Multi-rod transmission heavy-load horizontal multi-joint robot

Abstract

The multi-rod transmission heavy-load horizontal multi-joint robot comprises a base assembly, a large arm assembly, a small arm assembly and a load assembly, the load assembly comprises a J3-axis motor, a lead screw, a spline rod and a J4-axis motor, the J3-axis motor is installed on the small arm assembly, the lead screw is arranged on the small arm assembly, and the spline rod is arranged on the large arm assembly. The lead screw is sleeved with a lead screw nut matched with the lead screw in a threaded mode, the guide shaft is arranged on the small arm assembly in a sliding mode and fixedly connected with the lead screw nut through a connecting piece, the spline rod is rotationally connected with the connecting piece, an output shaft of the J4-shaft motor is connected with a spline nut, and the spline nut is arranged on the spline rod in a sleeving mode and matched with a spline of the spline rod. According to the utility model, the number of parts required for connecting the spline nut is reduced, the structure is simpler, and the driving effect of the spline rod is improved while the cost is reduced.

Description

Technical Field

[0001] The utility model relates to a heavy-load horizontal multi-joint robot with multi-rod transmission, belonging to the technical field of industrial robots. Background Art

[0002] In recent years, the new energy industry has developed rapidly. Among them, the application of horizontal multi-joint SCARA robots in the lithium battery industry has become more and more extensive. The weight of the battery cells that need to be moved is also getting heavier. The current SCARA is increasingly unable to meet the demand. The market has put forward higher requirements for the handling weight of SCARA. For heavy-load horizontal multi-joint robots, it is necessary to further improve the overall rigidity of the robot, that is, the rigidity of the reducer and the rigidity of the ball screw.

[0003] Currently, SCARA robots on the market generally use harmonic reducers. Harmonic reducers are composed of flexible wheels, steel wheels, and wave generators. The key gears are flexible and require repeated high-speed changes, so they are relatively fragile. Therefore, harmonic reducers are not suitable for high-rigidity applications. Under heavy-load conditions, their service life will decrease accordingly with the increase of load-bearing capacity, and the accuracy will also decrease accordingly.

[0004] Moreover, heavy-load SCARA robots on the market generally use an integrated ball screw spline, which is respectively driven by a third motor and a four-axis motor to transmit the synchronous belt to the ball screw spline to realize the up and down and rotational movement of the ball screw. The structure of driving the ball screw spline in the prior art is that the motor is directly connected to the reducer, and the reducer is then connected to the spline nut on the ball screw through a belt. The spline nut is rotatably connected to the robot's forearm. This structure requires many parts as a whole and has a complex structure, resulting in a high overall manufacturing cost. When the robot uses a heavy load and the ball screw moves up and down, the ball screw will shake due to insufficient rigidity, and the overall stability of the robot is poor, resulting in poor accuracy, which affects client use. Summary of the Invention

[0005] The purpose of the utility model is to provide a heavy-load horizontal multi-joint robot with multi-rod transmission, so as to solve the technical defects of the prior art in that the structure of driving the spline shaft to rotate is complex, the manufacturing cost is high and the driving effect is poor.

[0006] In order to solve the above problems, the technical solution adopted by the present invention is: a heavy-load horizontal multi-joint robot with multi-rod transmission, including a base assembly, a large arm assembly, a small arm assembly and a load assembly, one end of the large arm assembly is rotatably set on the base assembly and driven by the J1-axis motor to rotate about the J1 axis, one end of the small arm assembly is rotatably set on the end of the large arm assembly away from the base assembly and driven by the J2-axis motor to rotate about the J2 axis, the load assembly is set on the end of the small arm assembly away from the arm assembly, can rotate relative to the small arm assembly about the vertical J4 axis and move vertically relative to the small arm assembly, the load assembly includes The J3-axis motor, the lead screw, the spline rod, and the J4-axis motor are mounted on the arm assembly. The lead screw is provided on the arm assembly and is driven to rotate by the J3-axis motor. The lead screw is provided with a lead screw nut that matches its thread. A connector is fixed to the lead screw nut. The lead screw rotates to drive the connector to move vertically. The spline rod is rotationally connected to the connector and moves synchronously with the movement of the connector. The spline rod is provided with a spline nut that matches its spline. The spline nut is rotationally connected to the arm assembly. The output shaft of the J4-axis motor is connected to the spline nut. The J4-axis motor drives the spline rod to rotate via the spline nut. Compared with the prior art, the present invention reduces the number of parts required for the spline nut connection and has a simpler structure. While reducing the cost of the present invention, it also improves the driving effect of the spline rod in the present invention.

