CN106272403A - A kind of punching press industry is with four axle robots - Google Patents
A kind of punching press industry is with four axle robots Download PDFInfo
- Publication number
- CN106272403A CN106272403A CN201610844500.2A CN201610844500A CN106272403A CN 106272403 A CN106272403 A CN 106272403A CN 201610844500 A CN201610844500 A CN 201610844500A CN 106272403 A CN106272403 A CN 106272403A
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- China
- Prior art keywords
- axle
- wrist
- reductor
- attitude
- large arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of punching press industry four axle robots, belong to robot field, specifically include fixing seat, swivel base, large arm, forearm, wrist, fixing seat is connected by the combination of the first axle servomotor, the first axle RV reductor with swivel base, and the first axle RV speed reducer output shaft is fixed on fixing seat；Swivel base is connected by the combination of the second axle servomotor, the second axle RV reductor with large arm, and the second axle RV speed reducer output shaft is fixed on large arm；Large arm is connected by the combination of the 3rd axle servomotor, the 3rd axle RV reductor with forearm, and the 3rd axle RV speed reducer output shaft is fixed on large arm；Also including the 4th axle servomotor, the 4th axle RV reductor combination, the 4th axle servomotor, the 4th axle RV reductor combination are installed on wrist, and the 4th axle RV speed reducer output shaft connects wrist output flange；The advantage that the present invention possesses compact conformation, machining accuracy is high, load capacity is strong.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of punching press industry four axle robots.
Background technology
Be used to substitute punching press industry inner machine people manually carry out carrying, loading and unloading, the work such as Combined process.
Existing punching press industry four axle robot is during producing assembling, for standard assemblied technique with improve end and bear
Loading capability, existing servomotor and reductor combination all according to be preferentially installed in upper level mechanism with reduce next stage conduct oneself with dignity,
Thus promoting the principle of end load ability, its assembling is all installed on upper level mechanism, by subtracting according to motor reducer combination
The way that speed machine output flange is connected to next stage mechanism is the most conservative, and theoretically realization alleviates oneself of next stage mechanism
Weight, improves end load ability to a certain extent, but in actual applications, and its structure cannot in the light of actual conditions layout, knot
Structure is tediously long, on the other hand reduces again the load capacity of end；It addition, each axle all installs motor reducer by same way
The combination of combination i.e. motor reducer is installed on upper level mechanism, and reductor output flange is connected to next stage mechanism so that
The shortcoming of this motor reducer compound mode expands, and machining accuracy does not reaches advanced level；In addition, existing wrist attitude is protected
Hold mechanism and all cannot realize regulatory function, after long-term use or collided, do not reach level standard, service life and equipment
Safeguard loaded down with trivial details.
Summary of the invention
It is an object of the invention to provide a kind of punching press industry four axle robots, it possess compact conformation, machining accuracy height,
The advantage that load capacity is strong, the punching press industry of the present invention four axle robot servo motors, the combination of RV reductor fill according to reality
Join demand, be adjusted flexibly, determine that RV speed reducer output shaft is connected to upper level mechanism or next stage mechanism according to assembled condition, and
Servomotor, RV reductor are combined through two ways and are installed on robot, have complementary advantages, while being effectively improved operating accuracy
Make equipment overall structure the compactest, it addition, wrist attitude is adjusted flexibly also dependent on being actually needed, and in life-time service mistake
Rear or suffer collision to cause attitude to change still can be adjusted, plant maintenance is convenient, dependable performance.
In order to solve in prior art that punching press industry four axle robot architecture is unreasonable, machining accuracy is low, difficult in maintenance
Technical problem, a kind of punching press industry disclosed by the invention is with four axle robots, including fixing seat, swivel base, large arm, forearm, wrist,
Described fixing seat, swivel base, large arm, forearm, wrist order is connected, and fixing seat and swivel base are by the first axle servomotor, the first axle
The combination of RV reductor is connected, and the first axle RV speed reducer output shaft is fixed on fixing seat, and the first axle RV reductor body is solid
Due to swivel base；Swivel base is connected by the combination of the second axle servomotor, the second axle RV reductor with large arm, and the second axle RV subtracts
Speed machine output shaft is fixed on large arm, and the second axle RV reductor body is fixed on swivel base；Large arm and forearm are by the 3rd axle servo electricity
Machine, the combination of the 3rd axle RV reductor are connected, and the 3rd axle RV speed reducer output shaft is fixed on large arm, the 3rd axle RV reductor
Body is fixed on forearm；Also include the 4th axle servomotor, the 4th axle RV reductor combination, the 4th axle servomotor, the 4th axle
The combination of RV reductor is installed on wrist, and the 4th axle RV speed reducer output shaft connects wrist output flange, the 4th axle RV reductor
Body is fixed on wrist.
