Horizontal multi-joint robot applied to screw locking

Abstract

The horizontal multi-joint robot comprises a base assembly, a large arm assembly, a small arm assembly and an electric screwdriver assembly, the large arm assembly is arranged on one side of the top of the base assembly, the small arm assembly is arranged on the large arm assembly, and the electric screwdriver assembly is arranged on the small arm assembly; the small arm assembly comprises a small arm body, a J2-axis motor assembly, a ball screw sliding block assembly and a J3-axis motor assembly, the small arm body is arranged on the large arm assembly, the J2-axis motor assembly is arranged at one end of the small arm body, the ball screw sliding block assembly is arranged at the other end of the small arm body, and the J3-axis motor assembly is arranged at the other end of the small arm body. The electric screwdriver assembly is arranged on the ball screw sliding block assembly, and the J3-axis motor assembly is arranged between the J2-axis motor assembly and the ball screw sliding block assembly. Through mutual cooperation of the base assembly, the large arm assembly, the small arm assembly and the electric screwdriver assembly, the stability and precision of screw locking of the robot are improved.

Description

Technical Field

[0001] This utility model relates to a horizontal multi-joint robot applied to lock wire. Background Technology

[0002] With the continuous development of intelligent manufacturing, SCARA robots are widely used in 3C, photovoltaic, food and other fields. To reduce labor costs and improve production efficiency and quality, various application scenarios require SCARA robots to perform screw fastening functions. Currently, most screw fastening robots on the market are linear modules with transmission and four-axis screw fastening robots. While linear modules offer stable motion, their workspace is easily limited. Four-axis screw fastening robots require the installation of an electric screwdriver module for screw fastening at the robot's end effector, resulting in a large end effector weight and inertia, which can easily lead to significant eccentricity and vibration during robot operation. As the automotive and electronics industries place increasingly higher demands on cycle time, motion space, and precision, traditional linear modules and four-axis screw fastening robots can no longer meet the application needs of these industries.

[0003] For example, the robotic screw-locking machine with synchronous screw and first nut locking publication number CN208758975U mainly consists of three parts: a robotic arm, a screw-locking mechanism, and a first nut-locking mechanism. The screw-locking mechanism is driven to rotate by the robotic arm and can move up and down relative to the robotic arm. However, since it is installed at the end of the machine, it has a certain eccentric position, which often leads to the need to consider coordinate transformation during actual work, affecting the accuracy and stability of the robot during work. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] The technical problem this invention aims to solve is how to improve the accuracy and stability of robot wire locking.

[0006] To solve the above technical problems, this utility model provides the following technical solution: a horizontal multi-joint robot for use in threading, comprising a base assembly, a large arm assembly, a small arm assembly, and an electric screwdriver assembly, wherein the large arm assembly is disposed on the top side of the base assembly, the small arm assembly is disposed on the large arm assembly, and the electric screwdriver assembly is disposed on the small arm assembly;

[0007] The forearm assembly includes a forearm body, a J2-axis motor assembly, a ball screw slider assembly, and a J3-axis motor assembly. The forearm body is mounted on the upper arm assembly. The J2-axis motor assembly is located at one end of the forearm body, and the ball screw slider assembly is located at the other end of the forearm body. An electric screwdriver assembly is mounted on the ball screw slider assembly to improve the stability and accuracy of the robot's wire locking mechanism. The J3-axis motor assembly is located between the J2-axis motor assembly and the ball screw slider assembly to drive the ball screw slider assembly.

[0008] As a preferred embodiment of the horizontal multi-joint robot for thread locking described in this utility model, the ball screw slider assembly includes a first lower bearing seat, a fixed plate, a first upper bearing seat, a guide rail, a first slider, a first screw, an output pulley, a first nut, a second slider, and an adapter plate. The first lower bearing seat is disposed on the forearm body, the fixed plate is disposed at one end of the first lower bearing seat, the first upper bearing seat is disposed at the top of the fixed plate, the guide rail is disposed on the fixed plate, the first slider is slidably connected to the guide rail, the two ends of the first screw are rotatably connected to the ends of the first upper bearing seat and the first lower bearing seat away from the fixed plate, the output pulley is disposed at the end of the first screw extending out of the first lower bearing seat, the first nut is disposed on the first screw, the side of the first nut near the fixed plate is fixedly connected to the first slider, the second slider is fixedly connected to the side of the first nut away from the fixed plate, and the second slider is connected to the electric screwdriver assembly through the adapter plate.