[0007] As a further improvement to the present invention, the present invention further includes a guide shaft and a J4-axis reducer. The guide shaft is disposed on the arm assembly and can move vertically relative to the arm assembly. The guide shaft is located between the lead screw and the spline rod, and is fixedly connected to the connecting member. The guide shaft moves synchronously with the movement of the connecting member. The J4-axis reducer is mounted on the arm assembly, the output shaft of the J4-axis motor is connected to the input end of the J4-axis reducer, and the spline nut is connected to the output end of the J4-axis reducer. The provision of the guide shaft in the present invention can improve the rigidity of the present invention, and the provision of the reducer can reduce the speed of the rotation of the spline rod.

[0008] As a further improvement of the present invention, the connecting member includes an upper connecting member unit and a lower connecting member unit. The middle portion of the upper connecting member unit is fixedly connected to the upper end of the guide shaft. One end of the upper connecting member unit is fixedly connected to the screw nut and the other end is rotatably connected to the upper end of the spline rod. One end of the lower connecting member unit is fixedly connected to the lower end of the guide shaft and the other end is rotatably connected to the lower portion of the spline rod. In the present invention, both ends of the guide shaft are connected to the spline rod, which prevents the guide shaft and the spline rod from swinging during movement, thereby improving the accuracy of the present invention.

[0009] As a further improvement to the present invention, a linear bearing is further included. The linear bearing is sleeved on the guide shaft and the guide shaft can slide vertically relative to the linear bearing. The linear bearing is fixedly connected to the arm assembly. The linear bearing is provided to guide the sliding of the guide shaft, further improving the stability of the movement of the guide shaft and the spline rod.

[0010] As a further improvement of the present invention, the present invention further includes a screw mounting plate fixed to the arm assembly, the screw passing through the screw mounting plate and being rotatably connected to the screw, and at least one linear bearing sleeved on the guide shaft is mounted on the screw mounting plate. The present invention provides a screw mounting plate to facilitate the rotatable installation of the screw and the arm assembly.

[0011] As a further improvement to the present invention, a J3-axis output pulley is mounted at the bottom end of the screw, a J3-axis input pulley is mounted on the output shaft of the J3-axis motor, and the J3-axis input pulley and the J3-axis output pulley are connected by a J3 synchronous belt. A J4-axis output pulley is mounted at the input end of the J4-axis reducer, a J4-axis input pulley is mounted on the output shaft of the J4-axis motor, and the J4-axis input pulley and the J4-axis output pulley are connected by a J4 synchronous belt. The present invention uses a motor to drive the synchronous belt, which in turn drives the screw and spline nut to rotate. In the present invention, the J4-axis output pulley is directly connected to the J4-axis reducer, simplifying the connection structure between the two.

[0012] As a further improvement of the present invention, the spline rod passes through the J4 shaft output pulley, the J4 shaft reducer and the spline nut from top to bottom, and is spline-matched with the spline nut. Since the spline rod of the present invention passes through the J4 shaft output pulley, the J4 shaft reducer and the spline nut, the overall structure is more compact.

