A four-axis robot device

Abstract

This application discloses a four-axis robot device, relating to the field of multi-axis robot technology. One end of a quick-release connecting component is connected to the end of a forearm component away from the upper arm component, and the other end of the quick-release connecting component is connected to a product fixing component. The end of a first quick-release assembly away from a second quick-release assembly is connected to the end of the forearm component away from the upper arm component. The first and second quick-release assemblies are detachably connected, and the end of the second quick-release assembly away from the first quick-release assembly is connected to the product fixing component. The first quick-release assembly is provided with a female connector and a first air pipe connector, and the second quick-release assembly is provided with a male connector and a second air pipe connector. When the first and second quick-release assemblies are connected, the male connector is inserted into the female connector, and the first and second air pipe connectors are connected. This design improves the applicability of the four-axis robot device.

Description

Technical Field

[0001] This application relates to the field of multi-axis robot technology, and more particularly to a four-axis robot device. Background Technology

[0002] Multi-axis robots are precision robotic arms designed specifically for industrial automation, capable of movement with multiple degrees of freedom. For example, they can move along the x, y, and z axes, and also rotate around these axes, mimicking the dexterity of a human arm. This special range of motion enables multi-axis robots to perform complex tasks precisely and efficiently in various manufacturing processes. However, existing multi-axis robots cannot quickly replace fixed parts of different types of products, resulting in limited applicability. Utility Model Content

[0003] The purpose of this application is to provide a four-axis robot device that improves the applicability of the four-axis robot device.

[0004] This application discloses a four-axis robot device, which includes a main support, a large arm component, a small arm component, a quick-release connecting component, and a product fixing component; the large arm component and the main support are slidably connected; the small arm component is rotatably connected to the end of the large arm component away from the main support; one end of the quick-release connecting component is connected to the end of the small arm component away from the large arm component, and the other end of the quick-release connecting component is connected to the product fixing component;

[0005] The quick-release connecting component includes a first quick-release assembly and a second quick-release assembly. The end of the first quick-release assembly away from the second quick-release assembly is connected to the end of the forearm component away from the upper arm component. The first quick-release assembly and the second quick-release assembly are detachably connected. The end of the second quick-release assembly away from the first quick-release assembly is connected to the product fixing component.

[0006] The first quick-release assembly is provided with a female connector and a first air tube connector, and the second quick-release assembly is provided with a male connector and a second air tube connector. When the first quick-release assembly and the second quick-release assembly are connected, the male connector is inserted into the female connector, and the first air tube connector and the second air tube connector are connected.

[0007] Optionally, the first quick-release assembly includes a wire guide spool and an air passage. The connector female head is located on the side of the wire guide spool away from the forearm component. The air passage passes through the wire guide spool. The first air pipe connector is located on the side of the wire guide spool close to the forearm component and communicates with the air passage.

[0008] The second quick-release assembly includes a connecting shaft and an electrical board. The electrical board is disposed on the side of the connecting shaft near the wire guide shaft. The second air pipe connector is disposed on the electrical board, and the male connector is disposed on the side of the electrical board near the wire guide shaft. The wire guide shaft and the connecting shaft are detachably connected.

[0009] When the guide spool and the connecting spool are connected, the first air pipe connector, the air passage and the second air pipe connector are connected in sequence, and the male connector is inserted into the female connector.

[0010] Optionally, the female connector is a magnetic female connector, the male connector is a magnetic male connector, and the female connector and the male connector can be magnetically connected.

[0011] Optionally, the second quick-release assembly further includes an elastic element. A groove is provided at one end of the connecting shaft near the wire guide shaft. Both the electrical board and the elastic element are disposed in the groove, and one end of the elastic element abuts against the bottom wall of the groove, while the other end of the elastic element abuts against the end of the electrical board away from the wire guide shaft.