[0009] As a preferred embodiment of the horizontal multi-joint robot applied to thread locking according to this utility model, the J3 axis motor assembly includes a transition plate, a J3 motor, an input pulley, a synchronous belt, and a tensioning assembly. The transition plate is disposed on the forearm body, the J3 motor is vertically disposed on the transition plate, the input pulley is disposed on the output shaft of the J3 motor, the synchronous belt is sleeved on the input pulley and the output pulley, and the tensioning assembly is disposed on the forearm body.

[0010] As a preferred embodiment of the horizontal multi-joint robot applied to the locking wire described in this utility model, wherein: the first slider is provided with a limiting fixing block for limiting, and the first upper bearing seat and the first lower bearing seat are both provided with limiting screws that cooperate with the limiting fixing block.

[0011] As a preferred embodiment of the horizontal multi-joint robot for thread locking described in this utility model, the ball screw slider assembly includes a second lower bearing seat, a first guide rod, a second upper bearing seat, a third slider, a linear bearing, a second screw, an output pulley, a second nut, a second slider, and an adapter plate. The second lower bearing seat is disposed on the forearm body. The first guide rod is disposed at one end of the second lower bearing seat. The second upper bearing seat is disposed at the top of the first guide rod. The third slider is slidably disposed on the first guide rod via the linear bearing. The two ends of the second screw are rotatably connected to the second lower bearing seat and the second upper bearing seat. The output pulley is disposed at one end of the second screw extending out of the second lower bearing seat. The second nut is disposed on the second screw. The side of the second nut near the first guide rod is fixedly connected to the third slider. The second slider is fixedly connected to the side of the second nut away from the first guide rod. The second slider is connected to the electric screwdriver assembly via the adapter plate.

[0012] As a preferred embodiment of the horizontal multi-joint robot applied to the locking wire described in this utility model, anti-collision blocks are provided at the connection points between the second lower bearing seat and the second upper bearing seat and the second lead screw.

[0013] As a preferred embodiment of the horizontal multi-joint robot for thread locking described in this utility model, the ball screw slider assembly includes a third lower bearing seat, two second guide rods, a third upper bearing seat, a double guide rod slider, a third screw, an output pulley, a third nut, a second slider, and an adapter plate. The third lower bearing seat is disposed on the forearm body. The two second guide rods are symmetrically disposed at one end of the third lower bearing seat. The third upper bearing seat is disposed on the top of the second guide rods. The double guide rod slider is sleeved on the two second guide rods. The two ends of the third screw are rotatably disposed on the third lower bearing seat and the third upper bearing seat. The output pulley is disposed at one end of the third screw extending out of the third lower bearing seat. The third nut is disposed on the third screw. The second slider is fixedly connected to the side of the third nut away from the second guide rod. The second slider is connected to the electric screwdriver assembly through the adapter plate.

[0014] As a preferred embodiment of the horizontal multi-joint robot applied to the locking wire described in this utility model, a support plate is provided between the third lower bearing seat and the third upper bearing seat.

[0015] As a preferred embodiment of the horizontal multi-joint robot applied to the locking wire described in this utility model, a wire harness assembly is provided on the other side of the top of the base assembly. The wire harness assembly includes an electrical mounting frame, a φ8 air pipe connector and a φ6 air pipe connector. The electrical mounting frame is located on the top of the base assembly, and the φ8 air pipe connector and the φ6 air pipe connector are both located on the electrical mounting frame.

[0016] Beneficial effects:

[0017] 1. By cooperating with the base assembly, upper arm assembly, lower arm assembly and electric screwdriver assembly, and installing the electric screwdriver assembly on the ball screw slider assembly of the lower arm assembly, the stability and accuracy of the robot's wire locking are improved;

[0018] 2. The ball screw slider assembly in this device adopts a modular design, which is mainly composed of three different structures. All three can be installed as a whole on the forearm body, so as to replace the modules and solutions of the moving parts for different application scenarios. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0020] Figure 1 This is a schematic diagram of the overall structure of a horizontal multi-joint robot used in locking wires.

[0021] Figure 2 This is a schematic diagram of the first form of the ball screw slider assembly in Example 1.

[0022] Figure 3 This is a schematic diagram of the wire harness assembly used in a horizontal multi-joint robot with locking wires.

[0023] Figure 4 This is a schematic diagram of the second form of the ball screw slider assembly in Example 2.

[0024] Figure 5 This is a schematic diagram of the third form of the ball screw slider assembly in Example 3.

