CN107962555A - A kind of heavy duty transfer robot - Google Patents
A kind of heavy duty transfer robot Download PDFInfo
- Publication number
- CN107962555A CN107962555A CN201711432019.3A CN201711432019A CN107962555A CN 107962555 A CN107962555 A CN 107962555A CN 201711432019 A CN201711432019 A CN 201711432019A CN 107962555 A CN107962555 A CN 107962555A
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- China
- Prior art keywords
- mechanical arm
- swing mechanism
- balancer
- connecting rod
- revolute
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 218
- 239000012636 effector Substances 0.000 claims abstract description 33
- 238000009434 installation Methods 0.000 claims description 16
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The present invention provides a kind of heavily loaded transfer robot, belong to robotic technology field.The heavy duty transfer robot includes firm banking, swing mechanism, mechanical arm mechanism, linkage and end effector mechanism；The swing mechanism is connected by revolute with firm banking, can be rotated around the rotating shaft of revolute；The bottom of the mechanical arm mechanism is attached by hinge relay part and the swing mechanism；The bottom of the hinge relay part is connected by revolute with swing mechanism, can be rotated around the rotating shaft of the revolute, and the rotating shaft is parallel with the rotating shaft of swing mechanism；The upper end of the mechanical arm mechanism is connected with the middle part of the linkage；One end of the linkage is connected with the end effector mechanism.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of heavy duty transfer robot.
Background technology
With the high speed development of China's manufacturing, it is required for advising article in many occasions such as loading, unloading, transhipment
Then, neat stacking or transfer, in existing technology, typically by the way of manually carrying or manually using
The instrument of carrying is carried, and labor intensity is larger, carrying it is less efficient, and security incident easily occurs, heavily loaded conveying robot
Spatial volume is small shared by people, and action is more flexible, can meet the production requirement of complexity, the intellectual technology having a wide range of application is in one
High-new electronic product.
The content of the invention
It is an object of the invention to solve above-mentioned problem existing in the prior art, there is provided a kind of heavy duty transfer robot,
Improve stacking efficiency and precision, and flexible movements.
The present invention is achieved by the following technical solutions：
A kind of heavy duty transfer robot, including firm banking, swing mechanism, mechanical arm mechanism, linkage and end are held
Hang Qi mechanisms；
The swing mechanism is connected by revolute with firm banking, can be rotated around the rotating shaft of revolute；
The bottom of the mechanical arm mechanism is attached by hinge relay part and the swing mechanism；The hinge socket part
The bottom of part is connected by revolute with swing mechanism, can be rotated around the rotating shaft of the revolute, and the rotating shaft is with returning
The rotating shaft of rotation mechanism is parallel；
The upper end of the mechanical arm mechanism is connected with the middle part of the linkage；
One end of the linkage is connected with the end effector mechanism.
The linkage includes first connecting rod mechanism and second connecting rod mechanism；
One end of the first connecting rod mechanism is connected with swing mechanism, and can be rotated relative to swing mechanism, the
The middle part of one bindiny mechanism and the upper end of mechanical arm mechanism connect, and the other end is connected with end effector mechanism；
One end of the second connecting rod mechanism is connected with swing mechanism, and can be rotated relative to swing mechanism, the
The middle part of two linkages and the upper end of mechanical arm mechanism connect, and the other end is connected with end effector mechanism；
The first connecting rod mechanism, second connecting rod mechanism drive end effector mechanism to remain translation, can not only
Keep horizontal movement, additionally it is possible to keep inclined plane to move.
