CN104942789B - Four-shaft transfer robot - Google Patents
Four-shaft transfer robot Download PDFInfo
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- CN104942789B CN104942789B CN201510318748.0A CN201510318748A CN104942789B CN 104942789 B CN104942789 B CN 104942789B CN 201510318748 A CN201510318748 A CN 201510318748A CN 104942789 B CN104942789 B CN 104942789B
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- decelerator
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- 230000008719 thickening Effects 0.000 claims description 7
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
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- 238000005266 casting Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000005484 gravity Effects 0.000 description 2
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- 238000011084 recovery Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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Abstract
The invention relates to a four-shaft transfer robot which comprises a base, a rotating driving mechanism, a rotating platform, a first rotating shaft, a second rotating shaft, a third rotating shaft, a balance cylinder, a first arm, a second arm and a third arm. A fixed base of the rotating driving mechanism is fixedly connected with the base, and a rotating shaft of the rotating driving mechanism is fixedly connected with the bottom of the rotating platform; the rotating platform is connected with the first arm through the first rotating shaft, the first arm is connected with the second arm through the second rotating shaft, and the second arm is connected with the third arm through the third rotating shaft; a cylinder body of the balance cylinder is hinged to the rotating platform, and a piston rod of the balance cylinder is hinged to the first arm. According to the four-shaft transfer robot, the industrial robot capable of achieving four freedom degree actions is supplied, a unique rotating shaft connecting structure is adopted, the overturning moment is neutralized, and the requirements for the overturning resisting capacity of a speed reducer are lowered; the forward moment generated after arm bodies of the robot stretch out is balanced in a mode of arranging the balance cylinder to pull the first arm.
Description
Technical field
The present invention relates to industrial equipment technical field, particularly a kind of four axles transfer robot.
Background technology
Due to labor cost raising and the demand of automated production, robot status in the industrial production constantly carries
Height, in terms of transfer robot, is generally applied to carrying and stacking operating mode, and its body is using parallel rod principle come structure
Build.Parallel linkage can make carried material (workpiece) that level is remained in handling process or same angle is maintained
Degree, therefore better simply material handling and stacking can be realized, but attitude of the material (workpiece) on each station (node) is
There are different requirements, with the raising of automaticity, not only need robot to change the position of material (workpiece), in addition it is also necessary to
Robot changes attitude of the material (workpiece) on correspondence station, such as the displacement and upset including workpiece such as puts at the action.
In addition, the arm body and turntable of current transfer robot are using the production technology of Mechanical processing of casting, which is big
Mass-production stage can effectively reduce cost, and be conducive to Industrial Moulding Design.However, with the fierceness of market competition
Carry out, the trend that small lot is customized is obvious all the more, it is inevitable if being continuing with traditional Mechanical processing of casting mode manufacture machine people
So that development process is elongated, the factor such as the cost of mould input is big, most R＆D costs of larger production at last are emerging so as to affect
The development of medium-sized and small enterprises.
Additionally, load capacity is the main parameter of transfer robot, while also have impact on the critical component of robot (such as
Reductor, servomotor etc.) type selecting, so as to have impact on design and the manufacturing cost of robot.
The content of the invention
The present invention seeks to solve as above problem, there is provided a kind of four axles transfer robot, the four axles transfer robot is adopted
The axle arrangement of robot 4, wherein 1# axles realize revolution action on X/Y plane, and 2#, 3#, 4# axle is parallel to each other, and perpendicular to
X/Y plane, finally realizes position movement and the attitude rotary movement of workpiece；The arm body and turntable of four axle transfer robots is all adopted
Plate welding structure, firmly, total quality also decreases Stability Analysis of Structures compared with casting structure；The first of four axle transfer robots
Compensating cylinder is provided between arm and revolving dial, the torque that the gravity of material (workpiece) is produced on kinematic axis can be effectively offset
Affect, improve the overall carrying transporting capacity of four axle transfer robots.
