Horizontal four-axis industrial robot

Abstract

The utility model discloses a horizontal four-axis industrial robot which comprises a base, a large arm, a small arm, a first motor, a second motor, a third motor, a fourth motor and a ball spline lead screw pair. One end of the big arm is movably connected with the base, and the other end is movably connected with the small arm; the ball spline lead screw pair is arranged at the end, away from the large arm, of the small arm. The first motor is arranged in the base, connected with the big arm and used for driving the big arm to rotate relative to the base; the second motor is arranged in the large arm, connected with the small arm and used for driving the small arm to rotate relative to the large arm; the third motor is arranged in the big arm, is connected with the ball spline lead screw pair and is used for driving the ball spline lead screw pair to realize lifting motion; the fourth motor is arranged in the small arm and connected with the third speed reducing mechanism, and the third speed reducing mechanism is connected with the ball spline lead screw pair. The robot with the structure is small in rotational inertia and stable in operation.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a horizontal four-axis industrial robot. Background Technology

[0002] With the continuous development of intelligent manufacturing, SCARA robots are widely used in 3C, photovoltaic layout, stringing, and other fields. To improve production efficiency and processing quality, many applications require SCARA robots to have high speed and high precision, that is, the robot must be "fast, stable, and accurate". Currently, the structure of SCARA robots on the market is generally such that the drive motor and reducer of one axis are in the base, while the drive motors and related components of the second, third, and fourth axes are in the forearm. This makes the robot's center of gravity close to the end effector during operation, resulting in a large moment of inertia for the first and second axes, severely limiting the joint acceleration capability, and also causing insufficient rigidity under long arm extension and heavy load conditions, affecting the robot's stability. Utility Model Content

[0003] The main purpose of this utility model is to provide a horizontal four-axis industrial robot that meets the requirements of high speed and low inertia. Its features include low rotational inertia, good acceleration capability, high running accuracy, and good running stability.

[0004] To achieve the above objectives, this utility model provides a horizontal four-axis industrial robot, including a base, an upper arm, a lower arm, a first motor, a second motor, a third motor, a fourth motor, and a ball spline screw pair.

[0005] One end of the upper arm is movably connected to the base, and the other end is movably connected to the lower arm; the ball spline screw pair is located at the end of the lower arm away from the upper arm;

[0006] The first motor is located inside the base and connected to the boom, and is used to drive the boom to rotate relative to the base.

[0007] The second motor is located inside the upper arm and connected to the lower arm, and is used to drive the lower arm to rotate relative to the upper arm;

[0008] The third motor is located inside the boom and connected to the ball spline screw pair to drive the ball spline screw pair to achieve lifting and lowering motion.

[0009] The fourth motor is located inside the forearm and is connected to the third reduction mechanism. The third reduction mechanism is connected to the ball spline screw pair to drive the ball spline screw pair to achieve rotational motion.

[0010] In some embodiments of this utility model, a first reduction mechanism is also provided, wherein the first motor is connected to the input end of the first reduction mechanism, and the output end of the first reduction mechanism is connected to the boom.

[0011] In some embodiments of this utility model, a second reduction mechanism is also provided, wherein the second motor is connected to the input end of the second reduction mechanism, and the output end of the second reduction mechanism is connected to the forearm.

[0012] In some embodiments of this utility model, a transmission shaft is provided at the connection between the upper arm and the lower arm, and the central axis of the transmission shaft is collinear with the rotation axis of the lower arm;

[0013] One end of the drive shaft is connected to the inner ring of the first bearing, and the outer ring of the first bearing is connected to the forearm; the other end of the drive shaft is connected to the inner ring of the second bearing, and the outer ring of the second bearing is connected to the input end of the second reduction mechanism; the second reduction mechanism is fitted around the outside of the drive shaft.

[0014] The third motor is connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the ball spline screw pair.

[0015] In some embodiments of this utility model, the drive shaft is hollow and is provided with a first threading tube. The first threading tube is connected to the upper arm and connects the internal space of the upper arm and the forearm for wiring.