The first connecting rod mechanism includes A connecting rods and B connecting rods, and the bottom of A connecting rods by balancer and is returned
Rotation mechanism is attached, and the top of A connecting rods is attached by one end of pin member and B connecting rods, and the middle part of B connecting rods leads to
The upper end for crossing pin member and mechanical arm mechanism connects, and the other end of B connecting rods is attached by pin member and end effector；
The second connecting rod mechanism includes C connecting rods, triangle auxiliary frame and E connecting rods, and the bottom of C connecting rods passes through
Pin member is connected with swing mechanism, and the top of C connecting rods is connected by pin member with an endvertex of triangle auxiliary frame, triangle
The intermediate vertex of auxiliary frame is connected by the upper end of pin member and mechanical arm mechanism, and one end of E connecting rods passes through pin member and three
Another endvertex connection of angle auxiliary frame, the other end of E connecting rods are attached by pin member and end effector.
The balancer is installed on the outside of the revolution Axial and radial of the swing mechanism, and than between swing mechanism and base
Revolute rotating shaft closer to the position on rear side of the firm banking；
The first mounting portion, the second mounting portion, the 3rd mounting portion and the 4th mounting portion are equipped with the swing mechanism；It is described
The side of the rotating shaft of the revolute of first mounting portion, the second installation position between the swing mechanism and base, described
The opposite side of the rotating shaft of the revolute of three mounting portions and the 4th installation position between the swing mechanism and base；
The balancer includes the first balancer and the second balancer；
First balancer is installed on the first mounting portion and the second mounting portion, and second balancer is installed on revolution
On 3rd mounting portion of mechanism and the 4th mounting portion.
First balancer includes cylinder body, piston rod, spring members, top flange, flange in the bottom and sliding bearing sleeve；
The both sides of the outer wall of cylinder block are provided with bearing mounting hole, and bearing, two bearings are provided with bearing mounting hole
Line it is parallel with the rotation axis of mechanical arm mechanism, the cylinder body is rotated by the two bearings；
The spring members include external disk spring, mid-game spring and inner disc spring, and the diameter of three is sequentially reduced；
Flange mounting base is installed in one end of the cylinder body, top flange is installed with flange mounting base,
The other end of cylinder body is provided with flange in the bottom；
In the top flange and the flange in the bottom radially from three spring installation steps are equipped with outside to inside, outside
Disk spring, mid-game spring, the end of inner disc spring are sequentially arranged on three spring installation steps；
The sliding bearing sleeve is installed in the inner cavity of the inner disc spring, and the piston rod connects with the sliding bearing sleeve
Connect；
One end of the piston rod is fixedly connected with the middle part of flange in the bottom by pin, and the flange in the bottom is with piston rod
Move together；The other end of the piston rod is connected after stretching out cylinder body with mechanical arm mechanism.
The curved support mechanism in half-surrounded is equipped with the swing mechanism of the lower section of the cylinder body of first balancer,
When cylinder body is rotated by two bearings, if the curved support mechanism is met in one end of cylinder body, cylinder body stops rotation
Turn.
The second balancer bag counterweight connecting rod and clump weight, the clump weight are connected with counterweight connecting rod by bolt
Connect, the other end of counterweight connecting rod is connected with A connecting rods.
First connecting portion and second connecting portion are provided with the swing mechanism；
First servomotor and the first servo motor being connected with the first servomotor are installed in first connecting portion, its
So as to rotating mode is connected with mechanical arm mechanism；
Second servomotor and the second servo motor being connected with the second servomotor are installed in second connecting portion, its
So as to rotating mode is connected with mechanical arm mechanism；
The first connecting portion is located at turn around above mechanism, the position on the left of mechanical arm mechanism；The second connecting portion position
Position above swing mechanism, on the right side of mechanical arm mechanism；First mounting portion and the second installation position are on swing mechanism
Side, behind first connecting portion, the 3rd mounting portion and the 4th installation position are above swing mechanism, positioned at the second connection
Behind portion.
The bottom of the end effector mechanism is connected with ring flange；
The ring flange is connected to the end of end effector mechanism by revolute, can be around the rotating shaft of the revolute
Rotated.
The firm banking is directly anchored on station by foundation bolt.
Compared with prior art, the beneficial effects of the invention are as follows：There is the present invention bearing capacity by force, accurately to control, operation
The advantages of simple, application prospect are very wide.
