CN108946160A - A kind of high speed transfer robot - Google Patents

Abstract

A kind of high speed transfer robot, including suspended structure, big arm configuration and forearm structure, setting displacement adjustment structure in the suspended structure, angle adjustment mechanism is arranged in the top for being displaced adjustment structure, the upper end of big arm configuration is arranged in angle adjustment mechanism, the lower end of big arm configuration is arranged in transposition section structure in place, angle adjustment mechanism drives the upper end of big arm configuration to be flapped toward movement, the lower end edge displacement adjustment structure of big arm configuration is slided and is rotated, and the lower end of big arm configuration connects forearm structure；The forearm structure includes the first rotational structure, and the first rotational structure connects the second rotational structure, and the second rotational structure connects third rotational structure, and third rotational structure connects terminal-collecting machine structure.The present invention realizes the coordination reciprocally swinging of high speed transfer robot large arm and forearm by the linkage of each shaft portion, has reached plate high speed, high load, smoothly conveying between press machine.

Description

A high-speed handling robot

technical field

The invention relates to the technical field of high-speed stamping, in particular to a high-speed handling robot.

Background technique

In the automatic production lines of light industry, medicine, food, electronics and automobile manufacturing industries, such as sorting, packaging, packaging, especially in repetitive, boring and dangerous work such as material handling, machine tool loading and unloading, etc., In order to reduce human labor intensity and improve work efficiency, it is often necessary to place repetitive work robots in the space during the work process.

In the stamping industry of automobile panels, the production of a workpiece is usually the continuous stamping production of multiple presses. Therefore, the transportation of sheets between presses is very important, which directly affects the quality of stamping products and the quality of the entire stamping production line. efficiency.

In the traditional manual production line, the conveyance of the sheets between the presses is carried out manually, and at least two workers are required to move the semi-finished products between the presses. Manual handling will cause warping, collision, and inaccurate positioning of the sheets, which are serious It affects the quality and efficiency of stamping products. Therefore, at present, more and more automobile manufacturers use robotic stamping automation lines to replace traditional manual production lines. , to ensure the quality and stability of the product. At present, ABB, KUKA, FANUC, YASKAWA and other stamping special robots used in common robot automation lines can reach 8 times per minute, which can meet the basic needs of production. However, with the rapid and efficient development of the automobile industry, the annual output of automobiles continues to increase, and the transfer of sheets between presses restricts the overall production cycle of stamping automation lines. At present, the production efficiency of common robot automation lines can no longer meet the needs of efficient production.

Contents of the invention

In order to solve the deficiencies of the above technical problems, the present invention provides a high-speed handling robot, which can not only meet the production needs of high-speed presses, but also ensure the quality and stability of products, and meet the needs of sheet metal transportation between high-speed presses. The need for fast tempo and high efficiency.

In order to achieve the above object, the technical solution adopted by the present invention is: comprising a suspension structure, a boom structure and a forearm structure, characterized in that: the suspension structure is provided with a displacement adjustment structure, and the upper part of the displacement adjustment structure is provided with an angle adjustment structure, The upper end of the boom structure is set on the angle adjustment structure, and the lower end of the boom structure is set on the displacement adjustment structure. The angle adjustment structure drives the upper end of the boom structure to swing, and the lower end of the boom structure slides and moves along the displacement adjustment structure. The lower end of the boom structure is connected to the forearm structure; the forearm structure includes a first rotation structure, the first rotation structure is connected to the second rotation structure, the second rotation structure is connected to the third rotation structure, and the third rotation structure is connected to the second rotation structure. End picker structure.