[0016] In some embodiments of this utility model, a second cable threading tube is provided at the rotation axis of the base and the upper arm. The first reducer is sleeved outside the second cable threading tube. The second cable threading tube connects the internal space of the base and the upper arm and is used for wiring.

[0017] In some embodiments of this utility model, the fourth motor and the third reduction mechanism are located at the end away from the ball spline screw pair.

[0018] This invention provides a horizontal four-axis industrial robot. A fourth motor controlling rotation and a corresponding third reduction mechanism are housed within the forearm. The addition of this third reduction mechanism, a synchronous pulley system, achieves a speed reduction effect while simultaneously matching the rotational inertia, thus improving the operational stability of the four axes. Compared to other designs that do not integrate the fourth motor or the fourth motor and third reduction mechanism into the forearm, this invention significantly improves operational stability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0020] Figure 1This is a structural schematic diagram (sectional view) of a horizontal four-axis industrial robot according to an embodiment of the present invention;

[0021] Figure 2 This is a partial structural diagram of the connection between the upper arm and the forearm in one embodiment of the present invention;

[0022] Figure 3 This is a top view of one embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the forearm structure from a downward angle according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the third reduction mechanism in one embodiment of the present invention, wherein the size of the synchronous pulley is different.

[0025] Figure label:

[0026] 1. Base; 2. Upper arm; 3. Lower arm; 4. Ball spline screw pair; 11. First motor; 12. First reduction mechanism; 13. Drive gear; 14. Second threading spool; 15. Anti-wear sleeve; 21. Second motor; 22. Second reduction mechanism; 31. Third motor; 32. Drive shaft; 33. First threading spool; 34. First bearing; 35. Second bearing; 36. Mounting plate; 41. Fourth motor; 42. Third reduction mechanism; 43. Tensioning device; 5. Synchronous belt; 6. Synchronous pulley; 7. Snap ring; 8. Wire; 9. Small intermediate shaft; 91. Third bearing; 92. Bushing. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0031] like Figures 1-5 As shown, this utility model provides a horizontal four-axis industrial robot, including a base 1, a large arm 2, a small arm 3, a first motor 11, a second motor 21, a third motor 31, a fourth motor 41, and a ball spline screw assembly 4; the ball spline screw assembly 4 is a commercially available product; one end of the large arm 2 is movably connected to the base 1, and the other end is movably connected to the small arm 3; the ball spline screw assembly 4 is located at the end of the small arm 3 away from the large arm 2;

[0032] The first motor 11 is located inside the base 1 and connected to the boom 2, and is used to drive the boom 2 to rotate relative to the base 1;

[0033] The second motor 21 is located inside the upper arm 2 and connected to the lower arm 3, and is used to drive the lower arm 3 to rotate relative to the upper arm 2;

[0034] The third motor 31 is located inside the upper arm 2 and is connected to the ball spline screw pair 4 to drive the ball spline screw pair 4 to achieve lifting and lowering motion.

[0035] The fourth motor 41 is located inside the forearm 3. The fourth motor 41 is connected to the third reduction mechanism 42, and the third reduction mechanism 42 is connected to the ball spline screw pair 4 to drive the ball spline screw pair 4 to achieve rotational motion.

[0036] It is also equipped with a first deceleration mechanism 12, the first motor 11 is connected to the input end of the first deceleration mechanism 12, and the output end of the first deceleration mechanism 12 is connected to the boom 2.

[0037] A second reduction mechanism 22 is also provided. The second motor 21 is connected to the input end of the second reduction mechanism 22, and the output end of the second reduction mechanism 22 is connected to the forearm 3.

