CN105328713A - Mechanical arm and carrying robot - Google Patents
Mechanical arm and carrying robot Download PDFInfo
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- CN105328713A CN105328713A CN201510788416.9A CN201510788416A CN105328713A CN 105328713 A CN105328713 A CN 105328713A CN 201510788416 A CN201510788416 A CN 201510788416A CN 105328713 A CN105328713 A CN 105328713A
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Abstract
The invention discloses a mechanical arm and a carrying robot; the structure rigidity and the bearing capacity of the mechanical arm are improved; the working performance of the mechanical arm is improved; and the service life of the mechanical arm is prolonged. The mechanical arm comprises a base, at least one arm unit, and a driving device arranged on the base and driving the at least one arm unit to move, wherein each arm unit comprises at least two branched chains connected in parallel; each branched chain comprises a far-end arm rod and a far-end arm rod hinged with each other; the near-end arm rod of each branched chain is hinged with the base; and the far-end arm rod of each branched chain is hinged with a terminal actuator. In the mechanical arm provided by the invention, the arm units adopts double-branched-chain parallel connecting structures; and compared with the prior art, the mechanical arm is higher in structure rigidity, stronger in bearing capacity, better in working performance and longer in service life.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of mechanical arm and transfer robot.
Background technology
Along with the development of science and technology, robot has become indispensable part in suitability for industrialized production, and mechanical arm is the automated machine device obtaining most broad practice in robotics.
At present, in the production line of liquid crystal panel, the carrying work of glass substrate is completed by transfer robot usually.The robot of moving glass substrate, its mechanical arm generally adopts the articulated robot arm of single side chain cascaded structure, articulated robot arm possesses folding characteristic, it can realize larger linear telescopic stroke in limited space, but the design of its single side chain cascaded structure, make its structural rigidity and bearing capacity poor, thus cause the service behaviour of mechanical arm poor, service life is shorter.
Summary of the invention
The object of this invention is to provide a kind of mechanical arm and transfer robot, to improve structural rigidity and the bearing capacity of mechanical arm, and then improve the service behaviour of mechanical arm, the service life of prolonged mechanical arm.
The embodiment of the present invention provides a kind of mechanical arm, comprise: pedestal, at least one hand unit, and be arranged at pedestal and drive the drive unit that at least one hand unit described is moved, wherein: each hand unit comprises at least two side chains in parallel, each side chain comprises the near-end armed lever and far-end armed lever that are hinged, near-end armed lever and the pedestal of each described side chain are hinged, and far-end armed lever and the end effector of each described side chain are hinged.
The mechanical arm that the embodiment of the present invention provides, hand unit adopts two side chain parallel-connection structure, and compared to existing technology, the mechanical arm structural rigidity that technical solution of the present invention provides is larger, and bearing capacity is stronger, and then service behaviour is better, longer service life.
Preferably, described hand unit comprises two side chains in parallel.
Preferably, the near-end armed lever of described two side chains is connected by gear drive, and the far-end armed lever of described two side chains is connected by gear drive.
Preferably, described pedestal is U-shaped pedestal, and described U-shaped pedestal comprises relative top base arm and bottom base arm.
Preferably, described hand unit is two, is respectively first-hand arm unit and second-hand's arm unit; The near-end armed lever of two side chains of described first-hand arm unit is all hinged with the top base arm of U-shaped pedestal, the near-end armed lever of two side chains of described second-hand's arm unit is all hinged with the bottom base arm of U-shaped pedestal, a far-end armed lever hinged end effector respectively of the far-end armed lever of two side chains of described first-hand arm unit and two side chains of second-hand's arm unit.
Preferably, described hand unit is two, is respectively first-hand arm unit and second-hand's arm unit; The near-end armed lever of two side chains of described first-hand arm unit is all hinged with the top base arm of U-shaped pedestal, the near-end armed lever of two side chains of described second-hand's arm unit is all hinged with the bottom base arm of U-shaped pedestal, and far-end armed lever and the same end effector of the far-end armed lever of two side chains of described first-hand arm unit and two side chains of second-hand's arm unit are hinged.