Brief description of the drawings
Fig. 1-1 is the stereogram for the robot that embodiment is related to.
Fig. 1-2 is the partial enlarged view at the component 12 in Fig. 1-1.
Fig. 2A -1 is the left side view for the structure for showing the robot that embodiment is related to.
Fig. 2A -2 is the partial enlarged view at the component 12 in Fig. 2A -1.
Fig. 2 B are the schematic diagrames for the effect that the balancer that embodiment is related to is played.
Fig. 3 is the front view for the robot that embodiment is related to.
Fig. 4 A are the perspective views around the P1 portions shown in Fig. 2A -1.
Fig. 4 B are the perspective views observed along arrow A around the P1 portions shown in Fig. 4 A.
Fig. 4 C are the top views for the robot that embodiment is related to.
Fig. 5 is the structure diagram of the first balancer.
Fig. 6 is the structure diagram of the second balancer.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
As shown in Fig. 1-1 to Fig. 4 C, the present invention is a kind of heavily loaded transfer robot 10, including firm banking 11, turn-around machine
Structure 12, mechanical arm mechanism 13, balancer 14, first connecting rod mechanism 15, second connecting rod mechanism 16, end effector mechanism 17, method
Blue disk 18.The swing mechanism 12 is connected into by revolute and firm banking 11 can be around the portion that defined rotating shaft turns round
Part；The mechanical arm mechanism 13 is by connecting into and being rotated around defined rotation axis with swing mechanism 12；The balancer 14
It is connected respectively with swing mechanism 12 and mechanical arm mechanism 13；The first connecting rod mechanism 14 respectively with swing mechanism 12 and end
Execution device 17 connects；The second connecting rod mechanism 15 is connected with swing mechanism 12 and end effector mechanism 17 respectively；Institute
State ring flange 18 end effector mechanism 17 is connected to by revolute and connect into and can be turned round around defined rotating shaft, can basis
Actual requirement installs different executive devices.First connecting rod mechanism 15, second connecting rod mechanism 16, end effector mechanism 17 use
Be that rolling member is attached, the coefficient of friction is relatively low, transmits the efficient of power；Using the structure of similar simply supported beam shape,
There can be good mechanical property, prolong the service life；It can realize that motor corner is passed to the big deceleration than number of large arm pivot angle
It is dynamic, avoid using RV gear reducers so that robot joint structure is simple, and manufacture difficulty reduces, and manufacture cost is reduced.
The firm banking 11 is directly anchored on station by foundation bolt 31, easy to fixed and installation.
The swing mechanism 12 is connected on firm banking 11 by revolute, and can be turned round around defined rotating shaft,
12 bottom of swing mechanism is provided with the connecting portion for connection balancer 14, so as to rotatably with it is described
Mechanical arm mechanism 13 is attached, and servomotor G1 and G2 are provided with the connecting portion, which provides the machine
The rotary driving force of tool arm 13, the servomotor G1 and G2 is so as to the mode of passing power and the balance of the connecting portion
Device connects, i.e., while mechanical arm mechanism is connected with servomotor, mechanical arm mechanism is connected with balancer again.
13 bottom of mechanical arm mechanism and the swing mechanism 12 carry out hinge-connection, the mechanical arm mechanism 13 and the
One linkage 15 connect into for keep end effector 17 move parallelogram arrangement, the mechanical arm mechanism 13 with
Second connecting rod mechanism 16 connects into the parallelogram arrangement for keeping end effector 17 to move.
The balancer 14 is installed on the swing mechanism 12, and is configured at than the swing mechanism 12 by turning round footpath
Laterally and than the rotation axis S between swing mechanism and base by the position on rear side of the firm banking 11.
The balancer 14 is connected with mechanical arm mechanism 13, and mechanical arm mechanism 13 can pull balancer axis to move to press
Thus contracting or release spring component discharge energy storage into spring members or from spring members, for balancing because of machinery
Turning moment caused by the gravity load of arm.
