CN104249366A - Planar multi-joint robot - Google Patents
Planar multi-joint robot Download PDFInfo
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- CN104249366A CN104249366A CN201310269383.8A CN201310269383A CN104249366A CN 104249366 A CN104249366 A CN 104249366A CN 201310269383 A CN201310269383 A CN 201310269383A CN 104249366 A CN104249366 A CN 104249366A
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Abstract
The invention provides a planar multi-joint robot which comprises a rotary table mechanism, a lifting mechanism, a rotating mechanism and a push-pull mechanism, wherein the lifting mechanism is arranged on the rotary table mechanism; the lifting direction of the lifting mechanism is perpendicular to a rotating plane of the rotary table mechanism; the rotating mechanism is connected with the lifting mechanism in a pivoting manner; the rotating plane of the rotating mechanism is perpendicular to the lifting direction of the lifting mechanism; the push-pull mechanism is connected with the rotating mechanism and is provided with a space for containing an automobile battery. The push-pull mechanism for loading and unloading the automobile battery can realize multi-rotation through rotation of the rotary table mechanism and rotation of the rotating mechanism; by lifting of the lifting mechanism on the rotary table mechanism, the push-pull mechanism can move up and down, and multi-dimensional movement of the push-pull mechanism in the space is realized. According to the planar multi-joint robot, the flexibility of battery exchange is improved; a requirement on automobile battery exchange can be met, so that the battery can be accurately replaced on an automobile at different positions.
Description
Technical field
The present invention relates to automation field, in particular to a kind of planar multiple-articulation robot.
Background technology
The core of electric automobile comprehensive benefit is " replacing oil by electricity ", realizes the energy resource supply of electric automobile in charging link, is the key link that ev industry comprehensive benefit plays.Want the comprehensive benefit giving full play to electric automobile, the selection of charging electric vehicle service mode should be paid much attention to.Realize primarily of car load charging and battery altering two kinds of modes at present.
Battery altering is divided into by the difference of batteries of electric automobile position: electricity is changed in side, electricity is changed on chassis, tail end changes electricity.The present invention be directed to electric automobile tail end and change electric mode.At present, electric automobile sail to change electric position can not each position stopped all consistent, the difference of vehicle traveling direction and car lateral attitude, existing equipment can not change battery for automobile in different positions accurately, and it is low to change electric precision.And then, in battery draw process vehicle body fluctuate, left and right and tilt forward and back phenomenon, manual boosting manipulator does not have flexible adaptation, may occur the phenomenon such as clamping stagnation, position misalignment.Change battery precision low, operating efficiency is difficult to improve.
The robotic arm of existing planar multiple-articulation robot rotates underaction, can not move in multiple dimension.Especially, tilting and tilting forward and back of front end equipment can not be realized, the docking from the different attitudes of the battery of electric automobile can not be realized.
Summary of the invention
The present invention aims to provide a kind of planar multiple-articulation robot, to solve the problem can not changing battery in prior art for automobile in different positions accurately.
To achieve these goals, according to the invention provides a kind of planar multiple-articulation robot, planar multiple-articulation robot comprises: turntable mechanism; Hoisting mechanism, is arranged on turntable mechanism, and the direction of improvement of hoisting mechanism is perpendicular to the rotational plane of turntable mechanism; Rotating mechanism, is connected with hoisting mechanism pivotable, and the rotational plane of rotating mechanism is perpendicular to the direction of improvement of hoisting mechanism; Push-pull mechanism, is connected with rotating mechanism, and push-pull mechanism has the space holding automobile batteries.
Further, rotating mechanism is connected with hoisting mechanism pivotable by the first pivoting support.
Further, push-pull mechanism has locking and unlocks the locking mechanism of automobile batteries.
Further, locking mechanism comprises: the first installing plate, is connected with rotating mechanism; Unlocking head, is arranged on the first installing plate, and unlocking head comprises the first unlocking head and the second unlocking head; First driver element, is arranged on the first installing plate, is connected with unlocking head.