[0025] Figure 6 This is a schematic diagram of the third type of ball screw slider assembly in Example 3 from another angle.

[0026] In the diagram: 1. Base assembly; 2. Boom assembly; 3. Electric screwdriver assembly; 4. Arm body; 5. J2 axis motor assembly; 6. First lower bearing seat; 7. Fixing plate; 8. First upper bearing seat; 9. Guide rail; 10. First slider; 11. First lead screw; 12. Output pulley; 13. First nut; 14. Second slider; 15. Adapter plate; 16. Transition plate; 17. J3 motor; 18. Input pulley; 19. Synchronous belt; 20. Tensioning assembly; 21. Limiting block; 22. Limiting screw; 23. Second lower bearing seat; 24. First guide rod; 25. Second upper bearing housing; 26. Third slider; 27. Linear bearing; 28. Second lead screw; 29. ​​Second nut; 30. Anti-collision block; 31. Third lower bearing housing; 32. Second guide rod; 33. Third upper bearing housing; 34. Double guide rod slider; 35. Third lead screw; 36. Third nut; 37. Support plate; 38. Electrical mounting bracket; 39. φ8 air pipe connector; 40. φ6 air pipe connector; 41. Rolling bearing; 42. Upper bearing housing baffle; 43. Bearing baffle; 44. Bearing retaining ring; 45. Locking nut; 46. Pulley shaft end baffle. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0030] Example 1

[0031] Reference Figures 1-3 This embodiment is a first embodiment of a horizontal multi-joint robot applied to a locking wire, including a base assembly 1, a large arm assembly 2, a small arm assembly and an electric screwdriver assembly 3. The large arm assembly 2 is disposed on the top side of the base assembly 1, the small arm assembly is disposed on the large arm assembly 2, and the electric screwdriver assembly 3 is disposed on the small arm assembly.

[0032] The base assembly 1 serves as the mounting base for this device. The upper arm assembly 2 is mounted on the right side of the top of the base assembly 1. The upper arm assembly 2 can rotate back and forth about the mounting end of the base assembly 1. The lower arm assembly is mounted on the end of the upper arm assembly 2 away from the base assembly 1. The electric screwdriver assembly 3 is mounted on the lower arm assembly. In this embodiment, the stability and accuracy of the robot's wire locking are improved by the cooperation between the base assembly 1, the upper arm assembly 2, the lower arm assembly and the electric screwdriver assembly 3.

[0033] Specifically, the forearm assembly includes a forearm body 4, a J2 axis motor assembly 5, a ball screw slider assembly, and a J3 axis motor assembly. The forearm body 4 is mounted on the upper arm assembly 2. The J2 axis motor assembly 5 is mounted at one end of the forearm body 4. The ball screw slider assembly is mounted at the other end of the forearm body 4. The J3 axis motor assembly is mounted between the J2 axis motor assembly 5 and the ball screw slider assembly and is used to drive the ball screw slider assembly.

[0034] In this embodiment, the forearm assembly mainly consists of a forearm body 4, a J2-axis motor assembly 5, a ball screw slider assembly, and a J3-axis motor assembly. The forearm body 4 is mounted on the end of the upper arm assembly 2 away from the base assembly 1. The J2-axis motor assembly 5 is mounted on the end of the forearm body 4 closest to the upper arm assembly 2, allowing the forearm body 4 to rotate back and forth around its connection point with the upper arm assembly 2. This means the upper arm assembly 2 and the forearm body 4 cooperate to achieve arbitrary movement within the horizontal XY angle range. A ball screw slider assembly is mounted on the end of the forearm body 4 away from the upper arm assembly 2, connecting the forearm body 4 to the electric screwdriver assembly 3, enabling the electric screwdriver assembly 3 to move up and down in the Z direction. This enriches the robot's working points, thereby improving the stability and accuracy of the wire-locking process. A J3-axis motor assembly is also mounted on the forearm body 4 between the J2-axis motor assembly 5 and the ball screw slider assembly to drive the ball screw slider assembly. This is typical of traditional linear module wire-locking machines. Humans can generally only move in straight lines in the XYZ directions, and their workspace is a cube. The working trajectory and space are relatively fixed and simple. Compared with traditional linear module thread-locking robots, the horizontal multi-joint robot in this embodiment has a larger working range and more diverse trajectory selection and settings. Traditional four-axis SCARA thread-locking robots require the addition of an electric screwdriver at the end of the lead screw. The electric screwdriver is relatively heavy, and after installation, its position cannot be aligned with the lead screw, resulting in an off-center position. This leads to a larger inertia on the robot, increasing vibration and reducing stability during operation. Compared with traditional four-axis SCARA thread-locking robots, the electric screwdriver assembly 3 of the horizontal multi-joint robot in this embodiment is installed in the vertical direction at the front end of the robot. The coordinate system position is easier to calculate during operation. At the same time, the distance between the electric screwdriver assembly 3 at the end and the ball screw slider assembly in the Z direction is smaller, resulting in a smaller inertia in the XY direction. This makes the overall stability of the robot better and significantly improves the vibration phenomenon during movement.

