CN105328713B - A kind of mechanical arm and transfer robot - Google Patents
A kind of mechanical arm and transfer robot Download PDFInfo
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- CN105328713B CN105328713B CN201510788416.9A CN201510788416A CN105328713B CN 105328713 B CN105328713 B CN 105328713B CN 201510788416 A CN201510788416 A CN 201510788416A CN 105328713 B CN105328713 B CN 105328713B
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Abstract
The invention discloses a kind of mechanical arm and transfer robots, to improve the structural rigidity of mechanical arm and bearing capacity, and then improve the working performance of mechanical arm, the service life of prolonged mechanical arm.Mechanical arm includes：Pedestal, at least one hand unit and the driving device for being arranged at pedestal and at least one hand unit being driven to move, wherein：Each hand unit includes at least two branches in parallel, and each branch includes the near-end armed lever being hinged and distal end armed lever, near-end armed lever and the pedestal of each branch are hinged, and distal end armed lever and the end effector of each branch are hinged.Mechanical arm provided by the invention, hand unit is using double branch parallel-connection structures, and compared with prior art, mechanical arm structural rigidity bigger, bearing capacity is stronger, and then working performance is more preferable, and service life is longer.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of mechanical arms and transfer robot.
Background technology
With the development of science and technology, robot, which has become indispensable part, mechanical arm in industrialized production, is
The automated machine device of most broad practice is obtained in robotic technology field.
At present, in the production line of liquid crystal panel, the carrying work of glass substrate is usually completed by transfer robot.It carries
The robot of glass substrate, mechanical arm is generally using the articulated robot arm of single branch cascaded structure, articulated robot
Arm possesses folding characteristic, interior in a limited space can realize larger linear telescopic stroke, but its single branch tandem junction
The design of structure makes its structural rigidity and bearing capacity poor, poor so as to cause the working performance of mechanical arm, service life compared with
It is short.
The content of the invention
The object of the present invention is to provide a kind of mechanical arm and transfer robot, to improve the structural rigidity of mechanical arm and carrying
Ability, and then improve the working performance of mechanical arm, the service life of prolonged mechanical arm.
The embodiment of the present invention provides a kind of mechanical arm, including：Pedestal, at least one hand unit and it is arranged at pedestal
And the driving device of at least one hand unit movement is driven, wherein：Each hand unit includes in parallel at least two
Branch, each branch include the near-end armed lever being hinged and distal end armed lever, and the near-end armed lever of each branch is hinged with pedestal,
The distal end armed lever of each branch is hinged with end effector.
Mechanical arm provided in an embodiment of the present invention, hand unit is using double branch parallel-connection structures, compared with prior art, this hair
The mechanical arm structural rigidity bigger that bright technical solution provides, bearing capacity is stronger, and then working performance is more preferable, and service life is more
It is long.
Preferably, the hand unit includes two branches in parallel.
Preferably, the near-end armed lever of described two branches is connected by gear drive, the distal end armed lever of described two branches
It is connected by gear drive.
Preferably, the pedestal is U-shaped pedestal, the U-shaped pedestal includes opposite top base arm and bottom base arm.
Preferably, the hand unit is two, it is respectively the first hand unit and the second hand unit；It is described first-hand
Top base arm of the near-end armed lever of two branches of arm unit with U-shaped pedestal is hinged, two branch of second hand unit
The near-end armed lever of chain is hinged with the bottom base arm of U-shaped pedestal, the distal end armed lever of two branches of first hand unit with
The distal end armed lever of two branches of the second hand unit is respectively articulated with an end effector.
Preferably, the hand unit is two, is respectively the first hand unit and the second hand unit；It is described first-hand
Top base arm of the near-end armed lever of two branches of arm unit with U-shaped pedestal is hinged, two branch of second hand unit
The near-end armed lever of chain is hinged with the bottom base arm of U-shaped pedestal, the distal end armed lever of two branches of first hand unit and
The distal end armed lever of two branches of the second hand unit is hinged with same end effector.
An embodiment of the present invention provides a kind of transfer robot, including the machinery as described in above-mentioned any one technical solution
Arm.Compared with prior art, the bearing capacity of the transfer robot and structural rigidity are higher, and working performance is preferable, and use the longevity
Life is longer, in addition, the structure design of lightweight so that the transfer robot is adapted to the requirement of the higher speed of service, is conducive to
Realize the high speed of robot operation.
Description of the drawings
Fig. 1 is the structure diagram of mechanical arm of the embodiment of the present invention；
Fig. 2 is hand unit operation principle schematic diagram of the embodiment of the present invention；
Fig. 3 is the structure diagram of transfer robot of the embodiment of the present invention.