To solve above-mentioned technical problem, the present invention is realized as follows：A kind of four axles carrying implement of the present invention
Device people include base, rotary motion mechanism, revolving dial, first rotating shaft, the second rotating shaft, the 3rd rotating shaft, compensating cylinder, the first arm,
Second arm and the 3rd arm；The reservation of the rotary motion mechanism is fixedly connected with base, the gyroaxis of rotary motion mechanism with return
The bottom for turning platform is fixedly connected；By first rotating shaft connection, the first arm and the second arm between the revolving dial and the first arm
Between connected by the second rotating shaft, connected by the 3rd rotating shaft between the second arm and the 3rd arm, the cylinder body of compensating cylinder is put down with revolution
Platform is constituted and is hinged, and the piston rod of compensating cylinder is constituted with the first arm and is hinged；
The upper end of first arm is provided with pasting board and pivoting support outer ring connecting plate, and bottom is provided with integrated housing, the
The integrated housing of one arm is arranged between the pasting board and pivoting support outer ring connecting plate by revolving dial and constitutes in mounting groove；It is described
First rotating shaft includes servomotor, decelerator, decelerator adpting flange and pivoting support；The housing of the servomotor and first
The integrated housing of arm is fixedly connected, and the motor power output shaft of servomotor constitutes transmission and connects with the power intake of decelerator
Connect, reducer power output end is fixedly connected with the integrated housing of decelerator adpting flange, speed reducer housing body and the first arm and consolidates
Fixed, decelerator adpting flange is fixedly connected with the pasting board of revolving dial；The pivoting support inner ring of the pivoting support and collection shelling
Body is fixedly connected, and pivoting support outer ring is fixedly connected with the pivoting support outer ring connecting plate of revolving dial；
The two ends of second arm are provided with integrated housing, and the integrated housing of the second arm support end is arranged at by the first arm
Pasting board and pivoting support outer ring connecting plate between constitute mounting groove in, the integrated housing of the second arm sling dead end is arranged at by the 3rd
Constitute in mounting groove between the pasting board and pivoting support outer ring connecting plate of arm；Second rotating shaft include servomotor, decelerator,
Decelerator adpting flange and pivoting support, the housing of servomotor is fixedly connected with the integrated housing of the support end of the second arm, watches
The power intake of the motor power output shaft and decelerator that take motor is constituted and is connected, and reducer power output end is fixed and connected
Decelerator adpting flange is connected to, speed reducer housing body is fixed with the integrated housing of the support end of the second arm, decelerator adpting flange
It is fixedly connected with the pasting board of the first arm, the integrated housing of the pivoting support inner ring of pivoting support and the support end of the second arm is fixed and connected
Connect, pivoting support outer ring is fixedly connected with the pivoting support outer ring connecting plate of the first arm；
3rd rotating shaft includes servomotor, decelerator, decelerator adpting flange and pivoting support, the shell of servomotor
Body is fixedly connected with the integrated housing of the free end of the second arm, and the motor power output shaft of servomotor is defeated with the power of decelerator
Enter and hold composition to be connected, reducer power output end is fixedly connected with decelerator adpting flange, speed reducer housing body and second
The integrated housing of the free end of arm is fixed, and decelerator adpting flange is fixedly connected with the pasting board of the 3rd arm, the revolution of pivoting support
Supporting inner ring is fixedly connected with the integrated housing of the free end of the second arm, the pivoting support outer ring of pivoting support outer ring and the 3rd arm
Connecting plate is fixedly connected.
The rotary motion mechanism include reservation, servomotor, decelerator and gyroaxis, the motor power output shaft with
The power intake of decelerator is constituted and is connected, and the clutch end of decelerator is fixedly connected with gyroaxis.
The revolving dial include installing plate, base plate, revolving dial left plate, revolving dial right plate, right lengthened plate and
Left lengthened plate；The installing plate is fixedly connected with the gyroaxis of rotary motion mechanism, and base plate is fixed on a mounting board；The revolution
Platform sinistral plate and revolving dial right plate is symmetrical is fixedly connected on base plate；The end of the revolving dial left plate is arranged
There is through hole, the both sides of revolving dial left plate have been respectively fixedly connected with pasting board and thickening plate, revolving dial at lead to the hole site
The afterbody of left plate is fixedly connected with left lengthened plate；The end of the revolving dial right plate is provided with the connection of pivoting support outer ring
Plate, pivoting support outer ring connecting plate side wall is fixedly connected with thickening plate, and the afterbody of revolving dial right plate is fixedly connected with right adding
Long slab；The left lengthened plate and right lengthened plate constitute compensating cylinder connecting seat.
The compensating cylinder includes cylinder body, piston rod and spring；The cylinder body by cylinder body side pipe, be fixed on cylinder body side pipe bottom
Cylinder bottom plate, be connected to the cylinder body connecting plate and the symmetrical hinge fishplate bar for being fixed on cylinder body side pipe both sides of cylinder body side pipe end
Composition, in the centre bore of the hinge fishplate bar axle sleeve is provided with；The cylinder body connecting plate outside is fixed with compensating cylinder connecting plate；Institute
State piston rod to be made up of with the sleeve for being fixedly connected on spring shaft end spring shaft, bushing core has through hole, is fixed with through hole
Sleeve axle sleeve；Linear bearing is socketed with the spring shaft of piston rod, spring shaft can slide in linear bearing, linear bearing end face
It is fixedly connected with compensating cylinder connecting plate；Piston rod is fixedly connected with spring bearer plate away from one end of sleeve；The spring is arranged at
Between spring bearer plate and compensating cylinder connecting plate；The hinge fishplate bar of the compensating cylinder constitutes hinge with the compensating cylinder connecting seat of revolving dial
Connection.