Embodiments provide a kind of transfer robot, comprise the mechanical arm as described in above-mentioned any one technical scheme.Compared to existing technology, bearing capacity and the structural rigidity of this transfer robot are higher, and service behaviour is better, and service life is longer, in addition, the structural design of lightweight, make this transfer robot can adapt to the requirement of the higher speed of service, be conducive to the high speed realizing robot operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention mechanical arm;
Fig. 2 is embodiment of the present invention hand unit operation principle schematic diagram;
Fig. 3 is the structural representation of embodiment of the present invention transfer robot.
Embodiment of the present invention Reference numeral:
1a, 2a, 3a, 4a-near-end armed lever
1b, 2b, 3b, 4b-far-end armed lever
1,2,3,4-side chain
5-end effector
6-pedestal
60-top base arm
61-bottom base arm
7-drive unit
8-lifting shaft
9-carries support
10-base track
Detailed description of the invention
In order to improve structural rigidity and the bearing capacity of mechanical arm, and then improving the service behaviour of mechanical arm, in the service life of prolonged mechanical arm, embodiments providing a kind of mechanical arm and transfer robot.
The embodiment of the present invention provides a kind of mechanical arm, as shown in Figure 1, comprise pedestal 6, at least one hand unit, and be arranged at pedestal 6 and drive the drive unit 7 that at least one hand unit described is moved, wherein: each hand unit comprises at least two side chains in parallel, each side chain (for side chain 1) comprises the near-end armed lever 1a and far-end armed lever 1b that are hinged, and near-end armed lever 1a and the pedestal 6 of each side chain are hinged, and far-end armed lever 1b and the end effector 5 of each side chain are hinged.
In an embodiment of the present invention, described " far " depends on the direction of proximal end actuator, described " closely " depends on the direction of nearly pedestal, such as, in the embodiment shown in fig. 1, the near-end armed lever of hand unit is: near-end armed lever 1a, near-end armed lever 2a, near-end armed lever 3a and near-end armed lever 4a, and the far-end armed lever of hand unit is: far-end armed lever 1b, far-end armed lever 2b, far-end armed lever 3b and far-end armed lever 4b.
Wherein, the concrete quantity of hand unit is not limit, such as, can be one, two, three etc.; The concrete quantity of the side chain that each hand unit comprises is not limit, such as, can be two, three, four etc., preferably, each hand unit comprises two side chains in parallel.
In the various embodiments of the invention, the particular type of end effector is not limit, such as, can be pellet type end effector, and as hand fork etc., also can be vacuum adsorption type end effector, such as, can be vacuum adsorption type suction disc etc.When drive unit drives hand unit motion, hand unit drives the end effector hinged with it to carry out linear telescopic motion, and then realizes the carrying to glass substrate; Drive unit drives the concrete mode of hand unit motion also not limit, such as, can be driven the near-end armed lever motion of hand unit by machine driving or hydraulic drive.
The mechanical arm that the embodiment of the present invention provides, hand unit adopts two side chain parallel-connection structure, compared to existing technology, the mechanical arm structural rigidity that technical solution of the present invention provides is larger, bearing capacity is stronger, especially improve opposing rollover moment of flexure ability and its torque capacity along vertical axis of opposing of far-end armed lever, and then make the service behaviour of mechanical arm better, longer service life.
In a preferred embodiment of the invention, as shown in Figure 2, the near-end armed lever 1a of two side chains of hand unit is connected by gear drive with near-end armed lever 2a (or near-end armed lever 3a and near-end armed lever 4a), and the far-end armed lever 1b of two side chains of hand unit is also connected by gear drive with far-end armed lever 2b (or far-end armed lever 3b and far-end armed lever 4b).For side chain 1 and side chain 2, drive unit drives a near-end armed lever 1a to rotate, by the engaged transmission of gear, near-end armed lever 2a, far-end armed lever 1b and the far-end armed lever 2b of hand unit also rotate thereupon, end effector 5 realizes the stretching motion in rectilinear direction along with the rotation of near-end armed lever and far-end armed lever, thus realizes the linear telescopic function of mechanical arm.The linear telescopic of mechanical arm is realized by the mode of gears meshing, structure is comparatively simple, in addition, compared to existing technology, without the need to the belt drive system at near-end armed lever and far-end armed lever indoor design complexity, reduce the manufacturing cost of mechanical arm, the risk causing mechanical arm out of control because of belt fracture can be avoided simultaneously.