Reference numeral of the embodiment of the present invention：
1a, 2a, 3a, 4a- near-end armed lever
1b, 2b, 3b, 4b- distal end armed lever
1st, 2,3,4- branches
5- end effectors
6- pedestals
60- top base arms
61- bottom base arms
7- driving devices
8- lifting shafts
9- carries engine base
10- base tracks
Specific embodiment
In order to improve the structural rigidity of mechanical arm and bearing capacity, and then improve the working performance of mechanical arm, prolonged mechanical
The service life of arm, an embodiment of the present invention provides a kind of mechanical arm and transfer robots.
The embodiment of the present invention provides a kind of mechanical arm, as shown in Figure 1, including pedestal 6, at least one hand unit and
It is arranged at pedestal 6 and drives the driving device 7 of at least one hand unit movement, wherein：Each hand unit is included simultaneously
At least two branches of connection, each branch (by taking branch 1 as an example) include the near-end armed lever 1a being hinged and distal end armed lever 1b, each
The near-end armed lever 1a of branch is hinged with pedestal 6, and the distal end armed lever 1b and end effector 5 of each branch are hinged.
In an embodiment of the present invention, described " remote " refers to close to the direction of end effector, and " near " refers to close to pedestal
Direction, for example, in the embodiment shown in fig. 1, the near-end armed lever of hand unit is：It is near-end armed lever 1a, near-end armed lever 2a, near
End arms bar 3a and near-end armed lever 4a, the distal end armed lever of hand unit are：Distal end armed lever 1b, distal end armed lever 2b, distal end armed lever 3b and
Distal end armed lever 4b.
Wherein, the particular number of hand unit is unlimited, such as can be one, two, three etc.；Each hand unit
Including branch particular number it is unlimited, such as can be two, three, four etc., it is preferred that each hand unit includes
Two branches in parallel.
In the various embodiments of the invention, the concrete type of end effector is unlimited, such as can be that pellet type end is held
Row device, such as hand fork, or vacuum adsorption type end effector, such as can be vacuum adsorption type suction disc etc..Work as driving
During device driving hand unit movement, hand unit drives the end effector hinged with it to carry out linear telescopic movement, and then
Realize the carrying to glass substrate；The concrete mode of driving device driving hand unit movement is also unlimited, such as can pass through machine
Tool is driven or the near-end armed lever movement of hydraulic drive driving hand unit.
Mechanical arm provided in an embodiment of the present invention, hand unit is using double branch parallel-connection structures, compared with prior art, this hair
The mechanical arm structural rigidity bigger that bright technical solution provides, bearing capacity is stronger, especially improves the resistance side of distal end armed lever
It turns over moment of flexure ability and resists its torque capacity along vertical axis, and then make that the working performance of mechanical arm is more preferable, and service life is longer.
In a preferred embodiment of the invention, as shown in Fig. 2, the near-end armed lever 1a of two branches of hand unit with
Near-end armed lever 2a (or near-end armed lever 3a and near-end armed lever 4a) is connected by gear drive, two branches of hand unit it is remote
End arms bar 1b is connected with distal end armed lever 2b (or distal end armed lever 3b and distal end armed lever 4b) also by gear drive.With 1 He of branch
Exemplified by branch 2, driving device drives a near-end armed lever 1a to rotate, and passes through the engaged transmission of gear, the proximal arm of hand unit
Bar 2a, distal end armed lever 1b and distal end armed lever 2b are also rotated therewith, and end effector 5 is with the rotation of near-end armed lever and distal end armed lever
The stretching motion in rectilinear direction is realized, so as to fulfill the linear telescopic function of mechanical arm.Come real by way of gear engagement
The linear telescopic of existing mechanical arm, structure is relatively simple, in addition, compared with prior art, without in near-end armed lever and distal end armed lever
Design complicated belt drive system in portion's reduces the manufacture cost of mechanical arm, while can be to avoid because being caused during belt fracture
Mechanical arm risk out of control.
In an embodiment of the present invention, as shown in Figure 1, the concrete shape of pedestal 6 is unlimited, be preferably U-shaped pedestal, U-shaped base
Seat includes opposite top base arm 60 and bottom base arm 61.