[0035] Specifically, the ball screw slider assembly includes a first lower bearing seat 6, a fixed plate 7, a first upper bearing seat 8, a guide rail 9, a first slider 10, a first screw 11, an output pulley 12, a first nut 13, a second slider 14, and an adapter plate 15. The first lower bearing seat 6 is mounted on the forearm body 4. The fixed plate 7 is mounted on one end of the first lower bearing seat 6. The first upper bearing seat 8 is mounted on the top of the fixed plate 7. The guide rail 9 is mounted on the fixed plate 7. The first slider 10 is slidably connected to the guide rail 9. The two ends of the first screw 11 are rotatably connected to the first upper bearing seat 8 and the end of the first lower bearing seat 6 away from the fixed plate 7. The output pulley 12 is mounted on the end of the first screw 11 that extends out of the first lower bearing seat 6. The first nut 13 is mounted on the first screw 11. The side of the first nut 13 closest to the fixed plate 7 is fixedly connected to the first slider 10. The second slider 14 is fixedly connected to the side of the first nut 13 away from the fixed plate 7. The second slider 14 is connected to the electric screwdriver assembly 3 through the adapter plate 15.

[0036] The ball screw slider assembly in this embodiment mainly consists of a first lower bearing seat 6, a fixed plate 7, a first upper bearing seat 8, a guide rail 9, a first slider 10, a first screw 11, an output pulley 12, a first nut 13, a second slider 14, and an adapter plate 15. The first upper bearing seat 8 and the first lower bearing seat 6 are respectively fixedly installed at the upper and lower ends of the fixed plate 7, with the fixed plate 7 located at the left end of the first lower bearing seat 6 and the first upper bearing seat 8. The guide rail 9 is fixedly installed on the inner surface of the fixed plate 7. The first slider 10 is slidably installed on the guide rail 9. The upper and lower ends of the first screw 11 are rotatably installed at the right ends of the first lower bearing seat 6 and the first upper bearing seat 8 through rolling bearings 41. An upper bearing seat baffle 42 and a bearing baffle 43 are installed at corresponding positions on the first upper bearing seat 8, a bearing retaining ring 44 is installed at corresponding positions on the first lower bearing seat 6, and a locking nut 45 is fitted onto the first screw 11. To fix the rolling bearing 41, the bottom end of the first lead screw 11 passes through the first lower bearing seat 6. The output pulley 12 is installed on the end of the first lead screw 11 that extends out of the first lower bearing seat 6 and is fixed by the pulley shaft end baffle 46. The first nut 13 is fitted on the first lead screw 11. The side of the first nut 13 near the fixing plate 7 is fixedly connected to the first slider 10. The second slider 14 is fixedly installed on the side of the first nut 13 away from the fixing plate 7. The second slider 14 is connected to the electric screwdriver assembly 3 through the adapter plate 15 to install the electric screwdriver assembly 3 onto the ball screw slider assembly, thus forming a modular structure of the ball screw slider assembly. When this module needs to be installed, only the first lower bearing seat 6 needs to be installed on the forearm body 4. It should be noted that the forearm body 4 has reserved relevant connection ports in advance to ensure the universality and interchangeability of ball screw slider assemblies with different modular structures.

[0037] Specifically, the J3 axis motor assembly includes a transition plate 16, a J3 motor 17, an input pulley 18, a synchronous belt 19, and a tensioning assembly 20. The transition plate 16 is mounted on the forearm body 4, the J3 motor 17 is vertically mounted on the transition plate 16, the input pulley 18 is mounted on the output shaft of the J3 motor 17, the synchronous belt 19 is sleeved on the input pulley 18 and the output pulley 12, and the tensioning assembly 20 is mounted on the forearm body 4.

