CN109531545A - It is a kind of for lifting the robot of weight - Google Patents
It is a kind of for lifting the robot of weight Download PDFInfo
- Publication number
- CN109531545A CN109531545A CN201811586734.7A CN201811586734A CN109531545A CN 109531545 A CN109531545 A CN 109531545A CN 201811586734 A CN201811586734 A CN 201811586734A CN 109531545 A CN109531545 A CN 109531545A
- Authority
- CN
- China
- Prior art keywords
- hinged shaft
- servo motor
- hinged
- large arm
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
-
- 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
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of for lifting the robot of weight, including robot body and fixture, the robot body includes pedestal, rotary support, first servo motor, large arm, wishbone and first connecting rod, crank, second connecting rod, forearm, the second servo motor, the second parallelogram mechanism, third servo motor and fixture mounting base, and they are hinged by some hinged shafts, form three parallelogram mechanisms, end effector, installs fixture on end effector are installed in fixture mounting base.The present invention drives rotary support rotation, the position of adjustable fixture by first servo motor；The cooperation for driving large arm to fluctuate and pass through parallelogram mechanism by the second servo motor, fixture can be driven to shift on a large scale, and the cooperation for driving crank to fluctuate and pass through parallelogram mechanism by third servo motor, the fine tuning of chucking position may be implemented, so that fixture smoothly moves always, without worrying that weight can turn on one's side.
Description
Technical field
The invention belongs to logistics goods handling technique fields, more particularly, to a kind of for lifting the robot of weight.
Background technique
Currently, modern logistics handling art, handling facilities are in the form of a single, and the efficiency of loading and unloading and automatization level are lower.Work
Robot is often used on industry production line, and instead of manpower, by workpiece handling, simultaneously proper alignment can increase substantially production on goods plate
Efficiency guarantees stability, reduces labor intensity, can prevent serious accident.Four traditional axis stacking industrial robots due to
Brachium is limited, carries the limitation of limited and large arm slewing area, be unable to complete to the large-size box for highly having very big requirement or
The lifting operation of cylindrical body；And with six axis or more than robot, not only higher cost, and end can bearing capacity it is lower,
There are security risks.Under the premise of safety, economic, practical, reliable, previous robot is difficult to meet in logistics handling and loading
The carrying requirement of field large-size box or cylindrical body.Mainly installs fixture uses robot palletizer at wrist end flange at present
The motion mode of lifting heavy is grabbed to realize the palletizing operation of weight.Especially have to object promotion in logistics carrying certain
The occasion of requirement for height is not suitable for carrying out stacking or handling to cargo using the mode of robot palletizer.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of for lifting the machine of weight
People can be realized and load and unload and grab in logistics with heavily loaded jacking capacity, the cabinet that can lift big size or cylindrical body, completion
Lift the operation of cabinet or cylindrical body to specified altitude assignment.
To achieve the above object, according to one aspect of the present invention, provide it is a kind of for lifting the robot of weight,
It is characterized in that, including robot body and fixture, the robot body includes pedestal, rotary support, first servo motor, big
Arm, wishbone and first connecting rod, crank, second connecting rod, forearm, the second servo motor, the second parallelogram mechanism, third are watched
Take motor and fixture mounting base, wherein
The rotary support and first servo motor are separately mounted on the pedestal, and the first servo motor with
The rotary support connection, for driving the rotary support to rotate around vertical axis；
One end of the large arm is hinged on the rotary support by the first hinged shaft, and the other end of the large arm passes through the
Two hinged shafts are connect with the wishbone, and the wishbone includes integrally formed first segment and second segment, the opening court of the wishbone
To the large arm and second segment is in the top of first segment, and second hinged shaft is set to the combination of the first segment and second segment
Place, the first segment pass through one end of third stud connection first connecting rod far from one end of the second hinged shaft, the first connecting rod