The integrated housing include integrated housing shell, integrated housing shell be Outer cylindrical hollow housing, integrated housing
Threaded securing bores are provided with shell both ends of the surface, integrated housing enclosure is fixedly connected with motor mounting plate, oil baffle a and gear
Oiled-plate method b；The housing of the servomotor is fixedly connected by ring flange with the motor mounting plate of integrated housing；Outside the decelerator
Housing and pivoting support inner ring are fixed respectively with the threaded securing bores of setting on the end face of integrated housing shell both sides.
First arm includes the first arm upper backup pad, the first arm lower supporting plate, is connected to the first arm upper backup pad and the
Two piece of first arm floor be arrangeding in parallel between one arm lower supporting plate, it is arranged at the first arm upper backup pad and the first arm lower supporting plate
The integrated housing of bottom, be arranged at the first arm upper backup pad and the first arm lower supporting plate at the top of shrouding；The first arm floor
Upper end it is parallel be fixedly connected with the first arm left plate and the first arm right plate, it is left that the pasting board of first arm is arranged at the first arm
On side plate, the pivoting support outer ring connecting plate of the first arm is arranged on the first arm right plate；The first arm upper backup pad outside
It is fixedly connected with compensating cylinder engaging lug；The first arm upper backup pad, the first arm lower supporting plate are circular arc plate, under the first arm
The convex surface of gripper shoe is relative with the first arm upper backup pad concave surface to be fixedly connected the two.
Second arm includes the second arm upper backup pad, the second arm lower supporting plate, is connected to the second arm upper backup pad and the
Two piece of second arm floor be arrangeding in parallel between two arm lower supporting plates, the second arm upper backup pad and the second arm lower supporting plate
Two ends have been respectively fixedly connected with integrated housing.
3rd arm includes the 3rd arm left plate, the 3rd arm right plate, is fixedly connected on the 3rd arm left plate and the 3rd
The accessory connecting bottom board of arm right plate bottom, the horizontal reinforcement being fixedly connected between the 3rd arm left plate and the 3rd arm right plate
Plate；The pasting board of the 3rd arm is arranged on the 3rd arm left plate, and the pivoting support outer ring connecting plate of the 3rd arm is arranged at the 3rd
On arm right plate；The accessory connecting bottom board lower section is provided with accessory connecting hole.
The positive effect of the present invention：A kind of four axles transfer robot of the present invention provides a revolving dial and three
Rotary shaft, finally realizes 4 free degree actions.During servomotor drives, first rotating shaft, the second rotating shaft and the 3rd turn
Axle adopts special type of attachment, realizes three rotating shafts and provides the structure for supporting simultaneously in revolving dial or support arm both sides,
Tilting moment has been offseted, the requirement to reductor resistance to capsizing has been reduced；By way of compensating cylinder being set and pulls the first arm
Balance the arm of robot first, the second arm and the 3rd arm arm body stretch out after produce the torque that leans forward, robot can be used
The motor of same torque captures heavier object；Robot body is formed by the welding of sheet metal parts more, with low cost easy to process, the
The arm body of one arm, the second arm and the 3rd arm is the box-structure being welded, and lighter weight bearing capacity is preferable.
Description of the drawings
With reference to the accompanying drawings and detailed description the present invention is further detailed explanation.