[0038] In this embodiment, the J3 axis motor assembly mainly consists of a transition plate 16, a J3 motor 17, an input pulley 18, a synchronous belt 19, and a tensioning assembly 20. The transition plate 16 is installed inside the forearm body 4, and the J3 motor 17 is vertically mounted on the transition plate 16. An input pulley 18 is mounted on the output shaft of the J3 motor 17. A synchronous belt 19 is fitted onto the input pulley 18 and the output pulley 12. When the J3 motor 17 is started, it drives the synchronous belt 19 through the input pulley 18. The output pulley 12 on the first lead screw 11 rotates, thereby driving the first lead screw 11 to rotate. The first lead screw 11 drives the first nut 13 to move up and down along the first lead screw 11. The first nut 13 drives the electric screwdriver assembly 3 to move up and down through the second slider 14 and the adapter plate 15. At the same time, it also drives the first slider 10 to slide up and down along the guide rail 9 to avoid the electric screwdriver assembly 3 from deflecting during the up and down movement. In addition, in this embodiment, a tensioning assembly 20 is also installed inside the forearm body 4 to tension the synchronous belt 19.

[0039] Furthermore, the first slider 10 is provided with a limiting fixing block 21 for limiting, and the first upper bearing seat 8 and the first lower bearing seat 6 are both provided with limiting screws 22 that cooperate with the limiting fixing block 21.

[0040] In this embodiment, a limiting fixing block 21 for limiting is installed on the first slider 10, and limiting screws 22 that cooperate with the limiting fixing block 21 are installed on the bottom surface of the first upper bearing seat 8 and the upper surface of the first lower bearing seat 6, so as to limit the first slider 10, the first nut 13 and the second slider 14.

[0041] Furthermore, a wiring harness assembly is provided on the other side of the top of the base assembly 1. The wiring harness assembly includes an electrical mounting bracket 38, a φ8 air pipe connector 39, and a φ6 air pipe connector 40. The electrical mounting bracket 38 is located on the top of the base assembly 1, and both the φ8 air pipe connector 39 and the φ6 air pipe connector 40 are located on the electrical mounting bracket 38.

[0042] In this embodiment, a wiring harness assembly is installed on the top side of the base assembly 1 away from the upper arm assembly 2. Specifically, the wiring harness assembly mainly consists of an electrical mounting bracket 38, a φ8 air pipe connector 39, and four φ6 air pipe connectors 40. The bottom of the electrical mounting bracket 38 is installed on the top of the base assembly 1, and a φ8 air pipe connector 39 and four φ6 air pipe connectors 40 are installed on the top of the electrical mounting bracket 38 to provide more external interfaces and provide more solutions for customer applications.

[0043] In use, the electric screwdriver assembly 3 is moved to a designated position in the horizontal XY direction by driving the upper arm assembly 2 and the lower arm body 4. After completion, the J3 motor 17 is started, which drives the input pulley 18 to rotate. The input pulley 18 drives the output pulley 12 to rotate through the synchronous belt 19. The output pulley 12 drives the first lead screw 11 to rotate. The first lead screw 11 drives the first nut 13 to move up and down along the first lead screw 11. The first nut 13 drives the electric screwdriver assembly 3 to move in the Z direction through the second slider 14 and the adapter plate 15. At the same time, it also drives the first slider 10 to slide up and down along the guide rail 9 to limit the electric screwdriver assembly 3 so that the electric screwdriver assembly 3 can better realize the screw-locking function, thereby improving the stability and accuracy of the robot screw-locking. In this embodiment, the ball screw slider assembly adopts the structure of the slider guide rail 9, which improves the strength, rigidity and stability of the entire ball screw slider assembly, and is suitable for applications with large screw-locking torque.

[0044] Example 2

[0045] Reference Figure 4 This embodiment, as a second embodiment of a horizontal multi-joint robot applied to thread locking, differs from Embodiment 1 in that the ball screw slider assembly in this embodiment includes a second lower bearing seat 23, a first guide rod 24, a second upper bearing seat 25, a third slider 26, a linear bearing 27, a second screw 28, an output pulley 12, a second nut 29, a second slider 14, and an adapter plate 15. The second lower bearing seat 23 is disposed on the forearm body 4, the first guide rod 24 is disposed at one end of the second lower bearing seat 23, and the second upper bearing seat 25 is disposed on the first guide rod 24. At the top, the third slider 26 is slidably mounted on the first guide rod 24 via a linear bearing 27. The two ends of the second lead screw 28 are rotatably connected to the second lower bearing seat 23 and the second upper bearing seat 25. The output pulley 12 is mounted on one end of the second lead screw 28 that extends out of the second lower bearing seat 23. The second nut 29 is mounted on the second lead screw 28. The side of the second nut 29 closest to the first guide rod 24 is fixedly connected to the third slider 26. The second slider 14 is fixedly connected to the side of the second nut 29 away from the first guide rod 24. The second slider 14 is connected to the electric screwdriver assembly 3 via an adapter plate 15.