Further, the first driver element comprises: drive reducing motor, be connected with the first installing plate; Gear pair, gear pair comprises intermesh ground driven wheel and driven gear, and wherein, driven wheel is connected with driving the output shaft of reducing motor, and driven gear is fixedly connected with the second unlocking head; Connecting rod, first end and first unlocking head of connecting rod are hinged, and the second end of connecting rod is connected with driven wheel.
Further, locking mechanism also comprises: two battery tray shank of the keys, and each battery tray shank of the key can be arranged in the first unlocking head and the second unlocking head rotatably.
Further, push-pull mechanism is connected with rotating mechanism pivotable by the 3rd pivoting support.
Further, planar multiple-articulation robot also comprises: guiding mechanism, and for adjusting the relative position relation of the rotational plane of push-pull mechanism and rotating mechanism, the 3rd pivoting support is connected with push-pull mechanism by guiding mechanism.
Further, guiding mechanism comprises: the second installing plate, is connected with push-pull mechanism; Cross axle, is arranged on the second installing plate; Second driver element, is connected with cross axle.
Further, the second driver element comprises: tilt forward and back servo deceleration motor, is connected with the second installing plate; Tilt forward and back driven wheel, be connected with the output shaft tilting forward and back servo deceleration motor; Tilt forward and back driven gear, and tilt forward and back driven wheel and engage, tilt forward and back driven gear and be connected with cross axle; The servo deceleration that tilts motor, is connected with the second installing plate; Tilt driven wheel, is connected with the output shaft of the servo deceleration motor that tilts; Tilt driven gear, and driven wheel engages with tilting, and the driven gear that tilts is connected with cross axle.
Further, hoisting mechanism comprises: column, is fixed on turntable mechanism; Drive unit, is arranged on column; Transfer system, to be arranged on column and to be connected with drive unit; Elevator mechanical arm, is connected with transfer system.
Further, transfer system comprises chain transfer system.
Further, the rotational plane of rotating mechanism is positioned at the below of elevator mechanical arm place plane.
Further, turntable mechanism comprises: the second pivoting support; Drive unit, drives the second pivoting support to rotate.
Further, the plane at push-pull mechanism place is positioned at the below of rotating mechanism.
Further, elevator mechanical arm is provided with straight-line guide rail slide block.
According to planar multiple-articulation robot of the present invention, planar multiple-articulation robot comprises turntable mechanism, hoisting mechanism, rotating mechanism and push-pull mechanism.The push-pull mechanism of handling automobile batteries can realize rotating multi by the rotation of the rotation of turntable mechanism and rotating mechanism, and by the lifting of hoisting mechanism on turntable mechanism, push-pull mechanism can be moved up and down, realize the movement of push-pull mechanism multiple dimension in space.Planar multiple-articulation robot of the present invention adds the flexibility of changing electricity, can adapt to the needs that automobile batteries changes electricity, make automobile can change battery accurately in different positions.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 shows the perspective view according to planar multiple-articulation robot of the present invention;
Fig. 2 shows the profile of the main TV structure according to planar multiple-articulation robot of the present invention;
Fig. 3 shows the left TV structure schematic diagram according to planar multiple-articulation robot of the present invention;
Fig. 4 shows the right TV structure schematic diagram according to planar multiple-articulation robot of the present invention;
Fig. 5 shows the plan structure schematic diagram according to planar multiple-articulation robot of the present invention;
Fig. 6 shows the structural representation according to transfer system of the present invention;
Fig. 7 shows the structural representation according to elevator mechanical arm of the present invention;
Fig. 8 shows the structure according to Timing Belt of the present invention;
Fig. 9 shows the structural representation according to battery tray shank of the key locking unlocking head of the present invention;
Figure 10 shows the structural representation unlocking unlocking head according to battery tray shank of the key of the present invention;
Figure 11 shows the structural representation according to unlocking head of the present invention;
Figure 12 shows the top view according to locking mechanism of the present invention;
Figure 13 shows the rearview according to locking mechanism of the present invention;
Figure 14 shows the top view according to guiding mechanism of the present invention; And
Figure 15 shows the stereogram according to guiding mechanism of the present invention.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
As shown in Figures 1 to 6, the present invention adopts planar multiple-articulation robot to change electricity to complete automobile batteries.