The other end is hinged on rotary support by the 4th hinged shaft, and the first hinged shaft~the 4th hinged shaft is arranged in four of a parallelogram
On vertex, to make large arm, the first segment of wishbone and first connecting rod that the first parallelogram mechanism be collectively formed；
Second servo motor is connect with large arm, to drive large arm to rotate around the axis of the first hinged shaft；
One end of the crank is hinged on the rotary support by the 5th hinged shaft, and the other end of the crank passes through the
One end of the hinged second connecting rod of six hinged shafts, the other end of the second connecting rod pass through the hinged forearm of the 7th hinged shaft, institute
It states forearm to be hinged in the large arm by second hinged shaft, and the forearm includes integrally formed third section and the 4th
Section, second hinged shaft are located at the third section and the 4th section of junction, the 5th hinged shaft, the 6th hinged shaft, the 7th hinged shaft and the
Two hinged shafts are arranged on four vertex of a parallelogram, to make the crank, second connecting rod, the third section of forearm and big
Arm collectively forms the second parallelogram mechanism；
The third servo motor is connect with crank, with drive crank around the 5th hinged shaft axis rotation；
The first segment of the wishbone passes through the 8th hinged shaft hingedly third connecting rod far from one end of the second hinged shaft, described
By the 9th hinged shaft, hingedly the fixture mounting base, the fixture mounting base pass through the tenth hinged shaft hingedly forearm to third connecting rod
The 4th section of one end far from the second hinged shaft, it is flat that the 8th hinged shaft, the 9th hinged shaft, the tenth hinged shaft and the second hinged shaft are arranged in one
On four vertex of row quadrangle, to make the 4th of the second segment of the wishbone, third connecting rod, fixture mounting base and forearm
Section collectively forms third parallelogram mechanism, end effector, the end effector are installed in the fixture mounting base
The upper installation fixture；
First hinged shaft~the tenth hinged shaft is horizontally disposed, and is parallel to each other.
Preferably, the first servo motor is connect by worm gear mechanism with the rotary support.
Preferably, second servo motor is connect by retarder with large arm.
Preferably, the third servo motor is connect by retarder with crank
Preferably, it is provided in the large arm for cooperating the large arm of limitation large arm rotational travel to limit with the rotary support
Position block.
Preferably, it is provided on the forearm for cooperating the forearm of limitation forearm rotational travel to limit with the large arm
Block.
Preferably, the fixture includes clamp bottom board, guide rail, servo motor, ball screw framework and two clamping plates, described
Clamp bottom board is mounted in the fixture mounting base, and the guide rail, servo motor and ball screw framework are separately mounted to described
On clamp bottom board, the servo motor is connect with the lead screw of the ball-screw machine, for driving the ball-screw machine
Ball nut is mobile, and the ball nut is mounted on sliding block, and sliding block is mounted on the guide rail, the ball screw framework
Lead screw is two-way lead screw, which is divided into opposite two sections of thread rotary orientation, and each section is separately connected a clamping plate.
Preferably, equalizing and buffering cylinder is additionally provided between second hinged shaft and the 4th hinged shaft.
Preferably, multiple idler wheels for being used to accept material are provided on the clamp bottom board, and these idler wheels are located at two
Between clamping plate described in block.
Preferably, end servo motor is installed, the end servo motor is subtracted by end in the fixture mounting base
Fast device connects the end effector, for driving the end effector to rotate around vertical line.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1) present invention drives rotary support rotation, the position of adjustable fixture by first servo motor；Pass through second
Servo motor drives large arm to fluctuate and by the cooperation of the first parallelogram mechanism, third parallelogram mechanism, can
To drive fixture to shift on a large scale, and fluctuated and by third servo motor drive crank by the second parallelogram machine
The cooperation of structure, third parallelogram mechanism may be implemented the fine tuning of chucking position, and pass through the first parallelogram machine
The cooperation of structure, the second parallelogram mechanism and third parallelogram mechanism can make fixture smoothly move always, no
It can be turned on one's side with worry weight.