Fig. 1 is the structural representation of the present invention
Fig. 2 is the structural representation of the present invention
Fig. 3 is the structural representation of revolving dial
Fig. 4 is the structural representation of the first arm
Fig. 5 is the structural representation of the second arm
Fig. 6 is the structural representation of the 3rd arm
Fig. 7 is the structural representation of the first arm and revolving dial link position
Fig. 8 is the structural representation of the second arm and the first arm link position
Fig. 9 is the structural representation of the second arm and the 3rd arm link position
Figure 10 is the structural representation of compensating cylinder
Figure 11 is the decomposition texture schematic diagram of the second arm and the 3rd arm
Figure 12 is the structural representation of integrated housing
In figure, the compensating cylinder of 1 base, 2 rotary motion mechanism, 3 revolving dial, 4 servomotor 5
The left lengthened plate of 6 first 10 decelerator of arm 7 second arm, 8 the 3rd arm of pivoting support 9 11
The pivoting support outer ring connecting plate of 12 revolving dial left plate, 13 pasting board, 14 thickening plate 15
The right lengthened plate of 16 base plate, 17 installing plate, 18 revolving dial right plate 19
The arm floor of 20 first 21 first arm right plate of arm left plate, 22 shrouding 23 first
The arm upper backup pad of 24 25 first arm lower supporting plate of reinforcing plate, 26 integrated housing 27 first
The arm floor of 28 compensating cylinder engaging lug, 29 second arm upper backup pad 30 second
The arm right plate of 31 second the 3rd arm left plate 33 of arm lower supporting plate 32 the 3rd
The motor power output shaft of 34 horizontal reinforcing plate, 35 accessory connecting bottom board 36
The pivoting support outer ring of 37 motor mounting plate, 38 pivoting support inner ring 39
The reducer power output ends of 40 integrated housing shell, 41 oil baffle a, 42 oil baffle b 43
The cylinder body side pipe of 44 decelerator adpting flange, 45 ring flange, 46 speed reducer housing body 47
The axle sleeve of 48 cylinder bottom plate, 49 spring bearer plate, 50 spring shaft, 51 nut, 52 hinge fishplate bar 53
The sleeve of 54 spring, 55 linear bearing, 56 cylinder body connecting plate, 57 compensating cylinder connecting plate 58
59 sleeve axle sleeves
Specific embodiment
As shown in Figure 1 and Figure 2, as particular embodiment, a kind of four axles transfer robot of the present invention includes base
(1), rotary motion mechanism (2), revolving dial (3), first rotating shaft, the second rotating shaft, the 3rd rotating shaft, compensating cylinder (5), the first arm
(6), the second arm (7) and the 3rd arm (9)；The reservation of the rotary motion mechanism (2) is fixedly connected with base (1), revolution driving
The gyroaxis of mechanism (2) is fixedly connected with the bottom of revolving dial (3)；Pass through between the revolving dial (3) and the first arm (6)
First rotating shaft connects, and is connected by the second rotating shaft between the first arm (6) and the second arm (7), the second arm (7) and the 3rd arm (9) it
Between connected by the 3rd rotating shaft, the cylinder body of compensating cylinder (5) is constituted with revolving dial (3) and is hinged, the piston rod of compensating cylinder (5) and
First arm (6) is constituted and is hinged；
As shown in Fig. 3, Fig. 4, Fig. 7, the upper end of first arm (6) is provided with pasting board (13) and the connection of pivoting support outer ring
Plate (15), bottom is provided with integrated housing (26), and the integrated housing (26) of the first arm (6) is arranged at by the patch of revolving dial (3)
Constitute in mounting groove between plate (13) and pivoting support outer ring connecting plate (15)；The first rotating shaft includes servomotor (4), subtracts
Fast device (10), decelerator adpting flange (44) and pivoting support (8)；The housing of the servomotor (4) and the collection of the first arm (6)
It is fixedly connected into housing (26), the motor power output shaft (36) of servomotor (4) and the power intake structure of decelerator (10)
Into being connected, reducer power output end (43) is fixedly connected with decelerator adpting flange (44), speed reducer housing body (46)
Fixed with the integrated housing (26) of the first arm (6), decelerator adpting flange (44) is fixed with the pasting board (13) of revolving dial (3) to be connected
Connect；The pivoting support inner ring (38) of the pivoting support (8) is fixedly connected with integrated housing (26), pivoting support outer ring (39) with
Pivoting support outer ring connecting plate (15) of revolving dial (3) is fixedly connected；
As shown in Fig. 4, Fig. 5, Fig. 8, the two ends of second arm (7) are provided with integrated housing (26), the second arm (7)
Support end integrated housing (26) be arranged at by the first arm (6) pasting board (13) and pivoting support outer ring connecting plate (15) between constitute
In mounting groove, the integrated housing (26) of the second arm (7) free end is arranged at outside the pasting board (13) and pivoting support by the 3rd arm (9)
Constitute in mounting groove between circle connecting plate (15)；Second rotating shaft includes that servomotor (4), decelerator (10), decelerator connect
The integrated housing (26) of acting flange (44) and pivoting support (8), the housing of servomotor (4) and the support end of the second arm (7) is solid
Fixed connection, the motor power output shaft (36) of servomotor (4) is constituted with the power intake of decelerator (10) and is connected, subtracts
Fast device clutch end (43) is fixedly connected with decelerator adpting flange (44), speed reducer housing body (46) and the second arm (7)
The integrated housing (26) of support end is fixed, and decelerator adpting flange (44) is fixedly connected with the pasting board (13) of the first arm (6), turns round
The pivoting support inner ring (38) of supporting (8) is fixedly connected with the integrated housing (26) of the support end of the second arm (7), outside pivoting support
Circle (39) is fixedly connected with pivoting support outer ring connecting plate (15) of the first arm (6)；
As shown in Fig. 5, Fig. 6, Fig. 9 and Figure 11, the 3rd rotating shaft includes servomotor (4), decelerator (10), decelerator
The integrated housing (26) of adpting flange (44) and pivoting support (8), the housing of servomotor (4) and the free end of the second arm (7)
It is fixedly connected, the motor power output shaft (36) of servomotor (4) is constituted with the power intake of decelerator (10) and is connected,
Reducer power output end (43) is fixedly connected with decelerator adpting flange (44), speed reducer housing body (46) and the second arm (7)
Free end integrated housing (26) it is fixed, decelerator adpting flange (44) is fixedly connected with the pasting board (13) of the 3rd arm (9), time
The pivoting support inner ring (38) for turning supporting (8) is fixedly connected with the integrated housing (26) of the free end of the second arm (7), pivoting support
Outer ring (39) is fixedly connected with pivoting support outer ring connecting plate (15) of the 3rd arm (9).