[0012] Optionally, the main support frame is provided with a slide rail and a slide rod assembly, the boom component is slidably connected to the slide rail, the slide rod assembly is connected to the boom component, and the slide rod assembly is used to drive the boom component to slide on the slide rail.

[0013] Optionally, the boom component includes a sliding plate, a boom base, a boom body, a first boom motor, and a second boom motor. The sliding plate is slidably connected to the slide rail, and the slide rod assembly is connected to the sliding plate.

[0014] The boom base is connected to the sliding plate on the side away from the main support. One end of the boom body is connected to the boom base, and the other end of the boom body is connected to the forearm component. The first boom motor is disposed inside the boom body, and the output end of the first boom motor is connected to the boom base. The first boom motor is used to drive the boom body to rotate relative to the boom base.

[0015] The second boom motor is disposed inside the boom body, and the output end of the second boom motor is connected to the forearm component. The second boom motor is used to drive the boom body to rotate relative to the forearm component.

[0016] Optionally, the forearm component includes a forearm base, a forearm body, and a forearm drive motor. The forearm base is fixedly connected to the forearm body and rotatably connected to the upper arm body. The output end of the second upper arm motor is connected to the forearm base, and the second upper arm motor is used to drive the forearm base to rotate relative to the upper arm body.

[0017] The forearm drive motor is disposed inside the forearm body, and the output end of the forearm drive motor is connected to the first quick-release assembly. The forearm drive motor is used to drive the first quick-release assembly to rotate relative to the forearm body.

[0018] Optionally, one end of the upper arm body is connected to the upper and lower sides of the upper arm base; the other end of the upper arm body is connected to the upper and lower sides of the forearm base.

[0019] Optionally, the forearm component further includes an electrical slip ring assembly, which is disposed within the forearm body and is used to connect the first air pipe connector and the connector female.

[0020] Compared to existing four-axis robot devices, the four-axis robot device of this application connects the forearm component and the product fixing component by setting up quick-release connectors. The quick-release connectors include a first quick-release assembly and a second quick-release assembly. The first quick-release assembly is provided with a female connector and a first air pipe connector, and the second quick-release assembly is provided with a male connector and a second air pipe connector. When the first quick-release assembly and the second quick-release assembly are connected, the male connector is inserted into the female connector, and the first air pipe connector and the second air pipe connector are connected. When it is necessary to replace the product fixing component to fix other types of products, the first quick-release assembly and the second quick-release assembly can be disassembled, and then the product fixing component can be replaced. When the first quick-release assembly and the second quick-release assembly are installed, the male connector is inserted into the female connector, and the first air pipe connector and the second air pipe connector are connected. This allows the circuitry and airflow of the four-axis robot device to quickly establish a connection with the replaced product fixing component, thereby improving the applicability of the four-axis robot device. Attached Figure Description

[0021] The accompanying drawings, which form part of the specification, are used to provide a further understanding of the embodiments of this application and illustrate the implementation methods of this application, together with the textual description, to explain the principles of this application. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0022] Figure 1This is a schematic diagram of a four-axis robot device according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of a quick-release connecting component according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of a first quick-release assembly according to an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of a second quick-release assembly according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of an elastic element according to an embodiment of this application;

[0027] Figure 6 This is an internal schematic diagram of a boom component according to an embodiment of this application;

[0028] Figure 7 This is an internal schematic diagram of a forearm component according to an embodiment of this application.

[0029] Among them, 10. Four-axis robot equipment; 11. Product; 100. Main support; 110. Slide rail; 120. Slide rod assembly; 200. Upper arm component; 210. Sliding plate; 220. Upper arm base; 230. Upper arm main body; 240. First upper arm motor; 250. Second upper arm motor; 300. Forearm component; 310. Forearm base; 320. Forearm main body; 330. Forearm drive motor; 340. Electrical slip ring assembly; 400. Quick-release connection component; 410. First quick-release assembly; 411. Cable guide; 412. Air passage; 421. Connector female head; 422. First air pipe connector; 430. Second quick-release assembly; 431. Connecting shaft; 432. Groove; 433. Electrical board; 434. Elastic element; 441. Connector male head; 442. Second air pipe connector; 500. Product fixing component. Detailed Implementation

[0030] It should be understood that the terminology, specific structural and functional details used herein are merely for describing particular embodiments and are representative. However, this application may be implemented in many alternative forms and should not be construed as being limited to the embodiments set forth herein.