Planar multiple-articulation robot, also claims SCARA-Selective Copmliance Assembly Robot Arm, Chinese translation: select compliance to put together machines arm.Planar multiple-articulation robot according to the embodiment of the present invention comprises: turntable mechanism 1, hoisting mechanism 2, rotating mechanism 32 and push-pull mechanism 6.
Wherein, hoisting mechanism 2 is arranged on turntable mechanism 1, and the direction of improvement of hoisting mechanism 2 is perpendicular to the rotational plane of turntable mechanism 1.Rotating mechanism 32 is connected with hoisting mechanism 2 pivotable, and the rotational plane of rotating mechanism 32 is perpendicular to the direction of improvement of hoisting mechanism 2.Push-pull mechanism 6 is connected with rotating mechanism 32, and push-pull mechanism 6 has the space holding automobile batteries.
The push-pull mechanism 6 of handling automobile batteries can realize rotating multi by the rotation of the rotation of turntable mechanism 1 and rotating mechanism 32, and by the lifting of hoisting mechanism 2 on turntable mechanism 1, push-pull mechanism 6 can be moved up and down, realize the movement of push-pull mechanism 6 multiple dimension in space.Planar multiple-articulation robot of the present invention adds the flexibility of changing electricity, can adapt to the needs that automobile batteries changes electricity, make automobile can change battery accurately in different positions.
And then ground, this changes electric equipment and realizes and induction system automatic butt, automatic clamping and placing battery.Dock with electric automobile and realize artificially intervening on a small quantity, automaticity wants high relatively, improves the efficiency of changing electricity.This equipment realizes automatically substantially, and decrease the inaccuracy of operating personnel location, positioning precision is higher, changes electricity more reliable.When this equipment docks with electric automobile, operating personnel, by action button or handle, observe and achieve a butt joint with the relative position of car body, simply easy to operate.
Particularly, as shown in Figure 1, Figure 2 with shown in Fig. 5, turntable mechanism 1 is hoisting mechanism 2, rotating mechanism 32 and push-pull mechanism 6 provide rotation platform, and the rotation of turntable mechanism 1 drives hoisting mechanism 2, rotating mechanism 32 and push-pull mechanism 6 all to rotate.Turntable mechanism 1 can 360 degree of rotations in horizontal plane or working face.
As depicted in figs. 1 and 2, hoisting mechanism 2 is arranged on turntable mechanism 1, the rotational plane of the vertical turntable mechanism 1 of direction of improvement of hoisting mechanism 2.Usually, the rotational plane of turntable mechanism 1 is horizontal direction, and the direction of improvement of hoisting mechanism 2 is vertical direction.
As shown in Figure 1, Figure 2 with shown in Fig. 5, rotating mechanism 32 is connected with hoisting mechanism 2 pivotable, the rotational plane of rotating mechanism 32, it is such as horizontal direction, the direction of improvement of vertical-lift mechanism 2, makes push-pull mechanism 6 can rotate when turntable mechanism 1 does not rotate, and increases the flexibility of rotating.
As depicted in figs. 1 and 2, the push-pull mechanism 6 of handling automobile batteries is connected with rotating mechanism 32, and can be directly be connected, also can be indirectly be connected.Wherein, push-pull mechanism 6 has the space holding automobile batteries.
Rotating mechanism 32 is connected with hoisting mechanism 2 pivotable by the first pivoting support 35.First pivoting support 35 still can adopt existing various suitable construction, and such as adopt gear train structure, the first pivoting support 35 can be driven by the first drive motors 33.
Push-pull mechanism 6 has locking and unlocks the locking mechanism of automobile batteries.Push-pull mechanism 6 is performance elements of terminal, eventually through unblock and extraction action, battery 7 is taken out from electric automobile, after assigned address, is shifted onto on the conveyer of warehouse-in by battery, and conveying warehouse-in realizes the work that changes the outfit of battery.
As shown in Figure 11 to Figure 13, locking mechanism comprises: the first installing plate 61, unlocking head, sense switch, two battery tray shank of the keys 68 and the first driver element.First driver element comprises driving reducing motor 62, gear pair and connecting rod 67.