In order to further realize the present invention, the technical solution that can also be adopted is: the suspension structure includes at least four fixed seats, at least six connecting rods and a triangular connecting seat, and the triangular connecting seat is connected to the four fixed seats through six connecting rods , The two ends of the connecting rod are equipped with rod-end joint bearings, and the rod-end joint bearings at both ends adopt positive and negative wire structures respectively. The triangular connecting seat has three degrees of freedom for X-axis movement, Y-axis rotation and Z-axis rotation. The displacement adjustment structure includes a base, a driving mechanism and a transmission mechanism, the base is fixed on the triangular connecting seat through a connecting piece, a linear guide rail is arranged on the base, a sliding seat is arranged on the linear guide rail, and a rotating seat is arranged on the sliding seat through a bearing; The structure is arranged on the base, the output end of the driving structure is connected to the transmission mechanism, and the transmission structure is connected to the slide seat. The angle adjustment structure includes a connecting seat and a driving mechanism, the angle adjusting structure is arranged on the base through the connecting seat, the driving mechanism is installed on the connecting seat, one end of the rocker is installed on the output end of the driving mechanism, and the other end of the rocker is passed through the rotating bearing A flange shaft is set, and a connection block is installed on the flange shaft. The boom structure includes a boom base, a transmission mechanism and two sets of driving mechanisms. The boom base is made of aluminum alloy, the upper end of the boom base is installed on the connecting block, and the front linear guide rail and the rear rail are arranged on the boom base. The linear guide rail, the rear linear guide rail and the swivel seat are installed together, and the front linear guide rail slides to set the sliding seat; two sets of driving mechanisms are symmetrically installed on both sides of the boom base, and the two sets of driving mechanisms are connected to the transmission mechanism. The first rotating structure includes a first mounting seat, a driving mechanism is arranged on the upper end of the first mounting seat, and the output end of the driving mechanism is installed on the sliding seat. The second rotating structure includes a driving mechanism. A blind hole is provided at the lower end of the first mounting base. The driving mechanism is located in the blind hole. An inner casing is arranged at the output end of the driving mechanism. The outer periphery of the inner casing is installed with an outer casing through a bearing. The upper end of the pipe is fitted and fixed on the first mounting base. The third rotating structure includes a second mounting seat, the second mounting seat is installed on the inner casing, a blind hole is opened at the lower end of the second mounting seat, a driving mechanism is installed in the blind hole, and cylinders are arranged on both sides of the second mounting seat. A bracket is installed on the cylinder, two tensioning wheels are installed on the bracket, and drag chains are installed on the tensioning wheels; the output end of the driving mechanism is equipped with an end pickup mounting seat. The drive mechanism includes a servo motor and a reducer, and the reducer is installed on the servo motor; the transmission mechanism adopts a belt transmission mode, and the output shaft of the drive structure reducer is connected to the transmission shaft of the transmission mechanism. The end picker structure includes two sets of pick-up structures, each set of pick-up structures includes a quick-change socket, the quick-change socket is installed on the end picker mounting seat, the quick-change socket is fitted with a quick-change plug, and the quick-change plug is provided with a main rod, the two sides of the main rod are respectively connected to the suction cup through the connecting piece and the support rod.

The beneficial effects of the present invention are:

1. The overall structure of the medium and high-speed robot of the present invention adopts the linkage movement of the arm structure and the forearm structure, the movement space in the logistics direction is small, the layout of the press is compact, the sheet metal transmission distance is short, and the workshop area is saved. The invention drives the swing of the boom structure through the displacement adjustment structure and the angle adjustment structure, the forearm part performs linear motion and rotary motion on the boom structure, and through the linkage of each shaft part, the high-speed handling robot boom and forearm are realized. Coordinated reciprocating swing achieves high-speed, high-load, and stable conveying of sheets between presses. The forearm structure in the present invention realizes the high-speed and stable reciprocating swing at the end of the forearm, highlights the characteristics of high-speed robots such as high-speed and high-efficiency, stable operation, and compact layout, and meets the urgent needs of high-grade, high-efficiency, and high-tempo in the stamping automation industry ;

2. The suspension structure in the present invention adopts the fixing method of the six-link joint bearing structure, which can weaken the vibration generated when the press and the robot are running separately, avoid resonance, and is conducive to the high-speed and stable operation of the high-speed handling robot;

3. The suspension structure of the present invention adopts a six-link suspension structure. By adjusting the length of the connecting rods, the three degrees of freedom movement of the triangular connection seat X-axis movement, Y-axis rotation and Z-axis rotation can be realized, which can not only meet the pressure of various models It meets the installation requirements of the machine size, and facilitates the adjustment of the shape and position tolerance of the high-speed robot.