2) robot for lifting weight upwards of the invention is in wrist joint installs fixture, and clamp movement mode is using upward
Lift, distinguish the motion mode that traditional stacker robot fixture uses hand to grab, can effectively with high aerial matched boom machine
Tool hand work compound, while it is possible to prevente effectively from when two manipulators docking interfere, two manipulator mutual cooperation operations,
The automatization level for substantially increasing handling goods improves the efficiency of cargo handling.The robot for lifting weight upwards is adopted
New mechanism adaptability and flexibility are stronger, are applicable to the occasion of a wide range of distance with height change.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of robot body in the present invention；
Fig. 2 is main view of the invention；
Fig. 3 is the rearview of robot body in the present invention；
Fig. 4 is the schematic three dimensional views of pedestal in the present invention；
Fig. 5 is the schematic diagram of internal structure of pedestal in the present invention；
Fig. 6 is the schematic illustration of parallelogram mechanism in the present invention；
Fig. 7 is the schematic three dimensional views of fixture in the present invention；
Fig. 8 is the schematic diagram of robot and supporting machinery hand work compound in the present invention；
Fig. 9 is schematic three dimensional views of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
It is a kind of for lifting the robot of weight, including robot body and fixture 11, the machine as shown in FIG. 1 to FIG. 8
Device human body includes pedestal 1, rotary support 2, first servo motor 18, large arm 3, wishbone 10 and first connecting rod 6, crank 8,
Two connecting rods 7, forearm 4, the second servo motor 14, the second parallelogram mechanism, third servo motor 12 and fixture mounting base 5,
Wherein,
The rotary support 2 and first servo motor 18 are separately mounted on the pedestal 1, and first servo electricity
Machine 18 is connect with the rotary support 2, for driving the rotary support 2 to rotate around vertical axis；
One end of the large arm 3 is hinged on the rotary support 2 by the first hinged shaft 101, the other end of the large arm 3
It is connect by the second hinged shaft 102 with the wishbone 10, the wishbone 10 includes integrally formed first segment and second segment, described
The opening of wishbone 10 is towards the large arm 3 and second segment is in the top of first segment, and second hinged shaft 102 is set to described
The junction of first segment and second segment, the one end of the first segment far from the second hinged shaft 102 pass through the connection of third hinged shaft 103 first
The other end of one end of connecting rod 6, the first connecting rod 6 is hinged on rotary support 2 by the 4th hinged shaft 104, the first hinged shaft 101
~the four hinged shaft 104 is arranged on four vertex of a parallelogram, to make large arm 3, the first segment of wishbone 10 and first
The first parallelogram mechanism is collectively formed in connecting rod 6, such as the parallelogram ADCB in Fig. 6；
Second servo motor 14 is connect with large arm 3, to drive large arm 3 to rotate around the axis of the first hinged shaft 101；
One end of the crank 8 is hinged on the rotary support 2 by the 5th hinged shaft 105, the other end of the crank 8
By one end of the hinged second connecting rod 7 of the 6th hinged shaft 106, the other end of the second connecting rod 7 is cut with scissors by the 7th hinged shaft 107
The forearm 4 is connect, the forearm 4 is hinged in the large arm 3 by second hinged shaft 102, and the forearm 4 includes one
Body formed third section and the 4th section, second hinged shaft 102 is located at the third section and the 4th section of junction, the 5th hinged shaft
105, the 6th hinged shaft 106, the 7th hinged shaft 107 and the second hinged shaft 102 are arranged on four vertex of a parallelogram, to make
The crank 8, second connecting rod 7, the third section of forearm 4 and large arm 3 collectively form the second parallelogram mechanism, in Fig. 6
Parallelogram ADIH；
The third servo motor 12 is connect with crank 8, with drive crank 8 around the 5th hinged shaft 105 axis rotation；
The one end of the first segment of the wishbone 10 far from the second hinged shaft 102 is connected by the hinged third of the 8th hinged shaft 108
Bar 9, the third connecting rod 9 pass through the tenth hinge by the hinged fixture mounting base 5 of the 9th hinged shaft 109, the fixture mounting base 5
The 4th section of one end far from the second hinged shaft 102 of the hinged forearm 4 of axis 110, the 8th hinged shaft 108, the 9th hinged shaft 109,
Tenth hinged shaft 110 and the second hinged shaft 102 are arranged on four vertex of a parallelogram, to make the of the wishbone 10
Two sections, third connecting rod 9, the 4th section of fixture mounting base 5 and forearm 4 collectively form third parallelogram mechanism, in Fig. 6
Parallelogram DGFE；
Referring to Fig. 6, corresponding first hinged shaft 101 of A point and 105 position of the 5th hinged shaft, corresponding 4th hinged shaft, 104 institute of B point
In position, C point corresponds to 103 position of third hinged shaft, corresponding second hinged shaft, 102 position of D point, corresponding tenth hinged shaft of E point
110 positions, corresponding 9th hinged shaft, 109 position of F point, corresponding 8th hinged shaft, 108 position of G point, H point the corresponding 6th
106 position of hinged shaft, corresponding 7th hinged shaft, 107 position of I point.
