Four-axis robot

Abstract

The utility model relates to the technical field of industrial robots, in particular to a four-axis robot which comprises a fixed base, a rotating seat assembly, a rotating main arm and a movable arm, a linear module is arranged on the rotating main arm, a first sliding seat and a second sliding seat are arranged on the linear module, and one end of the movable arm is rotationally connected to the first sliding seat through a first rotating shaft. The first rotating shaft is connected with a first connecting rod, the tail end of the first connecting rod is hinged to one end of a second connecting rod, the other end of the second connecting rod is hinged to one end of a third connecting rod, and the third connecting rod is connected to the second rotating shaft. The second sliding seat is rotationally connected with one end of a fourth connecting rod through a third rotating shaft, the other end of the fourth connecting rod is rotationally connected with the movable arm through a fourth rotating shaft, and the second sliding seat is driven by an auxiliary driving mechanism to do independent reciprocating motion along the linear module. On the other hand, the occupied area and the working space can be reduced to a certain extent.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and particularly relates to a four-axis robot. Background Art

[0002] Currently, six-axis industrial robots are more common. Of course, there are also industrial robots with other structural forms such as eight-axis and five-axis robots, but they generally have the problem of being large in size, occupying a large volume and working space, and the cost is also high. Utility Model Content

[0003] The utility model provides a four-axis robot, which can solve the problems pointed out in the background technology.

[0004] The swiss movement axis is located on the right of the wheelbase, and the pivot position is set as the center, and the pivot position is set as the center, and the pivot position is set as the center.

[0005] Preferably, the linear module is a screw linear module, and the main driving component drives the screw of the screw linear module to rotate through the first transmission system.

[0006] Preferably, the first transmission system includes a first active transmission wheel, a first transmission belt and a first driven transmission wheel, and the main driving member is arranged at the top end of the rotating main arm.

[0007] Preferably, the auxiliary drive mechanism includes an auxiliary drive member and a second transmission system, the auxiliary drive member is fixed on the second slide, the second transmission system includes a second active transmission wheel, a second transmission belt and a second driven transmission wheel, the second driven transmission wheel is coaxially sleeved on the screw and connected to the rotating screw nut to drive it to rotate, and the rotating screw nut is connected to the second slide through a rotating bearing.

[0008] Preferably, the rotary drive member, the main drive member and the auxiliary drive member are all motors, and the first transmission system and the second transmission system are both synchronous belt transmission systems.

[0009] Preferably, the end output mechanism includes an end fixing frame and an end motor, the end motor is arranged on the end fixing frame, and the end fixing frame is rotatably connected to the lower end of the movable arm through a second rotating shaft.

[0010] Beneficial effects: The utility model provides a four-axis robot with a four-axis structure, which can reduce costs on the one hand and reduce its floor space and working space to a certain extent on the other hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural diagram of the utility model;

[0012] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0013] Figure 3 For this utility model Figure 2 A magnified schematic diagram of point A in the middle;

[0014] Description of reference numerals:

[0015] Numbers in the figure: fixed base 1; rotating base assembly 2; rotating drive member 21; rotating main arm 3; movable arm 4; linear module 5; first slide 51; second slide 52; main drive member 53; screw 54; first active transmission wheel 55; first transmission belt 56; first driven transmission wheel 57; first rotating shaft 61; first connecting rod 62; second connecting rod 63; third connecting rod 64; second rotating shaft 65; third rotating shaft 66; fourth connecting rod 67; fourth rotating shaft 68; auxiliary drive member 71; second active transmission wheel 72; second transmission belt 73; second driven transmission wheel 74; rotating screw nut 75; rotating bearing 76; end fixing frame 81; end motor 82. DETAILED DESCRIPTION

[0016] A specific embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0017] Example 1:

[0018] like Figure 1-3The four-axis robot comprises a fixed base 1, a rotating base assembly 2, a rotating main arm 3 and a movable arm 4. The rotating base assembly 2 is arranged on the fixed base 1. The rotating base assembly 2 can be an electric rotary assembly. The rotating base assembly 2 provides rotational power through a rotating drive member 21. The lower end of the rotating main arm 3 is connected to the rotating base assembly 2 and rotates with it; a linear module 5 is provided on the rotating main arm 3, and a first slide 51 and a second slide 52 are provided on the linear module 5. The linear module 5 is driven by a main drive member 53. One end of the movable arm 4 is rotatably connected to the first slide 51 through a first rotating shaft 61. On the upper part, the first rotating shaft 61 is connected to the first connecting rod 62. The end of the first connecting rod 62 is hingedly connected to one end of the second connecting rod 63. The other end of the second connecting rod 63 is hingedly connected to one end of the third connecting rod 64. The third connecting rod 64 is connected to the second rotating shaft 65. The other end of the movable arm 4 is rotatably connected to the end output mechanism via the second rotating shaft 65. Specifically, the end output mechanism includes an end fixing frame 81 and an end motor 82. The end motor 82 is disposed on the end fixing frame 81. The end fixing frame 81 is rotatably connected to the lower end of the movable arm 4 via the second rotating shaft 65. The second slide 52 is rotatably connected to one end of the fourth connecting rod 67 via the third rotating shaft 66. The other end of the fourth connecting rod 67 is rotatably connected to the movable arm 4 via the fourth rotating shaft 68. The second slide 52 is driven by an auxiliary drive mechanism to independently reciprocate along the linear module 5.