4. The material of the main parts of the high-speed robot arm of the present invention is made of aluminum alloy, which reduces the weight of the moving parts, reduces the motion inertia, reduces the corresponding overall drive energy consumption, and saves operating costs;

5. The movement trajectory of each part of the present invention is simple, which is convenient for optimizing the trajectory curve through kinematic analysis, and can quickly optimize the trajectory of different molds. It has strong adaptability and is convenient for debugging after installation;

6. The second rotating structure in the forearm structure of the present invention has a rotating function, has a compact structure and high strength, and is not only suitable for the transportation of heavy-duty materials, but also can satisfy the transportation of materials between presses inclined to the logistics direction.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of high-speed handling robot of the present invention;

Fig. 2 is a structural schematic diagram of the suspension structure of the present invention;

Fig. 3 is a structural schematic diagram of the displacement adjustment structure of the present invention;

Fig. 4 is a structural schematic diagram of the angle adjustment structure of the present invention;

Fig. 5 is a partial structural cross-sectional view of Fig. 4;

Fig. 6 is a structural schematic diagram of the boom structure of the present invention;

Fig. 7 is a schematic diagram of the forearm structure of the present invention;

Fig. 8 is a partial sectional view of Fig. 7;

Fig. 9 is a structural schematic diagram of the end effector of the present invention.

reference sign

1 Suspension structure 2 Displacement adjustment structure 3 Angle adjustment structure 4 Boom structure 5 First rotation structure 6 Second rotation structure 7 Third rotation structure 8 End pickup structure 9 Fixed seat, 10 Pin shaft 11 Rod end joint bearing 12 Connecting rod 13 Triangular connection seat 14 Connector 15 Base 16 Linear guide rail 17 First servo motor 18 First reducer 19 First reducer mounting seat 20 Drive shaft 21 First timing pulley 22 First timing belt 23 First guide rail brake 24 Slide down Seat 25 Swivel seat 26 Limit block 27 Connection seat 28 Rocker 29 Connection block 30 Second servo motor, 31 Second reducer 32 End cover 33 Rotary bearing 34 Flange shaft 35 Second reducer mounting seat, 36 Third reducer Machine 37 Third Servo Motor 38 Rear Linear Guide 39 Boom Base 40 Second Guide Brake 41 Buffer 42 Sliding Seat 43 Front Linear Guide 44 Limit Block 45 Second Synchronous Belt 46 Second Synchronous Pulley 47 Fourth Servo Motor 48 The first mounting seat 49 the fourth reducer 50 the fifth servo motor 51 the bearing 52 the fifth reducer 53 the outer casing 54 the inner casing 55 the second mounting seat 56 the sixth servo motor 57 the T type reducer 58 the end pickup mounting seat 59 the cylinder 60 drag chain 61 bracket 62 tensioner wheel 63 shield 64 quick change socket 65 quick change plug 66 main rod 67 connector 68 support rod 69 suction cup.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

A high-speed handling robot, as shown in Figure 1, includes a suspension structure 1, a boom structure 4 and a forearm structure, the suspension structure 1 is provided with a displacement adjustment structure 2, and the upper part of the displacement adjustment structure 2 is provided with an angle adjustment structure 3 , the upper end of the boom structure 4 is set on the angle adjustment structure 3, the lower end of the boom structure 4 is set on the displacement adjustment structure 2, the angle adjustment structure 3 can drive the upper end of the boom structure 4 to do swinging movement, the boom structure 4 The lower end of the arm can slide and rotate along the displacement adjustment structure 2, and the lower end of the boom structure 4 is connected to the forearm structure; the forearm structure includes a first rotation structure 5, and the first rotation structure 5 is connected to the second rotation structure 6, The second rotating structure 6 is connected to the third rotating structure 7 , and the third rotating structure 7 is connected to the end pickup structure 8 .