In an embodiment of the invention, it is respectively the first hand unit and the as shown in Figure 1, hand unit is two
Two hand units, the first hand unit include branch 1 and branch 2, and the second hand unit includes branch 3 and branch 4, the first arm
The near-end armed lever 1a and near-end armed lever 2a of unit are hinged with the top base arm 60 of U-shaped pedestal, the near-end armed lever of the second hand unit
3a and near-end armed lever 4a and the bottom base arm 61 of U-shaped pedestal are hinged, the distal end armed lever 1b of the first hand unit and distal end armed lever 2b
An end effector 5 is respectively articulated with the distal end armed lever 3b and distal end armed lever 4b of the second hand unit.In the embodiment of the present invention
In, the first hand unit and the second hand unit can be realized flexible on the same line respectively, and mechanical arm can be adapted for needing
Want the occasion of longer linear telescopic stroke.
In an alternative embodiment of the invention, hand unit is two, respectively the first hand unit and the second hand unit,
The near-end armed lever of two branches of first hand unit is hinged with the top base arm of U-shaped pedestal, two branch of the second hand unit
The near-end armed lever of chain is hinged with the bottom base arm of U-shaped pedestal, the distal end armed lever of two branches of the first hand unit and second-hand
The distal end armed lever of two branches of arm unit is hinged with same end effector.In this embodiment, four branches in parallel
Near-end armed lever is hinged with pedestal, and the distal end armed lever of four branches in parallel is hinged same end effector, the carrying of mechanical arm
Ability and structural rigidity have obtained huge raising, and the mechanical arm of the technical program is larger suitable for requiring bearing capacity
Carry occasion.
An embodiment of the present invention provides a kind of transfer robot, as shown in figure 3, including lifting shaft 8, carrying engine base 9, pedestal
Track 10, end effector 5 and the mechanical arm as described in any of the above-described technical solution.
Transfer robot described in above-described embodiment, including vertical moving unit, for making pedestal vertical on lifting shaft
It slides；Rotary unit, for lifting shaft to be made to be rotated on engine base is carried；Handling unit, for making carrying engine base in base track
Upper horizontal slip.
The transfer robot of the embodiment of the present invention, using the mechanical arm as described in any of the above-described technical solution, compared to existing
Technology, the bearing capacity and structural rigidity of the transfer robot are higher, and working performance is preferable, and service life is longer, in addition,
The structure design of lightweight so that the transfer robot is adapted to the requirement of the higher speed of service, is advantageously implemented robot fortune
Capable high speed.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and scope.In this way, if these modifications and changes of the present invention belongs to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these modification and variations.
Claims (3)
1. a kind of mechanical arm, which is characterized in that including：It pedestal, at least one hand unit and is arranged at pedestal and drives institute
The driving device of at least one hand unit movement is stated, wherein：
Each hand unit includes at least two branches in parallel, and each branch includes the near-end armed lever and distal arm that are hinged
Bar, near-end armed lever and the pedestal of each branch are hinged, and distal end armed lever and the end effector of each branch are hinged；The pedestal is
U-shaped pedestal, the U-shaped pedestal include opposite top base arm and bottom base arm；
The hand unit is two, is respectively the first hand unit and the second hand unit；
Top base arm of the near-end armed lever of described first hand unit, two branches with U-shaped pedestal is hinged, second arm
Bottom base arm of the near-end armed lever of two branches of unit with U-shaped pedestal is hinged；
The distal end armed lever of two branches of distal end armed lever and the second hand unit of described first hand unit, two branches with it is same
A end effector is hinged；
The near-end armed lever of described two branches is connected by gear drive, and the distal end armed lever of described two branches passes through gear drive
Connection.
2. mechanical arm as described in claim 1, which is characterized in that the hand unit includes two branches in parallel.
3. a kind of transfer robot, which is characterized in that including mechanical arm as claimed in claim 1 or 2.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105328713A CN105328713A (en) | 2016-02-17 |
| CN105328713B true CN105328713B (en) | 2018-05-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510788416.9A Active CN105328713B (en) | 2015-11-16 | 2015-11-16 | A kind of mechanical arm and transfer robot |
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| CN (1) | CN105328713B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4732716B2 (en) * | 2004-06-29 | 2011-07-27 | 株式会社アルバック | Conveying apparatus, control method therefor, and vacuum processing apparatus |
| KR101073275B1 (en) * | 2006-08-21 | 2011-10-12 | 가부시키가이샤 야스카와덴키 | Double arm robot |
| JP2008074550A (en) * | 2006-09-21 | 2008-04-03 | Murata Mach Ltd | Scara arm |
| CN101549493B (en) * | 2008-06-19 | 2010-07-28 | 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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| CN105328713A (en) | 2016-02-17 |
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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. |