The rotary motion mechanism include reservation, servomotor, decelerator and gyroaxis, the motor power output shaft with
The power intake of decelerator is constituted and is connected, and the clutch end of decelerator is fixedly connected with gyroaxis.
As shown in figure 3, the revolving dial (3) including installing plate (17), base plate (16), revolving dial left plate (12),
Revolving dial right plate (18), right lengthened plate (19) and left lengthened plate (11)；The installing plate (17) and rotary motion mechanism (2)
Gyroaxis be fixedly connected, base plate (16) is fixed on installing plate (17)；The revolving dial left plate (12) and revolving dial
Right plate (18) is symmetrical to be fixedly connected on base plate (16)；The end of the revolving dial left plate (12) is provided with through hole,
The both sides of revolving dial left plate (12) have been respectively fixedly connected with pasting board (13) and thickening plate (14) at lead to the hole site, revolution
The afterbody of platform sinistral plate (12) is fixedly connected with left lengthened plate (11)；The end of the revolving dial right plate (18) is provided with
Pivoting support outer ring connecting plate (15), pivoting support outer ring connecting plate (15) side wall is fixedly connected with thickening plate (14), and revolution is flat
The afterbody of platform right plate (18) is fixedly connected with right lengthened plate (19)；The left lengthened plate (11) and right lengthened plate (19) constitute flat
Weighing apparatus cylinder connecting seat.
As shown in Figure 10, the compensating cylinder (5) includes cylinder body, piston rod and spring (54)；The cylinder body is by cylinder body side pipe
(47) cylinder bottom plate (48) for, being fixed on cylinder body side pipe (47) bottom is, the cylinder body connecting plate for being connected to cylinder body side pipe (47) end
(56) constitute with the symmetrical hinge fishplate bar (52) for being fixed on cylinder body side pipe (47) both sides, the centre bore of the hinge fishplate bar (52)
Inside it is provided with axle sleeve (53)；Cylinder body connecting plate (56) outside is fixed with compensating cylinder connecting plate (57)；The piston rod is by bullet
Spring axle (50) and sleeve (58) composition of spring shaft (50) end is fixedly connected on, there is through hole at sleeve (58) center, solid in through hole
Surely there is sleeve axle sleeve (59)；Linear bearing (55) is socketed with the spring shaft (50) of piston rod, spring shaft (50) can be in linear axis
Hold in (55) and slide, linear bearing (55) end face is fixedly connected with compensating cylinder connecting plate (57)；Piston rod is away from sleeve (58)
One end is fixedly connected with spring bearer plate (49)；The spring (54) be arranged at spring bearer plate (49) and compensating cylinder connecting plate (57) it
Between；The hinge fishplate bar (52) of the compensating cylinder (5) is constituted with the compensating cylinder connecting seat of revolving dial (3) and is hinged.
As shown in figure 12, the integrated housing (26) includes integrated housing shell (40), and integrated housing shell (40) is outer
Cylindrical, hollow housing, is provided with threaded securing bores in integrated housing shell (40) both ends of the surface, integrated housing shell (40) is internal
It is fixedly connected with motor mounting plate (37), oil baffle a (41) and oil baffle b (42)；The housing of the servomotor (4) passes through method
Blue disk (45) is fixedly connected with the motor mounting plate (37) of integrated housing (26)；The speed reducer housing body (46) and pivoting support
Inner ring (38) is fixed respectively with the threaded securing bores of setting on the end face of integrated housing shell (40) both sides.
As shown in figure 4, first arm (6) includes the first arm upper backup pad (27), the first arm lower supporting plate (25), connection
Two piece of first arm floor (23), the setting be arrangeding in parallel between the first arm upper backup pad (27) and the first arm lower supporting plate (25)
Integrated housing (26) in the first arm upper backup pad (27) and the first arm lower supporting plate (25) bottom, it is arranged on the first arm and supports
Shrouding (22) at the top of plate (27) and the first arm lower supporting plate (25)；First arm floor (23) upper end is parallel to be fixedly connected
The pasting board (13) for having the first arm left plate (20) and the first arm right plate (21), first arm (6) is arranged at the first arm left side
On plate (20), pivoting support outer ring connecting plate (15) of the first arm (6) is arranged on the first arm right plate (21)；First arm
Upper backup pad (27) outside is fixedly connected with compensating cylinder engaging lug (28)；Lower of the first arm upper backup pad (27), the first arm
Fagging (25) is circular arc plate, and the convex surface of the first arm lower supporting plate (25) is relative by two with the first arm upper backup pad (27) concave surface
Person is fixedly connected.
