Free limiting structure of horizontal multi-joint robot

Abstract

The free limiting structure of the horizontal multi-joint robot comprises a base part and a first connecting rod part, the first connecting rod part is located above the base part, and the base part is horizontally and rotationally connected with one end of the first connecting rod part; the limiting block and the non-limiting block are arranged, the limiting block is fixedly connected to the limiting installation position of the base cylinder, the non-limiting block is fixedly connected to the non-limiting position of the base disc, and hard limiting smaller than 360 degrees can be achieved; if a 360-degree hard-free limiting form needs to be changed, a user only needs to change the mounting positions of the limiting block and the non-limiting block, the non-limiting block is fixedly connected to the limiting mounting position of the base cylinder, and the limiting block is fixedly connected to the non-limiting position of the base plate at the bottom of the base cylinder; and due to the fact that the anti-collision pad is located on the periphery of the limiting installation block, direct collision between the limiting block and the limiting installation block can be avoided, the anti-collision pad can also play a role in further buffering, and vibration of other parts in the robot is avoided.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot equipment technology, and in particular to a free-limiting structure for a horizontal multi-joint robot. Background Technology

[0002] With social development and technological advancements, robots have been widely used in production and daily life to replace or assist humans in completing various tasks. For example, in the 3C industry, horizontal articulated robots are widely used to replace workers in tasks such as handling, loading and unloading materials, and assembly.

[0003] In addition, robot limiting technology is a safety feature that ensures industrial robots are protected from further damage in case of accidents. It protects the robot from major damage and ensures that it can continue to operate normally after the accident has been resolved. It also helps to protect operators from further injury to a certain extent. Therefore, most joints of multi-joint industrial robots are equipped with limiting structures.

[0004] In the design of horizontal articulated joint (SCARA) robots, the main function of hard limits is to prevent the robot from exceeding predetermined limits during movement, ensuring the safe operation of the robot. Typically, there are two types of joint limits for horizontal articulated joint robots: the first is a hard limit of less than 360°, and the second is no hard limit of 360°. Furthermore, the limit angles of the horizontal articulated joint robot must be determined before leaving the factory. This means that users cannot freely switch between the two modes of hard limit of less than 360° and no hard limit of 360° according to subsequent needs.

[0005] Meanwhile, due to the structural design, the joint limits of conventional horizontal multi-joint robots are not easily changed after the robot is manufactured and assembled. Users need to determine in advance whether the joint limit range meets the usage requirements. After assembly, users cannot make changes themselves, so they cannot be flexibly applied. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems by proposing a free-limiting structure for the first link section, which allows users to choose between less than 360° hard limit or 360° no hard limit according to their needs, without being limited by robot selection, and with flexible application scenarios.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A free-limiting structure for a horizontal multi-joint robot includes a base portion and a first link portion;

[0009] The base portion includes a base cylinder, which is used to fix and stabilize the overall structure of the machine.

[0010] The first connecting rod portion is located above the base portion, and the base portion is horizontally rotatably connected to one end of the first connecting rod portion. The base portion and the first connecting rod portion are electrically connected by a wire passing between them.

[0011] In this specific embodiment, a base plate is provided at the bottom of the base cylinder, and the base plate and the base cylinder are fixedly connected by screws.

[0012] In this specific embodiment, the base plate is provided with at least one non-limiting block, and the base cylinder is provided with a through hole, at which a limiting block is provided.

[0013] In this specific embodiment, the length of the limiting block is greater than that of the non-limiting block, and both the non-limiting block and the limiting block can be inserted through the through hole.

[0014] In this specific embodiment, the bottom end of the non-limiting block is flush with the inner wall of the base cylinder, while the bottom end of the limiting block extends beyond the inner wall of the base cylinder.

[0015] In this specific embodiment, a J1 shaft reducer is provided inside the first connecting rod portion, and the J1 shaft reducer is also fixed to the inner surface of the base cylinder.

[0016] In this specific embodiment, a limiting mounting block is provided at the edge of the J1 shaft reducer, and at least one anti-collision pad is provided around the limiting mounting block.

[0017] In this specific embodiment, the J1 shaft is provided at the center of the J1 shaft reducer.

[0018] In this specific embodiment, the J1 shaft reducer drives the first connecting rod portion to rotate horizontally.

