CN105710870A - Four-freedom-degree horizontal joint robot - Google Patents
Four-freedom-degree horizontal joint robot Download PDFInfo
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- CN105710870A CN105710870A CN201410730154.6A CN201410730154A CN105710870A CN 105710870 A CN105710870 A CN 105710870A CN 201410730154 A CN201410730154 A CN 201410730154A CN 105710870 A CN105710870 A CN 105710870A
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Abstract
The invention relates to a four-freedom-degree horizontal joint robot. The four-freedom-degree horizontal joint robot comprises a rack, a mechanical arm lifting device, a large arm rotating device, a forearm rotating device and a fixture rotating device, wherein the rack is arranged on the ground, and the mechanical arm lifting device, the large arm rotating device, the forearm rotating device and the fixture rotating device are arranged on the rack. The mechanical arm lifting device moves up and down on the rack. One end of the large arm rotating device is fixed to the mechanical arm lifting device and rotates around the position where one end of the large arm rotating device and the mechanical arm lifting device are fixed, and the other end of the large arm rotating device is in rotational fit with the forearm rotating device. The fixture rotating device is installed at the tail end of the forearm rotating device, and a rotatable fixture used for grabbing articles is arranged on the fixture rotating device. According to the four-freedom-degree horizontal joint robot used for carrying the articles, the articles can be perpendicularly and horizontally carried in a working space of the robot, and different fixtures can be installed on a fixture connecting flange to achieve operations of carrying, stacking and the like, so that the production efficiency is greatly improved.
Description
Technical field
The present invention relates to packing machinery technology, be specifically related to a kind of four-degree-of-freedom flapping articulation robot.
Background technology
In packing machinery technology, packaging haulage equipment is that according to certain requirement, packed article or packing material are carried out transfer carrying.Frequently refer to the bucket to finished product (bottle) case, and end product packing is carried out piling, also can relate in article carrying placements etc. such as palletization median septums.It is that this kind of mode labor intensity is big, it is many to take personnel, and production efficiency is low by manually carrying out this kind of operation traditionally.Or fixture completes operation with special-purpose machinery or industrial robot, but this kind of mode equipment cost is high, and adjustment difficulty is big and safeguards the defects such as complicated.
Also the mechanical arm for carrying operation engendered on market in recent years, but these are typically all for the mechanical arm carried and are specifically designed for what certain packing material was developed, special computer for special use, it is impossible to realize the change of function by changing fixture etc., versatility is poor；Or degree of freedom is fewer, it is possible to the work space of covering is limited, can be only done simple task.
Summary of the invention
It is an object of the invention to provide a kind of with low cost, simple in construction, working service convenient and have the four-degree-of-freedom flapping articulation robot of certain versatility.
For solving above-mentioned technical problem, the technical scheme is that a kind of four-degree-of-freedom flapping articulation robot, including being placed in ground frame, the mechanical arm lowering or hoisting gear being arranged in described frame, big arm rotation unit, front arm rotation unit and fixture rotary apparatus；
Described mechanical arm lowering or hoisting gear moves up and down in described frame；Described big arm rotation unit one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end and described front arm rotation unit are rotatably assorted；Described fixture rotary apparatus is arranged on the end of described front arm rotation unit, which is provided with for capturing article rotating fixture.
Described mechanical arm lowering or hoisting gear includes supporting axle, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and lift servo motor；Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by supporting axle by bearings, upper synchronous pulley and lower synchronous pulley are connected with mechanical arm installing plate and counterweight by 2 Timing Belts and form closed loop winding；Described servomotor is connected with the supporting axle being provided with lower synchronous pulley by shaft coupling.
Described big arm rotation unit is arranged on described mechanical arm installing plate, including large arm rotating servo motor, electric machine support, shaft coupling, rotating shaft, robot ' s arm, big arm support；Described large arm rotating servo motor is arranged on electric machine support upper end；Described robot ' s arm is arranged in the middle of big arm support, and rotating shaft fixedly mounts with robot ' s arm, is connected with described large arm rotating servo motor by shaft coupling after robot ' s arm arm body support frame.