[0013] As a further improvement of the present invention, it also includes a J1-axis RV reducer and a J2-axis RV reducer, wherein the shaft of the J1-axis RV reducer is fixedly connected to the base assembly, the housing of the J1-axis RV reducer is fixedly connected to the boom assembly, the J1-axis motor is mounted on the boom assembly, the J1-axis input gear is mounted on the output shaft of the J1-axis motor, the J1-axis input gear is meshed with the center gear of the J1-axis RV reducer, the shaft of the J2-axis RV reducer is fixedly connected to the boom assembly, the housing of the J2-axis RV reducer is fixedly connected to the forearm assembly, the J2-axis motor is mounted on the forearm assembly, the J2-axis input gear is mounted on the output shaft of the J2-axis motor, the J2-axis input gear is meshed with the center gear of the J2-axis RV reducer. The use of the RV reducer in the present invention not only improves the rigidity and precision of the entire machine, but also enhances the robot's overload resistance, enabling the robot to withstand greater loads.

[0014] As a further improvement of the present invention, it further includes an upper boom cover, a lower boom cover, a forearm cover, and an upper cover. The upper boom cover is disposed on the top of the boom assembly at one end of the base assembly, the lower boom cover is disposed on the bottom of the boom assembly at one end of the forearm assembly, the forearm cover is disposed on the upper portion of the forearm, and the upper cover is disposed on the end of the forearm assembly away from the boom assembly. By disposing the upper boom cover, the lower boom cover, the forearm cover, and the upper cover, the present invention allows all components, such as the motor, to be enclosed within the boom assembly and the forearm assembly, thereby improving safety in use.

[0015] As a further improvement to this invention, the wiring harness runs from the base assembly through the J1-axis RV reducer into the boom assembly, then through the boom assembly and the J2-axis RV reducer into the forearm assembly, providing energy for the multi-rod transmission of the heavy-load horizontal multi-jointed robot. This new design utilizes internal wiring, providing enhanced protection for the robot and adapting to sensitive environments.

[0016] To sum up, the beneficial effects of the present invention are: the installation structure of the spline rod in the present invention requires fewer parts, has a simple structure, low manufacturing cost and good driving effect, the movement process of the spline rod is stable, the overall structure is compact, rigid, safe to use and has higher protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of the present utility model.

[0018] Figure 2 It is a schematic diagram reflecting the wiring of the main body in the utility model.

[0019] Figure 3 It is a schematic diagram of the load component and the small arm component in the utility model.

[0020] Figure 4 It is a structural diagram of the load component in the utility model.

[0021] Wherein: 1. Base assembly; 2. Upper arm assembly; 3. J1-axis motor; 4. Lower arm assembly; 5. J2-axis motor; 6. Load assembly; 7. J3-axis motor; 8. Screw; 9. Screw nut; 10. Guide shaft; 11. Connector; 12. Spline rod; 13. J4-axis motor; 14. J4-axis reducer; 15. Spline nut; 16. Upper connecting unit; 17. Lower connecting unit; 18. Linear bearing; 19. Screw mounting plate; 20. J3-axis output pulley. 21. J3-axis input pulley; 22. J3 synchronous belt; 23. J4-axis output pulley; 24. J4-axis input pulley; 25. J4 synchronous belt; 26. J1-axis RV reducer; 27. J1-axis input gear 27; 28. J2-axis RV reducer; 29. ​​J2-axis input gear; 30. Upper arm cover; 31. Lower arm cover; 32. Forearm cover; 33. Upper cover; 34. Main body wiring harness; 35. Upper guide shaft fixing piece; 36. Lower guide shaft fixing piece. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1 and Figure 2 The multi-rod transmission heavy-load horizontal multi-joint robot shown includes a base assembly 1, an arm assembly 2, an arm assembly 4 and a load assembly 6. The arm assembly 2 is horizontal as a whole and has a hollow structure. One end of the arm assembly 2 is rotatably set on the base assembly 1 and is driven by the J1-axis motor 3 to rotate about the J1 axis. The J1 axis is set in the vertical direction. The J1-axis motor 3 drives the arm assembly 2 to rotate horizontally along the vertical J1 axis. The arm assembly 4 is a hollow structure and has a horizontal shape. One end of the arm assembly 4 is rotatably set on the end of the arm assembly 2 away from the base assembly 1 and is driven by the J2-axis motor 5 to rotate about the J2 axis. The J2 axis is parallel to the J1 axis and is both set in the vertical direction. The load assembly 6 is set on the end of the arm assembly 4 away from the arm assembly 2, and can rotate about the vertical J4 axis relative to the arm assembly 4 and move vertically relative to the arm assembly 4.