The first connecting rod mechanism 15 includes A connecting rod 15a and B connecting rod 15b, and A connecting rods 15a passes through balancer
It is attached with swing mechanism, A connecting rods are attached with B connecting rods by pin member 37, B connecting rods and mechanical arm mechanism 13
Hinge-connection is carried out, and end is attached by pin member and end effector.
The second connecting rod mechanism includes C connecting rod 16c, triangle auxiliary frame D (16d) and E connecting rod 16e, and C connections
Bar 16c carries out hinge-connection with swing mechanism 12, and triangle auxiliary frame D carries out hinge-connection with mechanical arm mechanism 13, but also is that C connects
The important component that extension bar and E connecting rods are attached, E connecting rods are attached by pin member and end effector 17.
The end effector mechanism 17 makes end by the connection with first connecting rod mechanism 15 and second connecting rod mechanism 16
Execution device 17 can remain translation, can not only keep horizontal movement, inclined plane can also be kept to move.
The ring flange 18 is connected to end effector 17 by revolute and is translatable on retainer, is installed according to being actually needed
Different end effector, by Serve Motor Control, by programming the rotation realized in vertical direction.
Fig. 1-1 and Fig. 1-2 is the 3 dimensional drawing for the robot 10 that embodiment is related to.For convenience of description, robot
10 dynamic rotating positional and posture are in the state shown in Fig. 1-1, easy to each several part to robot 10 position relationship into
Row explanation.
It is described, in Fig. 1-1, in order to help to understand and illustrate, using along straight up as the Z axis of positive direction including
Three-dimensional cartesian coordinate system.The rectangular coordinate system is also shown in for other accompanying drawings described below sometimes at the same time.Also, at this
In embodiment, the positive direction of X-axis refers to the front of robot 10.
Described, as shown in Fig. 1-1 and Fig. 1-2, robot 10 is heavily loaded carrying type.Specifically, robot 10 possesses solid
Determine base 11, swing mechanism 12, mechanical arm mechanism 13, balancer 14, first connecting rod mechanism 15, second connecting rod mechanism 16, end
Execution device 17, ring flange 18.
In addition, first connecting rod mechanism 15 possesses A connecting rod 15a and B connecting rods 15b.A connecting rods 15a is first connecting rod machine
One example of structure 15, B connecting rods 15b are an examples of first connecting rod mechanism 15.
In addition, second connecting rod mechanism 16 possesses C connecting rod 16c, triangle auxiliary frame 16d and E connecting rod 16e.C connecting rods
16c is 16 1 examples of second connecting rod mechanism, and triangle auxiliary frame 16d is 16 1 examples of second connecting rod mechanism, E connecting rods 16e
It is 16 1 examples of second connecting rod mechanism.
In addition, balancer 14 possesses the first balancer 14a and the second balancer 14b.First balancer 14a is balancer
14 example, the second balancer 14b are an examples of balancer 14.
The firm banking 11 is integrally fixed at the supporting base on ground etc..Swing mechanism 12 is so as to the mode of revolution is placed in
On firm banking 11.
In addition, mechanical arm mechanism 13 can be rotated relative to swing mechanism 12, it is specific as follows：Set in mechanical arm bottom
There is rotating mechanism, swing mechanism 12 drives mechanical arm mechanism 13 to rotate, while mechanical arm mechanism 13 is also opposite using rotating mechanism
Swing mechanism is rotated.
In addition, first connecting rod mechanism 15 can be rotated relative to swing mechanism 12.
In addition, second connecting rod mechanism 16 can be rotated relative to swing mechanism 12.
The B connecting rods 15b can be rotated relative to A connecting rods 15a, which is to connect to realize by pin member.
In addition, triangle auxiliary frame 16d can be rotated relative to C connecting rods 16c, E connecting rods 16e can be auxiliary relative to triangle
Frame 16d is helped to rotate, which is to connect to realize by pin member.