Described front arm rotation unit is arranged on described robot ' s arm, including forearm rotating servo motor, forearm block bearing, front arm support, robot forearm；Described forearm rotating servo motor is arranged on forearm pedestal upper end, is connected with robot forearm upper surface by transition piece, and forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
Described fixture rotary apparatus is arranged on described robot forearm, including fixture rotating servo motor and fixture mounting flange；Described fixture rotating servo motor is installed on the end of forearm, and fixture adpting flange is connected with rotating servo motor output flange, and is connected with robot clamp.
Described mechanical arm lowering or hoisting gear also includes guide rail, roller and roller mounting bracket；Roller is arranged in roller mounting bracket；Roller mounting bracket is connected with described mechanical arm installing plate；Guide rail is connected with described frame；Roller is at guide rail both sides reciprocating rolling.
Described large arm rotating servo motor is coaxially connected by shaft coupling and large arm rotating shaft.
Described forearm rotating servo motor is arranged on forearm pedestal upper end, is connected with robot forearm upper surface by transition piece, and forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
Beneficial effects of the present invention: a kind of four-degree-of-freedom flapping articulation robot for carrying of the present invention can realize the article vertically and horizontally carrying in robot working space, and different fixture can be installed on fixture adpting flange and realize the operations such as carrying, piling, substantially increase production efficiency.
Accompanying drawing explanation
Fig. 1 is the Facad structure signal of the present invention a kind of four-degree-of-freedom flapping articulation robot；
Fig. 2 is the side structure signal of the present invention a kind of four-degree-of-freedom flapping articulation robot；
Fig. 3 is the partial enlarged drawing in I region in Fig. 2；
Fig. 4 be in Fig. 3 A-A to sectional view.
In figure: 1. frame；2. go up synchronous pulley；3. on, support axle；4. riser guide；5. mechanical arm installing plate；6. lower support axle；7. descend synchronous pulley；8. shaft coupling；9. lift servo motor；10. roller mounting bracket；11. large arm rotating servo motor；12. electric machine support；13. shaft coupling；14. big arm support；15. large arm rotating shaft；16. large arm arm body；17. front arm support；18. forearm rotating servo motor；19. forearm arm body；20. fixture rotating servo motor；21. fixture mounting flange；22. Timing Belt；23. counterweight；24. roller.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
As shown in Figures 1 to 4, one of the present invention four-degree-of-freedom flapping articulation robot, including: it is placed in the frame 1 on ground, is arranged on the mechanical arm lowering or hoisting gear in described frame 1, big arm rotation unit, front arm rotation unit and fixture rotary apparatus.
Described mechanical arm lowering or hoisting gear includes 2 and is vertically perpendicular to the riser guide 4 that ground is arranged along described frame 1, along the roller 24 that each riser guide 4 rolls, roller 24 is arranged in roller mounting bracket 10, and 4 roller mounting brackets 10 are separately fixed at mechanical arm installing plate 5 side；
Upper synchronous pulley 2 is horizontally disposed with in frame upper end, bearings is passed through by upper supporting axle 3, lower synchronous pulley 7 is horizontally disposed with in frame lower end, by lower support axle 6 by bearings, 2 Timing Belts 22 are wound in synchronous pulley 2 and are wound around by the composition closed loop that is connected with mechanical arm installing plate 5 and counterweight 23 with lower synchronous pulley 7；Described lift servo motor 9 is connected with the lower support axle 6 installing lower synchronous pulley 7 by shaft coupling 8；
Described big arm rotation unit is arranged on described mechanical arm installing plate 5, and it includes large arm rotating servo motor 11, electric machine support 12, shaft coupling 13, rotating shaft 15, robot ' s arm 16, big arm support 14；Described large arm rotating servo motor 11 is arranged on electric machine support 12 upper end；Described robot ' s arm 16 is arranged in the middle of big arm support 14, and rotating shaft 15 and robot ' s arm 16 fixedly mount, and is connected with described large arm rotating servo motor 11 by shaft coupling 13 after robot ' s arm support 14；
Described front arm rotation unit is arranged on described robot ' s arm 16, including forearm rotating servo motor 18, forearm block bearing, front arm support 17, robot forearm 19；Described forearm rotating servo motor 18 is arranged on front arm support 17 upper end, is connected with robot forearm 19 upper surface by transition piece, and forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm 19 lower surface by transition piece；
Described fixture rotary apparatus is arranged on described robot forearm 19, including fixture rotating servo motor 21 and fixture mounting flange 20；Described fixture rotating servo motor 21 is installed on the end of robot forearm 19, and fixture adpting flange 20 is connected with rotating servo motor 21 output flange, and is connected with robot clamp.