[0024] like Figure 3 and Figure 4As shown, the load assembly 6 in the present invention includes a J3-axis motor 7, a screw rod 8, one or more guide shafts 10, a spline rod 12 and a J4-axis motor 13. The J3-axis motor 7 is installed on the arm assembly 4. The screw rod 8 is rotatably set on the arm assembly 4 and is driven to rotate by the J3-axis motor 7. The screw rod 8 is set in the vertical direction. A screw nut 9 that matches its thread is sleeved on the screw rod 8. The guide shaft 10 is slidably set on the arm assembly 4. The guide shaft 10 and the screw nut 9 are fixedly connected by a connecting piece 11, and the lower end of the guide shaft 10 extends downward from the arm assembly 4. Due to the provision of the connecting piece 11, the screw nut 9, the connecting piece 11 and the guide shaft 10 cannot rotate. When the screw rod 8 rotates, the screw rod The nut 9 converts the rotation of the screw rod 8 into movement in the vertical direction, so that the rotation of the screw rod 8 is used to drive the vertical movement of the guide shaft 10 and the connecting member 11. The spline rod 12 in the utility model is rotationally connected to the connecting member 11 and moves synchronously with the movement of the connecting member 11, that is, the spline rod 12 has two actions of rotation and vertical movement. The output shaft of the J4-axis motor 13 is connected to the J4-axis reducer 14. The J4-axis motor 13 and the J4-axis reducer 14 are both installed on the forearm assembly 4. A spline nut 15 is connected to the output end of the J4-axis reducer 14. The spline nut 15 is sleeved on the spline rod 12 and cooperates with the spline rod 12. The J4-axis motor 13 drives the spline rod 12 to rotate through the spline nut 15.

[0025] like Figure 4 As shown, the connecting member 11 in the present invention includes an upper connecting unit 16 and a lower connecting unit 17. One end of the upper connecting unit 16 is fixedly connected to the screw nut 9 by a fixing bolt, wherein the screw nut 9 passes through the upper connecting unit 16, and the top end of the guide shaft 10 is fixedly connected to the upper connecting unit 16 by an upper guide shaft fixing member 35. The screw nut 9 is fixed to the upper connecting unit 16 and cannot rotate relative to it. The other end of the upper connecting unit 16 is rotatably connected to the upper end of the spline rod 12. The present invention is provided with an upper connecting unit 16. The upper end of the spline rod 12 is rotatably connected to the upper connecting unit 16 using an upper bearing, and one end of the lower connecting unit 17 is fixedly connected to the lower end of the guide shaft 10 using a lower guide shaft fixing member 36. The other end of the lower connecting unit 17 is rotatably connected to the lower part of the spline rod 12. The present invention is provided with a lower bearing on the lower connecting unit 17. The lower part of the spline rod 12 is rotatably mounted to the lower connecting unit 17 using the lower bearing. The upper guide shaft fixing member 35 and the lower guide shaft fixing member 36 in the present invention are both prior art, and bolts can be used. The present invention uses a split screw 8 and a spline rod 12 to replace a composite ball screw spline shaft, and the spline rod 12 and the guide shaft 10 are distributed in a triangular shape, which effectively improves the allowable bending moment and rigidity of the spline rod 12, and solves the problem that when the screw spline descends a large stroke, the composite ball screw spline shaft as a whole undergoes a certain degree of elastic deformation, thereby significantly affecting the trajectory and positioning accuracy of the robot.