[0046] The ball screw slider assembly in this embodiment mainly consists of a second lower bearing seat 23, a first guide rod 24, a second upper bearing seat 25, a third slider 26, a linear bearing 27, a second screw 28, an output pulley 12, a second nut 29, a second slider 14, and an adapter plate 15. The second upper bearing seat 25 and the second lower bearing seat 23 are respectively installed at the upper and lower ends of the first guide rod 24, with the first guide rod 24 located to the left of the second upper bearing seat 25 and the second lower bearing seat 23. The third slider 26 is mounted on the first guide rod 24 via the linear bearing 27, allowing the third slider 26 to move rapidly up and down along the first guide rod 24. The upper and lower ends of the second screw 28 are rotatably connected to the right side of the second lower bearing seat 23 and the second upper bearing seat 25 via rolling bearings 41. An upper bearing seat baffle 42 and a bearing baffle 43 are installed at corresponding positions on the second upper bearing seat 25, and a bearing is installed at corresponding positions on the second lower bearing seat 23. A retaining ring 44 is provided, and a locking nut 45 is fitted on the second lead screw 28 to fix the rolling bearing 41. The output pulley 12 is installed at the end of the second lead screw 28 that extends out of the second lower bearing seat 23. The second nut 29 is fitted on the second lead screw 28. The side of the second nut 29 closest to the first guide rod 24 is fixedly connected to the third slider 26. The second slider 14 is fixedly connected to the side of the second nut 29 away from the first guide rod 24. The second slider 14 is connected to the electric screwdriver assembly 3 through the adapter plate 15 to install the electric screwdriver assembly 3 onto the ball screw slider assembly, thereby forming the second modular structure of the ball screw slider assembly. The ball screw slider assembly in this embodiment adopts a single guide rod structure, which is lighter, reduces the overall weight of the robot, and improves the movement rhythm, making it suitable for faster applications. When this module needs to be installed, simply install the second lower bearing seat 23 onto the corresponding connection port on the forearm body 4.

[0047] Furthermore, anti-collision blocks 30 are provided at the connection points between the second lower bearing seat 23, the second upper bearing seat 25, and the second lead screw 28.

[0048] In this embodiment, anti-collision blocks 30 are installed at the connection between the second lower bearing seat 23 and the second lead screw 28 and at the connection between the second upper bearing seat 25 and the second lead screw 28 (the upper surface of the second lower bearing seat 23 and the lower surface of the second upper bearing seat 25), which serve to limit movement and prevent collisions.

[0049] Example 3

[0050] Reference Figure 5 and 6This embodiment, as a third embodiment of a horizontal multi-joint robot applied to thread locking, differs from Embodiment 1 in that the ball screw slider assembly in this embodiment includes a third lower bearing seat 31, two second guide rods 32, a third upper bearing seat 33, a double guide rod slider 34, a third screw 35, an output pulley 12, a third nut 36, a second slider 14, and an adapter plate 15. The third lower bearing seat 31 is disposed on the forearm body 4, and the two second guide rods 32 are symmetrically disposed at one end of the third lower bearing seat 31. The third upper bearing seat 33 is disposed on the top of the second guide rod 32. The double guide rod slider 34 is sleeved on the two second guide rods 32. The two ends of the third lead screw 35 are rotatably disposed on the third lower bearing seat 31 and the third upper bearing seat 33. The output pulley 12 is disposed on the end of the third lead screw 35 that extends out of the third lower bearing seat 31. The third nut 36 is disposed on the third lead screw 35. The second slider 14 is fixedly connected to the side of the third nut 36 away from the second guide rod 32. The second slider 14 is connected to the electric screwdriver assembly 3 through the adapter plate 15.

