A joint limiting mechanism for a four-axis robot

Abstract

This utility model provides a joint limiting mechanism for a four-axis robot, belonging to the field of robot technology. It solves the problem of improving the applicability of robots. In this joint limiting mechanism for a four-axis robot, the robot includes a base, a large arm, and a forearm. The large arm is rotatably connected to the base, and the forearm is rotatably connected to the large arm. The large arm has a first main mounting part, and the forearm has a second main mounting part. The joint limiting mechanism includes a first limiting block and a second limiting block: the first limiting block is detachably connected to the first main mounting part and abuts against the outer wall of the base; the second limiting block is detachably connected to the second main mounting part and abuts against the outer wall of the large arm. The large arm has several first auxiliary mounting parts, symmetrically distributed in two groups on both sides of the first main mounting part; the forearm has several second auxiliary mounting parts, symmetrically distributed in two groups on both sides of the second main mounting part. This joint limiting mechanism for a four-axis robot can improve the applicability of the robot.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology and relates to a joint limiting mechanism for a four-axis robot. Background Technology

[0002] Four-axis robots, due to their multi-joint coordination, can replace manual labor in different postures to perform tasks such as picking up and unloading goods, assembling parts, and packaging. They are indispensable mechanical devices in modern manufacturing.

[0003] For example, the robot arm assembly and robot having the same disclosed in Chinese Patent (Grant Announcement No. CN207495540U) include a first arm, the first end of which is rotatably mounted on a base; a second arm, the first end of which is rotatably mounted on the second end of the first arm; the robot arm assembly further includes: a first limiting part mounted on the base; a second limiting part mounted on the first arm, the second limiting part including multiple limiting blocks; and a third limiting part mounted on the second arm, wherein some of the limiting blocks in the first and second limiting parts cooperate to limit the rotation angle of the first arm, and the remaining limiting blocks in the third and second limiting parts, excluding some of the limiting blocks, cooperate to limit the rotation angle of the second arm relative to the first arm. The prior art mainly discloses a protective mechanism using multiple limiting blocks that abut against the first and second limiting parts, thereby limiting the rotation range of the robot's first and second arms and preventing the robot from being disturbed by impacts or other objects during movement.

[0004] However, robots are actually required to perform a wide variety of tasks. When performing different tasks, the rotation range of the first arm (also known as the upper arm) and the second arm (also known as the lower arm) has significantly different requirements. Robots with the above-mentioned structure are obviously too rigid and cannot meet the requirements of adjusting the maximum rotation of the upper arm and lower arm in different situations, resulting in poor applicability. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a joint limiting mechanism for a four-axis robot. The technical problem this invention aims to solve is: how to improve the applicability of the robot.

[0006] The objective of this utility model can be achieved through the following technical solution: a joint limiting mechanism for a four-axis robot, the four-axis robot including a base, a large arm rotatably connected to the base, and a small arm rotatably connected to the large arm. The large arm is provided with a first main mounting part, and the small arm is provided with a second main mounting part. The joint limiting mechanism includes a first limiting block detachably connected to the first main mounting part and capable of abutting against the outer wall of the base, and a second limiting block detachably connected to the second main mounting part and capable of abutting against the outer wall of the large arm. The large arm is characterized by having a plurality of first auxiliary mounting parts, the first main mounting parts and the plurality of first auxiliary mounting parts being arranged at intervals along the width direction of the large arm, the plurality of first auxiliary mounting parts being in two groups and located on both sides of the first main mounting part respectively, and the small arm being provided with a plurality of second auxiliary mounting parts, the plurality of second auxiliary mounting parts being arranged at intervals along the width direction of the small arm, the plurality of second auxiliary mounting parts being in two groups and located on both sides of the second main mounting part respectively.