[0031] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of technical features indicated. Therefore, unless otherwise stated, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0032] In addition, terms such as “center,” “horizontal,” “up,” “down,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” that indicate orientation or positional relationship are based on the orientation or relative positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this application and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0033] Furthermore, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] The present application will now be described in detail with reference to the accompanying drawings and optional embodiments.

[0035] Figure 1 This is a schematic diagram of a four-axis robot device according to an embodiment of this application. Figure 2 This is a schematic diagram of a quick-release connecting component according to an embodiment of this application. Figure 3 This is a schematic diagram of a first quick-release assembly according to an embodiment of this application. Figure 4 This is a schematic diagram of a second quick-release assembly according to an embodiment of this application, in conjunction with... Figures 1-4 As shown, this application discloses a four-axis robot device 10, which includes a main support 100, an upper arm component 200, a lower arm component 300, a quick-release connection component 400, and a product fixing component 500.

[0036] The upper arm component 200 and the main support 100 are slidably connected; the lower arm component 300 is rotatably connected to the end of the upper arm component 200 away from the main support 100; one end of the quick-release connecting component 400 is connected to the end of the lower arm component 300 away from the upper arm component 200, and the other end of the quick-release connecting component 400 is connected to the product fixing component 500.

[0037] The quick-release connecting component 400 includes a first quick-release assembly 410 and a second quick-release assembly 430. The end of the first quick-release assembly 410 away from the second quick-release assembly 430 is connected to the end of the forearm component 300 away from the upper arm component 200. The first quick-release assembly 410 and the second quick-release assembly 430 are detachably connected. The end of the second quick-release assembly 430 away from the first quick-release assembly 410 is connected to the product fixing component 500.

[0038] The first quick-release assembly 410 is provided with a female connector 421 and a first air pipe connector 422, and the second quick-release assembly 430 is provided with a male connector 441 and a second air pipe connector 442. When the first quick-release assembly 410 and the second quick-release assembly 430 are connected, the male connector 441 is inserted into the female connector 421, and the first air pipe connector 422 and the second air pipe connector 442 are connected.

[0039] The product fixing component 500 is used to support the product 11, the second air pipe connector 442 is used to connect to the air passage on the product fixing component 500, and the connector male head 441 is used to connect to the air passage on the product fixing component 500.

[0040] After the male connector 441 is inserted into the female connector 421, the circuit on the four-axis robot device 10 can be connected to the circuit on the product fixing component 500. After the first air pipe connector 422 and the second air pipe connector 442 are connected, the air passage on the four-axis robot device 10 can be connected to the air passage on the product fixing component 500, for example, it can be used for product adsorption.

[0041] Compared to existing four-axis robot devices, the four-axis robot device 10 of this application connects the forearm component 300 and the product fixing component 500 by setting a quick-release connecting component 400. The quick-release connecting component 400 includes a first quick-release assembly 410 and a second quick-release assembly 430. The first quick-release assembly 410 is provided with a connector female head 421 and a first air pipe connector 422. The second quick-release assembly 430 is provided with a connector male head 441 and a second air pipe connector 442. When the first quick-release assembly 410 and the second quick-release assembly 430 are connected, the connector male head 441 is inserted into the connector female head 421, and the first air pipe connector 422... 2. The first quick-release assembly 410 and the second quick-release assembly 430 are connected. When it is necessary to replace the product fixing component 500 to fix other types of products 11, the first quick-release assembly 410 and the second quick-release assembly 430 can be disassembled, and then the product fixing component 500 can be replaced. When installing the first quick-release assembly 410 and the second quick-release assembly 430, the male connector 441 is inserted into the female connector 421. The first air pipe connector 422 and the second air pipe connector 442 are connected, so that the circuit and air circuit of the four-axis robot device 10 can be quickly connected to the replaced product fixing component 500, thereby improving the applicability of the four-axis robot device 10.