Further, the punching press industry that the present invention provides, with four axle robots, wherein, also includes that wrist attitude keeps machine
Structure, this wrist attitude maintaining body is arranged at wrist, and/or, this wrist attitude maintaining body be arranged at wrist, the 3rd axle and
Swivel base.
Further, the punching press industry that the present invention provides is with four axle robots, wherein, under wrist attitude maintaining body includes
The gimbal lever, tripod and the upper gimbal lever, tripod is arranged at the 3rd axle, and lower gimbal lever one end is connected to turn by the first support
Seat, the other end of the lower gimbal lever is connected to tripod, and upper gimbal lever one end is connected to wrist by the second support, the upper gimbal lever
The other end is connected to tripod；The lower gimbal lever and large arm composition large arm parallelogram sturcutre, the upper gimbal lever and forearm composition are little
Arm parallelogram sturcutre.
Further, the punching press industry that the present invention provides, with four axle robots, wherein, also includes fine adjustment of attitude device, should
Fine adjustment of attitude device is arranged at the first support, adjusts wrist in order to regulate the junction point position of the lower gimbal lever and the first support
The attitude that portion is spatially residing.
Further, the punching press industry that the present invention provides is with four axle robots, and wherein, fine adjustment of attitude device is that stepping is electric
At least one in machine, rack-and-pinion group or screw-rod structure three.
Further, the punching press industry that the present invention provides, with four axle robots, wherein, also includes fine adjustment control system, should
Fine adjustment control system includes control centre and wrist attitude detection module, wrist attitude detection module and control centre's electrical connection,
In attitude residing for space in order to detect wrist thus control fine adjustment of attitude device and adjust the attitude that wrist is spatially residing.
Punching press industry of the present invention compared with prior art has the advantage that the punching press industry of the present invention with four axle robots
Combine according to practical set demand with four axle robot servo motors, RV reductor, be adjusted flexibly, determine RV according to assembled condition
Speed reducer output shaft is connected to upper level mechanism or next stage mechanism, and servomotor, RV reductor are combined through two ways
It is installed on robot, has complementary advantages, while being effectively improved operating accuracy, make equipment overall structure the compactest, it addition, also
Wrist attitude can be adjusted flexibly according to actual needs, and after life-time service or suffer collision to cause attitude to change still can to carry out
Adjusting, plant maintenance is convenient, dependable performance.
Accompanying drawing explanation
Fig. 1 is punching press industry of the present invention four axle robot one orientation structural representations；
Fig. 2 is punching press industry of the present invention four axle robot another kind orientation structural representations；
Fig. 3 is punching press industry of the present invention four axle robot the first shaft-assembling structure sketches；
Fig. 4 is punching press industry of the present invention four axle robot the second shaft-assembling structure sketches；
Fig. 5 is punching press industry of the present invention four axle robot the 3rd shaft-assembling structure sketches；
Fig. 6 is punching press industry of the present invention four axle robot the 4th shaft-assembling structure sketches；
Fig. 7 is punching press industry of the present invention four axle robot fine adjustment control system block diagrams.
Wherein: 1, fixing seat；2, swivel base；3, large arm；4, forearm；5, wrist；6, the first axle servomotor；7, the first axle RV
Reductor；8, the second axle servomotor；9, the second axle RV reductor；10, the 3rd axle servomotor；11, the 3rd axle RV reductor；
12, the 4th axle servomotor；13, the 4th axle RV reductor；14, the lower gimbal lever；15, tripod；16, the upper gimbal lever；17, first
Support；18, the second support；19, fine adjustment of attitude device；20, control centre；21, wrist attitude detection module.
Detailed description of the invention
Below by specific embodiment and combine accompanying drawing technical solution of the present invention is described in further detail:
As depicted in figs. 1 and 2, a kind of punching press industry disclosed by the invention is with four axle robots, including fixing seat 1, swivel base
2, large arm 3, forearm 4, wrist 5, this fixing seat 1, swivel base 2, large arm 3, forearm 4, wrist 5 order is connected；As it is shown on figure 3, it is fixing
Seat 1 is connected by the combination of first axle servomotor the 6, first axle RV reductor 7 with swivel base 2, and the first axle RV reductor 7
Output shaft is fixed on fixing seat 1, and the body of the first axle RV reductor 7 is fixed on swivel base 2；As shown in Figure 4, swivel base 2 and large arm 3 are led to
The combination crossing second axle servomotor the 8, second axle RV reductor 9 is connected, and the output shaft of the second axle RV reductor 9 is fixed on
Large arm 3, the body of the second axle RV reductor 9 is fixed on swivel base 2 (contrary with installation position shown in Fig. 3)；As it is shown in figure 5, large arm 3
It is connected by the combination of the 3rd axle servomotor the 10, the 3rd axle RV reductor 11 with forearm 4, and the 3rd axle RV reductor 11
Output shaft is fixed on large arm 3, and the body of the 3rd axle RV reductor 11 is fixed on forearm 4 (contrary with installation direction shown in Fig. 4)；As
Shown in Fig. 6, also include that the 4th axle servomotor the 12, the 4th axle RV reductor 13 combines, the 4th axle servomotor the 12, the 4th axle RV
Reductor 13 combination is installed on wrist 5, and the output shaft of the 4th axle RV reductor 13 connects the output flange of wrist 5, the 4th axle
The body of RV reductor 13 is fixed on wrist 5 (contrary with installation direction shown in Fig. 5).