Particularly, the first installing plate 61 is connected with the push-and-pull slide plate (not shown) of push-pull mechanism 6; Sense switch is connected with the first installing plate 61; Reducing motor 62 is driven to be connected with the first installing plate 61; Unlocking head is two, is respectively the first unlocking head 63 and the second unlocking head 64, first unlocking head 63 is all connected with the first installing plate 61 with the second unlocking head 64; Gear pair comprises driven wheel 65 and driven gear 66, and driven wheel 65 is connected with driving the output shaft of reducing motor 62, and driven gear 66 is fixedly connected with the second unlocking head 64, and wherein, driven wheel 65 and driven gear 66 are meshed; First end and first unlocking head 63 of connecting rod 67 are hinged, and the second end of connecting rod 67 is connected with driven wheel 65; Battery tray shank of the key is two, and the first unlocking head 63 and the second unlocking head 64 li have a battery tray shank of the key 68 respectively, and battery tray shank of the key 68 can be arranged in unlocking head rotatably.
As shown in Fig. 9 to Figure 13, course of action comprises releasing process and locking process, specific as follows:
Wherein releasing process is: the normal nature of pallet of battery is lock-out state, and when robot removes the pallet in power taking pond, locking mechanism should first unlock.Locking mechanism is in the lock state, docked with battery tray shank of the key 68 by push pull maneuver, after putting in place, sense switch triggers, drive reducing motor 62 to start, rotate, battery tray shank of the key 68 is stuck in unlocking head, continue to rotate, battery tray shank of the key 68 rotates together with unlocking head, and sense switch detects and puts in place, realizes unlocking.Unlocking head realizes synchronization action by connecting rod 67, and direction of rotation is contrary.
After unblock completes, because battery tray shank of the key 68 is stuck in unlocking head, then carry out pulling motion, the pallet of battery is moved in robot push-pull mechanism 6 completely.
Wherein locking process is: locking process is that robot delivers to the battery unlocked in passenger car or in induction system and locks.Have the battery tray being in released state in the push-pull mechanism 6 of robot, and locking mechanism is also in released state.After push-pull mechanism 6 docking puts in place, carry out the action pushed away, after shifting assigned address onto, locking mechanism rotates and realizes lock out action, and lock pin enters lockhole, and locking mechanism gets back to lock-out state, and sense switch 69 detects and puts in place, completes locking.
As shown in Figure 1, turntable mechanism 1 comprises the second pivoting support 15 and drives the drive unit 13 of the second pivoting support 15 rotation.As shown in Figure 3, the second pivoting support 15 can be arranged on base 10.Second pivoting support 15 can adopt the various suitable construction of prior art, and such as adopt gear train structure, turntable mechanism drive unit 13 can be drive motors.
As depicted in figs. 1 and 2, planar multiple-articulation robot also comprises the 3rd pivoting support the 45, three pivoting support 45 and is connected between rotating mechanism 32 and push-pull mechanism 6, and push-pull mechanism 6 is connected with rotating mechanism 32 pivotable by the 3rd pivoting support 45.Like this, push-pull mechanism 6 can be made preferably to rotate, increase the flexibility rotated, wherein, the 3rd pivoting support 45 can adopt existing various suitable construction.3rd pivoting support 45 can be driven by the 3rd drive motors 43.
As depicted in figs. 1 and 2, planar multiple-articulation robot also comprises guiding mechanism 5.Guiding mechanism 5 is for adjusting the relative position relation of the rotational plane of push-pull mechanism 6 and rotating mechanism 32.3rd pivoting support 45 is connected with push-pull mechanism 6 with rotating mechanism 32 respectively by guiding mechanism 5.Guiding mechanism 5 is connected on push-pull mechanism 6, and the 3rd pivoting support 45 is connected with push-pull mechanism 6 by guiding mechanism 5.Guiding mechanism 5 can by adjustment to two orthogonal axles, the front and rear angles of adjustment horizontal direction and left and right angle, and guiding mechanism 5 can complete adjustment to two orthogonal axles by gear train.