[0019] Specifically, the linear module 5 is a screw linear module, and the main driving member 53 drives the screw 54 of the screw linear module to rotate through the first transmission system. The first transmission system includes a first active transmission wheel 55, a first transmission belt 56 and a first driven transmission wheel 57. The main driving member 53 is arranged at the top of the rotating main arm 3, and the auxiliary driving mechanism includes an auxiliary driving member 71 and a second transmission system. The auxiliary driving member 71 is fixed on the second slide 52, and the second transmission system includes a second active transmission wheel 72, a second transmission belt 73 and a second driven transmission wheel 74. The second driven transmission wheel 74 is coaxially sleeved on the screw 54 and connected to the rotating screw nut 75 to drive it to rotate. The rotating screw nut 75 is connected to the second slide 52 through a rotating bearing 76. The rotating driving member 21, the main driving member 53 and the auxiliary driving member 71 are all motors, and the first transmission system and the second transmission system are both synchronous belt transmission systems.

[0020] The working principle of the present invention is as follows: the main arm 3 is rotated by providing rotary power through the rotary drive member 21, which drives the end output mechanism to rotate, which is the first axial direction; the linear module 5 is driven by the main drive member 53 to move, so as to realize the lifting and lowering of the first slide 51 and the second slide 52, which drives the end output mechanism to lift and lower, which is the second axial direction; the second slide 52 is driven to lift and lower separately through the auxiliary drive mechanism, so as to realize the retraction and extension of the movable arm 4 and the change of the angle and position of the end output mechanism, which is the third axial direction; the end output mechanism is the fourth axial direction.

[0021] The above disclosures are only a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A four-axis robot comprising a fixed base (1), a rotating base assembly (2), a rotating main arm (3) and a movable arm (4), wherein the rotating base assembly (2) provides rotational power through a rotating drive member (21), and is characterized in that: The rotating main arm (3) is provided with a linear module (5), and the linear module (5) is provided with a first slide (51) and a second slide (52). The linear module (5) is driven by a main driving member (53). One end of the movable arm (4) is rotatably connected to the first slide (51) through a first rotating shaft (61). The first rotating shaft (61) is connected to a first connecting rod (62). The end of the first connecting rod (62) is hingedly connected to one end of the second connecting rod (63). The other end of the second connecting rod (63) is hingedly connected to the third connecting rod ( One end of the movable arm (4) is hingedly connected, the third connecting rod (64) is connected to the second rotating shaft (65), the other end of the movable arm (4) is rotationally connected to the end output mechanism through the second rotating shaft (65), the second slide (52) is rotationally connected to one end of the fourth connecting rod (67) through the third rotating shaft (66), the other end of the fourth connecting rod (67) is rotationally connected to the movable arm (4) through the fourth rotating shaft (68), and the second slide (52) is driven by the auxiliary driving mechanism to independently reciprocate along the linear module (5).

2. A four-axis robot according to claim 1, characterized in that: The linear module (5) is a screw linear module, and the main driving component (53) drives the screw (54) of the screw linear module to rotate through a first transmission system.

3. A four-axis robot according to claim 2, characterized in that: The first transmission system comprises a first active transmission wheel (55), a first transmission belt (56) and a first driven transmission wheel (57), and the main driving member (53) is arranged at the top end of the rotating main arm (3).

4. A four-axis robot according to claim 3, characterized in that: The auxiliary drive mechanism includes an auxiliary drive member (71) and a second transmission system. The auxiliary drive member (71) is fixed on the second slide (52). The second transmission system includes a second active transmission wheel (72), a second transmission belt (73) and a second driven transmission wheel (74). The second driven transmission wheel (74) is coaxially sleeved on the screw (54) and connected to a rotating screw nut (75) to drive the screw nut to rotate. The rotating screw nut (75) is connected to the second slide (52) through a rotating bearing (76).

5. A four-axis robot according to claim 4, characterized in that: The rotary drive member (21), the main drive member (53), and the auxiliary drive member (71) are all motors, and the first transmission system and the second transmission system are both synchronous belt transmission systems.

6. A four-axis robot according to any one of claims 1 to 5, characterized in that: The terminal output mechanism comprises a terminal fixing frame (81) and a terminal motor (82), wherein the terminal motor (82) is arranged on the terminal fixing frame (81), and the terminal fixing frame (81) is rotatably connected to the lower end of the movable arm (4) via a second rotating shaft (65).

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