The carried the advantage that servomotor of above example, RV reductor combine according to practical set demand, flexibly
Adjust, determine that RV speed reducer output shaft is connected to upper level mechanism or next stage mechanism according to assembled condition, it is ensured that entirety sets
While standby structure is the compactest, end load ability is strengthened；It addition, servomotor, RV reductor are combined through two kinds of sides
Formula is installed on robot, has complementary advantages, is effectively improved operating accuracy.
It is emphasized that: above-mentioned upper level mechanism and next stage mechanism are according to fixing seat 1, swivel base 2, large arm 3, little
Arm 4, wrist 5 are tactic, i.e. fix the upper level mechanism that seat 1 is swivel base 2, and swivel base 2 is the next stage mechanism of fixing seat 1,
Other are by that analogy.
Meanwhile, the punching press industry that the present invention provides, with four axle robots, wherein, also includes wrist attitude maintaining body, should
Wrist attitude maintaining body is arranged at wrist 5, and/or, this wrist attitude maintaining body is arranged at wrist the 5, the 3rd axle and turns
Seat 2.
Concrete, wrist attitude maintaining body includes the lower gimbal lever 14, tripod 15 and the upper gimbal lever 16, tripod 15
Being arranged at the 3rd axle, the lower gimbal lever 14 one end is connected to swivel base 2 by the first support 17, and the other end of the lower gimbal lever 14 is connected to
Tripod 15, the upper gimbal lever 16 one end is connected to wrist 5 by the second support 18, and the other end of the upper gimbal lever 16 is connected to triangle
Frame 15；The lower gimbal lever 14 and large arm 3 form large arm parallelogram sturcutre, and the upper gimbal lever 16 forms forearm parallel four with forearm 4
Limit shape structure.
Above example is carried the advantage which kind of appearance regardless of swivel base 2, large arm 3 and forearm 4 be spatially
State, wrist 5 remains the attitude of setting, stable performance under the effect of wrist attitude maintaining body, and its principle is, first
Support 17 and the second axle are arranged on swivel base 2, and the line of the lower gimbal lever 14 and the junction point of the first support 17 and the second axle exists
Angle-determining spatially is constant, owing to constituting large arm parallelogram sturcutre between the lower gimbal lever 14 and large arm 3, therefore leads to
The Guo Xia gimbal lever 14 and the first rigidly connected tripod of support 17 15 angle spatially determine that constant, finally due to upper
Between the gimbal lever 16 and forearm 4, the forearm parallelogram sturcutre of composition, therefore the most firm by the upper gimbal lever 16 and tripod 15
Property the second support 18 angle spatially of connecting constant, it is possible to reliably ensure that wrist 5 spatial attitude keeps constant.
As further prioritization scheme, the punching press industry that the present invention provides, with four axle robots, also includes that fine adjustment of attitude fills
Putting 19, this fine adjustment of attitude device 19 is arranged at the first support 17, in order to regulate the lower gimbal lever 14 and the junction point of the first support 17
Position thus adjust the attitude that wrist 5 is spatially residing.
Concrete, fine adjustment of attitude device 19 is at least one in motor, rack-and-pinion group or screw-rod structure three.
Above ribbon is advantageous in that, the attitude of wrist 5 can be adjusted flexibly according to actual needs, and
After life-time service or suffer collision to cause wrist 5 attitude still can be adjusted when not conforming to Production requirement, plant maintenance is convenient, property
Can be reliable.
As further prioritization scheme, in order to improve automaticity, as it is shown in fig. 7, the punching press industry that the present invention provides
With four axle robots, also including fine adjustment control system, this fine adjustment control system includes control centre 20 and wrist attitude detection mould
Block 21, wrist attitude detection module 21 and control centre 20 electrically connect, thus control in attitude residing for space in order to detect wrist 5
Fine adjustment of attitude device 19 adjusts the attitude that wrist 5 is spatially residing.
It should be noted last that, above detailed description of the invention only in order to technical scheme to be described and unrestricted,
Although the present invention being described in detail with reference to embodiment, it will be understood by those within the art that, can be to this
Bright technical scheme is modified or equivalent, and without deviating from the spirit and scope of technical solution of the present invention, it all should be contained
Cover in the middle of scope of the presently claimed invention.