[0042] Furthermore, the first quick-release assembly 410 includes a wire guide 411 and an air passage 412. The connector female head 421 is located on the side of the wire guide 411 away from the forearm component 300. The air passage 412 passes through the wire guide 411. The first air pipe connector 422 is located on the side of the wire guide 411 close to the forearm component 300, and the first air pipe connector 422 communicates with the air passage 412.

[0043] The second quick-release assembly 430 includes a connecting shaft 431 and an electrical board 433. The electrical board 433 is disposed on the side of the connecting shaft 431 near the wire guide shaft 411. The second air pipe connector 442 is disposed on the electrical board 433. The male connector 441 is disposed on the side of the electrical board 433 near the wire guide shaft 411. The wire guide shaft 411 and the connecting shaft 431 are detachably connected.

[0044] When the guide shaft 411 and the connecting shaft 431 are connected, the first air pipe connector 422, the air passage 412 and the second air pipe connector 442 are connected in sequence, and the male connector 441 is inserted into the female connector 421.

[0045] For example, the guide spool 411 and the connecting shaft 431 can be connected by screws and nuts, and the hollow interior of the guide spool 411 allows the wire connected to the connector female head 421 to pass through the guide spool 411.

[0046] The second air pipe connector 442 passes through the electrical board 433. After the spool 411 and the connecting shaft 431 are connected, the second air pipe connector 442 is aligned with the air passage 412, so that the first air pipe connector 422, the air passage 412 and the second air pipe connector 442 are connected in sequence.

[0047] For ease of connection, the female connector 421 is a magnetic connector 421, and the male connector 441 is a magnetic connector 441. The female connector 421 and the male connector 441 can be magnetically connected. That is, by making the female connector 421 and the male connector 441 magnetic, after the spool 411 and the connecting shaft 431 are mated, the male connector 441 can be quickly inserted into the female connector 421 under the influence of magnetism, thereby improving the efficiency of replacing the product fixing component 500.

[0048] To improve the airtightness of the second air pipe connector 442 and the air passage 412, as well as the connection stability of the connector female head 421 and the connecting male head, this application also provides an elastic element 434 under the electrical board 433, specifically:

[0049] Figure 5 This is a schematic diagram of an elastic element according to an embodiment of this application, as shown below. Figure 5 As shown, the second quick-release assembly 430 also includes an elastic element 434. A groove 432 is provided at one end of the connecting shaft 431 near the wire guide shaft 411. The electrical plate 433 and the elastic element 434 are both disposed in the groove 432. One end of the elastic element 434 abuts against the bottom wall of the groove 432, and the other end of the elastic element 434 abuts against the end of the electrical plate 433 away from the wire guide shaft 411.

[0050] After the guide shaft 411 and the connecting shaft 431 are connected, the elastic element 434 will push the electrical board 433 upward, which will improve the connection stability of the connector female head 421 and the connecting male head, and improve the airtightness of the second air pipe connector 442 and the air passage 412.

[0051] The main support 100 is provided with a slide rail 110 and a slide rod assembly 120. The boom component 200 is slidably connected to the slide rail 110, and the slide rod assembly 120 is connected to the boom component 200. The slide rod assembly 120 is used to drive the boom component 200 to slide on the slide rail 110.

[0052] By setting the slide bar assembly 120 to drive the boom component 200 to slide on the slide rail 110, the product 11 is driven to move up and down.