In addition, end effector mechanism 17 is so as to rotating mode is arranged at first connecting rod mechanism 15 and second connecting rod machine
The terminal part of structure 16.
In addition, ring flange 18 can be rotated relative to the end effector mechanism 17.
For the structure of the robot 10, Fig. 2A -1 and Fig. 2A -2 are the knots for showing the robot 10 that embodiment is related to
The left side view of structure.
It is described as shown in Fig. 2A -1 and Fig. 2A -2, swing mechanism 12 is relative to firm banking 11 so as to being returned around rotating shaft S
The mode turned connects, as shown in the arrow 201 in Fig. 2A -1.
In addition, first connecting rod mechanism 15 relative to firm banking 11 so as to around rotating shaft S revolution mode connect (i.e. with
Swing mechanism rotates together with), as shown in the arrow 201 in Fig. 2A -1.
In addition, second connecting rod mechanism 16 relative to firm banking 11 so as to around rotating shaft S revolution mode connect, such as scheme
Shown in arrow 201 in 2A-1.
In addition, as shown in Fig. 2A -1, mechanical arm mechanism 13 connects into base end part relative to swing mechanism 12 can be around with returning
Axis L rotations substantially vertical shaft S, as shown in the arrow 202 in Fig. 2A -1.
In addition, B connecting rods 15b connect into base end part relative to the terminal part of mechanical arm mechanism 13 can be around parallel with axis L
Axis U rotation, as shown in the arrow 203 in Fig. 2A -1.Also, B connecting rods 15b is in the rotation position (reference axis as origin
The pivot of U) carry out the action that side is stretched forwards of mechanical arm mechanism 13.
In addition, triangle auxiliary frame 16d and E connecting rod 16e connects into base end part relative to the terminal part of mechanical arm mechanism 13
Can be rotated around the axis U almost parallel with axis L, as shown in the arrow 203 in Fig. 2A -1.Also, triangle auxiliary frame 16d and E
Connecting rod 16e carries out mechanical arm mechanism 13 in the rotation position (pivot of reference axis U) as origin, and side is stretched forwards
Action.
In addition, ring flange 18 relative to the terminal part of end effector mechanism 17 connect into can around rotating with axis R,
As shown in the arrow 205 in Fig. 2A -1.
It is described as shown in Fig. 2A -2, for balancer 14, the base end part of the first balancer 14a is installed in swing mechanism 12
The first mounting portion 12a and the second mounting portion 12b, the base end part of the second balancer 14b be installed in the 3rd of swing mechanism 12
Mounting portion 12c and the 4th mounting portion 12d.
The balancer includes the first balancer 14a and the second balancer 14b, as shown in figure 5, the first balancer 14a includes
Cylinder body, piston rod, spring members, flange and sliding bearing sleeve, the spring members include external disk spring, mid-game spring and inner disc
Spring, bearing mounting hole is provided with the first balancer 14a cylinder bodies both sides；Flange is installed in the first balancer 14a cylinder bodies
Three spring installation steps are provided with flange mounting base, on flange, external disk spring, mid-game spring, inner disc spring one end be not with
The state of stress is sequentially arranged on three spring installation steps of the first balancer 14a cylinder body inner flanges, sliding bearing suit
It is inserted in inner disc spring ring, piston rod is connected with sliding bearing sleeve, and one end of piston rod is connected with flange in the bottom, drives bottom method
Orchid moves together.One end that piston rod stretches out cylinder body is connected with mechanical arm mechanism 13.As shown in fig. 6, the second balancer 14b
By counterweight connecting rod and counter weight group into, and clump weight is bolted with counterweight connecting rod, counterweight connecting rod it is another
End is connected with connecting rod 15a.
In addition, the first balancer 14a is mounted to around the axis AX1 rotation parallel with axis L in the first mounting portion 12a
, as shown in the arrow 207 in Fig. 2A -2.