[0007] The four-axis robot disclosed in this application includes a base, a large arm, and a forearm. The large arm is rotatably connected to the base and driven to rotate by a motor and a reducer. The forearm is rotatably connected to the large arm and driven to rotate by a motor and a reducer. To ensure the protection of the large arm during operation, a first limiting block is mounted on a first main mounting part on its outer wall. When the large arm rotates to the required working limit, the first limiting block abuts against the outer wall of the base, thereby limiting the rotation of the large arm and preventing excessive rotation from impact or interference with other objects. Simultaneously, a second limiting block is mounted on a second main mounting part on the outer wall of the forearm. When the forearm rotates to the required working limit, the second limiting block abuts against the outer wall of the large arm, thereby limiting the rotation of the forearm and preventing excessive rotation from impact or interference with other objects. Furthermore, this application provides several first auxiliary mounting parts on the large arm and several second auxiliary mounting parts on the forearm. The system comprises a first main mounting section and several first auxiliary mounting sections arranged at intervals along the width direction of the upper arm, and several second auxiliary mounting sections arranged at intervals along the width direction of the lower arm. The first auxiliary mounting sections are arranged in two groups on either side of the first main mounting section, and the second auxiliary mounting sections are arranged in two groups on either side of the second main mounting section. This means that before the robot begins operation, the operator can adjust the positions of the first and second limit blocks according to the current work requirements. Specifically, when the position meets the requirements, the operator does not need to disassemble the first limit blocks on the first main mounting section or the second limit blocks on the second main mounting section. When adjustment is required, the first and second limit blocks can be removed, and then the first limit blocks can be assembled to any of the corresponding first auxiliary mounting sections, and the second limit blocks can be assembled to any of the corresponding second auxiliary mounting sections. This satisfies the robot's adaptive adjustment of the maximum rotation of the upper and lower arms under different scenarios, effectively improving the robot's applicability.

[0008] In the joint limiting mechanism of the aforementioned four-axis robot, both the first limiting block and the second limiting block are made of elastic material. The first limiting block has a first limiting hole, and the second limiting hole has a second limiting hole. The joint limiting mechanism also includes a first bolt and a second bolt. The first bolt passes through the first limiting hole and is screwed onto the first main mounting part or any one of the first auxiliary mounting parts. The second bolt passes through the second limiting hole and is screwed onto the second main mounting part or any one of the second auxiliary mounting parts. Specifically, the first and second limiting blocks are made of elastic material, which avoids damage to the upper and lower arms due to hard compression. Furthermore, the first and second bolts, acting as connecting parts, ensure the installation stability of the first and second limiting blocks.

[0009] In the joint limiting mechanism of the aforementioned four-axis robot, the upper arm has elongated reinforcing ribs arranged along the width direction of the upper arm. The first main mounting portion and several first auxiliary mounting portions are formed on the reinforcing ribs, and several second auxiliary mounting portions are positioned closer to the forearm tip relative to the second main mounting portion. By forming the first main mounting portion and several first auxiliary mounting portions on the reinforcing ribs, the connection strength between the first main mounting portion and several first auxiliary mounting portions is ensured, thereby guaranteeing the structural strength of the upper arm. Furthermore, by positioning the several second auxiliary mounting portions closer to the forearm tip relative to the second main mounting portion, the swing amplitude of the forearm is limited while avoiding collision interference during operation.

[0010] In the joint limiting mechanism of the aforementioned four-axis robot, the reinforcing rib is arc-shaped, and the first main mounting part and several first auxiliary mounting parts are formed on the reinforcing rib and arranged at equal intervals. The symmetrical structure of the first main mounting part and several first auxiliary mounting parts allows the operator to quickly understand the limiting level of each mounting part for the robot's upper arm through visual perception, facilitating the operator to assemble the limiting blocks to the corresponding positions according to requirements.

[0011] In the joint limiting mechanism of the aforementioned four-axis robot, the reinforcing rib is positioned near the front end of the upper arm. This ensures the connection rigidity between the upper arm and the base.

[0012] Compared with existing technologies, the joint limiting mechanism of this four-axis robot has the following advantages: based on the first main mounting part on the upper arm and the second main mounting part on the forearm, multiple first auxiliary mounting parts are formed on the upper arm located on both sides of the first main mounting part for the first limiting block to be selected for assembly, and multiple second auxiliary mounting parts are formed on the forearm located on both sides of the second main mounting part for the second limiting block to be selected for assembly. The operator can adjust the installation position of the first and second limiting blocks according to actual needs, thereby meeting the robot's adaptive adjustment of the maximum rotation of the upper arm and forearm in different scenarios, effectively improving the robot's applicability. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the joint limiting mechanism of this four-axis robot.