End effector 19 is installed in the fixture mounting base 5, the fixture 11 is installed on the end effector 19；
The 101~the tenth hinged shaft 110 of first hinged shaft is horizontally disposed, and is parallel to each other.
When second servo motor 14 driving large arm 3 of the invention fluctuates, large arm 3 will drive the movement of the second hinged shaft 102,
Then third parallelogram mechanism can move integrally, and each side of third parallelogram mechanism will not rotate, then press from both sides
Tool 11 can also be shifted on a large scale under the drive of third parallelogram mechanism；
When third servo motor 12 drives crank 8 to fluctuate, then the shake of crank 8 drives the second parallelogram mechanism
Forearm 4 fluctuate, forearm 4 fluctuates and third connecting rod 9 is driven to fluctuate, i.e. parallel four side of third at this time
Two sides of shape mechanism can be shaken, but fixture mounting base 5 will not shake, only can integral translation, fixture mounting base 5 can be at this time
It drives fixture 11 mobile, is equivalent to third parallelogram mechanism and the movement of fixture 11 is finely adjusted；
The driving of either the second servo motor 14 or third servo motor 12 drive, and fixture 11 can keep moving process
In not run-off the straight, therefore the material clamped in fixture 11 in moving process will not run-off the straight, it is relatively more steady in moving process.
In addition, present invention employs three parallelogram mechanisms to lift weight, bearing capacity is high, securely and reliably, this
Invention can manipulator work compound matched with other, the use environment of a wide range of distance with height change can be met, can be improved
Operating flexibility and efficiency.
Further, the first servo motor 18 is connect by worm gear mechanism with the rotary support 2, in this way can be with
Transmit power to held stationary.
Further, second servo motor 14 is connect by retarder with large arm 3, and the third servo motor 12 passes through
Retarder is connect with crank 8, so that large arm 3 and fluctuating for crank 8 are easier control angle.
Further, it is provided in the large arm 3 for cooperating the big of limitation 3 rotational travel of large arm with the rotary support 2
Arm limited block 21 is provided on the forearm 4 for cooperating the forearm 4 of limitation 4 rotational travel of forearm to limit with the large arm 3
Block, it is excessive to prevent rotational travel and damage robot.
Further, the fixture 11 includes clamp bottom board 300, guide rail 320, servo motor 350, ball screw framework, cunning
Block 390 and two clamping plates 330, the clamp bottom board 300 are mounted in the fixture mounting base 5, the guide rail 320, servo electricity
Machine 350 and ball screw framework are separately mounted on the clamp bottom board 300, the servo motor 350 and the ball-screw
The lead screw 310 of machine connects, with for driving the ball nut 370 of the ball-screw machine mobile, the ball nut 370 is installed
On sliding block 390, sliding block 390 is mounted on the guide rail 320, and the lead screw 310 of the ball screw framework is two-way lead screw, should
Two-way lead screw 310 is divided to two sections for thread rotary orientation on the contrary, and each section is separately connected a clamping plate 330, passes through two and presss from both sides
Plate 330 relatively or contrarily moves, and can clamp material or unclamp material.
Further, multiple rubber blocks 340 are respectively arranged on every piece of clamping plate 330, are also set up on each rubber block 340
It is fluted, so that fixture 11 adapts to cabinet material, and adapt to cylindrical material.In addition, rubber slab 340 can reduce folder
When tight between cabinet and pedestal 1 contact surface friction.
Further, it is provided on the clamp bottom board 300 multiple for accepting the idler wheel 380 of material, and these idler wheels
380 are located between two pieces of clamping plates, in order to which material in moving in fixture 11 and prevents from generating between clamp bottom board 300
Friction.