In addition, the first balancer 14a is installed in the 2nd mounting portion 12b mechanical arm mechanism 13 can be made rotating around axis L
At connecting shaft AX2, connecting shaft AX2 is a special pin connecting shaft, and the free end of the piston rod of the first balancer 14a
It is attached with mechanical arm mechanism 13 by pin connecting shaft, as shown in the arrow 208 in Fig. 2A -2.
In addition, the second balancer 14b is mounted to around the axis BX1 rotation parallel with axis L in the 3rd mounting portion 12c,
As shown in the arrow 209 in Fig. 2A -2, the second balancer 14b is attached by pin and mechanical arm mechanism 13.
In addition, the second balancer 14b is installed in the 4th mounting portion 12d can make connecting rod 15a around the rotating companies of axis L
Spindle BX2, connecting shaft BX2 are a special connecting shafts, and the second balancer 14b by connecting shaft and connecting rod 15a into
Row connection, as shown in the arrow 210 in Fig. 2A -2.
Also, axis AX1 is an example of the first support shaft (being used to support 14a), and axis AX2 is one of the 2nd support shaft
Example.
In addition, axis BX1 is an example of the 3rd support shaft (being used to support 14b), axis BX2 is one of the 4th support shaft
Example.
Here, as shown in Fig. 2A -2, the first mounting portion 12a configurations are in the significant points than swing mechanism 12 by revolution radial direction
The position of inner side, and configure in the position than axis L by the upside of firm banking 11.That is, the first mounting portion 12a is formed as than returning
Base end part of the rotation mechanism 12 by the position installation balancer 14 of the rear side of robot 10.
The effect played below for the balancer 14 so installed illustrates.It is flat that Fig. 2 B are that embodiment is related to
The schematic diagram for the effect that weighing apparatus 14 is played.Also, in fig. 2b, illustrated using the drawing reference numeral for representing joint in upper level
Show to property the robot 10 for the state for erecting mechanical arm mechanism 13, being schematically shown in next stage makes mechanical arm machine
The robot 10 for the state that structure 13 rearward lodges.
As shown in Figure 2 B, position of the base end part of balancer 14 by means of swing mechanism 12 by the rear side of robot 10,
Thereby, it is possible to make rearward lodging in the larger context of mechanical arm mechanism 13 (with reference to the arrow 211 in Fig. 2 B).This be because
Using balancer 14, to have the power supported from below to the effect of mechanical arm mechanism 13 rearward to lodge.Herein below balancer
There is the curved support mechanism in half-surrounded, which is located at the lower section of the first balancer 14a, in the curved support of half-surrounded
Mechanism, is capable of the scope of activities of effective limiting balance device, and enough support forces are provided for it.
Thus, when carrying out transport operation, it is possible to increase the free degree for the posture that robot 10 can take.In addition,
In transfer robot 10, robot 10 can be made to take greater compactness of posture, can compactly fold, therefore can reduce
Carry volume.
In addition, by installing balancer 14 like this, compared with the situation for installing the balancer of spring of conventional form,
The problem of not easily leading to floor space increase.That is, floor space can be reduced and saves space.
Next, the structure around revolution pedestal 12 is described in detail.Fig. 3 is the robot that embodiment is related to
10 front view.In addition, Fig. 4 A are the figures observed along arrow A around swing mechanism 12.
As shown in figure 3, robot 10 is also equipped with：Servo motor M1, its offer make mechanical arm mechanism 13 rotating around axis L
Rotary driving force；With servomotor G1, it is so as to the mode into action edge transmission is connected with servo motor M1.
Also, swing mechanism 12 possesses the connecting portion 12A of storage servomotor G1, so as to so as to rotating mode and machine
Tool arm mechanism 13 connects.Therefore, the servo motor M1 being connected with servomotor G1 is also supported with connecting portion 12A.
In addition, swing mechanism 12 possesses the connecting portion 12B of storage servomotor G2, so as to so as to rotating mode and machine
Tool arm mechanism 13 connects.Therefore, the servo motor M2 being connected with servomotor G2 is also supported with connecting portion 12B.