[0026] In the present invention, there are two guide shafts 10, which are arranged in parallel and are both slidably mounted on the arm assembly 4. The upper ends of the two guide shafts 10 are fixedly connected to the upper connecting unit 16, and the lower ends of the two guide shafts 10 are fixedly connected to the lower connecting unit 17. The screw rod 8 and the spline rod 12 are respectively located on either side of the plane formed by the center lines of the two guide shafts 10. In order to make the movement of the guide shafts 10 more stable, the present invention is provided with linear bearings 18, which are sleeved on the guide shafts 10 and can slide relative to the guide shafts 10. The linear bearings 18 are fixedly connected to the arm assembly 4.

[0027] like Figure 4 As shown, in order to facilitate the rotational installation of the screw rod 8 and the forearm assembly 4, the utility model is provided with a screw rod mounting plate 19, the screw rod mounting plate 19 is fixed on the forearm assembly 4, the screw rod 8 passes through the screw rod mounting plate 19 and is rotatably connected to the screw rod 8 by a bearing. The utility model is provided with two linear bearings 18, one of which is mounted on the screw rod mounting plate 19, and the other linear bearing 18 can be fixed on the inner arm of the forearm assembly 4.

[0028] like Figure 4 As shown, the utility model is provided with a J3-axis output pulley 20 at the bottom end of the screw rod 8, a J3-axis input pulley 21 is provided on the output shaft of the J3-axis motor 7, the J3-axis input pulley 21 and the J3-axis output pulley 20 are connected by a J3 synchronous belt 22, and the J3-axis motor 7 drives the screw rod 8 to rotate through the J3 synchronous belt 22, a J4-axis output pulley 23 is provided at the input end of the J4-axis reducer 14, a J4-axis input pulley 24 is provided on the output shaft of the J4-axis motor 13, the J4-axis input pulley 24 and the J4-axis output pulley 23 are connected by a J4 synchronous belt 25, and the J4-axis motor 13 drives the spline nut 15 to rotate through the J4 synchronous belt 25, thereby driving the spline rod 12 to rotate. The J4-axis reducer 14 in this utility model utilizes a harmonic reducer. Its top portion serves as the input terminal, which is fixedly connected to the J4-axis output pulley 23. The bottom portion of the J4-axis reducer 14 serves as the output terminal, which is flange-engaged with a spline nut 15. The spline rod 12 passes through the J4-axis output pulley 23, the J4-axis reducer 14, and the spline nut 15, sequentially from top to bottom, and is spline-engaged with the spline nut 15. This utility model utilizes a synchronous belt drive, which, compared to a motor-directed ball screw spline drive, reduces the weight of the entire robot's endpiece, resulting in reduced endpiece inertia, minimal deformation of the entire machine, and enhanced stability.

[0029] like Figure 1 and Figure 2As shown, the utility model is provided with a J1-axis RV reducer 26 and a J2-axis RV reducer 28. The shaft of the J1-axis RV reducer 26 is detachably connected to the base assembly 1 by multiple bolts, the housing of the J1-axis RV reducer 26 is detachably connected to the boom assembly 2 by multiple bolts, the J1-axis motor 3 is detachably mounted on the boom assembly 2 by bolts, and a J1-axis input gear 27 is mounted on the output shaft of the J1-axis motor 3, and the J1-axis input gear 27 is meshed with the center gear of the J1-axis RV reducer 26. The shaft of the J2-axis RV reducer 28 is detachably connected to the boom assembly 2 by multiple bolts, the housing of the J2-axis RV reducer 28 is detachably connected to the forearm assembly 4 by multiple bolts, the J2-axis motor 5 is detachably mounted on the forearm assembly 4 by bolts, and a J2-axis input gear 29 is mounted on the output shaft of the J2-axis motor 5, and the J2-axis input gear 29 is meshed with the center gear of the J2-axis RV reducer 28.