In the present invention, the swing of the boom structure 4 is driven by the displacement adjustment structure 2 and the angle adjustment structure 3, and the small arm part performs linear motion and rotational motion on the boom structure 4. Through the linkage of each shaft part, the high-speed handling robot boom is realized. Coordinated reciprocating swing with the forearm achieves high-speed, high-load, and stable conveyance of sheets between presses. The overall structure of the high-speed robot in the present invention adopts the linkage movement of the large arm structure 4 and the small arm structure, the movement space in the logistics direction is small, the layout of the press is compact, the sheet metal transmission distance is short, and the workshop area is saved. The invention realizes the high-speed and stable reciprocating swing of the arm end, highlights the characteristics of high-speed robots such as high-speed and high-efficiency, stable operation, and compact layout, and meets the urgent needs of the stamping automation industry for high-grade, high-efficiency, and high-paced;

There are many kinds of existing suspension mechanisms. The displacement adjustment structure 2 can be directly fixed on the press column through the connecting rod and the fixing seat, but this method cannot realize the change of the angle, inclination, and rotation of the displacement adjustment structure 2, and cannot satisfy different requirements. Size The installation requirements of the size of the press, as shown in Figure 2, the suspension structure selected in the present invention includes at least four fixed seats 9, at least six connecting rods 12 and triangular connecting seats 13, preferably six connecting rods 12 and The four fixed seats 9 and the triangular connecting seat 13 are connected to the four fixed seats 9 through six connecting rods 12. The two ends of the connecting rods 12 are provided with rod-end joint bearings 11, and the rod-end joint bearings 11 at both ends adopt positive and negative wire structures respectively. , with the axis of the base 15 in the displacement adjustment structure 2 as the Y-axis direction, the triangular connecting seat 13 has three degrees of freedom of X-axis movement, Y-axis rotation and Z-axis rotation, and the length of the connecting rod 12 is adjusted. The triangular connecting seat 13 can Perform three degrees of freedom movement of X-axis movement, Y-axis rotation and Z-axis rotation. Both ends of the connecting rod 12 are provided with rod end joint bearings 11 respectively, and the rod end joint bearings 11 at both ends respectively adopt positive and negative thread structures, that is, the rod end joint bearing 11 at one end adopts forward thread, and the rod end joint bearing 11 at the other end adopts Reverse thread, further, a hole can be opened in the middle of the connecting rod 12, which is convenient for inserting the booster rod to rotate the connecting rod 12 to adjust its length, and then adjust the specific position of the mounting surface of the triangular connecting seat 13. The fixed seat 9 is installed on the press On the column, the rod end joint bearing 11 at one end of the connecting rod 12 is preferably connected to the fixed seat 9 by a pin shaft 10. Since the rod end joint bearing 11 has the characteristics of swinging, tilting and rotating motion, by adjusting the position of the fixing seat 9, it can Adjust the specific position of the triangular connecting seat 13 to meet the installation requirements of different press sizes; the triangular connecting seat 13 adopts a six-link suspension method, which can offset the vibration generated when the press is working, and at the same time, it can also reduce the vibration caused by the high-speed handling robot. vibration. The six-link structure of the suspension part can not only meet the installation requirements of various types of presses, facilitate adjustment, but also facilitate the smooth operation of the high-speed handling robot.

The displacement adjustment structure 2 in the present invention comprises a base 15, a driving mechanism and a transmission mechanism, the base 15 is fixed on the triangular connection seat 13 through the connector 14, a linear guide rail 16 is arranged on the base 15, and a sliding seat 24 is arranged on the linear guide rail 16, The lower seat 24 is provided with a rotating seat 25 through bearings; the driving structure is arranged on the base 15, and the output terminal of the driving structure is connected to the transmission mechanism. In order to express clearly, as shown in Figure 3, the driving mechanism in the displacement adjustment structure 2 can adopt the combination of the first servo motor 17 and the first reducer 18, and the first reducer 18 is mounted on the first reducer mounting base 19 through cooperation. On the upper part of the base 15, the transmission structure adopts the transmission shaft 20, the first synchronous pulley 21 and the first synchronous belt 22, and the output shaft of the first reducer 18 is connected to the transmission shaft 20 of the transmission structure through a locking disc. Large torque, easy disassembly and assembly. The transmission structure of the displacement adjustment structure 2 adopts a double synchronous belt synchronous drive mode. Bearing supports are installed at the upper and lower ends of the transmission shaft 20 and in the middle. This structure has the characteristics of high strength and high load; the linear guide rail 16 can also be installed with a first Guide rail brake 23, when synchronous belt 20 breaks belt, the first guide rail brake 23 locks linear guide rail 16 immediately, prevents slide seat 24 from moving, avoids the loss of control of high-speed robot front segment moving parts after the broken belt.