Also, swing mechanism 12 is casting, connecting portion 12A is formed as one with the swing mechanism 12.
In addition, the first foregoing mounting portion, the second mounting portion, the 3rd mounting portion and the 4th mounting portion are also from connecting portion 12A
Start substantially in parallel to extend in the lower section of mechanical arm mechanism 13 and axis L with the side of connecting portion 12B, and with than mechanical arm machine
The mode one that structure 13 is connected by the position of extending direction side (with reference to the negative direction side of the Y-axis in figure) with the base end part of balancer 14
It is formed at swing mechanism 12 body.
Fig. 4 A are the perspective views around the P1 portions shown in Fig. 2A -1.
In addition, Fig. 4 B are the perspective views observed along arrow A around the P1 portions shown in Fig. 4 A.
In addition, the top view for the robot 10 that Fig. 4 C, which are embodiments, to be related to.
Above-mentioned technical proposal is one embodiment of the present invention, for those skilled in the art, at this
On the basis of disclosure of the invention application process and principle, it is easy to make various types of improvement or deformation, be not limited solely to this
Invent the described method of above-mentioned embodiment, therefore previously described mode is simply preferable, and and without limitation
The meaning of property.
Claims (9)
- A kind of 1. heavy duty transfer robot, it is characterised in that：It is described heavy duty transfer robot include firm banking, swing mechanism, Mechanical arm mechanism, linkage and end effector mechanism；The swing mechanism is connected by revolute with firm banking, can be rotated around the rotating shaft of revolute；The bottom of the mechanical arm mechanism is attached by hinge relay part and the swing mechanism；The hinge relay part Bottom is connected by revolute with swing mechanism, can be rotated around the rotating shaft of the revolute, the rotating shaft and turn-around machine The rotating shaft of structure is parallel；The upper end of the mechanical arm mechanism is connected with the middle part of the linkage；One end of the linkage is connected with the end effector mechanism.
- 2. heavy duty transfer robot according to claim 1, it is characterised in that：The linkage includes first connecting rod machine Structure and second connecting rod mechanism；One end of the first connecting rod mechanism is connected with swing mechanism, and can be rotated relative to swing mechanism, and first connects The middle part of connection mechanism and the upper end of mechanical arm mechanism connect, and the other end is connected with end effector mechanism；One end of the second connecting rod mechanism is connected with swing mechanism, and can be rotated relative to swing mechanism, and second connects The middle part of linkage and the upper end of mechanical arm mechanism connect, and the other end is connected with end effector mechanism；The first connecting rod mechanism, second connecting rod mechanism drive end effector mechanism to remain translation, can not only keep Horizontal movement, additionally it is possible to keep inclined plane to move.
- 3. heavy duty transfer robot according to claim 2, it is characterised in that：The first connecting rod mechanism includes A connections Bar and B connecting rods, and the bottom of A connecting rods is attached by balancer and swing mechanism, and the top of A connecting rods passes through pin Component and one end of B connecting rods are attached, and the middle part of B connecting rods is connected by the upper end of pin member and mechanical arm mechanism, and B connects The other end of extension bar is attached by pin member and end effector；The second connecting rod mechanism includes C connecting rods, triangle auxiliary frame and E connecting rods, and the bottom of C connecting rods passes through pin portion Part is connected with swing mechanism, and the top of C connecting rods is connected by pin member with an endvertex of triangle auxiliary frame, triangle auxiliary The intermediate vertex of frame is connected by the upper end of pin member and mechanical arm mechanism, and one end of E connecting rods is auxiliary with triangle by pin member Another endvertex of frame is helped to connect, the other end of E connecting rods is attached by pin member and end effector.