[0014] Figure 2 This is a sectional view and a partial enlarged view of the joint limiting mechanism of this four-axis robot.

[0015] Figure 3 This is a structural diagram of the upper arm.

[0016] Figure 4 This is a schematic diagram of the forearm structure.

[0017] Figure 5This is a structural diagram of the first limiting block and the first bolt.

[0018] Figure 6 This is a structural schematic diagram of the second limiting block and the second bolt.

[0019] In the diagram, 1 is the base; 2 is the boom; 21 is the first main mounting part; 22 is the first auxiliary mounting part; 23 is the reinforcing rib; 3 is the forearm; 31 is the second main mounting part; 32 is the second auxiliary mounting part; 4 is the first limiting block; 41 is the first limiting hole; 5 is the second limiting block; 51 is the second limiting hole; 6 is the first bolt; and 7 is the second bolt. Detailed Implementation

[0020] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0021] like Figure 1 and Figure 2 As shown, in the joint limiting mechanism of this four-axis robot, the four-axis robot includes a base 1, a large arm 2 rotatably connected to the base 1, and a small arm 3 rotatably connected to the large arm 2. Figure 3 and Figure 4 Both the upper arm 2 and the lower arm 3 are elongated structures. The upper arm 2 is rotatably connected to the base 1 through its front end, while the front end of the lower arm 3 is rotatably connected to the rear end of the upper arm 2. The rear end of the lower arm 3 is used to install the robot's third and fourth axes. On one side of the outer wall of the upper arm 2, there is a reinforcing rib 23 arranged along its width direction. The reinforcing rib 23 is arranged near the front end of the upper arm 2 and bends into an arc shape towards the rear end of the upper arm 2. A first main mounting part 21 is formed at its center. Several first secondary mounting parts 22 are also formed on the side wall of the upper arm 2. The several first secondary mounting parts 22 are also formed on the reinforcing rib 23. The first main mounting parts 21 and the several first secondary mounting parts 22 are arranged at intervals along the length direction of the reinforcing rib 23 (or can be regarded as arranged at intervals along the width direction of the upper arm 2). The several first secondary mounting parts 22 are divided into two groups and arranged on both sides of the first main mounting part 21.

[0022] A second main mounting portion 31 is formed on one side of the outer wall of the forearm 3, which is located near the front end of the forearm 3. A plurality of second auxiliary mounting portions 32 are also formed on the same side of the outer wall of the forearm 3, which are spaced apart along the width direction of the forearm 3. The plurality of second auxiliary mounting portions 32 are closer to the front end of the forearm 3 than the second main mounting portion 31. Furthermore, the plurality of second auxiliary mounting portions 32 are divided into two groups and located on both sides of the second main mounting portion 31.

[0023] Combination Figure 5 and Figure 6The joint limiting mechanism includes a first bolt 6, a second bolt 7, a first limiting block 4 made of elastic material, and a second limiting block 5 made of elastic material. The first limiting block 4 and the second limiting block 5 can be made of high-strength rubber, or silicone material as an alternative. Both the first limiting block 4 and the second limiting block 5 are cylindrical. The first limiting block 4 has a first limiting hole 41 that passes through both ends, and the second limiting block 5 has a second limiting hole 51 that passes through both ends. The shank of the first bolt 6 passes through the first limiting hole 41, and the shank of the second bolt 7 passes through the second limiting hole 51. Furthermore, the first main mounting part 21 and several first auxiliary mounting parts 22 are provided with threaded hole 1 for screwing the shank of the first bolt 6, and the second main mounting part 31 and several second auxiliary mounting parts 32 are provided with threaded hole 2 for screwing the shank of the second bolt 7.