Claims (6)
1. punching press industry is with four axle robots, including fixing seat (1), swivel base (2), large arm (3), forearm (4), wrist (5),
Described fixing seat (1), swivel base (2), large arm (3), forearm (4), wrist (5) order are connected, it is characterised in that described fixing seat
(1) it is connected by the combination of the first axle servomotor (6), the first axle RV reductor (7) with swivel base (2), and the first axle RV subtracts
The output shaft of speed machine (7) is fixed on fixing seat (1), and the body of the first axle RV reductor (7) is fixed on swivel base (2)；Described swivel base
(2) it is connected by the combination of the second axle servomotor (8), the second axle RV reductor (9) with large arm (3), and the second axle RV subtracts
The output shaft of speed machine (9) is fixed on large arm (3), and the body of the second axle RV reductor (9) is fixed on swivel base (2)；Described large arm (3)
It is connected by the 3rd axle servomotor (10), the combination of the 3rd axle RV reductor (11) with forearm (4), and the 3rd axle RV slows down
The output shaft of machine (11) is fixed on large arm (3), and the body of the 3rd axle RV reductor (11) is fixed on forearm (4)；Also include the 4th
Axle servomotor (12), the 4th axle RV reductor (13) combination, described 4th axle servomotor (12), the 4th axle RV reductor
(13) combination is installed on wrist (5), and the output shaft of the 4th axle RV reductor (13) connects the output flange of wrist (5), and the 4th
The body of axle RV reductor (13) is fixed on wrist (5).
Punching press industry the most according to claim 1 is with four axle robots, it is characterised in that also include that wrist attitude keeps machine
Structure, described wrist attitude maintaining body is arranged at wrist (5), and/or, described wrist attitude maintaining body be arranged at wrist (5),
3rd axle and swivel base (2).
Punching press industry the most according to claim 2 is with four axle robots, it is characterised in that described wrist attitude maintaining body
Including the lower gimbal lever (14), tripod (15) and the upper gimbal lever (16), described tripod (15) is arranged at the 3rd axle, described under
One end of the gimbal lever (14) is connected to swivel base (2) by the first support (17), and the other end of the lower gimbal lever (14) is connected to triangle
Frame (15), one end of the described upper gimbal lever (16) is connected to wrist (5) by the second support (18), another of the upper gimbal lever (16)
End is connected to tripod (15)；The described lower gimbal lever (14) and large arm (3) composition large arm parallelogram sturcutre, described upper balance
Bar (16) and forearm (4) composition forearm parallelogram sturcutre.
Punching press industry the most according to claim 3 is with four axle robots, it is characterised in that also include fine adjustment of attitude device
(19), described fine adjustment of attitude device (19) is arranged at the first support (17), in order to regulate the lower gimbal lever (14) and the first support
(17) junction point position thus adjust the attitude that wrist (5) is spatially residing.
Punching press industry the most according to claim 4 is with four axle robots, it is characterised in that described fine adjustment of attitude device (19)
For at least one in motor, rack-and-pinion group or screw-rod structure three.
Punching press industry the most according to claim 4 is with four axle robots, it is characterised in that also include fine adjustment control system,
Described fine adjustment control system includes control centre (20) and wrist attitude detection module (21), described wrist attitude detection module
(21) electrically connect with control centre (20), in attitude residing for space thus control fine adjustment of attitude device in order to detect wrist (5)
(19) attitude that wrist (5) is spatially residing is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844500.2A CN106272403A (en) | 2016-09-20 | 2016-09-20 | A kind of punching press industry is with four axle robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844500.2A CN106272403A (en) | 2016-09-20 | 2016-09-20 | A kind of punching press industry is with four axle robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272403A true CN106272403A (en) | 2017-01-04 |
Family
ID=57713215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610844500.2A Pending CN106272403A (en) | 2016-09-20 | 2016-09-20 | A kind of punching press industry is with four axle robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272403A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671072A (en) * | 2017-02-15 | 2017-05-17 | 昆山威创自动化科技有限公司 | Four-shaft stacking robot |
| CN107696025A (en) * | 2017-10-30 | 2018-02-16 | 广东腾山机器人有限公司 | A kind of four axle pressing robots |
| CN108789389A (en) * | 2018-07-27 | 2018-11-13 | 广东伯朗特智能装备股份有限公司 | A kind of rotating mechanism, multi-axis robot and assemble method |
| CN110202615A (en) * | 2019-07-01 | 2019-09-06 | 广东伯朗特智能装备股份有限公司 | A kind of four axis robot palletizer of heavy load with spring balancing cylinder assembly |
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
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| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
| CN110202615A (en) * | 2019-07-01 | 2019-09-06 | 广东伯朗特智能装备股份有限公司 | A kind of four axis robot palletizer of heavy load with spring balancing cylinder assembly |
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