[0038] A drive shaft 32 is provided at the connection between the upper arm 2 and the lower arm 3, and the central axis of the drive shaft 32 is collinear with the rotation axis of the lower arm 3;

[0039] One end of the drive shaft 32 is connected to the inner ring of the first bearing 34, and the outer ring of the first bearing 34 is connected to the forearm 3; the other end of the drive shaft 32 is connected to the inner ring of the second bearing 35, and the outer ring of the second bearing 35 is connected to the input end of the second reduction mechanism 22; the second reduction mechanism 22 is fitted around the outside of the drive shaft 32 with clearance.

[0040] The third motor 31 is connected to one end of the transmission shaft 32, and the other end of the transmission shaft 32 is connected to the ball spline screw pair 4.

[0041] The drive shaft 32 is hollow and is provided with a first threading tube 33. The first threading tube 33 is connected to the upper arm 2 and connects the internal space of the upper arm 2 and the lower arm 3 for wiring.

[0042] A second cable reel 14 is provided at the rotation axis of the base 1 and the upper arm 2. The first deceleration mechanism 12 is fitted around the outside of the second cable reel 14. The second cable reel 14 connects the internal space of the base 1 and the upper arm 2 and is used for wiring.

[0043] The fourth motor 41 and the third reduction mechanism 42 are located at the end away from the ball spline screw pair 4, which can reduce the moment of inertia and further improve the operational stability. Due to the scale, they are shown in the center position in the figure.

[0044] Specifically, the power transmission method can be a belt and a synchronous pulley 6, or a gear transmission method. The synchronous pulley 6 and other structures can take many forms, and can be set separately or as a structural component on other components.

[0045] This robot mainly consists of three components: a base 1, a large arm 2, and a forearm 3. The base 1 houses a first-axis drive motor 11 and a first-axis reduction mechanism 12. The shaft of the first-axis motor 11 is equipped with a drive gear 13, which meshes with the large gear of the first-axis reduction mechanism 12 via the base 1 housing. The center distance is ensured by machining the base 1 housing to guarantee precision. Simultaneously, a second threading tube 14 is installed at the center of the first reduction mechanism 12 and fixed to it with screws. A concealed anti-wear sleeve 15 is installed at the fixed end of the second threading tube 14, primarily to prevent abnormal wear on the cable bundle.

[0046] The boom 2 includes a boom 2 housing, which contains components such as a two-axis second motor 21, a three-axis third motor 31, and a synchronous pulley 6. The boom 2 housing is centered and connected to the output stop of the first reduction mechanism 12 with screws. The shaft of the second motor 21 is equipped with a synchronous pulley 6 and is located near the rotation center of the first axis. It is connected to the synchronous pulley 6 connected to the input end of the two-axis second reduction mechanism 22 by a synchronous belt 5, thereby driving the second reduction mechanism 22 to rotate.

[0047] The third motor 31 of the three axes is also located near the rotation center of the first axis. A synchronous pulley 6 is mounted on the shaft of the third motor 31 and is connected to the synchronous pulley 6 via a synchronous belt 5. The synchronous pulley 6 is mounted on one end of the transmission shaft 32 and can be axially limited by a retaining ring 7. The transmission shaft 32 is positioned and supported at the stop position of the synchronous pulley 6 by a second bearing 35. The other end of the transmission shaft 32 is positioned and supported at the stop position of the housing of the forearm 3 by a first bearing 34 and is axially limited by a retaining ring 7. The synchronous pulley 6 is mounted on the other end of the transmission shaft 32 and is axially limited by a retaining ring 7. The synchronous pulleys 6 are driven by the synchronous belt 5 and a tensioning device 43 is provided between them. This device is mainly used to tension the synchronous belt 5, thereby realizing the rotation of the ball nut in the ball spline screw pair 4, thus realizing the up and down movement of the screw. Because the third motor 31 of the J3 axis is located near the rotation center of J1, the energy consumption of the second motor 21 of J2 is reduced during the operation of the J1 and J2 axes. At the same time, the distance between the center of mass of the J1 and J2 axes is reduced, and the moment of inertia is reduced. This has a significant improvement effect on operation control.