The angle adjustment structure 3 includes a connecting seat 27 and a driving mechanism, the angle adjusting structure 3 is arranged on the base 15 of the displacement adjusting structure 2 through the connecting seat 27, a driving mechanism is installed on the connecting seat 27, and a rocker is installed at the output end of the driving mechanism One end of 28, the other end of rocking bar 28 is provided with flange shaft 34 by swivel bearing 33, and connection block 29 is installed on the flange shaft 34. Preferably, the connecting seat 27 is fixed on the base 15 of the displacement adjustment structure 2 through the processed positioning straight mouth, which ensures the installation accuracy; in order to show clearly, as shown in Figure 4, the driving structure of the angle adjustment structure 3 can adopt the first Two servo motors 30, the second reducer 31 is installed on the second servo motor 30, and the second servo motor 30 and the second reducer 31 after cooperating with the installation are installed on the connecting seat 27; On the output shaft of the second speed reducer 31, the shaft end of the output shaft 31 of the second speed reducer can also be equipped with an end cover 32, and the other end of the rocking bar 28 is equipped with a swivel bearing 33, and a flange shaft 34 is installed on the swivel bearing 33. The blue shaft 34 is connected with the connection block 29 . The structure is simple and compact, occupying less space.

As shown in Figure 6, the boom structure 4 in the present invention includes a boom base 39, a transmission mechanism and two groups of drive mechanisms, the boom base 39 is made of aluminum alloy, and the upper end of the boom base 39 is installed on the connecting block 29 On, the front linear guide rail 43 and the rear linear guide rail 38 are arranged on the boom base 39, the rear linear guide rail 38 and the swivel seat 25 are installed in cooperation, the front linear guide rail 43 is slidably provided with a slide seat 42, and the second guide rail brake 40 is installed on the slide seat 42; Two groups of driving mechanisms are symmetrically installed on both sides of the boom base 39, and the two groups of driving mechanisms cooperate with the connecting transmission mechanism respectively. In this structure, the boom base 39 is connected by aluminum plates, which reduces the quality of the moving parts and reduces the power configuration of the angle adjustment structure 3 and the displacement adjustment structure 2; for clarity, as shown in Figure 6, the boom base 39 The transmission mechanism adopts the second synchronous pulley 46 and the second synchronous belt 45, and transmission parts such as the second synchronous pulley 46 and the second synchronous belt 45 are arranged on the boom base 39; the upper end of the boom base 39 and the angle adjustment structure The connection block 29 of 3 is fixedly connected, the upper end of the boom base 39 swings around the output shaft of the second reducer 31 of the angle adjustment structure 3 as the center of the circle, the center distance of the rocker 28 as the radius, and the rear linear guide rail on the boom base 39 38 can slide on the fixed slide block on the swivel seat 25 of the displacement adjustment structure, so that the angle adjustment structure 3 drives the upper end of the arm base 39 to do arc reciprocating motion and the displacement adjustment structure 2 drives the arm base 39 to do linear motion, and the angle adjustment structure 3 is linked with the displacement adjustment structure 2 to make the boom structure 4 reciprocate in the left and right direction; the drive structure of the boom structure 4 adopts two sets of drive mechanisms, the drive mechanism adopts the third servo motor 37 and the third reducer 36, and the third servo motor 37 and the third reducer 36 are matched and connected and installed on the second reducer mount 35, and the second reducer mount 35 is mounted on the boom base 39 in cooperation, and the output shaft of the third reducer 36 is connected with the transmission mechanism in this structure The transmission shaft is locked and connected with a locking disc. This structure can not only transmit large torque, but also facilitate disassembly and assembly; the driving structure in this structure is driven by two sets of drive mechanisms, which are symmetrically distributed and installed on the boom structure 4. Above, the center of gravity is kept on the symmetrical plane, avoiding uneven force when the boom structure 4 swings back and forth, and affecting the driving and smooth operation of the boom structure 4 when swinging; the front linear guide rail 43 in this structure is installed on the big arm structure 4 On the arm base 39, the slide seat 42 moves up and down along the front linear guide rail 43 through the slide block, and the second guide rail brake 40 is installed on the slide seat 42, and the second guide rail brake 40 can immediately lock the front straight line when the machine stops or the synchronous belt is broken. The guide rail 43 reduces the braking force of the motor in the stop state, and avoids the damage of the slide seat 42 when the belt is broken; the limit block 44 and the buffer 41 can also be installed on the boom base 39, and this structure prevents the slide seat from being damaged. 42 breaks away from the front linear guide rail 43 during installation or abnormal operation, causing casualties and equipment damage, greatly improving safety and avoiding potential safety hazards.

