Four-Axis Horizontal-Joint Robot Layout for Compact End Space
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Solution Overview
Problem
Existing four-axis robots with horizontal joints have a large structural space at the end due to vertical Z-axis and rotating R-axis arrangements, making them unsuitable for small spaces and being costly with high load and long arm lengths, limiting their versatility and applicability.
Innovation Solution
A high-performance four-axis robot design with a robot body, first and second arm assemblies, and an R-axis rotation assembly, where the drive components are rearranged from the top to the lower portion of the body, and the R-axis is positioned at the end of the second arm assembly, allowing for lighter, shorter arms and improved stability, suitable for light loads and small spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vertical Z-axis and rotating R-axis are arranged at the end of the robot arms, then the robot can achieve high precision positioning and large load capacity, but the structural space at the end becomes relatively large, making it unsuitable for working in small spaces
Solution Approach 1:
The patent repositions the R-axis rotation assembly from the end of the second arm assembly to the side of the second arm assembly. This spatial relocation in a different dimension (from axial end position to lateral position) reduces the end structural space while maintaining the robot's positioning precision and load capacity through optimized kinematic configuration
2Device complexity
If the drive components are arranged at the top of the robot body, then the structure is simplified, but the stability and drive performance are reduced
Solution Approach 1:
The patent inverts the conventional arrangement by placing the drive components (first drive motor, second drive motor, third drive motor, and fourth drive motor) at the lower portion of the robot body instead of at the top. This inversion improves stability and drive performance by lowering the center of gravity and optimizing the mechanical advantage, while the structural complexity is managed through modular component design
3Measurement precision
If the robot arms are designed with large load capacity and long arm length, then high precision positioning is achieved, but the cost increases and the robot becomes unsuitable for light load applications
Solution Approach 1:
The patent employs parameter changes by using drive motors with different power ratings (first drive motor, second drive motor, third drive motor, fourth drive motor) and configuring the arm assemblies with adjustable parameters. This allows the robot to adapt to different load requirements and application scenarios, achieving both high precision positioning and versatility across light to medium load applications
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The new design achieves higher stability, better drive performance, and reduced structural weight, making it suitable for applications requiring smaller end space and lighter loads, while maintaining precision and flexibility.
Implementation Method 1
the first drive motor drives the screw shaft to rotate, and drives the slider seat to move up and down relative to the linear assembly unit
Implementation Method 2
The top of the linear assembly unit is fixedly provided with an electromagnetic brake
Implementation Method 3
a coupling connected to an output shaft of the first drive motor
Data Source
AI summary
A high-performance four-axis robot (1) with horizontal joints includes a robot body (11), a first arm assembly (12) connected to the robot body 11, a second arm assembly (13) that one end thereof is connected to the first arm assembly, and a R-axis rotation assembly arranged at the other side of the second arm assembly opposite to the first arm assembly. Assembly of the robot body includes a linear assembly unit (115) arranged in a vertical direction, a fixed seat (111) capable of moving up and down along the linear assembly unit, and a drive assembly (14) configured to drive the fixed seat to move and arranged at a lower portion of the linear assembly unit. The drive assembly includes a first drive motor (141) arranged at the lower portion of the linear assembly unit and a coupling (142) connected to an output shaft of the first drive motor.