Four-axis joint robot based on thread rolling technology

Abstract

The utility model discloses a four-axis joint robot based on the thread rolling technology, and relates to the technical field of robots, the four-axis joint robot based on the thread rolling technology comprises a base, the base is provided with an adjusting mechanism which is convenient for adjusting resistance, and the adjusting mechanism is provided with a screw. The adjusting mechanism comprises a first mechanical shaft, a second mechanical shaft, a third mechanical shaft, a fourth mechanical shaft and a thread rolling mechanism, the first mechanical shaft is fixedly installed at the upper end of the base, and the thread rolling mechanism is fixedly installed at the side end of the fourth mechanical shaft; and arc-shaped plates are fixedly mounted at the upper end parts of the first mechanical shaft, the second mechanical shaft, the third mechanical shaft and the fourth mechanical shaft. The adjustable adjusting block, the rubber clamping block, the gear and the rack are arranged to be matched, the rack can be driven to slide by rotating the threaded rod, the rubber clamping block is driven to movably clamp or loosen the circular shaft under the cooperation of the gear, and the resistance of each joint is adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a four-axis joint robot based on thread rolling technology. Background Art

[0002] Four-axis articulated robots typically consist of multiple joints, enabling flexible, multi-directional movement. Each joint is composed of a motor, reducer, and transmission mechanism to precisely control the robot's position and posture. A thread rolling tool is typically installed at the end of the robotic arm for thread rolling. Some joints can be equipped with a certain resistance to increase the stability of the robotic arm during movement.

[0003] Currently, existing four-axis robots (e.g., patent number CN215433677U) disclose a vertical multi-jointed four-axis robot. This utility model utilizes a driver, motor, and reducer solution, resulting in a compact overall structure, high speed, and fast cadence. The reducer requires virtually no maintenance throughout its lifecycle, ensuring extremely reliable operation. Compared to commonly used six-axis robots, this utility model's four-axis robot requires fewer motors, drivers, and reducers, resulting in lower costs.

[0004] However, during the implementation of the above technical solution, it was found that there are at least the following technical problems: during the existing thread rolling work, the resistance between each joint of the robot is the same, the movement mode of the robot during the thread rolling work is relatively simple, and it is difficult to flexibly adjust according to different work scenarios and workpiece shapes. The robot may not be able to accurately control the movement amplitude and speed of each joint during the thread rolling operation, which may lead to inconsistencies in parameters such as the thread rolling depth and pitch, thereby affecting the processing accuracy. Utility Model Content

[0005] (1) Technical problems solved

[0006] In response to the shortcomings of the existing technology, the utility model provides a four-axis joint robot based on thread rolling technology to solve the problem that during the existing thread rolling work, the resistance between each joint of the robot is the same, the movement mode of the robot when performing thread rolling work is relatively single, and it is difficult to flexibly adjust according to different work scenarios and workpiece shapes. The robot may not be able to accurately control the movement amplitude and speed of each joint when performing thread rolling operations, which may lead to inconsistencies in parameters such as thread rolling depth and pitch, thereby affecting the technical problem of processing accuracy.

[0007] (2) Technical solution

[0008] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] A four-axis joint robot based on thread rolling technology includes a base, the base is provided with an adjustment mechanism for adjusting resistance, the adjustment mechanism includes a first mechanical axis, a second mechanical axis, a third mechanical axis, a fourth mechanical axis and a thread rolling mechanism, the first mechanical axis is fixedly mounted on the upper end of the base, the thread rolling mechanism is fixedly mounted on the side end of the fourth mechanical axis, the upper ends of the first mechanical axis, the second mechanical axis, the third mechanical axis and the fourth mechanical axis are fixedly mounted with an arc plate, the lower ends of the second mechanical axis, the third mechanical axis and the fourth mechanical axis are fixedly mounted with two receiving seats, the side ends of each of the receiving seats are penetrated by a rotating circular groove, located at a A turntable is rotatably installed on the inner side wall of the rotating circular groove, and each inner side wall of the rotating circular groove is also provided with three rubber clamping blocks. A circular shaft is fixedly installed on the two side ends of each arc plate, and each circular shaft is rotatably installed on the inner side wall of the rotating circular groove. The side end of each receiving seat is fixedly installed with an L-shaped side rod, and the side end of each L-shaped side rod is provided with a rectangular slide groove, and the upper and lower ends of the inner side wall of each rectangular slide groove are penetrated by a mounting groove, and the side end of each turntable is fixedly installed with an adjusting block, and the side end of each adjusting block is fixedly installed with a fixing column, and the side ends of every three fixing columns are fixedly installed with the same gear.

[0010] Preferably, a spring is fixedly installed between each of the rubber clamping blocks and the circumferential end portion of the inner side wall of the rotating circular groove, and each of the adjustment blocks is located at the circumferential end portion of the rubber clamping block.