The forearm part of the robot in the present invention includes a first rotating structure 5, a second rotating structure 6 and a third rotating structure 7, and the three rotating structures respectively realize various functions of the small arm; as shown in Figure 7, in the present invention The first rotating structure 5 includes a first mounting seat 48 , a driving mechanism is arranged on the upper end of the first mounting seat 48 , and the output end of the driving mechanism is installed on the sliding seat 42 . For clarity, the driving structure of the first rotating structure 5 adopts the fourth servo motor 47 and the fourth reducer 49, the fourth reducer 49 adopts the RV reducer, and the first mounting base 48 in the first rotating structure 5 is decelerated by RV The machine is installed on the sliding seat 42, and the output end of the RV reducer is fixed on the sliding seat 42; the RV reducer in this structure has the characteristics of small size and light weight, and the use of the RV reducer makes the overall dimensions of the first rotating structure 5 The weight is reduced; the RV reducer is installed on the sliding seat 42 of the boom structure 4, and the fourth servo motor 47 drives the rotation of the RV reducer after starting, because the output end of the RV reducer is fixed on the sliding seat 42, the RV decelerates The first mounting seat 48 connected with the machine rotates accordingly, and then drives the entire first rotating structure 5 to swing, realizing the reciprocating swing function of the forearm part. Preferably, the mounting seat of the RV reducer is made of aluminum alloy, which meets the In the case of strength requirements, the weight of the moving parts in the front section of the robot is reduced, the driving power is reduced, and the running energy consumption is saved.

The second rotating structure 6 includes a driving mechanism. The lower end of the first mounting base 48 offers a blind hole, the driving mechanism is located in the blind hole, the output end of the driving mechanism is provided with an inner casing 54, and the outer circumference of the inner casing 54 is installed with an outer casing through a bearing 51. 53 , the upper end of the outer sleeve 53 is fitted and fixed on the first mounting base 48 . In order to express clearly, as shown in Figure 7 and Figure 8, the drive mechanism of the second rotating structure 6 adopts the fifth servo motor 50, the fifth reduction gear 52 is installed on the fifth servo motor 50, the fifth servo motor 50 and the fifth reduction gear After the motor 52 is connected, it is installed in the blind hole at the lower end of the first mounting base 48, the output end of the fifth reducer 52 is fixedly connected to the inner sleeve 54, and the outer sleeve 53 is fixedly connected to the lower end of the first mounting base 48 of the first rotating structure 5. , the outer sleeve 53 is connected with the inner sleeve 54 through the bearing 51, and the fifth reducer 52 can drive the inner sleeve 54 to rotate. This structure strengthens the force of the front section of the forearm, thereby ensuring the load of the high-speed robot. The fifth reducer 52 and the fifth servo motor 52 of the second rotating structure 6 are installed in the blind hole at the lower end of the first mounting seat 48 of the first rotating structure 5, and rotate relative to the first rotating structure 5, and the structure reduces The size of the front section is reduced, which avoids interference when the front section of the robot enters the press; the rotation function of the second rotating structure 6 satisfies the function of transporting the sheet material between the presses inclined to the logistics direction.