- 4. heavy duty transfer robot according to claim 3, it is characterised in that：The balancer is installed on the turn-around machine The outside of the revolution Axial and radial of structure, and than the revolute between swing mechanism and base rotating shaft closer to the firm banking The position of rear side；The first mounting portion, the second mounting portion, the 3rd mounting portion and the 4th mounting portion are equipped with the swing mechanism；Described first The side of the rotating shaft of the revolute of mounting portion, the second installation position between the swing mechanism and base, the 3rd peace The opposite side of the rotating shaft of the revolute of dress portion and the 4th installation position between the swing mechanism and base；The balancer includes the first balancer and the second balancer；First balancer is installed on the first mounting portion and the second mounting portion, and second balancer is installed on swing mechanism The 3rd mounting portion and the 4th mounting portion on.
- 5. heavy duty transfer robot according to claim 4, it is characterised in that：First balancer includes cylinder body, work Stopper rod, spring members, top flange, flange in the bottom and sliding bearing sleeve；The both sides of the outer wall of cylinder block are provided with bearing mounting hole, and bearing, the company of two bearings are provided with bearing mounting hole Line is parallel with the rotation axis of mechanical arm mechanism, and the cylinder body is rotated by the two bearings；The spring members include external disk spring, mid-game spring and inner disc spring, and the diameter of three is sequentially reduced；Flange mounting base is installed in one end of the cylinder body, top flange is installed with flange mounting base, in cylinder body The other end flange in the bottom is installed；In the top flange and the flange in the bottom radially from being equipped with three spring installation steps, external disk bullet outside to inside Spring, mid-game spring, the end of inner disc spring are sequentially arranged on three spring installation steps；The sliding bearing sleeve is installed in the inner cavity of the inner disc spring, and the piston rod is connected with the sliding bearing sleeve；One end of the piston rod is fixedly connected with the middle part of flange in the bottom by pin, and the flange in the bottom is with piston rod It is mobile；The other end of the piston rod is connected after stretching out cylinder body with mechanical arm mechanism.
- 6. heavy duty transfer robot according to claim 5, it is characterised in that：Under the cylinder body of first balancer Square swing mechanism is equipped with the curved support mechanism in half-surrounded, when cylinder body is rotated by the two bearings, if The curved support mechanism is met in one end of cylinder body, then cylinder body stops rotating.
- 7. heavy duty transfer robot according to claim 6, it is characterised in that：Second balancer is included with reconnection Bar and clump weight, the clump weight are bolted with counterweight connecting rod, and the other end and the A connecting rods of counterweight connecting rod connect Connect.
- 8. heavy duty transfer robot according to claim 7, it is characterised in that：First is provided with the swing mechanism Connecting portion and second connecting portion；First servomotor and the first servo motor being connected with the first servomotor are installed in first connecting portion, it is with energy Enough rotating modes are connected with mechanical arm mechanism；Second servomotor and the second servo motor being connected with the second servomotor are installed in second connecting portion, it is with energy Enough rotating modes are connected with mechanical arm mechanism；The first connecting portion is located at turn around above mechanism, the position on the left of mechanical arm mechanism；The second connecting portion is located at back Position above rotation mechanism, on the right side of mechanical arm mechanism；First mounting portion and the second installation position are above swing mechanism, position Behind first connecting portion, the 3rd mounting portion and the 4th installation position are above swing mechanism, after second connecting portion Face.
- 9. heavy duty transfer robot according to claim 8, it is characterised in that：The bottom of the end effector mechanism with Ring flange connects；The ring flange is connected to the end of end effector mechanism by revolute, can be carried out around the rotating shaft of the revolute Rotation；The firm banking is directly anchored on station by foundation bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711432019.3A CN107962555A (en) | 2017-12-26 | 2017-12-26 | A kind of heavy duty transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711432019.3A CN107962555A (en) | 2017-12-26 | 2017-12-26 | A kind of heavy duty transfer robot |
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| CN107962555A true CN107962555A (en) | 2018-04-27 |
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| CN201711432019.3A Pending CN107962555A (en) | 2017-12-26 | 2017-12-26 | A kind of heavy duty transfer robot |
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| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
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