Further, end servo motor 16 is installed, the end servo motor 16 passes through end in the fixture mounting base 5
End retarder 17 connects the end effector 19, to be used to that the end effector 19 to be driven to rotate around vertical line, so as to
To adjust the posture of end effector 19 and fixture 11.
Further, equalizing and buffering cylinder 20 is additionally provided between second hinged shaft 102 and the 4th hinged shaft 104.The balance
Cushion dashpot 20 is using hydraulic or pneumatically subtracting thrust balancing device reduces driving moment needed for the robot course of work.
Pedestal 1 of the invention is mountable to chassis vehicle, slide rail workbench, and loads and unloads equipment with other and cooperate,
Referring to Fig. 8.
Rotary support 2 of the invention can regard the waist joint of robot, the motor shaft of first servo motor 18 and snail as
Bar 200 is connected by flat key, and first servo motor 18 drives worm gear mechanism movement；Worm gear 210 passes through worm-gear output shaft 230
Connection connection rotary support 2, the rotation of worm gear 210 drive worm-gear output shaft 230 to rotate, and realize waist joint at -170 ° of horizontal plane
~170 ° of rotation.Worm-gear output shaft 230 is installed by upper bearing (metal) 270, top chock 220, lower bearing 250 and lower bearing 240
On pedestal 1, worm screw 200 is mounted on pedestal 1 by worm bearing seat 260.
The combination of retarder and the first hinged shaft 101 that second servo motor 14, the second servo motor 14 connect is equivalent to machine
The shoulder joint of device people, the retarder of the second servo motor 14 connection are shoulder joint retarder 15, the built-in peace of shoulder joint retarder 15
In shoulder joint accommodation groove flange face on rotary support 2, the output shaft of shoulder joint retarder 15 is connect with large arm 3, and second
Swinging up and down for large arm 3 is realized in the rotation of servo motor 14.
Large arm 3 of the invention, forearm 4, V-type frame 10, first connecting rod 6, second connecting rod 7, crank 8, third connecting rod 9 etc. are common
Constitute the arm component of robot.
The combination of retarder and the 5th hinged shaft 105 that third servo motor 12, third servo motor 12 connect is equivalent to machine
The elbow joint of device people, the retarder that third servo motor 12 connects are elbow joint retarder 13, the built-in peace of elbow joint retarder 13
On elbow joint accommodation groove flange face on rotary support 2, the output shaft of elbow joint retarder 13 is connect with crank 8, third
The rotation of servo motor 12 drives the operation of 8 link mechanism of crank, and real forearm 4 is swung up and down.
The present invention forms posture holding mechanism by three four-bar mechanisms, and the posture holding mechanism makes robot
When lifting weight upwards, fixture 11 can be moved steadily always and not tilted.Robot is different from traditional robot palletizer
Hand grabs the mode of heavy lift, which carries out operation by the way of lifting weight upwards, is conducive to other
Matched manipulator work compound, avoids manipulator from interfering, and improves the job space range of manipulator；The robot simultaneously
Wording depth improves a lot.Robot structure is simple, high transmission accuracy.Pedestal 1 is mountable in chassis vehicle or moving guide rail
On, the occasion that field especially requires hoisting depth is carried in logistics, is had very well with aerial matched manipulator work compound
Adaptability and practicability.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of for lifting the robot of weight, which is characterized in that including robot body and fixture, the robot body
It is watched including pedestal, rotary support, first servo motor, large arm, wishbone and first connecting rod, crank, second connecting rod, forearm, second
Take motor, the second parallelogram mechanism, third servo motor and fixture mounting base, wherein
The rotary support and first servo motor are separately mounted on the pedestal, and the first servo motor with it is described
Rotary support connection, for driving the rotary support to rotate around vertical axis；
One end of the large arm is hinged on the rotary support by the first hinged shaft, and the other end of the large arm passes through the second hinge
Axis is connect with the wishbone, and the wishbone includes integrally formed first segment and second segment, and the opening of the wishbone is towards institute