The third rotating structure 7 includes a second mounting base 55, the second mounting base 55 is installed on the inner casing 54 of the second rotating structure 6, the lower end of the second mounting base 55 is vertically opened to form a blind hole, and the blind hole is equipped with a driving mechanism , the two sides of the second mounting seat 55 are provided with cylinder 59, mounting bracket 61 on the cylinder 59, two tensioning pulleys 62 are installed on the support 61, drag chain 60 is installed on the tensioning pulley 62; Mount 58. The second mounting seat 55 is installed on the inner casing 54 of the second rotating structure 6, and the second mounting seat 55 is welded by profiles and plates. In order to show clearly, as shown in Figure 8, the driving mechanism in the third rotating structure The sixth servo motor 56 and T-type reducer 57 are adopted, and the connected sixth servo motor 56 and T-type reducer 57 are hidden in the blind hole of the second mounting base 55, which reduces the size of the front section of the forearm and avoids taking Interference with the mold during discharging; the end picker mounting base 58 is fixed on the output shaft of the T-type reducer 57, and can rotate with the rotation of the T-type reducer 57, and can be replaced according to the connection mode of the end-end picker The end picker mount 58 is convenient for the connection of the end end picker; the cylinder 59 is installed on both sides of the second mount 55, the support 61 is installed on the cylinder 59, the tension wheel 62 is installed on the support 61, and the pulleys on both sides The chains 60 bypass the tensioning pulleys 62 respectively, and the drag chains 60 on both sides are always kept in a tensioned state. This structure is convenient for the arrangement of air pipes and lines. Here, the rotation of the third rotating structure 7 is used for sheet metal transportation Keep it level, thereby reducing air resistance and preventing the sheet metal from interfering with surrounding objects.

The end picker structure in the present invention includes two groups of pick-up structures, as shown in Figure 9, each set of pick-up structures includes a quick-change socket 64, and the quick-change socket 64 is installed on the end picker mount 58, and the quick-change socket 64 fits The quick-change plug 65 is plugged in, and the main rod 66 is arranged on the quick plug 65, and the two sides of the main rod 66 are respectively connected to the suction cup 69 through the connector 67 and the pole 68. The quick-change socket 64 is installed on the end picker mounting seat 58 of the third rotating structure 7, and the quick-change plug 65 is directly inserted on the quick-change socket 64, which is convenient for quick replacement of the end picker; Installed on the main pole 66, the arrangement of the poles 68 is adjusted according to the shape and weight of the plate, and the suction cup 69 is installed on the pole 68 for absorbing the plate.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some of the technical features may be replaced equivalently, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.

Claims (10)