[0011] Preferably: a rack is further provided on the side end portion of each L-shaped side rod, each rack and gear are meshed with each other, a slider is fixedly installed on the side end portion of each rack, a threaded groove is also penetrated through the upper end portion of each slider, a threaded rod is rotatably installed on the inner side walls of each two mounting grooves, and each threaded rod is threadedly rotatably installed on the inner side wall of the threaded groove.

[0012] (3) Beneficial effects

[0013] 1. This device is equipped with an adjustable adjustment block, a rubber clamping block, a gear and a rack. The rack can be driven to slide by rotating the threaded rod, thereby driving the rubber clamping block to clamp or loosen the circular shaft with the cooperation of the gear. By adjusting the resistance of each joint, the four-axis robot can better adapt to different work tasks and workpiece shapes. When processing workpieces with complex shapes, the joint resistance can be adjusted according to the contour of the workpiece, allowing the robot to perform thread rolling operations more smoothly.

[0014] 2. This device can adjust the joint resistance according to actual needs by setting up an adjustment mechanism at each joint, which can avoid wasting energy on unnecessary joints and make the adjustment of resistance more flexible and adaptable to different production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings.

[0016] Figure 1 This is a structural diagram of the base of the utility model;

[0017] Figure 2 This is a structural diagram of the first mechanical axis of the present invention;

[0018] Figure 3 This is a schematic diagram of the exploded structure of the second mechanical axis of the utility model;

[0019] Figure 4 This is a schematic diagram of the exploded structure of the turntable of the utility model.

[0020] Legend: 1. Base; 2. First mechanical axis; 21. Arc plate; 22. Circular axis; 3. Second mechanical axis; 31. Socket; 32. Rotating circular groove; 33. L-shaped side rod; 34. Rectangular slide; 35. Mounting groove; 4. Third mechanical axis; 5. Fourth mechanical axis; 6. Thread rolling mechanism; 7. Turntable; 71. Adjustment block; 72. Fixed column; 73. Gear; 8. Rubber clamping block; 81. Spring; 9. Rack; 91. Slider; 92. Thread groove; 93. Threaded rod. DETAILED DESCRIPTION

[0021] The embodiment of the present application provides a four-axis articulated robot based on thread rolling technology, which effectively solves the problem that during the existing thread rolling work, the resistance between each joint of the robot is the same, the movement mode of the robot during thread rolling work is relatively simple, and it is difficult to flexibly adjust according to different work scenarios and workpiece shapes. The robot may not be able to accurately control the movement amplitude and speed of each joint during thread rolling operations, which may lead to inconsistencies in parameters such as thread rolling depth and pitch, thereby affecting the processing accuracy. The device is equipped with an adjustable adjustment block 71, a rubber clamping block 8, a gear 73 and a rack 9, which can drive the rack 9 to slide by rotating the threaded rod 93, thereby driving the rubber clamping block 8 to clamp or loosen the circular shaft 22 with the cooperation of the gear 73. By adjusting the resistance of each joint, the four-axis robot can better adapt to different work tasks and workpiece shapes. When processing workpieces with complex shapes, the joint resistance can be adjusted according to the contour of the workpiece, so that the robot can perform thread rolling operations more smoothly.

[0022] Example

[0023] like Figure 1 、 Figure 2、 Figure 3 and Figure 4 As described above, the technical solution in the embodiment of the present application effectively solves the problem that during the existing thread rolling work, the resistance between each joint of the robot is the same, the movement mode of the robot during the thread rolling work will be relatively simple, and it is difficult to flexibly adjust according to different work scenes and workpiece shapes. The robot may not be able to accurately control the movement amplitude and speed of each joint during the thread rolling operation, which may lead to inconsistent technical problems such as the depth and pitch of the thread rolling. The overall idea is as follows: A four-axis joint robot based on thread rolling technology includes a base 1, and the base 1 is provided with an adjustment mechanism for facilitating the adjustment of resistance. The four-axis joint robot is usually composed of multiple joints and can achieve flexible movement in multiple directions. Each joint is composed of a motor, a reducer and a transmission mechanism to accurately control the position and posture of the robot. A certain resistance can be set at the joints of some robotic arms. Appropriate resistance can increase the stability of the robotic arm during movement. When the robotic arm moves quickly or bears external loads, the resistance at the joints can prevent excessive shaking or unstable movement of the joints;