[0030] like Figure 1 and Figure 2 As shown, the utility model is provided with an upper arm cover 30, a lower arm cover 31, a small arm cover 32 and an upper cover 33. The upper arm cover 30 is detachably mounted on the top of the arm assembly 2 at one end of the base assembly 1 by bolts, and is used to enclose the J1-axis motor 3 in the arm assembly 2. The lower arm cover 31 is arranged on the bottom of the arm assembly 2 at one end of the small arm assembly 4, and is used to enclose the bottom of the J2-axis RV reducer 28 in the arm assembly 2 from the bottom of the arm assembly 2. The small arm cover 32 is detachably mounted on the upper part of the small arm assembly 4 by bolts, and is used to enclose the J3-axis motor 7 and the J4-axis motor 13 in the arm assembly 4. The upper cover 33 is detachably mounted on the end of the arm assembly 4 away from the arm assembly 2 by bolts, and is used to enclose the entire screw rod 8, the upper part of the guide shaft 10 and the upper part of the spline rod 12 in the arm assembly 4.

[0031] like Figure 2 As shown, the present invention routes the main wiring harness 34 from the base assembly 1 through the J1-axis RV reducer 26 into the boom assembly 2, then through the boom assembly 2 and the J2-axis RV reducer 28 into the arm assembly 4. The J1-axis motor 3, J2-axis motor 5, J3-axis motor 7, and J4-axis motor 13 in the present invention are all connected to the main wiring harness 34. This main wiring harness 34 provides energy for the movement of the multi-rod transmission heavy-load horizontal multi-jointed robot. Terminals connected to the main wiring harness 34 are provided on the base assembly 1 for connection to indoor power lines during use. This low-cost, high-reliability structure improves the stability and operational precision of the heavy-load SCARA robot during high-speed, wide-range operation.

[0032] Any portion of the above description not specifically described herein is prior art or can be implemented using prior art. Furthermore, the specific embodiments described in this utility model are merely preferred embodiments of the present invention and are not intended to limit the scope of implementation of this utility model. In other words, any equivalent variations and modifications made within the scope of this utility model should be considered within the technical scope of this utility model.

Claims

1. A heavy-load horizontal multi-joint robot with multi-rod transmission, comprising Base assembly (1); A large arm assembly (2), one end of which is rotatably mounted on the base assembly (1) and is driven by a J1-axis motor (3) to rotate about the J1 axis; A small arm assembly (4), one end of which is rotatably arranged on an end of the large arm assembly (2) away from the base assembly (1), and is driven by a J2-axis motor (5) to rotate about the J2 axis; A load assembly (6) is provided on an end of the arm assembly (4) away from the boom assembly (2), and can rotate relative to the arm assembly (4) about a vertical J4 axis and move vertically relative to the arm assembly (4); Its characteristics are: The load assembly (6) includes A J3-axis motor (7) is mounted on the arm assembly (4); A screw rod (8) is provided on the arm assembly (4) and is driven to rotate by the J3-axis motor (7). A screw nut (9) is sleeved on the screw rod (8) and matched with the screw thread. A connecting piece (11) is fixed on the screw nut (9). The screw rod (8) rotates to drive the connecting piece (11) to move vertically. A spline rod (12) is rotatably connected to the connecting member (11) and moves synchronously with the movement of the connecting member (11). A spline nut (15) is sleeved on the spline rod (12) and is matched with the spline. The spline nut (15) is rotatably connected to the arm assembly (4). A J4-axis motor (13) has an output shaft connected to a spline nut (15), and the J4-axis motor (13) drives the spline rod (12) to rotate via the spline nut (15).

2. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 1, characterized in that: Also includes A guide shaft (10), the guide shaft (10) being arranged on the small arm assembly (4) and being movable vertically relative to the small arm assembly (4), the guide shaft (10) being located between the screw rod (8) and the spline rod (12), the guide shaft (10) being fixedly connected to the connecting member (11), and the guide shaft (10) being synchronously moved with the movement of the connecting member (11); A J4-axis reducer (14) is installed on the arm assembly (4); the output shaft of the J4-axis motor (13) is connected to the input end of the J4-axis reducer (14); and the spline nut (15) is connected to the output end of the J4-axis reducer (14).

3. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 2, characterized in that: The connecting member (11) includes An upper connecting unit (16), the upper connecting unit (16) is fixedly connected to the upper end of the guide shaft (10), one end of the upper connecting unit (16) is fixedly connected to the screw nut (9), and the other end is rotatably connected to the upper end of the spline rod (12); A lower connecting unit (17) has one end fixedly connected to the lower end of the guide shaft (10) and the other end rotatably connected to the lower portion of the spline rod (12).

4. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 2, characterized in that: Also includes The linear bearing (18) is sleeved on the guide shaft (10) and the guide shaft (10) can slide vertically relative to the linear bearing (18). The linear bearing (18) is fixedly connected to the small arm assembly (4).

5. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 4, characterized in that: Also includes A screw rod mounting plate (19) is fixed on the small arm assembly (4); the screw rod (8) passes through the screw rod mounting plate (19) and is rotatably connected to the screw rod (8); and at least one linear bearing (18) sleeved on the guide shaft (10) is mounted on the screw rod mounting plate (19).

6. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 2, characterized in that: The bottom end of the screw rod (8) is installed with a J3 axis output pulley (20), the output shaft of the J3 axis motor (7) is installed with a J3 axis input pulley (21), and the J3 axis input pulley (21) and the J3 axis output pulley (20) are connected by a J3 synchronous belt (22); The input end of the J4-axis speed reducer (14) is provided with a J4-axis output pulley (23), the output shaft of the J4-axis motor (13) is provided with a J4-axis input pulley (24), and the J4-axis input pulley (24) and the J4-axis output pulley (23) are connected by a J4 synchronous belt (25).

7. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 6, characterized in that: The spline rod (12) passes through the J4 shaft output pulley (23), the J4 shaft reducer (14) and the spline nut (15) in sequence from top to bottom, and is spline-matched with the spline nut (15).

8. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 1, characterized in that: Also includes A J1-axis RV reducer (26), a shaft of the J1-axis RV reducer (26) is fixedly connected to the base assembly (1), a housing of the J1-axis RV reducer (26) is fixedly connected to the arm assembly (2), a J1-axis motor (3) is mounted on the arm assembly (2), a J1-axis input gear (27) is mounted on the output shaft of the J1-axis motor (3), and the J1-axis input gear (27) is meshed with the center gear of the J1-axis RV reducer (26); A J2-axis RV reducer (28) is provided, wherein the shaft of the J2-axis RV reducer (28) is fixedly connected to the arm assembly (2), the housing of the J2-axis RV reducer (28) is fixedly connected to the arm assembly (4), the J2-axis motor (5) is mounted on the arm assembly (4), the output shaft of the J2-axis motor (5) is provided with a J2-axis input gear (29), and the J2-axis input gear (29) is meshed with the center gear of the J2-axis RV reducer (28).

9. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 8, characterized in that: Also includes The upper arm cover (30) is arranged on the upper arm assembly (2) and is located at the top of one end of the base assembly (1); The upper arm lower cover (31) is arranged on the upper arm assembly (2) at the bottom of one end of the lower arm assembly (4); A small arm cover (32), the small arm cover (32) is arranged on the upper part of the small arm assembly (4); The upper cover (33) is arranged on an end of the small arm assembly (4) away from the large arm assembly (2).

10. The heavy-load horizontal multi-joint robot with multi-rod transmission according to claim 8, characterized in that: The main body harness (34) passes through the J1-axis RV reducer (26) from the base assembly (1) into the arm assembly (2), and then passes through the arm assembly (2) and the J2-axis RV reducer (28) into the small arm assembly (4), providing energy for the movement of the heavy-load horizontal multi-joint robot with multi-rod transmission.

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