1. A high-speed handling robot, comprising a suspension structure (1), a boom structure (4) and a forearm structure, is characterized in that: a displacement adjustment structure (2) is set on the suspension structure (1), and the displacement adjustment structure The upper part of (2) is provided with an angle adjustment structure (3), the upper end of the boom structure (4) is arranged on the angle adjustment structure (3), the lower end of the boom structure (4) is arranged on the displacement adjustment structure (2), and the angle The adjustment structure (3) drives the upper end of the boom structure (4) to do swinging motion, the lower end of the boom structure (4) slides and rotates along the displacement adjustment structure (2), and the lower end of the boom structure (4) is connected to Small arm structure; the small arm structure includes a first rotating structure (5), the first rotating structure (5) is connected to the second rotating structure (6), the second rotating structure (6) is connected to the third rotating structure (7), The third rotating structure (7) is connected to the end picker structure (8). 2. A high-speed handling robot according to claim 1, characterized in that: the suspension structure includes at least four fixed seats (9), at least six connecting rods (12) and triangular connecting seats (13), the triangular The connecting seat (13) is connected to the four fixing seats (9) through six connecting rods (12), and the two ends of the connecting rod (12) are provided with rod-end joint bearings (11), and the rod-end joint bearings (11) at both ends are respectively The positive and negative wire structure is adopted, and the triangular connecting seat (13) has three degrees of freedom for X-axis movement, Y-axis rotation and Z-axis rotation. 3. A high-speed handling robot according to claim 2, characterized in that: the displacement adjustment structure (2) includes a base (15), a driving mechanism and a transmission mechanism, and the base (15) is connected through a connecting piece (14) Fixed on the triangular connection seat (13), the linear guide rail (16) is arranged on the base (15), the sliding seat (24) is set on the linear guide rail (16), and the rotating seat (25) is arranged on the sliding seat (24) through the bearing ; The driving structure is arranged on the base (15), the output end of the driving structure is connected to the transmission mechanism, and the transmission structure is connected to the sliding seat (24). 4. A high-speed handling robot according to claim 3, characterized in that: the angle adjustment structure (3) includes a connecting seat (27) and a driving mechanism, and the angle adjusting structure (3) passes through the connecting seat (27) Set on the base (15), drive mechanism is installed on the connection seat (27), one end of the rocker (28) is installed at the output end of the drive mechanism, and the other end of the rocker (28) is provided with a flange shaft through a rotary bearing (33). (34), connecting block (29) is installed on the flange shaft (34). 5. A kind of high-speed handling robot according to claim 4, it is characterized in that: described boom structure (4) comprises boom base (39), transmission mechanism and two groups of driving mechanisms, boom base (39) Made of aluminum alloy, the upper end of the boom base (39) is installed on the connecting block (29), the front linear guide (43) and the rear linear guide (38) are set on the boom base (39), and the rear linear guide ( 38) and the swivel seat (25) are installed in cooperation, and the front linear guide rail (43) slides to set the sliding seat (42); the two sets of driving mechanisms are symmetrically installed on both sides of the boom base (39), and the two sets of driving mechanisms cooperate to connect the transmission mechanism . 6. A high-speed handling robot according to claim 5, characterized in that: said first rotating structure (5) includes a first mounting base (48), and a driving mechanism is arranged on the upper end of the first mounting base (48) , the output end of the driving mechanism is installed on the slide seat (42). 7. A high-speed handling robot according to claim 6, characterized in that: the second rotating structure (6) includes a driving mechanism, the lower end of the first mounting seat (48) has a blind hole, and the driving mechanism is located in the blind hole. In the hole, the output end of the driving mechanism is provided with an inner sleeve (54), the outer circumference of the inner sleeve (54) is installed with the outer sleeve (53) through the bearing (51), and the upper end of the outer sleeve (53) is fixed on the first mounting seat (48) up. 8. A high-speed handling robot according to claim 7, characterized in that: the third rotating structure (7) includes a second mounting seat (55), and the second mounting seat (55) is installed on the inner casing (54), the lower end of the second mounting base (55) offers a blind hole, and the drive mechanism is installed in the blind hole, and the both sides of the second mounting base (55) are provided with a cylinder (59), and the mounting bracket (61) is installed on the cylinder (59). , Two tensioning wheels (62) are installed on the support (61), and drag chain (60) is installed on the tensioning wheel (62); 9. A high-speed handling robot according to any one of claims 3 to 8, characterized in that: the drive mechanism includes a servo motor and a reducer, and the reducer is installed on the servo motor; the transmission mechanism adopts a belt transmission mode , the output shaft of the driving structure reducer is connected to the transmission shaft of the transmission mechanism. 10. A kind of high-speed handling robot according to claim 9, it is characterized in that: described end picker structure comprises two groups of pick-up structures, and each group of pick-up structures comprises quick-change socket (64), quick-change socket (64) Installed on the end picker mounting base (58), the quick-change socket (64) is matched with the plug-in quick-change plug (65), and the main rod (66) is arranged on the quick plug (65), and the two sides of the main rod (66) The suction cups (69) are connected with the connecting piece (67) and the pole (68) respectively.