[0019] Compared with the prior art, this utility model provides a free-limiting structure for a horizontal multi-joint robot, which has the following beneficial effects:

[0020] 1. By setting limit blocks and non-limit blocks, the limit blocks are fixed to the limit installation position of the base cylinder, and the non-limit blocks are fixed to the non-limit position of the base plate, which can achieve a hard limit of less than 360°.

[0021] 2. If it is necessary to change to a 360° no-hard limit form, the user only needs to change the installation position of the limit block and the non-limit block. Fix the non-limit block to the limit installation position of the base tube, and fix the limit block to the non-limit position of the base plate at the bottom of the base tube.

[0022] 3. By setting anti-collision pads and limit mounting blocks, when the J1 axis reducer of the first link rotates, when the limit mounting block and anti-collision pads rotate to the limit block, since the length of the limit block exceeds the inner wall of the base cylinder, when it rotates to the set hard limit angle, the anti-collision pads and limit mounting blocks will collide with the limit block to prevent the robot from exceeding the predetermined limit during movement. Since the anti-collision pads are located on the periphery of the limit mounting block, direct collision between the limit block and the limit mounting block can be avoided. The anti-collision pads can also play a further buffering role to prevent other internal components of the robot from vibrating.

[0023] 4. By setting the bottom end of the non-limiting block to be flush with the inner wall of the base cylinder, when the J1 shaft reducer of the first connecting rod rotates, when the limit mounting block and the anti-collision pad rotate to the non-limiting block, the two will not collide with the non-limiting block. Attached Figure Description

[0024] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0025] Figure 1 This is a schematic diagram of the free-positioning structure of the horizontal multi-joint robot of this utility model.

[0026] Figure 2 This is a partially enlarged view of the free-positioning structure of the horizontal multi-joint robot of this utility model;

[0027] Figure 3 This is a three-dimensional schematic diagram of the free-positioning structure of the horizontal multi-joint robot of this utility model;

[0028] Figure 4 This is a schematic diagram of the free-positioning structure of the horizontal multi-joint robot of this utility model;

[0029] Figure 5 This is a schematic diagram of the free-positioning structure of the horizontal multi-joint robot of this utility model without 360° positioning.

[0030] Reference numerals: 100, base portion; 101, base cylinder; 102, limiting block; 103, non-limiting block; 104, base plate; 105, screw; 106, through hole; 107, support foot; 200, first connecting rod portion; 201, J1 shaft reducer; 202, J1 shaft; 209, anti-collision pad; 210, limiting mounting block. Detailed Implementation

[0031] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0032] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] The limiting angle of traditional horizontal multi-joint robots must be determined before leaving the factory, which means that users cannot freely switch between two modes: less than 360° hard limit and 360° no hard limit, according to subsequent needs.

[0034] In view of this, such as Figure 1 As shown, a free-positioning structure for a horizontal multi-joint robot, used for handling, loading / unloading, and assembly operations, includes a base portion 100 and a first link portion 200. Specifically, the base portion 100 and the first link portion 200 are hollow structures, wherein the base portion 100 is used to fix and stabilize the overall robot structure.

[0035] Furthermore, the base portion 100 includes a base cylinder 101, which serves as a structural support, further fixing and stabilizing the overall structure.

[0036] Furthermore, the first connecting rod portion 200 is located above the base portion 100, and the base portion 100 is horizontally rotatably connected to one end of the first connecting rod portion 200. The base portion 100 and the first connecting rod portion 200 are electrically connected by a wire passing between them.

[0037] Furthermore, a base plate 104 is provided at the bottom of the base cylinder 101, and the base plate 104 is fixedly connected to the base cylinder 101 by screws 105. Specifically, a plurality of support feet 107 are provided on the lower surface of the base plate 104. In this specific embodiment, there are four support feet 107, which are evenly distributed at the four corners of the base plate 104.

[0038] Furthermore, the base plate 104 is provided with at least one non-limiting block 103, and the base cylinder 101 is provided with at least one through hole 106. In this specific embodiment, there is one through hole 106. Of course, multiple through holes 106 can be added as needed. The through hole 106 can be opened at an angle that needs to be set.

[0039] Furthermore, a limiting block 102 is provided at the through hole 106. Specifically, the length of the limiting block 102 is greater than that of the non-limiting block 103, and both the non-limiting block 103 and the limiting block 102 can be inserted into the through hole 106.