[0024] Operating Principle: The robot has specific requirements for the maximum rotation angle of its upper arm 2 and lower arm 3 when performing different operations. If the installation positions of the first limiting block 4 and the second limiting block 5 meet the requirements, disassembly is unnecessary. When the positions of the first limiting block 4 and the second limiting block 5 need to be adjusted, the first bolt 6 and the second bolt 7 are unscrewed. Then, the first bolt 6 is screwed into any threaded hole of the first mounting part 22 that matches the position, and the second bolt 7 is screwed into any threaded hole of the second mounting part 32 that matches the position. This allows for adaptive adjustment of the positions of the first limiting block 4 and the second limiting block 5. Subsequently, when the robot is working, if the rotation amplitude of the upper arm 2 reaches the predetermined limit value, the rotation angle of the upper arm 2 is limited by the first limiting block 4 and the outer wall of the base 1. Similarly, if the rotation amplitude of the lower arm 3 reaches the predetermined limit value, the rotation angle of the lower arm 3 is limited by the second limiting block 5 and the outer wall of the upper arm 2.

[0025] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0026] Although this document frequently uses terms such as base 1, upper arm 2, first main mounting part 21, first auxiliary mounting part 22, reinforcing rib 23, forearm 3, second main mounting part 31, second auxiliary mounting part 32, first limiting block 4, first limiting hole 41, second limiting block 5, second limiting hole 51, first bolt 6, and second bolt 7, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any kind of additional limitation would contradict the spirit of this utility model.

Claims

1. A joint limiting mechanism for a four-axis robot, the four-axis robot comprising a base (1), a large arm (2) rotatably connected to the base (1), and a small arm (3) rotatably connected to the large arm (2), wherein the large arm (2) is provided with a first main mounting part (21), and the small arm (3) is provided with a second main mounting part (31), the joint limiting mechanism comprising a first limiting block (4) detachably connected to the first main mounting part (21) and capable of abutting against the outer wall of the base (1), and a second limiting block (5) detachably connected to the second main mounting part (31) and capable of abutting against the outer wall of the large arm (2), characterized in that, The upper arm (2) is also provided with a plurality of first auxiliary mounting parts (22). The first main mounting part (21) and the plurality of first auxiliary mounting parts (22) are arranged at intervals along the width direction of the upper arm (2). The plurality of first auxiliary mounting parts (22) are divided into two groups and are located on both sides of the first main mounting part (21). The lower arm (3) is also provided with a plurality of second auxiliary mounting parts (32). The plurality of second auxiliary mounting parts (32) are arranged at intervals along the width direction of the lower arm (3). The plurality of second auxiliary mounting parts (32) are divided into two groups and are located on both sides of the second main mounting part (31).

2. The joint limiting mechanism of the four-axis robot according to claim 1, characterized in that, Both the first limiting block (4) and the second limiting block (5) are made of elastic material. The first limiting block (4) has a first limiting hole (41), and the second limiting hole (51) has a second limiting hole (51). The joint limiting mechanism also includes a first bolt (6) and a second bolt (7). The first bolt (6) passes through the first limiting hole (41) and is screwed onto the first main mounting part (21) or any one of the first auxiliary mounting parts (22). The second bolt (7) passes through the second limiting hole (51) and is screwed onto the second main mounting part (31) or any one of the second auxiliary mounting parts (32).

3. The joint limiting mechanism of the four-axis robot according to claim 1 or 2, characterized in that, The upper arm (2) has a long reinforcing rib (23) arranged along the width direction of the upper arm (2). The first main mounting part (21) and several first auxiliary mounting parts (22) are formed on the reinforcing rib (23). Several second auxiliary mounting parts (32) are closer to the front end of the forearm (3) than the second main mounting part (31).

4. The joint limiting mechanism of the four-axis robot according to claim 3, characterized in that, The reinforcing rib (23) is arc-shaped, and the first main mounting part (21) and a plurality of the first auxiliary mounting parts (22) are formed on the reinforcing rib (23) and are arranged at equal intervals.

5. The joint limiting mechanism of the four-axis robot according to claim 4, characterized in that, The reinforcing rib (23) is located near the front end of the upper arm (2).

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