In an embodiment of the present invention, as shown in Figure 1, the concrete shape of pedestal 6 is not limit, and be preferably U-shaped pedestal, U-shaped pedestal comprises relative top base arm 60 and bottom base arm 61.
In an embodiment of the invention, as shown in Figure 1, hand unit is two, be respectively first-hand arm unit and second-hand's arm unit, first-hand arm unit comprises side chain 1 and side chain 2, second-hand's arm unit comprises side chain 3 and side chain 4, the near-end armed lever 1a of first-hand arm unit and the top base arm 60 of near-end armed lever 2a and U-shaped pedestal hinged, the near-end armed lever 3a of second-hand's arm unit and the bottom base arm 61 of near-end armed lever 4a and U-shaped pedestal hinged, the far-end armed lever 1b of first-hand arm unit and the far-end armed lever 3b of far-end armed lever 2b and second-hand's arm unit and far-end armed lever 4b is a hinged end effector 5 respectively.In embodiments of the present invention, first-hand arm unit and second-hand's arm unit can realize stretching respectively on the same line, and mechanical arm goes for the occasion of the linear telescopic stroke needing more to grow.
In an alternative embodiment of the invention, hand unit is two, be respectively first-hand arm unit and second-hand's arm unit, the near-end armed lever of two side chains of first-hand arm unit and the top base arm of U-shaped pedestal hinged, the near-end armed lever of two side chains of second-hand's arm unit and the bottom base arm of U-shaped pedestal hinged, far-end armed lever and the same end effector of the far-end armed lever of two side chains of first-hand arm unit and two side chains of second-hand's arm unit are hinged.In this embodiment, the near-end armed lever of four side chains in parallel is all hinged with pedestal, the hinged same end effector of far-end armed lever of four side chains in parallel, the bearing capacity of mechanical arm and structural rigidity obtain huge raising, the mechanical arm of the technical program, is applicable to require larger carrying occasion to bearing capacity.
Embodiments provide a kind of transfer robot, as shown in Figure 3, comprise lifting shaft 8, carrying support 9, base track 10, end effector 5 and the mechanical arm as described in above-mentioned any one technical scheme.
Transfer robot described in above-described embodiment, comprises vertical moving unit, vertically slides on lifting shaft for making pedestal; Rotary unit, rotates on carrying support for making lifting shaft; Handling unit, for making the horizontal slip on base track of carrying support.
The transfer robot of the embodiment of the present invention, adopt the mechanical arm as described in above-mentioned arbitrary technical scheme, compared to existing technology, bearing capacity and the structural rigidity of this transfer robot are higher, and service behaviour is better, and service life is longer, in addition, the structural design of lightweight, makes this transfer robot can adapt to the requirement of the higher speed of service, is conducive to the high speed realizing robot operation.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. a mechanical arm, is characterized in that, comprising: pedestal, at least one hand unit, and is arranged at pedestal and drives the drive unit that at least one hand unit described is moved, wherein:
Each hand unit comprises at least two in parallel side chains, and each side chain comprises the near-end armed lever and far-end armed lever that are hinged, the near-end armed lever of each side chain and pedestal hinged, the far-end armed lever of each side chain and end effector hinged.
2. mechanical arm as claimed in claim 1, is characterized in that, described hand unit comprises two side chains in parallel.
3. mechanical arm as claimed in claim 2, it is characterized in that, the near-end armed lever of described two side chains is connected by gear drive, and the far-end armed lever of described two side chains is connected by gear drive.