It states large arm and second segment is in the top of first segment, second hinged shaft is set to the junction of the first segment and second segment,
The one end of the first segment far from the second hinged shaft by one end of third stud connection first connecting rod, the first connecting rod it is another
End is hinged on rotary support by the 4th hinged shaft, and the first hinged shaft~the 4th hinged shaft is arranged in four vertex of a parallelogram
On, to make large arm, the first segment of wishbone and first connecting rod that the first parallelogram mechanism be collectively formed；
Second servo motor is connect with large arm, to drive large arm to rotate around the axis of the first hinged shaft；
One end of the crank is hinged on the rotary support by the 5th hinged shaft, and the other end of the crank passes through the 6th hinge
One end of the hinged second connecting rod of axis, the other end of the second connecting rod are described small by the hinged forearm of the 7th hinged shaft
Arm is hinged in the large arm by second hinged shaft, and the forearm includes integrally formed third section and the 4th section,
Second hinged shaft is located at the third section and the 4th section of junction, the 5th hinged shaft, the 6th hinged shaft, the 7th hinged shaft and the second hinge
Axis is arranged on four vertex of a parallelogram, to keep the crank, second connecting rod, the third section of forearm and large arm total
With the second parallelogram mechanism of composition；
The third servo motor is connect with crank, with drive crank around the 5th hinged shaft axis rotation；
The first segment of the wishbone passes through the 8th hinged shaft hingedly third connecting rod, the third far from one end of the second hinged shaft
Connecting rod by the hinged fixture mounting base of the 9th hinged shaft, the fixture mounting base by the tenth hinged shaft hingedly the forearm the
Four sections of one end far from the second hinged shaft, the 8th hinged shaft, the 9th hinged shaft, the tenth hinged shaft and the second hinged shaft are arranged in one parallel four
On four vertex of side shape, to make the 4th section of the second segment of the wishbone, third connecting rod, fixture mounting base and forearm to be total to
With third parallelogram mechanism is constituted, end effector is installed in the fixture mounting base, is pacified on the end effector
Fill the fixture；
First hinged shaft~the tenth hinged shaft is horizontally disposed, and is parallel to each other.
2. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that the first servo motor
It is connect by worm gear mechanism with the rotary support.
3. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that second servo motor
It is connect by retarder with large arm.
4. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that the third servo motor
It is connect by retarder with crank.
5. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that be provided in the large arm
For cooperating the large arm limited block of limitation large arm rotational travel with the rotary support.
6. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that be provided on the forearm
For cooperating the forearm limited block of limitation forearm rotational travel with the large arm.
7. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that the fixture includes fixture
Bottom plate, guide rail, servo motor, ball screw framework and two clamping plates, the clamp bottom board are mounted in the fixture mounting base,
The guide rail, servo motor and ball screw framework are separately mounted on the clamp bottom board, the servo motor and the rolling
The lead screw of ballscrew machine connects, with for driving the ball nut of the ball-screw machine mobile, the ball nut is mounted on
On sliding block, sliding block is mounted on the guide rail, and the lead screw of the ball screw framework is two-way lead screw, which is divided into spiral shell
Oppositely oriented two sections of line, and each section is separately connected a clamping plate.
8. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that second hinged shaft and
Equalizing and buffering cylinder is additionally provided between four hinged shafts.
9. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that set on the clamp bottom board
Multiple idler wheels for being used to accept material are equipped with, and these idler wheels are located between two pieces of clamping plates.
