, and a first bearing is fixedly connected to the top end of the base.

[0008] As a further optimization of this technical solution, four mounting holes are provided in the middle of the mounting base plate. The four mounting holes are distributed at the four corners of the mounting base plate. The first bearing is located outside the output shaft of the first servo motor, and the top end of the first bearing is in contact with the movable arm.

[0009] As a further optimization of this technical solution, a second bearing is fixedly connected to the top end of the movable arm, a second servo motor is fixedly connected to the bottom end of the movable arm, a support plate is fixedly connected to the output end of the second servo motor, and a housing is fixedly connected to the top end of the support plate.

[0010] As a further optimization of this technical solution, a third servo motor is fixedly connected to the top end of the support plate. A driving wheel is fixedly sleeved on the output end of the third servo motor. A belt is movably sleeved on the surface of the driving wheel. A transmission wheel is movably installed on the inner wall of the belt. The bottom end of the transmission wheel is rotatably connected to a support seat, and the support seat is fixedly connected to the support plate.

[0011] As a further optimization of this technical solution, a threaded sleeve is fixedly connected to the top end of the transmission wheel. A threaded rod is threadedly connected to the inner wall of the threaded sleeve. A limiting plate is fixedly connected to the surface of the threaded rod. A limiting rod is slidably connected to the surface of the threaded rod, and the limiting rod is fixedly connected to the support plate.

[0012] The present utility model provides a four-axis linkage horizontal articulated robot, which has the following beneficial effects:

[0013] (1) In the present utility model, the upper clamping plate and the lower clamping plate are installed at appropriate positions of the cable, and the positions of the upper clamping plate and the lower clamping plate are fixed by using connecting bolts, thereby clamping the cable. The connecting spring is installed between the fixed plate and the connecting plate in a compressed state. Since the position of the fixed plate is fixed, the connecting plate drives the cable to move upward under the push of the elastic force of the connecting spring, so that the cable gradually tends to be in a tightened state, and the fixed section is always on the central axis of the base during the operation of the robot, thereby preventing the robotic arm from touching and winding the cable.

[0014] (2) In the present utility model, the robot is powered by the cable. The first servo motor drives the movable arm to rotate, the second servo motor drives the support plate and the housing to rotate. At the same time, the third servo motor works, the driving wheel starts to rotate, and the power is transmitted to the transmission wheel through the belt, so that the transmission wheel drives the threaded sleeve to rotate on the support seat, and the threaded rod rotates and moves up and down longitudinally, so that the robot can move and operate flexibly in the horizontal direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present utility model;

[0016] Figure 2 It is a schematic upward view structure of the present utility model;

[0017] Figure 3 It is a schematic internal structure view of the housing of the present utility model;

[0018] Figure 4 It is a schematic structure view of the cable and the fixing component of the present utility model.

[0019] In the figure: 1, base; 2, cable; 3, fixing component; 301, fixing plate; 302, connecting plate; 303, connecting seat; 304, upper clamping plate; 305, connecting bolt; 306, lower clamping plate; 307, connecting spring; 4, mounting base plate; 5, first servo motor; 6, movable arm; 7, first bearing; 8, second bearing; 9, second servo motor; 10, support plate; 11, housing; 12, third servo motor; 13, driving wheel; 14, belt; 15, transmission wheel; 16, support seat; 17, threaded sleeve; 18, threaded rod; 19, limiting plate; 20, limiting rod. Specific embodiments

[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model.

[0021] The present utility model provides a technical solution: As Figure 1 and Figure 4 shown, in this embodiment, a four-axis linkage horizontal articulated robot includes a base 1. A cable 2 is fixedly connected to the top end of the base 1, and a fixing component 3 is fixedly connected to the top end of the base 1; the fixing component 3 includes a fixing plate 301. A connecting plate 302 is rotatably connected to the top of the fixing plate 301. A connecting seat 303 is rotatably connected to the side of the connecting plate 302 away from the fixing plate 301. An upper clamping plate 304 is fixedly connected to the side of the connecting seat 303 away from the connecting plate 302. A connecting bolt 305 is threadedly connected to the middle of the upper clamping plate 304. A lower clamping plate 306 is threadedly connected to the surface of the connecting bolt 305. A connecting spring 307 is fixedly connected to the bottom end of the connecting plate 302.