[0048] The forearm 3 is equipped with a four-axis fourth motor 41, a third reduction mechanism 42, and a ball spline screw pair 4. In one optional embodiment, the third reduction mechanism 42 is selected from the synchronous pulley 6 group, as illustrated in the figure. The synchronous pulley 6 is connected to one end of the small intermediate shaft 9) and fixed with a pressure plate and screws. The middle of the small intermediate shaft 9 is used for mounting, positioning, and centering of the double third bearing 91, with a retaining spring installed at the shaft end for limiting. The outer diameter of the bearing is installed in the inner hole of the bushing 92, and a retaining spring is installed on the end face of the bearing outer diameter for axial limiting. The other end of the small intermediate shaft 9 is equipped with the small synchronous pulley 6 and fixed with a pressure plate and screws. This small synchronous pulley 6) serves as the input end for the horizontal operation of the screw driven by the four axes, and the horizontal operation of the screw is achieved by connecting it to the synchronous pulley 6 via the synchronous belt 5. The advantage of this implementation is that the 4-axis transmission adds a synchronous gear set for deceleration to achieve a deceleration effect. Compared with the scheme where the fourth motor 41 is set in the boom 2 and the deceleration mechanism is set in the forearm 3, or where there is no deceleration mechanism, the scheme of this implementation method can better match the moment of inertia, so as to better control the operation stability of the 4 axes.

[0049] The above description is only an optional embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A horizontal four-axle industrial robot, characterized in that The utility model relates to a four-axis robot, which comprises a base, a large arm, a small arm, a first motor, a second motor, a third motor, a fourth motor and a ball spline screw pair. One end of the large arm is movably connected to the base, and the other end is movably connected to the small arm. The first motor is arranged in the base and connected to the large arm to drive the large arm to rotate relative to the base. The second motor is arranged in the large arm and connected to the small arm to drive the small arm to rotate relative to the large arm. The third motor is arranged in the large arm and connected to the ball spline screw pair to drive the ball spline screw pair to move up and down. The fourth motor is arranged in the small arm and connected to the third speed reduction mechanism, which is connected to the ball spline screw pair to drive the ball spline screw pair to rotate. A first speed reduction mechanism is further arranged, the first motor is connected to the input end of the first speed reduction mechanism, and the output end of the first speed reduction mechanism is connected to the large arm.

2. A horizontal four-axle industrial robot according to claim 1, characterized in that, A second speed reduction mechanism is further arranged, the second motor is connected to the input end of the second speed reduction mechanism, and the output end of the second speed reduction mechanism is connected to the small arm.

3. The horizontal four-axis industrial robot according to claim 1, characterized in that, A transmission shaft is arranged at the connection between the large arm and the small arm, and the central axis of the transmission shaft is collinear with the rotation axis of the small arm.

4. A horizontal four-axle industrial robot according to claim 3, characterized in that One end of the transmission shaft is connected to the inner ring of a first bearing, the outer ring of the first bearing is connected to the small arm, the other end of the transmission shaft is connected to the inner ring of a second bearing, the outer ring of the second bearing is connected to the input end of the second speed reduction mechanism, and the second speed reduction mechanism is sleeved outside the transmission shaft. The third motor is connected to one end of the transmission shaft, and the other end of the transmission shaft is connected to the ball spline screw pair. The transmission shaft is hollow, and the transmission shaft is provided with a first threading cylinder, the first threading cylinder is connected to the large arm, the first threading cylinder communicates the internal spaces of the large arm and the small arm, and is used for wiring.

5. A horizontal four-axle industrial robot according to claim 4, characterized in that A second threading cylinder is arranged at the rotation axis of the base and the large arm, the first speed reduction mechanism is sleeved outside the second threading cylinder, the second threading cylinder communicates the internal spaces of the base and the large arm, and is used for wiring.

6. The horizontal four-axis industrial robot according to claim 2, characterized in that, The fourth motor and the third speed reduction mechanism are arranged at one end away from the ball spline screw pair.

7. The horizontal four-axis industrial robot according to claim 1, characterized in that, ​

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