[0040] Specifically, the bottom end of the non-limiting block 103 is flush with the inner wall of the base cylinder 101, while the bottom end of the limiting block 102 extends beyond the inner wall of the base cylinder 101. Since the length of the limiting block 102 exceeds the inner wall of the base cylinder 101, when the anti-collision pad 209 and the limiting mounting block 210 rotate to the set hard limiting angle, the anti-collision pad 209 and the limiting mounting block 210 will collide with the limiting block 102 to prevent the robot from exceeding the predetermined limit during movement.

[0041] The working principle of the utility model is as follows: by setting a limiting block 102 and a non-limiting block 103, the limiting block 102 is fixed to the limiting installation position of the base cylinder 101, and the non-limiting block 103 is fixed to the non-limiting position of the base plate 104, which can achieve a hard limit of less than 360°; if it is necessary to change to a 360° non-hard limit form, the user only needs to change the installation position of the limiting block 102 and the non-limiting block 103, fixing the non-limiting block 103 to the limiting installation position of the base cylinder 101, and fixing the limiting block 102 to the non-limiting position of the base plate 104 at the bottom of the base cylinder 101.

[0042] Specifically, in the 360° no-hard-limit form, by setting the bottom end of the non-limit block 103 to be flush with the inner wall of the base cylinder 101, when the J1 shaft reducer 201 of the first connecting rod part 200 rotates, when the limit mounting block 210 and the anti-collision pad 209 rotate to the non-limit block 103, the two will not collide with the non-limit block 103, thus achieving 360° no-hard-limit.

[0043] Furthermore, a J1-axis reducer 201 is provided inside the first connecting rod portion 200, and the J1-axis reducer 201 is also fixed to the inner surface of the base cylinder 101. In this way, the stability of the whole machine can be further enhanced.

[0044] Furthermore, a limiting mounting block 210 is provided at the edge of the J1 axis reducer 201, and at least one anti-collision pad 209 is provided around the limiting mounting block 210. In this specific embodiment, there is one anti-collision pad 209. The anti-collision pad 209 can prevent the limiting block 102 from directly colliding with the limiting mounting block 210, and the anti-collision pad 209 can also play a further buffering role to prevent other components inside the robot from vibrating.

[0045] Furthermore, a J1 shaft 202 is provided at the center of the J1 shaft reducer 201. The J1 shaft reducer 201 drives the first connecting rod portion 200 to rotate horizontally.

[0046] Specifically, when the first link portion 200 rotates relative to the base portion 100, the anti-collision pad 209 and the limiting mounting block 210 will rotate together with the first link portion 200 around the J1 axis 202 of the J1 axis reducer 201.

[0047] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the devices or elements involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0049] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0050] While various embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A free-positioning structure for a horizontal multi-joint robot, characterized in that, Including the base portion and the first connecting rod portion; The base portion includes a base cylinder, which is used to fix and stabilize the overall structure of the machine. The first connecting rod portion is located above the base portion, and the base portion is horizontally rotatably connected to one end of the first connecting rod portion. The base portion and the first connecting rod portion are electrically connected by a wire passing between them.

2. The free-positioning structure of the horizontal multi-joint robot according to claim 1, characterized in that, The base tube has a base plate at its bottom, and the base plate is fixedly connected to the base tube by screws.

3. The free-positioning structure of the horizontal multi-joint robot according to claim 2, characterized in that, The base plate is provided with at least one non-limiting block, and the base cylinder is provided with a through hole, at which a limiting block is provided.

4. The free-positioning structure of the horizontal multi-joint robot according to claim 3, characterized in that, The length of the limiting block is greater than that of the non-limiting block, and both the non-limiting block and the limiting block can be inserted through the through hole.

5. The free-positioning structure of the horizontal multi-joint robot according to claim 4, characterized in that, The bottom end of the non-limiting block is flush with the inner wall of the base cylinder, while the bottom end of the limiting block extends beyond the inner wall of the base cylinder.

6. The free-positioning structure of the horizontal multi-joint robot according to claim 1, characterized in that, The first connecting rod section is equipped with a J1 shaft reducer, which is also fixed to the inner surface of the base cylinder.

7. The free-positioning structure of the horizontal multi-joint robot according to claim 6, characterized in that, The J1 shaft reducer is provided with a limiting mounting block at its edge, and the limiting mounting block is provided with at least one anti-collision pad around its perimeter.

8. The free-positioning structure of the horizontal multi-joint robot according to claim 6, characterized in that, The J1 shaft is located at the center of the reducer.

9. The free-positioning structure of the horizontal multi-joint robot according to claim 6, characterized in that, The J1 shaft reducer drives the first connecting rod section to rotate horizontally.

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