[0022] By installing the upper clamping plate 304 and the lower clamping plate 306 at appropriate positions of the cable 2 and fixing the positions of the upper clamping plate 304 and the lower clamping plate 306 by using the connecting bolt 305, the cable 2 is clamped. The connecting spring 307 is installed between the fixing plate 301 and the connecting plate 302 in a compressed state. Since the position of the fixing plate 301 is fixed, the connecting plate 302 drives the cable 2 to move upward under the pushing force of the elastic force of the connecting spring 307, so that the cable 2 gradually tends to be in a taut state, and the fixed section is always on the central axis of the base 1 when the robot is working, thereby preventing the robotic arm from touching and winding with the cable 2.

[0023] The upper clamping plate 304 and the lower clamping plate 306 are located on the surface of the cable 2. Threaded grooves are provided in the middle of the upper clamping plate 304 and the lower clamping plate 306. One side of the connecting spring 307 away from the connecting plate 302 is fixedly connected to the fixing plate 301.

[0024] The bottom end of the base 1 is fixedly connected with a mounting base plate 4. The inner wall of the base 1 is fixedly connected with a first servo motor 5. The output end of the first servo motor 5 is fixedly sleeved with a movable arm 6. The top end of the base 1 is fixedly connected with a first bearing 7.

[0025] Four mounting holes are provided in the middle of the mounting base plate 4. The four mounting holes are distributed at the four corners of the mounting base plate 4. The first bearing 7 is located outside the output shaft of the first servo motor 5. The top end of the first bearing 7 is in contact with the movable arm 6.

[0026] The top end of the movable arm 6 is fixedly connected with a second bearing 8. The bottom end of the movable arm 6 is fixedly connected with a second servo motor 9. The output end of the second servo motor 9 is fixedly connected with a support plate 10. The top end of the support plate 10 is fixedly connected with a housing 11.

[0027] The top end of the support plate 10 is fixedly connected with a third servo motor 12. The output end of the third servo motor 12 is fixedly sleeved with a driving wheel 13. The surface of the driving wheel 13 is movably sleeved with a belt 14. The inner wall of the belt 14 is movably installed with a transmission wheel 15. The bottom end of the transmission wheel 15 is rotatably connected with a support seat 16. The support seat 16 is fixedly connected with the support plate 10.

[0028] The top end of the transmission wheel 15 is fixedly connected with a threaded sleeve 17. The inner wall of the threaded sleeve 17 is threadedly connected with a threaded rod 18. A limiting plate 19 is fixedly connected to the surface of the threaded rod 18. A limiting rod 20 is slidably connected to the surface of the threaded rod 18. The limiting rod 20 is fixedly connected with the support plate 10.

[0029] The robot is powered by the cable 2. The first servo motor 5 drives the movable arm 6 to rotate. The second servo motor 9 drives the support plate 10 and the housing 11 to rotate. At the same time, the third servo motor 12 works, the driving wheel 13 starts to rotate, and the power is transmitted to the transmission wheel 15 through the belt 14, so that the transmission wheel 15 drives the threaded sleeve 17 to rotate on the support seat 16, and the threaded rod 18 rotates and moves up and down longitudinally, so that the robot can move and operate flexibly in the horizontal direction.

[0030] The present utility model provides a four-axis linkage horizontal joint robot, and the specific working principle is as follows:

[0031] In use, the robot is fixed at the working position through the mounting base plate 4. The upper clamping plate 304 and the lower clamping plate 306 are installed at appropriate positions of the cable 2, and the positions of the upper clamping plate 304 and the lower clamping plate 306 are fixed by using the connecting bolts 305, so as to clamp the cable 2. The connecting spring 307 is installed between the fixed plate 301 and the connecting plate 302 in a compressed state. Since the position of the fixed plate 301 is fixed, the connecting plate 302 drives the cable 2 to move upward under the push of the elastic force of the connecting spring 307, so that the cable 2 gradually tends to be in a taut state. The robot is powered by the cable 2. The first servo motor 5 drives the movable arm 6 to rotate, the second servo motor 9 drives the support plate 10 and the housing 11 to rotate. At the same time, the third servo motor 12 works, the driving wheel 13 starts to rotate, and the power is transmitted to the transmission wheel 15 through the belt 14, so that the transmission wheel 15 drives the threaded sleeve 17 to rotate on the support seat 16, and the threaded rod 18 rotates accordingly and moves up and down longitudinally, so that the robot can move and operate flexibly in the horizontal direction. At the same time, since the fixed section of the cable 2 is always on the central axis of the base 1, the mechanical arm is prevented from touching and winding with the cable 2. And through the rotation of the connecting plate 302 on the fixed plate 301 and the connecting seat 303, it adapts to the rotation of the robot to ensure the normal operation of the robot.

[0032] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-axis linkage horizontal joint robot, comprising a base (1), characterized in that: The top of the base (1) is fixedly connected to a cable (2), and the top of the base (1) is fixedly connected to a fixing assembly (3); the fixing assembly (3) comprises a fixing plate (301), the top of the fixing plate (301) is rotatably connected to a connecting plate (302), a side of the connecting plate (302) away from the fixing plate (301) is rotatably connected to a connecting seat (303), a side of the connecting seat (303) away from the connecting plate (302) is fixedly connected to an upper clamping plate (304), a middle part of the upper clamping plate (304) is threadedly connected to a connecting bolt (305), a surface of the connecting bolt (305) is threadedly connected to a lower clamping plate (306), and a bottom end of the connecting plate (302) is fixedly connected to a connecting spring (307).

2. A four-axis linkage horizontal joint robot according to claim 1, characterized in that: The upper clamping plate (304) and the lower clamping plate (306) are located on the surface of the cable (2), and a thread groove is provided in the middle of the upper clamping plate (304) and the lower clamping plate (306). The connecting spring (307) is fixedly connected to the fixing plate (301) at one side away from the connecting plate (302).

3. The four-axis linkage horizontal joint robot according to claim 1, characterized in that: The bottom end of the base (1) is fixedly connected to a mounting base plate (4), the inner wall of the base (1) is fixedly connected to a first servo motor (5), the output end of the first servo motor (5) is fixedly sleeved with a movable arm (6), and the top end of the base (1) is fixedly connected to a first bearing (7).

4. The four-axis linkage horizontal joint robot according to claim 3, characterized in that: Four mounting holes are arranged in the middle of the mounting base plate (4), and the four mounting holes are distributed at the four corners of the mounting base plate (4). The first bearing (7) is located outside the output shaft of the first servo motor (5), and the top end of the first bearing (7) is in contact with the movable arm (6).

5. The four-axis linkage horizontal joint robot according to claim 3, characterized in that: The top end of the movable arm (6) is fixedly connected to a second bearing (8), the bottom end of the movable arm (6) is fixedly connected to a second servo motor (9), the output end of the second servo motor (9) is fixedly connected to a support plate (10), and the top end of the support plate (10) is fixedly connected to a housing (11).

6. The four-axis linkage horizontal joint robot according to claim 5, characterized in that: The top end of the support plate (10) is fixedly connected to a third servo motor (12); the output end of the third servo motor (12) is fixedly sleeved with a driving wheel (13); the surface of the driving wheel (13) is movably sleeved with a belt (14); the inner wall of the belt (14) is movably mounted with a transmission wheel (15); the bottom end of the transmission wheel (15) is rotatably connected to a support seat (16); and the support seat (16) and the support plate (10) are fixedly connected.

7. The four-axis linkage horizontal joint robot according to claim 6, characterized in that: The top end of the transmission wheel (15) is fixedly connected to a threaded sleeve (17), the inner wall of the threaded sleeve (17) is threadedly connected to a threaded rod (18), the surface of the threaded rod (18) is fixedly connected to a limiting plate (19), the surface of the threaded rod (18) is slidably connected to a limiting rod (20), and the limiting rod (20) is fixedly connected to the support plate (10).

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