[0024] The adjustment mechanism includes a first mechanical axis 2, a second mechanical axis 3, a third mechanical axis 4, a fourth mechanical axis 5 and a thread rolling mechanism 6. The first mechanical axis 2 is fixedly mounted on the upper end of the base 1, and the thread rolling mechanism 6 is fixedly mounted on the side end of the fourth mechanical axis 5. The upper ends of the first mechanical axis 2, the second mechanical axis 3, the third mechanical axis 4 and the fourth mechanical axis 5 are fixedly mounted with an arc plate 21, and the lower ends of the second mechanical axis 3, the third mechanical axis 4 and the fourth mechanical axis 5 are fixedly mounted with two receiving seats 31. A rotating circular groove 32 is penetrated at the side end of each receiving seat 31, and a turntable 7 is rotatably mounted on the inner side wall of the rotating circular groove 32 on one side. Three rubber clamping blocks 8 are also provided on the inner side wall of each rotating circular groove 32. Each arc plate 21 The two side ends of the turntable 7 are fixedly installed with a circular shaft 22, each circular shaft 22 is rotatably installed on the inner side wall of the rotating circular groove 32, and the side end of each receiving seat 31 is fixedly installed with an L-shaped side rod 33, and the side end of each L-shaped side rod 33 is provided with a rectangular slide 34, and the upper and lower ends of the inner side wall of each rectangular slide 34 are penetrated with a mounting groove 35. The side end of each turntable 7 is fixedly installed with an adjusting block 71, and the side end of each adjusting block 71 is fixedly installed with a fixed column 72. The side ends of every three fixed columns 72 are fixedly installed with the same gear 73. The rotation of the gear 73 will drive each fixed column 72 to rotate, and each fixed column 72 will rotate forward or reverse in the rotating circular groove 32. At this time, the turntable 7 will also rotate to attach Figure 4 For example, when the adjustment block 71 rotates clockwise;

[0025] A spring 81 is fixedly installed between each rubber clamping block 8 and the circumferential end of the inner wall of the rotating circular groove 32. Each adjusting block 71 is located at the circumferential end of the rubber clamping block 8. At this time, the spring 81 will rebound and drive each rubber clamping block 8 to move, thereby reducing the clamping force on the circular shaft 22, that is, the resistance becomes smaller; when the adjusting block 71 rotates counterclockwise, each spring 81 will be stretched, and each rubber clamping block 8 will clamp the circular shaft 22 tightly under the push of each adjusting block 71, that is, the resistance becomes larger, so that the resistance at each joint can be adjusted according to the different needs of thread rolling production;

[0026] The side end of each L-shaped side rod 33 is also provided with a rack 9, each rack 9 and the gear 73 are meshed, and a slider 91 is fixedly installed on the side end of each rack 9, and a threaded groove 92 is also penetrated through the upper end of each slider 91. The inner side walls of every two mounting grooves 35 are rotatably installed with a threaded rod 93, and each threaded rod 93 is threadedly mounted on the inner side wall of the threaded groove 92. When the user adjusts the resistance between the joints, the user can rotate the threaded rod 93 forward or reversely. The rotation of the threaded rod 93 will drive the slider 91 to slide up or down in the rectangular slide groove 34 through the threaded groove 92. The movement of the slider 91 will drive the rack 9 to slide, and when the rack 9 slides, it will drive the gear 73 to rotate.

[0027] In response to the problems existing in the prior art, the utility model provides a four-axis articulated robot based on thread rolling technology. The device is equipped with an adjustable adjustment block 71, a rubber clamping block 8, a gear 73 and a rack 9. The rack 9 can be driven to slide by rotating the threaded rod 93, thereby driving the rubber clamping block 8 to clamp or loosen the circular shaft 22 in cooperation with the gear 73. By adjusting the resistance of each joint, the four-axis robot can better adapt to different work tasks and workpiece shapes. When processing workpieces with complex shapes, the joint resistance can be adjusted according to the contour of the workpiece, so that the robot can perform thread rolling operations more smoothly.

[0028] Working principle:

[0029] A four-axis articulated robot is usually composed of multiple joints, which can achieve flexible movement in multiple directions. Each joint is composed of a motor, a reducer, and a transmission mechanism to accurately control the position and posture of the robot. A certain amount of resistance can be set at the joints of some robotic arms. Appropriate resistance can increase the stability of the robotic arm during movement. When the robotic arm moves quickly or bears external loads, the resistance at the joints can prevent excessive shaking or unstable movement of the joints. In actual use, this device can adjust the resistance between the joints to adapt it to the production needs of thread rolling processing. When the user adjusts the resistance between the joints, the user can rotate the threaded rod 93 forward or reverse. The rotation of the threaded rod 93 will drive the slider 91 to slide up or down in the rectangular slide 34 through the thread groove 92. The movement of the slider 91 will drive the rack 9 to slide. When the rack 9 slides, it will drive the gear 73 to rotate. The rotation of the gear 73 will drive each fixed column 72 to rotate. Each fixed column 72 will rotate forward or reverse in the rotating circular groove 32. At this time, the turntable 7 will also rotate to attach Figure 4 For example, when the adjusting block 71 rotates clockwise, the spring 81 will rebound and drive each rubber clamping block 8 to move, thereby reducing the clamping force on the circular shaft 22, that is, the resistance becomes smaller; when the adjusting block 71 rotates counterclockwise, each spring 81 will be stretched, and each rubber clamping block 8 will clamp the circular shaft 22 tightly under the push of each adjusting block 71, that is, the resistance becomes larger, so as to adjust the resistance at each joint according to the different needs of thread rolling production. In the existing thread rolling work, the resistance between each joint of the robot is the same, and the movement mode of the robot during thread rolling work will be relatively simple, and it is difficult to flexibly adjust according to different work scenes and workpiece shapes. The robot may not be able to accurately control the movement amplitude and speed of each joint during thread rolling operation, which may cause the depth of thread rolling, Parameters such as the pitch are inconsistent, which affects the processing accuracy. The device is equipped with an adjustable adjustment block 71, a rubber clamping block 8, a gear 73 and a rack 9. The rack 9 can be driven to slide by rotating the threaded rod 93, thereby driving the rubber clamping block 8 to clamp or loosen the circular shaft 22 with the cooperation of the gear 73. By adjusting the resistance of each joint, the four-axis robot can better adapt to different work tasks and workpiece shapes. When processing workpieces with complex shapes, the joint resistance can be adjusted according to the contour of the workpiece, so that the robot can perform thread rolling operations more smoothly. In addition, the device can adjust the joint resistance according to actual needs by separately setting an adjustment mechanism at each joint, which can avoid wasting energy on unnecessary joints, making the adjustment of resistance more flexible and adaptable to different production needs.

[0030] Finally, it should be noted that the above embodiments are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to enumerate all embodiments here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A four-axis joint robot based on thread rolling technology, comprising a base (1), characterized in that: The base (1) is provided with an adjustment mechanism for adjusting the resistance; The adjusting mechanism comprises a first mechanical axis (2), a second mechanical axis (3), a third mechanical axis (4), a fourth mechanical axis (5) and a thread rolling mechanism (6); the first mechanical axis (2) is fixedly mounted on the upper end of the base (1); the thread rolling mechanism (6) is fixedly mounted on the side end of the fourth mechanical axis (5); the upper ends of the first mechanical axis (2), the second mechanical axis (3), the third mechanical axis (4) and the fourth mechanical axis (5) are all fixedly mounted with an arc plate (21); the lower ends of the second mechanical axis (3), the third mechanical axis (4) and the fourth mechanical axis (5) are all fixedly mounted with two receiving seats (31); the side end of each receiving seat (31) is penetrated by a rotating circular groove (32); the inner side wall of the rotating circular groove (32) on one side is rotatably mounted with a turntable (7); and the inner side wall of each rotating circular groove (32) is also provided with three rubber clamping blocks (8).

2. The four-axis articulated robot based on thread rolling technology according to claim 1, characterized in that: A circular shaft (22) is fixedly mounted on both side ends of each arc-shaped plate (21), and each circular shaft (22) is rotatably mounted on the inner side wall of the rotating circular groove (32).

3. The four-axis articulated robot based on thread rolling technology according to claim 2, characterized in that: An L-shaped side rod (33) is fixedly mounted on the side end of each receiving seat (31), and a rectangular sliding groove (34) is provided on the side end of each L-shaped side rod (33); Wherein, the upper and lower ends of the inner side wall of each rectangular sliding groove (34) are penetrated by a mounting groove (35).

4. The four-axis articulated robot based on thread rolling technology according to claim 3, characterized in that: An adjusting block (71) is fixedly mounted on the side end of each of the rotating disks (7), and a fixing column (72) is fixedly mounted on the side end of each of the adjusting blocks (71); Wherein, the side ends of each of the three fixing columns (72) are fixedly mounted with the same gear (73).

5. The four-axis articulated robot based on thread rolling technology according to claim 4, characterized in that: A spring (81) is fixedly installed between each of the rubber clamping blocks (8) and the circumferential end of the inner wall of the rotating circular groove (32), and each of the adjustment blocks (71) is located at the circumferential end of the rubber clamping block (8).

6. The four-axis articulated robot based on thread rolling technology according to claim 5, characterized in that: The side end of each L-shaped side rod (33) is also provided with a rack (9), each rack (9) and the gear (73) are meshed, the side end of each rack (9) is fixedly mounted with a slider (91), and the upper end of each slider (91) is also penetrated by a thread groove (92); Wherein, the inner side walls of each of the two mounting grooves (35) are rotatably mounted with a threaded rod (93), and each of the threaded rods (93) is respectively threadedly rotatably mounted on the inner side wall of the threaded groove (92).

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