[0053] Figure 6 This is an internal schematic diagram of a boom component according to an embodiment of this application, combined with... Figure 1 and Figure 6 As shown, the boom component 200 includes a sliding plate 210, a boom base 220, a boom body 230, a first boom motor 240, and a second boom motor 250. The sliding plate 210 is slidably connected to the slide rail 110, and the slide rod assembly 120 is connected to the sliding plate 210.

[0054] The boom base 220 is connected to the sliding plate 210 on the side opposite to the main support 100. One end of the boom body 230 is connected to the boom base 220, and the other end of the boom body 230 is connected to the forearm component 300. The first boom motor 240 is disposed inside the boom body 230, and the output end of the first boom motor 240 is connected to the boom base 220. The first boom motor 240 is used to drive the boom body 230 to rotate relative to the boom base 220.

[0055] The second boom motor 250 is disposed inside the boom body 230, and the output end of the second boom motor 250 is connected to the forearm component 300. The second boom motor 250 is used to drive the boom body 230 to rotate relative to the forearm component 300.

[0056] By controlling the first boom motor 240, the main boom section 230 can swing approximately relative to the main support 100. Furthermore, by controlling the second boom motor 250, the forearm section 300 can swing approximately relative to the main boom section 230. This achieves control over the movement of product 11 in the planar direction.

[0057] Figure 7 This is an internal schematic diagram of a forearm component according to an embodiment of this application, combined with... Figure 1 and Figure 7 As shown, the forearm component 300 includes a forearm base 310, a forearm body 320, and a forearm drive motor 330. The forearm base 310 is fixedly connected to the forearm body 320, and the forearm base 310 is rotatably connected to the upper arm body 230. The output end of the second upper arm motor 250 is connected to the forearm base 310, and the second upper arm motor 250 is used to drive the forearm base 310 to rotate relative to the upper arm body 230.

[0058] The forearm drive motor 330 is disposed inside the forearm body 320. The output end of the forearm drive motor 330 is connected to the first quick-release assembly 410. The forearm drive motor 330 is used to drive the first quick-release assembly 410 to rotate relative to the forearm body 320.

[0059] By controlling the operation of the forearm drive motor 330, the quick-release connection component 400 can be rotated, causing the product fixing component 500 to swing left and right relative to the forearm body 320. Through the coordinated operation of the first arm motor 240, the second arm motor 250 and the forearm drive motor 330, the product 11 can be controlled to move precisely on the plane without adjusting the position of the entire four-axis robot device 10.

[0060] This application also includes an electrical slip ring assembly 340, which is disposed within the forearm body 320 and is used to connect the first air pipe connector 422 and the connector female 421.

[0061] In other words, the electrical slip ring assembly 340 connects the first air pipe connector 422 and the connector female 421, so that even if the first air pipe connector 422 and the connector female 421 rotate with the quick-release connection component 400, there will be no problem of wire tangling.

[0062] Furthermore, one end of the main arm 230 is connected to the upper and lower sides of the main arm base 220; the other end of the main arm 230 is connected to the upper and lower sides of the forearm base 310. In simple terms, the main arm 230 provides dual support from both the bottom and top, thereby increasing the longitudinal load capacity of the four-axis robot 10 to meet a maximum load of 50 kg.

[0063] It should be noted that the inventive concept of this application can form many embodiments, but due to the limited space of the application documents, they cannot all be listed. Therefore, without conflict, the embodiments described above or the technical features can be arbitrarily combined to form new embodiments. After the embodiments or technical features are combined, the original technical effect will be enhanced.

[0064] The above description, in conjunction with specific optional embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications or substitutions should be considered within the scope of protection of this application.