As shown in figure 5, second arm (7) includes the second arm upper backup pad (29), the second arm lower supporting plate (31), connection
Two piece of second arm floor (30) be arrangeding in parallel between the second arm upper backup pad (29) and the second arm lower supporting plate (31) is described
The two ends of the second arm upper backup pad (29) and the second arm lower supporting plate (31) have been respectively fixedly connected with integrated housing (26).
As shown in fig. 6, the 3rd arm (9) including the 3rd arm left plate (32), the 3rd arm right plate (33), be fixedly connected
Accessory connecting bottom board (35) in the 3rd arm left plate (32) and the 3rd arm right plate (33) bottom, to be fixedly connected on the 3rd arm left
Horizontal reinforcing plate (34) between side plate (32) and the 3rd arm right plate (33)；The pasting board (13) of the 3rd arm (9) is arranged at
On 3rd arm left plate (32), pivoting support outer ring connecting plate (15) of the 3rd arm (9) is arranged on the 3rd arm right plate (33)；
Accessory connecting bottom board (35) lower section is provided with accessory connecting hole.
A kind of four axles transfer robot of the present invention operationally can by revolving dial (3), the first arm (6), the
The action of two arms (7) and the 3rd arm (9), realize be connected to the goods loaded on the clamping accessory of the 3rd arm (9) end can be with
Along X-axis, Y-axis, the translation of Z axis and along normal direction in the rotation of revolving dial (3) central shaft, finally realize workpiece goods
Displacement and upset, the rotating range of revolving dial (3) can be close 360 °.In first rotating shaft, the second rotating shaft and the 3rd rotating shaft
Type of attachment constitutes supported on both sides and is fixedly connected on revolving dial (3), the first arm (6) and the 3rd arm (9), and this structure can disappear
Except the tilting moment that general robot is caused because of unilateral support.Compensating cylinder (5) is by a spring (54) to compensating cylinder (5)
Piston rod applies the power pulled in cylinder, and according to Hooke's law, it is longer that piston rod is drawn, and this pulling force is bigger.When
One arm (6) is packed up and holded up in compensating cylinder (5) when coming receives and be close to most, and now the recovery pulling force of compensating cylinder (5) is minimum, when the
One arm (6) extension is pulled to most long to compensating cylinder when extreme position (6), there is the recovery drawing of maximum to the first arm (6)
Power, to offset the gravity that support arm is subject to.First rotating shaft, the attachment structure of the second rotating shaft and the 3rd rotating shaft and compensating cylinder (5)
Setting reduce industrial robot to drive the first arm (6) action servomotor (4) and decelerator (10) torque demand,
Improve the load capacity of robot.First arm (6) is made into prone form, the second arm (7) and the first arm (6) is allowed
Angle of oscillation allows robot to grab article more on the lower to reach, coordinates the rotation of revolving dial (3), can be with enlarger
The overall working range of device people.
Above-described embodiment only represents one embodiment of the present invention, can not be interpreted as the limit to the scope of the invention
System.It should be noted that one skilled in the relevant art, without departing from the inventive concept of the premise, if can also make
Dry kind of deformation design, these belong to protection scope of the present invention.