4. mechanical arm as claimed in claim 2, it is characterized in that, described pedestal is U-shaped pedestal, and described U-shaped pedestal comprises relative top base arm and bottom base arm.
5. mechanical arm as claimed in claim 4, is characterized in that,
Described hand unit is two, is respectively first-hand arm unit and second-hand's arm unit;
The near-end armed lever of described first-hand arm unit two side chains is all hinged with the top base arm of U-shaped pedestal, the near-end armed lever of described second-hand's arm unit two side chains is all hinged with the bottom base arm of U-shaped pedestal, the far-end armed lever of described first-hand arm unit two side chains and the far-end armed lever of a second-hand's arm unit two side chains hinged end effector respectively.
6. mechanical arm as claimed in claim 4, is characterized in that,
Described hand unit is two, is respectively first-hand arm unit and second-hand's arm unit;
The near-end armed lever of described first-hand arm unit two side chains is all hinged with the top base arm of U-shaped pedestal, the near-end armed lever of described second-hand's arm unit two side chains is all hinged with the bottom base arm of U-shaped pedestal, the far-end armed lever of described first-hand arm unit two side chains and the far-end armed lever of second-hand's arm unit two side chains and same end effector hinged.
7. a transfer robot, is characterized in that, comprises the mechanical arm as described in claim 1 ~ 6 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788416.9A CN105328713B (en) | 2015-11-16 | 2015-11-16 | A kind of mechanical arm and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510788416.9A CN105328713B (en) | 2015-11-16 | 2015-11-16 | A kind of mechanical arm and transfer robot |
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| Publication Number | Publication Date |
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| CN105328713A true CN105328713A (en) | 2016-02-17 |
| CN105328713B CN105328713B (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510788416.9A Active CN105328713B (en) | 2015-11-16 | 2015-11-16 | A kind of mechanical arm and transfer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948518A (en) * | 2018-09-26 | 2020-04-03 | 沈阳新松机器人自动化股份有限公司 | Material receiving and sending device for cleaning robot |
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| JP2006013371A (en) * | 2004-06-29 | 2006-01-12 | Ulvac Japan Ltd | Transportation device, its control method, and vacuum processing apparatus |
| CN101148044A (en) * | 2006-09-21 | 2008-03-26 | 村田机械株式会社 | SCARA type arm |
| CN101506963A (en) * | 2006-08-21 | 2009-08-12 | 株式会社安川电机 | Double arm robot |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| CN101804903A (en) * | 2009-02-18 | 2010-08-18 | 村田机械株式会社 | Frog leg type weight-shifting device |
| CN102554909A (en) * | 2010-12-15 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Arm component for plane multi-joint type robot |
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2015
- 2015-11-16 CN CN201510788416.9A patent/CN105328713B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006013371A (en) * | 2004-06-29 | 2006-01-12 | Ulvac Japan Ltd | Transportation device, its control method, and vacuum processing apparatus |
| CN101506963A (en) * | 2006-08-21 | 2009-08-12 | 株式会社安川电机 | Double arm robot |
| CN101148044A (en) * | 2006-09-21 | 2008-03-26 | 村田机械株式会社 | SCARA type arm |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| CN101804903A (en) * | 2009-02-18 | 2010-08-18 | 村田机械株式会社 | Frog leg type weight-shifting device |
| CN102554909A (en) * | 2010-12-15 | 2012-07-11 | 沈阳新松机器人自动化股份有限公司 | Arm component for plane multi-joint type robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110948518A (en) * | 2018-09-26 | 2020-04-03 | 沈阳新松机器人自动化股份有限公司 | Material receiving and sending device for cleaning robot |
| CN110948518B (en) * | 2018-09-26 | 2022-08-02 | 沈阳新松机器人自动化股份有限公司 | Material receiving and sending device for cleaning robot |
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| CN105328713B (en) | 2018-05-22 |
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Address after: 230013 Southwest District of Hefei City, Anhui Province Patentee after: Hefei xinyihua Intelligent Machine Co.,Ltd. Address before: 230013 Southwest District of Hefei City, Anhui Province Patentee before: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. |