Claims

1. A four-axis robot device, characterized in that, The four-axis robot includes a main support frame, a large arm component, a small arm component, a quick-release connecting component, and a product fixing component; the large arm component and the main support frame are slidably connected; the small arm component is rotatably connected to the end of the large arm component away from the main support frame; one end of the quick-release connecting component is connected to the end of the small arm component away from the large arm component, and the other end of the quick-release connecting component is connected to the product fixing component; The quick-release connecting component includes a first quick-release assembly and a second quick-release assembly. The end of the first quick-release assembly away from the second quick-release assembly is connected to the end of the forearm component away from the upper arm component. The first quick-release assembly and the second quick-release assembly are detachably connected. The end of the second quick-release assembly away from the first quick-release assembly is connected to the product fixing component. The first quick-release assembly is provided with a female connector and a first air tube connector, and the second quick-release assembly is provided with a male connector and a second air tube connector. When the first quick-release assembly and the second quick-release assembly are connected, the male connector is inserted into the female connector, and the first air tube connector and the second air tube connector are connected.

2. The four-axis robot device according to claim 1, characterized in that, The first quick-release assembly includes a wire guide spool and an air passage. The connector female head is located on the side of the wire guide spool away from the forearm component. The air passage passes through the wire guide spool. The first air pipe connector is located on the side of the wire guide spool close to the forearm component and is connected to the air passage. The second quick-release assembly includes a connecting shaft and an electrical board. The electrical board is disposed on the side of the connecting shaft near the wire guide shaft. The second air pipe connector is disposed on the electrical board. The male connector is disposed on the side of the electrical board near the wire guide shaft. The wire guide shaft and the connecting shaft are detachably connected. When the guide spool and the connecting spool are connected, the first air pipe connector, the air passage and the second air pipe connector are connected in sequence, and the male connector is inserted into the female connector.

3. The four-axis robot device according to claim 2, characterized in that, The female connector is a magnetic connector, and the male connector is a magnetic connector; the female connector and the male connector can be magnetically connected.

4. The four-axis robot device according to claim 3, characterized in that, The second quick-release assembly also includes an elastic element. A groove is provided at one end of the connecting shaft near the wire guide shaft. The electrical board and the elastic element are both disposed in the groove. One end of the elastic element abuts against the bottom wall of the groove, and the other end of the elastic element abuts against the end of the electrical board away from the wire guide shaft.

5. The four-axis robot device according to claim 1, characterized in that, The main support frame is provided with a slide rail and a slide rod assembly. The boom component is slidably connected to the slide rail, and the slide rod assembly is connected to the boom component. The slide rod assembly is used to drive the boom component to slide on the slide rail.

6. The four-axis robot device according to claim 5, characterized in that, The boom component includes a sliding plate, a boom base, a boom body, a first boom motor, and a second boom motor. The sliding plate is slidably connected to the slide rail, and the slide rod assembly is connected to the sliding plate. The boom base is connected to the sliding plate on the side away from the main support. One end of the boom body is connected to the boom base, and the other end of the boom body is connected to the forearm component. The first boom motor is disposed inside the boom body, and the output end of the first boom motor is connected to the boom base. The first boom motor is used to drive the boom body to rotate relative to the boom base. The second boom motor is disposed inside the boom body, and the output end of the second boom motor is connected to the forearm component. The second boom motor is used to drive the boom body to rotate relative to the forearm component.

7. The four-axis robot device according to claim 6, characterized in that, The forearm component includes a forearm base, a forearm body, and a forearm drive motor. The forearm base is fixedly connected to the forearm body and rotatably connected to the upper arm body. The output end of the second upper arm motor is connected to the forearm base, and the second upper arm motor is used to drive the forearm base to rotate relative to the upper arm body. The forearm drive motor is disposed inside the forearm body, and the output end of the forearm drive motor is connected to the first quick-release assembly. The forearm drive motor is used to drive the first quick-release assembly to rotate relative to the forearm body.

8. The four-axis robot device according to claim 7, characterized in that, One end of the upper arm body is connected to the upper and lower sides of the upper arm base; the other end of the upper arm body is connected to the upper and lower sides of the forearm base.

9. The four-axis robot device according to claim 7, characterized in that, The forearm component also includes an electrical slip ring assembly, which is disposed inside the forearm body and is used to connect the first air pipe connector and the connector female.

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