[0051] The ball screw slider assembly in this embodiment mainly consists of a third lower bearing seat 31, two second guide rods 32, a third upper bearing seat 33, a double guide rod slider 34, a third screw 35, an output pulley 12, a third nut 36, a second slider 14, and an adapter plate 15. The third upper bearing seat 33 and the third lower bearing seat 31 are respectively installed at the upper and lower ends of the two second guide rods 32, and the two second guide rods 32 are symmetrically installed at the left ends of the third upper bearing seat 33 and the third lower bearing seat 31. The double-guide rod slider 34 is mounted on the two second guide rods 32. The upper and lower ends of the third lead screw 35 are rotatably mounted on the right ends of the third lower bearing seat 31 and the third upper bearing seat 33 via rolling bearings 41. Upper bearing seat baffles 42 and bearing baffles 43 are installed at corresponding positions on the third upper bearing seat 33, and bearing retaining rings 44 are installed at corresponding positions on the third lower bearing seat 31. A locking nut 45 is fitted onto the third lead screw 35 to fix the rolling bearings 41. The bottom end of the third lead screw 35 passes through the third lower bearing seat 31. The output pulley 12 is installed at the end of the third lead screw 35 that extends out of the third lower bearing seat 31 and is fixed by the pulley shaft end baffle 46. The third nut 36 is fitted on the third lead screw 35. The side of the third nut 36 near the second guide rod 32 is fixedly connected to the double guide rod slider 34. The second slider 14 is fixedly installed on the side of the third nut 36 away from the second guide rod 32. The second slider 14 is connected to the electric screwdriver assembly 3 through the adapter plate 15 to install the electric screwdriver assembly 3 onto the ball screw slider assembly, thus forming the third modular structure of the ball screw slider assembly. The ball screw slider assembly in this embodiment adopts a double guide rod structure, which combines the advantages of the first two forms. It ensures both lightweight and fast cycle time, and is suitable for applications with certain requirements for torque and cycle time. When this module needs to be installed, simply install the third lower bearing seat 31 on the corresponding connection port on the forearm body 4.

[0052] Furthermore, a support plate 37 is provided between the third lower bearing housing 31 and the third upper bearing housing 33.

[0053] In this embodiment, a support plate 37 is fixedly installed between the third lower bearing seat 31 and the third upper bearing seat 33 to enhance the stability of the overall structure.

[0054] Traditional four-axis screw-locking robots require an electric screwdriver module to be installed at the end of the lead screw spline shaft. When the lead screw spline descends a significant distance, the end effector experiences elastic deformation and vibration due to the robot's rapid movement, affecting its stability and accuracy. This embodiment of the horizontal multi-joint robot employs a three-axis solution, replacing the original lead screw spline shaft with a combination module of a lead screw nut and a slider guide rail. This module is fixed to the forearm body 4. While enabling the electric screwdriver module to move up and down and perform screw-locking functions, no additional spatial repositioning is required. The screw-locking accuracy, overall robot rigidity, and stability are significantly improved. Furthermore, the electric screwdriver module's moving parts adopt a modular design, allowing for the replacement of different structural motion components according to different usage scenarios. This reduces costs while improving overall reliability, enhancing the robot's stability and accuracy without affecting its working range and functionality.

[0055] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A horizontal multi-joint robot applied to locking wires, characterized in that: It includes a base assembly (1), a large arm assembly (2), a small arm assembly and an electric screwdriver assembly (3). The large arm assembly (2) is disposed on the top side of the base assembly (1), the small arm assembly is disposed on the large arm assembly (2), and the electric screwdriver assembly (3) is disposed on the small arm assembly. The forearm assembly includes a forearm body (4), a J2-axis motor assembly (5), a ball screw slider assembly, and a J3-axis motor assembly. The forearm body (4) is mounted on the upper arm assembly (2). The J2-axis motor assembly (5) is mounted on one end of the forearm body (4). The ball screw slider assembly is mounted on the other end of the forearm body (4). The electric screwdriver assembly (3) is mounted on the ball screw slider assembly to improve the stability and accuracy of the robot's wire locking. The J3-axis motor assembly is mounted between the J2-axis motor assembly (5) and the ball screw slider assembly to drive the ball screw slider assembly.

2. The horizontal multi-joint robot applied to locking wires as described in claim 1, characterized in that: The ball screw slider assembly includes a first lower bearing seat (6), a fixed plate (7), a first upper bearing seat (8), a guide rail (9), a first slider (10), a first screw (11), an output pulley (12), a first nut (13), a second slider (14), and an adapter plate (15). The first lower bearing seat (6) is disposed on the forearm body (4), the fixed plate (7) is disposed at one end of the first lower bearing seat (6), the first upper bearing seat (8) is disposed at the top of the fixed plate (7), the guide rail (9) is disposed on the fixed plate (7), and the first slider (10) is slidably connected to the guide rail (9). The two ends of the first lead screw (11) are rotatably connected to the first upper bearing seat (8) and the first lower bearing seat (6) at the ends away from the fixed plate (7). The output pulley (12) is located at the end of the first lead screw (11) that extends out of the first lower bearing seat (6). The first nut (13) is located on the first lead screw (11). The side of the first nut (13) near the fixed plate (7) is fixedly connected to the first slider (10). The second slider (14) is fixedly connected to the side of the first nut (13) away from the fixed plate (7). The second slider (14) is connected to the electric screwdriver assembly (3) through the adapter plate (15).