As shown in Figure 14 and Figure 15, guiding mechanism 5 comprises the second installing plate, cross axle 57 and the second driver element.Wherein, the second driver element comprise tilt forward and back servo deceleration motor 53, tilt forward and back driven wheel 55, tilt forward and back driven gear 59, the servo deceleration that tilts motor 54, the driven wheel 56 that tilts, tilt driven gear 58.
As shown in Figure 14 and Figure 15, particularly, the second installing plate is connected with push-pull mechanism 6, and the second installing plate comprises upper mounting plate 51 and lower installation board 52, and wherein, lower installation board 52 is connected with push-pull mechanism 6 by screw; Cross axle 57 is arranged on the second installing plate; Second driver element is connected with cross axle 57.Wherein, tilt forward and back servo deceleration motor 53 to be connected with the second installing plate; Tilt forward and back driven wheel 55 to be connected with the output shaft tilting forward and back servo deceleration motor 53; Tilt forward and back driven gear 59 and tilt forward and back driven wheel 55 and engage, tilt forward and back driven gear 59 and be connected with cross axle 57; The servo deceleration that tilts motor 54 is connected with the second installing plate; The driven wheel 56 that tilts is connected with the output shaft of the servo deceleration motor 54 that tilts; The driven gear 58 that tilts engages with the driven wheel 56 that tilts, and the driven gear 58 that tilts is connected with cross axle 57.
In addition, guiding mechanism 5 also comprises bearing spider and limit protection switch.
Particularly, bearing spider totally four, wherein fixes with upper mounting plate 51 screw for two, fixes for another two with lower installation board 52 screw.Four bearing spider fixed cross axles 57, cross axle 57 can be left back and tilt forward and back around bearing spider.The driven gear 58 that tilts is fixed on cross axle 57, and engage with the driven wheel 56 that tilts, the servo deceleration that tilts motor 54 rotarily drives meshing gear simultaneously, to realize the left and right adjustment of cross axle 57.Tilting forward and back driven gear 59 is fixed on cross axle 57, simultaneously with tilt forward and back driven wheel 55 and engage, tilt forward and back servo deceleration motor 53 and rotarily drive meshing gear, to realize the front and back adjustment of cross axle 57.This equipment has multi-shaft interlocked, and the tilt adjustments to before and after horizontal direction and left and right, can adjust attitude like a cork, docks flexible.
Four limit protection switches, wherein two are fixed on upper mounting plate 51, and two other is fixed on lower installation board 52.Effect is to realize left and right and the limit protection tilted forward and back.
Upper mounting plate 51 is connected with the 3rd pivoting support 45 screw, to realize the entirety revolution of guiding mechanism 5.
As shown in Figure 1 and Figure 2, hoisting mechanism 2 comprises column 20, drive unit 23, transfer system and elevator mechanical arm 28.
Column 20 is fixed on turntable mechanism 1, can rotate relative to ground; The drive unit 23 of hoisting mechanism is such as motor, is arranged on column 20; Transfer system is arranged on column 20 and with the drive unit 23 of hoisting mechanism and is connected, and the direction of transfer of transfer system is identical with direction of improvement, and the direction of transfer of transfer system is above-below direction; Elevator mechanical arm 28 extends laterally to column 20, is connected with transfer system, to change the battery 7 having certain distance with column 20.
Preferably, as shown in Figure 1, Figure 2, shown in Fig. 4 and 6, transfer system is chain transfer system, transmits stable like this.
As shown in Figure 1, Figure 2, shown in Fig. 4 and 6, chain transfer system is arranged on the top of transfer system.Transfer system also comprises counterweight 24 and the Timing Belt 26 of the bottom being arranged on transfer system.Chain transfer system comprises chain 21 and sprocket wheel 210, and sprocket wheel 210 is arranged on column 20, and chain 21 and sprocket wheel 210 cooperatively interact.Timing Belt 26 and chain 21 form semicircular respectively, and Timing Belt 26 forms lower semi-ring, and chain 21 forms upper semi-ring, and Timing Belt is positioned at the below of chain, and Timing Belt and chain are connected to form domain shape.