The work process of a kind of four-degree-of-freedom provided by the invention flapping articulation robot is as follows:
When carrying when there being article to need, lift servo motor 9 operates, and drives lower synchronous pulley 7 rotate and drive Timing Belt 17 to move, and driving mechanical arm installing plate and mechanical arm rotary apparatus mounted thereto move up and down；Large arm rotating servo motor 11, forearm rotating servo motor 18 operate according to controlling requirement simultaneously, fixture rotary device movement is directly over crawled article, fixture rotating servo motor 21 rotates, and drives fixture to rotate the attitude realizing needing and position, carries out grasping manipulation.
Claims (8)
1. a four-degree-of-freedom flapping articulation robot, it is characterised in that: the mechanical arm lowering or hoisting gear include being placed in ground frame, being arranged in described frame, big arm rotation unit, front arm rotation unit and fixture rotary apparatus；
Described mechanical arm lowering or hoisting gear moves up and down in described frame；Described big arm rotation unit one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end and described front arm rotation unit are rotatably assorted；Described fixture rotary apparatus is arranged on the end of described front arm rotation unit, which is provided with for capturing article rotating fixture.
2. as claimed in claim 1 four-degree-of-freedom flapping articulation robot, it is characterised in that: described mechanical arm lowering or hoisting gear includes supporting axle, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and lift servo motor；Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by supporting axle by bearings, upper synchronous pulley and lower synchronous pulley are connected with mechanical arm installing plate and counterweight by 2 Timing Belts and form closed loop winding；Described servomotor is connected with the supporting axle being provided with lower synchronous pulley by shaft coupling.
3. as claimed in claim 1 four-degree-of-freedom flapping articulation robot, it is characterized in that: described big arm rotation unit is arranged on described mechanical arm installing plate, including large arm rotating servo motor, electric machine support, shaft coupling, rotating shaft, robot ' s arm, big arm support；Described large arm rotating servo motor is arranged on electric machine support upper end；Described robot ' s arm is arranged in the middle of big arm support, and rotating shaft fixedly mounts with robot ' s arm, is connected with described large arm rotating servo motor by shaft coupling after robot ' s arm arm body support frame.
4. as claimed in claim 1 four-degree-of-freedom flapping articulation robot, it is characterised in that: described front arm rotation unit is arranged on described robot ' s arm, including forearm rotating servo motor, forearm block bearing, front arm support, robot forearm；Described forearm rotating servo motor is arranged on forearm pedestal upper end, is connected with robot forearm upper surface by transition piece, and forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
5. as claimed in claim 1 four-degree-of-freedom flapping articulation robot, it is characterised in that: described fixture rotary apparatus is arranged on described robot forearm, including fixture rotating servo motor and fixture mounting flange；Described fixture rotating servo motor is installed on the end of forearm, and fixture adpting flange is connected with rotating servo motor output flange, and is connected with robot clamp.
6. as claimed in claim 2 four-degree-of-freedom flapping articulation robot, it is characterised in that: described mechanical arm lowering or hoisting gear also includes guide rail, roller and roller mounting bracket；Roller is arranged in roller mounting bracket；Roller mounting bracket is connected with described mechanical arm installing plate；Guide rail is connected with described frame；Roller is at guide rail both sides reciprocating rolling.