3. The horizontal multi-joint robot applied to locking wires as described in claim 2, characterized in that: The J3 axis motor assembly includes a transition plate (16), a J3 motor (17), an input pulley (18), a timing belt (19), and a tensioning assembly (20). The transition plate (16) is disposed on the forearm body (4), the J3 motor (17) is vertically disposed on the transition plate (16), the input pulley (18) is disposed on the output shaft of the J3 motor (17), the timing belt (19) is sleeved on the input pulley (18) and the output pulley (12), and the tensioning assembly (20) is disposed on the forearm body (4).

4. The horizontal multi-joint robot applied to locking wires as described in claim 2, characterized in that: The first slider (10) is provided with a limiting fixing block (21) for limiting, and the first upper bearing seat (8) and the first lower bearing seat (6) are both provided with limiting screws (22) that cooperate with the limiting fixing block (21).

5. The horizontal multi-joint robot applied to locking wires as described in claim 1, characterized in that: The ball screw slider assembly includes a second lower bearing seat (23), a first guide rod (24), a second upper bearing seat (25), a third slider (26), a linear bearing (27), a second screw (28), an output pulley (12), a second nut (29), a second slider (14), and an adapter plate (15). The second lower bearing seat (23) is disposed on the forearm body (4). The first guide rod (24) is disposed at one end of the second lower bearing seat (23). The second upper bearing seat (25) is disposed at the top of the first guide rod (24). The third slider (26) is slidably disposed on the first guide rod (28) via the linear bearing (27). 4) The two ends of the second lead screw (28) are rotatably connected to the second lower bearing seat (23) and the second upper bearing seat (25). The output pulley (12) is set at one end of the second lead screw (28) that extends out of the second lower bearing seat (23). The second nut (29) is set on the second lead screw (28). The side of the second nut (29) near the first guide rod (24) is fixedly connected to the third slider (26). The second slider (14) is fixedly connected to the side of the second nut (29) away from the first guide rod (24). The second slider (14) is connected to the electric screwdriver assembly (3) through the adapter plate (15).

6. The horizontal multi-joint robot applied to locking wires as described in claim 5, characterized in that: Anti-collision blocks (30) are provided at the connection points of the second lower bearing seat (23), the second upper bearing seat (25), and the second lead screw (28).

7. The horizontal multi-joint robot applied to locking wires as described in claim 1, characterized in that: The ball screw slider assembly includes a third lower bearing seat (31), two second guide rods (32), a third upper bearing seat (33), a double guide rod slider (34), a third screw (35), an output pulley (12), a third nut (36), a second slider (14), and an adapter plate (15). The third lower bearing seat (31) is mounted on the forearm body (4). The two second guide rods (32) are symmetrically arranged at one end of the third lower bearing seat (31). The third upper bearing seat (33) is located on the top of the second guide rods (32). The double guide rod slider (34) The third lead screw (35) is mounted on two second guide rods (32), and its two ends are rotatably mounted on the third lower bearing seat (31) and the third upper bearing seat (33). The output pulley (12) is mounted on one end of the third lead screw (35) that extends out of the third lower bearing seat (31). The third nut (36) is mounted on the third lead screw (35). The second slider (14) is fixedly connected to the side of the third nut (36) away from the second guide rod (32). The second slider (14) is connected to the electric screwdriver assembly (3) through the adapter plate (15).

8. The horizontal multi-joint robot applied to locking wires as described in claim 7, characterized in that: A support plate (37) is provided between the third lower bearing seat (31) and the third upper bearing seat (33).

9. The horizontal multi-joint robot applied to locking wires as described in claim 1, characterized in that: A wiring harness assembly is provided on the other side of the top of the base assembly (1). The wiring harness assembly includes an electrical mounting bracket (38), a φ8 air pipe connector (39), and a φ6 air pipe connector (40). The electrical mounting bracket (38) is located on the top of the base assembly (1), and the φ8 air pipe connector (39) and the φ6 air pipe connector (40) are both located on the electrical mounting bracket (38).

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