Claims (8)
1. a kind of four axles transfer robot, it is characterised in that：Including base, rotary motion mechanism, revolving dial, first rotating shaft,
Second rotating shaft, the 3rd rotating shaft, compensating cylinder, the first arm, the second arm and the 3rd arm；The reservation of the rotary motion mechanism is consolidated with base
Fixed connection, the gyroaxis of rotary motion mechanism is fixedly connected with the bottom of revolving dial；Between the revolving dial and the first arm
Connected by first rotating shaft, connected by the second rotating shaft between the first arm and the second arm, the is passed through between the second arm and the 3rd arm
Three rotating shafts connect, and the cylinder body of compensating cylinder is constituted with revolving dial and is hinged, and the piston rod of compensating cylinder is constituted with the first arm and is hinged；
The upper end of first arm is provided with pasting board and pivoting support outer ring connecting plate, and bottom is provided with integrated housing, the first arm
Integrated housing be arranged between the pasting board and pivoting support outer ring connecting plate by revolving dial and constitute in mounting groove；Described first
Rotating shaft includes servomotor, decelerator, decelerator adpting flange and pivoting support；The housing of the servomotor and the first arm
Integrated housing is fixedly connected, and the motor power output shaft of servomotor is constituted with the power intake of decelerator and is connected, and is subtracted
Fast device clutch end is fixedly connected with decelerator adpting flange, and speed reducer housing body is fixed with the integrated housing of the first arm, subtracted
Fast device adpting flange is fixedly connected with the pasting board of revolving dial；Pivoting support inner ring and the integrated housing of the pivoting support is fixed
Connection, pivoting support outer ring is fixedly connected with the pivoting support outer ring connecting plate of revolving dial；
The two ends of second arm are provided with integrated housing, and the integrated housing of the second arm support end is arranged at by the patch of the first arm
Constitute in mounting groove between plate and pivoting support outer ring connecting plate, the integrated housing of the second arm sling dead end is arranged at by the 3rd arm
Constitute in mounting groove between pasting board and pivoting support outer ring connecting plate；Second rotating shaft includes servomotor, decelerator, deceleration
Device adpting flange and pivoting support, the housing of servomotor is fixedly connected with the integrated housing of the support end of the second arm, servo electricity
The motor power output shaft of machine is constituted with the power intake of decelerator and is connected, and reducer power output end is fixedly connected with
Decelerator adpting flange, speed reducer housing body is fixed with the integrated housing of the support end of the second arm, decelerator adpting flange and
The pasting board of one arm is fixedly connected, and the pivoting support inner ring of pivoting support is fixedly connected with the integrated housing of the support end of the second arm,
Pivoting support outer ring is fixedly connected with the pivoting support outer ring connecting plate of the first arm；
3rd rotating shaft include servomotor, decelerator, decelerator adpting flange and pivoting support, the housing of servomotor with
The integrated housing of the free end of the second arm is fixedly connected, the motor power output shaft of servomotor and the power intake of decelerator
Composition is connected, and reducer power output end is fixedly connected with decelerator adpting flange, speed reducer housing body and the second arm
The integrated housing of free end is fixed, and decelerator adpting flange is fixedly connected with the pasting board of the 3rd arm, the pivoting support of pivoting support
Inner ring is fixedly connected with the integrated housing of the free end of the second arm, and pivoting support outer ring is connected with the pivoting support outer ring of the 3rd arm
Plate is fixedly connected.
2. a kind of four axles transfer robot according to claim 1, it is characterised in that：The rotary motion mechanism includes fixed
Seat, servomotor, decelerator and gyroaxis, the motor power output shaft constitutes transmission and connects with the power intake of decelerator
Connect, the clutch end of decelerator is fixedly connected with gyroaxis.
3. a kind of four axles transfer robot according to claim 1, it is characterised in that：The revolving dial includes installing
Plate, base plate, revolving dial left plate, revolving dial right plate, right lengthened plate and left lengthened plate；The installing plate and revolution driving
The gyroaxis of mechanism is fixedly connected, and base plate is fixed on a mounting board；The revolving dial left plate and revolving dial right plate pair
What is claimed is fixedly connected on base plate；The end of the revolving dial left plate is provided with through hole, turns round flat at lead to the hole site
The both sides of platform left plate have been respectively fixedly connected with pasting board and thickening plate, and the afterbody of revolving dial left plate is fixedly connected with left lengthening
Plate；The end of the revolving dial right plate is provided with pivoting support outer ring connecting plate, and pivoting support outer ring connecting plate side wall is consolidated
Surely thickening plate is connected with, the afterbody of revolving dial right plate is fixedly connected with right lengthened plate；The left lengthened plate and right lengthened plate
Constitute compensating cylinder connecting seat.
4. a kind of four axles transfer robot according to claim 1, it is characterised in that：The compensating cylinder includes cylinder body, work
Stopper rod and spring；The cylinder body by cylinder body side pipe, be fixed on the cylinder bottom plate of cylinder body side pipe bottom, be connected to cylinder body side pipe end
Cylinder body connecting plate and the symmetrical hinge fishplate bar composition for being fixed on cylinder body side pipe both sides, set in the centre bore of the hinge fishplate bar
It is equipped with axle sleeve；The cylinder body connecting plate outside is fixed with compensating cylinder connecting plate；The piston rod is by spring shaft and is fixedly connected on
The sleeve composition of spring shaft end, bushing core has through hole, sleeve axle sleeve is fixed with through hole；It is socketed on the spring shaft of piston rod
There is linear bearing, spring shaft can slide in linear bearing, and linear bearing end face is fixedly connected with compensating cylinder connecting plate；Piston rod
Spring bearer plate is fixedly connected with away from one end of sleeve；The spring is arranged between spring bearer plate and compensating cylinder connecting plate；Institute
The compensating cylinder connecting seat of the hinge fishplate bar and revolving dial of stating compensating cylinder is constituted and is hinged.