As shown in Figure 7 and Figure 8, the upper end of elevator mechanical arm 28 is connected to the end of chain 21 by the connecting plate 280 in elevator mechanical arm 28, as shown in Figure 2, the upper end of counterweight 24 is connected to other one end of semicircular chain 21, as shown in Figure 8, the lower end of elevator mechanical arm 28 is connected to one end of semicircular Timing Belt 26, as shown in Figure 2, the lower end of counterweight 24 is connected to the other end of Timing Belt 26, Timing Belt 26 is connected with the drive unit 23 of hoisting mechanism, such as, as Fig. 6, drive unit 23 can be motor, drive unit 23 comprises synchronous pulley 231, Timing Belt 26 is synchronous cog belt, synchronous pulley 231 drives synchronizing jugged Tape movement.This structure, by counterweigh part lifting weight, again reduces the power of drive unit 23 simultaneously.
Preferably, as shown in Figure 6 and Figure 7, elevator mechanical arm 28 is also provided with straight-line guide rail slide block 284, straight-line guide rail slide block 284 is positioned at the edge of connecting plate 280, to lead to the movement of elevator mechanical arm 28 on column 20.
Shown in as shown in Figure 1, Figure 2 with 6, the rotational plane of rotating mechanism 32 is positioned at the below of elevator mechanical arm 28 place plane, and rotating mechanism 32 is rotated fully.As shown in Figure 7, the end of elevator mechanical arm 28 is provided with axle sleeve 282, the mounting base of axle sleeve 282 namely rotating mechanism 32, and can hold the first pivoting support 35, to be connected with rotating mechanism 32.
Shown in as shown in Figure 1, Figure 2 with 6, the plane at push-pull mechanism 6 place is positioned at the below of rotating mechanism 32, and the plane at push-pull mechanism 6 place can be parallel with the rotational plane of rotating mechanism 32, also can with the rotational plane relative tilt of rotating mechanism 32.Like this, the multi-joint of planar multiple-articulation robot, the feature of many Plane Rotations can be played.
The present invention can also have the motion that electric control system controls said structure.Electric control system can control the attitude of push-pull mechanism by the position sensor of front end, range sensor, so that dock with electric automobile and induction system, the lock unit of control solution again and push-pull mechanism realize the replacing of battery, final realization is docked semi-automatic with electric automobile, dock automatically with induction system.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
1, automaticity is high
This changes electric equipment and realizes and induction system automatic butt, automatic clamping and placing battery; Dock with electric automobile and realize artificially intervening on a small quantity, automaticity wants high relatively;
2, efficiency is high
The human intervention of this equipment except docking with electric automobile, other has realized automatically, and human users reduces, and improves the efficiency of changing electricity;
3, reliable
This equipment realizes automatically substantially, and decrease the inaccuracy of operating personnel location, positioning precision is higher, changes electricity more reliable;
4, simple to operate
When this equipment docks with electric automobile, operating personnel, by action button or handle, observe and achieve a butt joint with the relative position of car body, simply easy to operate;
5, dock flexible
This equipment has multi-shaft interlocked, and the tilt adjustments to before and after horizontal direction and left and right, can adjust attitude like a cork, docks flexible;
6, labour intensity is low
Operating personnel are by touching the button or lever operated equipment, and do not have muscle power work, labour intensity is very low.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (16)
1. a planar multiple-articulation robot, is characterized in that, described planar multiple-articulation robot comprises:
Turntable mechanism (1);
Hoisting mechanism (2), is arranged on described turntable mechanism (1), and the direction of improvement of described hoisting mechanism (2) is perpendicular to the rotational plane of described turntable mechanism (1);
Rotating mechanism (32), is connected with described hoisting mechanism (2) pivotable, and the rotational plane of described rotating mechanism (32) is perpendicular to the direction of improvement of described hoisting mechanism (2);
Push-pull mechanism (6), is connected with described rotating mechanism (32), and described push-pull mechanism (6) has the space holding automobile batteries.
2. planar multiple-articulation robot according to claim 1, is characterized in that, described rotating mechanism (32) is connected with described hoisting mechanism (2) pivotable by the first pivoting support (35).
3. planar multiple-articulation robot according to claim 1, is characterized in that, described push-pull mechanism (6) has locking and unlocks the locking mechanism of described automobile batteries.