7. as claimed in claim 3 four-degree-of-freedom flapping articulation robot, it is characterised in that: described large arm rotating servo motor is coaxially connected by shaft coupling and large arm rotating shaft.
8. as claimed in claim 4 four-degree-of-freedom flapping articulation robot, it is characterized in that: described forearm rotating servo motor is arranged on forearm pedestal upper end, it is connected with robot forearm upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410730154.6A CN105710870A (en) | 2014-12-04 | 2014-12-04 | Four-freedom-degree horizontal joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410730154.6A CN105710870A (en) | 2014-12-04 | 2014-12-04 | Four-freedom-degree horizontal joint robot |
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| Publication Number | Publication Date |
|---|---|
| CN105710870A true CN105710870A (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410730154.6A Pending CN105710870A (en) | 2014-12-04 | 2014-12-04 | Four-freedom-degree horizontal joint robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514634A (en) * | 2016-12-13 | 2017-03-22 | 福州美龙医学科技有限公司 | Automatic grabbing and discharging device of sample collecting container |
| CN107867656A (en) * | 2017-12-07 | 2018-04-03 | 北京康力优蓝机器人科技有限公司 | A kind of robot jacking system |
| CN109091235A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109091236A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109091230A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery main operation arm |
| CN109318251A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device and its control method for joint of mechanical arm |
| CN109366523A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of adjustable tow-armed robot base device in packaged type space |
| CN113814806A (en) * | 2021-09-07 | 2021-12-21 | 湘潭大学 | Clamping robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58139926A (en) * | 1982-02-10 | 1983-08-19 | Hitomi Matsuba | Stacking device |
| JPH08150591A (en) * | 1994-11-28 | 1996-06-11 | Meidensha Corp | Industrial robot |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| CN203266634U (en) * | 2013-04-07 | 2013-11-06 | 浙江师范大学 | Plane joint type simple manipulator |
| CN204725488U (en) * | 2014-12-04 | 2015-10-28 | 北京航天斯达科技有限公司 | A kind of four-degree-of-freedom flapping articulation robot |
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2014
- 2014-12-04 CN CN201410730154.6A patent/CN105710870A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58139926A (en) * | 1982-02-10 | 1983-08-19 | Hitomi Matsuba | Stacking device |
| JPH08150591A (en) * | 1994-11-28 | 1996-06-11 | Meidensha Corp | Industrial robot |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| CN203266634U (en) * | 2013-04-07 | 2013-11-06 | 浙江师范大学 | Plane joint type simple manipulator |
| CN204725488U (en) * | 2014-12-04 | 2015-10-28 | 北京航天斯达科技有限公司 | A kind of four-degree-of-freedom flapping articulation robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514634A (en) * | 2016-12-13 | 2017-03-22 | 福州美龙医学科技有限公司 | Automatic grabbing and discharging device of sample collecting container |
| CN109091235A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109091236A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109091230A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery main operation arm |
| CN109091236B (en) * | 2017-06-21 | 2020-08-21 | 山东威高手术机器人有限公司 | Minimally invasive surgical instrument auxiliary operation arm |
| CN109091235B (en) * | 2017-06-21 | 2020-11-24 | 山东威高手术机器人有限公司 | Auxiliary operation arm of minimally invasive surgical instrument |
| CN107867656A (en) * | 2017-12-07 | 2018-04-03 | 北京康力优蓝机器人科技有限公司 | A kind of robot jacking system |
| CN109318251A (en) * | 2018-10-24 | 2019-02-12 | 国网江苏省电力有限公司徐州供电分公司 | A kind of driving device and its control method for joint of mechanical arm |
| CN109366523A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of adjustable tow-armed robot base device in packaged type space |
| CN109366523B (en) * | 2018-11-14 | 2023-09-26 | 华南理工大学 | Movable space-adjustable double-arm robot base device |
| CN113814806A (en) * | 2021-09-07 | 2021-12-21 | 湘潭大学 | Clamping robot |
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Application publication date: 20160629 |