5. a kind of four axles transfer robot according to claim 1, it is characterised in that：The integrated housing includes collection shelling
Body case, integrated housing shell is Outer cylindrical hollow housing, and in integrated housing shell both ends of the surface threaded securing bores are provided with, and is collected
Motor mounting plate, oil baffle a and oil baffle b are fixedly connected with inside shelling body case；The housing of the servomotor passes through method
Blue disk is fixedly connected with the motor mounting plate of integrated housing；The speed reducer housing body and pivoting support inner ring respectively with collection shelling
The threaded securing bores arranged on the end face of body case both sides are fixed.
6. a kind of four axles transfer robot according to claim 1, it is characterised in that：First arm is included on the first arm
Gripper shoe, the first arm lower supporting plate, it is connected to two pieces be arranged in parallel between the first arm upper backup pad and the first arm lower supporting plate
First arm floor, the integrated housing for being arranged at the first arm upper backup pad and the first arm lower supporting plate bottom, it is arranged on the first arm
Shrouding at the top of gripper shoe and the first arm lower supporting plate；The first arm floor upper end is parallel to be fixedly connected with the left of the first arm
Plate and the first arm right plate, the pasting board of first arm is arranged on the first arm left plate, and the pivoting support outer ring of the first arm connects
Fishplate bar is arranged on the first arm right plate；The first arm upper backup pad outside is fixedly connected with compensating cylinder engaging lug；Described
One arm upper backup pad, the first arm lower supporting plate are circular arc plate, the convex surface of the first arm lower supporting plate and the first arm upper backup pad
Concave surface is relative to be fixedly connected the two.
7. a kind of four axles transfer robot according to claim 1, it is characterised in that：Second arm is included on the second arm
Gripper shoe, the second arm lower supporting plate, it is connected to two pieces be arranged in parallel between the second arm upper backup pad and the second arm lower supporting plate
The two ends of the second arm floor, the second arm upper backup pad and the second arm lower supporting plate have been respectively fixedly connected with integrated housing.
8. a kind of four axles transfer robot according to claim 1, it is characterised in that：3rd arm includes that the 3rd arm is left
Side plate, the 3rd arm right plate, accessory connecting bottom board, the fixation for being fixedly connected on the 3rd arm left plate and the 3rd arm right plate bottom
The horizontal reinforcing plate being connected between the 3rd arm left plate and the 3rd arm right plate；The pasting board of the 3rd arm is arranged at the 3rd arm
On left plate, the pivoting support outer ring connecting plate of the 3rd arm is arranged on the 3rd arm right plate；The accessory connecting bottom board lower section
It is provided with accessory connecting hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318748.0A CN104942789B (en) | 2015-06-12 | 2015-06-12 | Four-shaft transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318748.0A CN104942789B (en) | 2015-06-12 | 2015-06-12 | Four-shaft transfer robot |
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| CN104942789A CN104942789A (en) | 2015-09-30 |
| CN104942789B true CN104942789B (en) | 2017-04-19 |
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| CN201510318748.0A Active CN104942789B (en) | 2015-06-12 | 2015-06-12 | Four-shaft transfer robot |
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| CN106737631A (en) * | 2015-11-24 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of hanging industrial machinery arm |
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| CN105619402B (en) * | 2016-03-17 | 2017-12-12 | 昆山华恒机器人有限公司 | Joint type industrial robot |
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| CN106393079A (en) * | 2016-06-04 | 2017-02-15 | 埃夫特智能装备股份有限公司 | Four-degree-of-freedom joint industrial robot structure |
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| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
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| CN111558783B (en) * | 2020-05-27 | 2020-12-01 | 佛山隆深智能装备有限公司 | Moving path planning device and method for laser cutting manipulator |
| CN112873192A (en) * | 2021-01-11 | 2021-06-01 | 广州大学 | Mechanical arm for clamping reinforced grinding workpiece |
| CN114712129B (en) * | 2022-04-12 | 2024-03-29 | 深圳市松果体机器人科技有限公司 | Lying flat type massage robot |
| CN114750128B (en) * | 2022-06-16 | 2022-09-09 | 中铁工程服务有限公司 | Robot and duct piece assembling system |
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| CN104942789A (en) | 2015-09-30 |
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Effective date of registration: 20180801 Address after: 317507 No. 1, Shuang tou Cun Central Road, Ruo Heng Town, Wenling, Taizhou, Zhejiang. Patentee after: Albert Zhejiang automation equipment Co., Ltd. Address before: 361021 No. 49, Yin Jiang Road, Jimei District, Xiamen, Fujian. Patentee before: Deng Lili |
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