4. planar multiple-articulation robot according to claim 3, is characterized in that, described locking mechanism comprises:
First installing plate (61), is connected with described rotating mechanism (32);
Unlocking head, be arranged on described first installing plate (61), described unlocking head comprises the first unlocking head (63) and the second unlocking head (64);
First driver element, is arranged on described first installing plate (61), is connected with described unlocking head.
5. planar multiple-articulation robot according to claim 4, is characterized in that, described first driver element comprises:
Drive reducing motor (62), be connected with described first installing plate (61);
Gear pair, described gear pair comprises intermeshing driven wheel (65) and driven gear (66), wherein, described driven wheel (65) is connected with the output shaft of described driving reducing motor (62), and described driven gear (66) is fixedly connected with described second unlocking head (64);
Connecting rod (67), first end and described first unlocking head (63) of described connecting rod (67) are hinged, and the second end of described connecting rod (67) is connected with described driven wheel (65).
6. planar multiple-articulation robot according to claim 4, is characterized in that, described locking mechanism also comprises:
Two battery tray shank of the keys (68), each described battery tray shank of the key (68) described first unlocking head (63) can be arranged on rotatably and described second unlocking head (64) inner.
7. planar multiple-articulation robot according to claim 1, is characterized in that, described push-pull mechanism (6) is connected with described rotating mechanism (32) pivotable by the 3rd pivoting support (45).
8. planar multiple-articulation robot according to claim 7, is characterized in that, described planar multiple-articulation robot also comprises:
Guiding mechanism (5), for adjusting the relative position relation of described push-pull mechanism (6) relative to the rotational plane of rotating mechanism (32), described 3rd pivoting support (45) is connected with described push-pull mechanism (6) by described guiding mechanism (5).
9. planar multiple-articulation robot according to claim 8, is characterized in that, described guiding mechanism (5) comprising:
Second installing plate, is connected with described push-pull mechanism (6);
Cross axle (57), is arranged on described second installing plate;
Second driver element, is connected with described cross axle (57).
10. planar multiple-articulation robot according to claim 9, is characterized in that, described second driver element comprises:
Tilt forward and back servo deceleration motor (53), be connected with described second installing plate;
Tilt forward and back driven wheel (55), be connected with the described output shaft tilting forward and back servo deceleration motor (53);
Tilt forward and back driven gear (59), engage with the described driven wheel (55) that tilts forward and back, described in tilt forward and back driven gear (59) and be connected with described cross axle (57);
The servo deceleration that tilts motor (54), is connected with described second installing plate;
Tilt driven wheel (56), is connected with the described output shaft tilting servo deceleration motor (54);
Tilt driven gear (58), engages with the described driven wheel that tilts (56), described in the driven gear (58) that tilts be connected with described cross axle (57).
11. planar multiple-articulation robots according to claim 1, is characterized in that, described hoisting mechanism (2) comprising:
Column (20), is fixed on described turntable mechanism (1);
Drive unit (23), is arranged on described column (20);
Transfer system, is arranged on described column (20) and goes up and be connected with described drive unit (23);
Elevator mechanical arm (28), is connected with described transfer system.
12. planar multiple-articulation robots according to claim 11, is characterized in that, described transfer system comprises chain transfer system.
13. planar multiple-articulation robots according to claim 11, is characterized in that, the rotational plane of described rotating mechanism (32) is positioned at the below of described elevator mechanical arm (28) place plane.
14. planar multiple-articulation robots according to claim 1, is characterized in that, described turntable mechanism (1) comprising:
Second pivoting support (15);
Drive unit (13), drives described second pivoting support (15) to rotate.
15. planar multiple-articulation robots according to claim 11, is characterized in that, the plane at described push-pull mechanism (6) place is positioned at the below of described rotating mechanism (32).
16. planar multiple-articulation robots according to claim 11, is characterized in that, described elevator mechanical arm (28) is provided with straight-line guide rail slide block (284).
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| CN113928203A (en) * | 2021-11-08 | 2022-01-14 | 三一重工股份有限公司 | Trade trolley |
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