10. according to claim 1 a kind of for lifting the robot of weight, which is characterized in that the fixture mounting base
On end servo motor is installed, the end servo motor connects the end effector by end retarder, to be used for
The end effector is driven to rotate around vertical line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586734.7A CN109531545B (en) | 2018-12-25 | 2018-12-25 | Robot for lifting heavy object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586734.7A CN109531545B (en) | 2018-12-25 | 2018-12-25 | Robot for lifting heavy object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109531545A true CN109531545A (en) | 2019-03-29 |
| CN109531545B CN109531545B (en) | 2021-03-23 |
Family
ID=65857376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811586734.7A Active CN109531545B (en) | 2018-12-25 | 2018-12-25 | Robot for lifting heavy object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531545B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181484A (en) * | 2019-06-24 | 2019-08-30 | 佛山智异科技开发有限公司 | A kind of robot combined in series and parallel |
| CN111775139A (en) * | 2019-04-03 | 2020-10-16 | 库卡机器人(广东)有限公司 | Robot |
| CN111940607A (en) * | 2020-08-11 | 2020-11-17 | 高二军 | Automatic precision stamping die |
| CN112456160A (en) * | 2020-11-16 | 2021-03-09 | 长春工业大学 | Four-degree-of-freedom stacking robot |
| CN112589512A (en) * | 2020-12-16 | 2021-04-02 | 南通四点零科技有限公司 | Special machine tool self-identification self-detection automatic feeding mechanism for water pump outer barrel |
| CN114111903A (en) * | 2021-11-24 | 2022-03-01 | 华中科技大学鄂州工业技术研究院 | Visual identification and carrying system and method for parts of production line |
| CN114161406A (en) * | 2021-12-22 | 2022-03-11 | 航天科工智能机器人有限责任公司 | Electric heavy-load mechanical arm based on closed chain mechanism and control method thereof |
| WO2022246927A1 (en) * | 2021-05-28 | 2022-12-01 | 南京蹑波物联网科技有限公司 | Balancing system of industrial robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3965770A (en) * | 1974-04-11 | 1976-06-29 | Kenro Motoda | Arm mechanism for moving heavy materials in a two-dimensional plane |
| US4065001A (en) * | 1976-06-15 | 1977-12-27 | Shiroyama Kogyo Co., Ltd. | Manipulator |
| CN104923432A (en) * | 2014-03-18 | 2015-09-23 | 江苏长虹智能装备集团有限公司 | Spraying robot driven by multiple paralleled parallelogram links in series-parallel manner |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106882744A (en) * | 2017-03-25 | 2017-06-23 | 山东交通学院 | A kind of cnc mechanism formula Three Degree Of Freedom crank arm type lifts robot |
| CN207058569U (en) * | 2017-08-02 | 2018-03-02 | 浙江晶盛机电股份有限公司 | A kind of multifunction manipulator for crystal bar intercept unit blanking |
-
2018
- 2018-12-25 CN CN201811586734.7A patent/CN109531545B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3965770A (en) * | 1974-04-11 | 1976-06-29 | Kenro Motoda | Arm mechanism for moving heavy materials in a two-dimensional plane |
| US4065001A (en) * | 1976-06-15 | 1977-12-27 | Shiroyama Kogyo Co., Ltd. | Manipulator |
| CN104923432A (en) * | 2014-03-18 | 2015-09-23 | 江苏长虹智能装备集团有限公司 | Spraying robot driven by multiple paralleled parallelogram links in series-parallel manner |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN106882744A (en) * | 2017-03-25 | 2017-06-23 | 山东交通学院 | A kind of cnc mechanism formula Three Degree Of Freedom crank arm type lifts robot |
| CN207058569U (en) * | 2017-08-02 | 2018-03-02 | 浙江晶盛机电股份有限公司 | A kind of multifunction manipulator for crystal bar intercept unit blanking |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775139A (en) * | 2019-04-03 | 2020-10-16 | 库卡机器人(广东)有限公司 | Robot |
| CN111775139B (en) * | 2019-04-03 | 2023-06-23 | 库卡机器人(广东)有限公司 | Robot |
| CN110181484A (en) * | 2019-06-24 | 2019-08-30 | 佛山智异科技开发有限公司 | A kind of robot combined in series and parallel |
| CN110181484B (en) * | 2019-06-24 | 2024-03-26 | 佛山智异科技开发有限公司 | Robot combined in series-parallel |
| CN111940607A (en) * | 2020-08-11 | 2020-11-17 | 高二军 | Automatic precision stamping die |
| CN112456160A (en) * | 2020-11-16 | 2021-03-09 | 长春工业大学 | Four-degree-of-freedom stacking robot |
| CN112589512A (en) * | 2020-12-16 | 2021-04-02 | 南通四点零科技有限公司 | Special machine tool self-identification self-detection automatic feeding mechanism for water pump outer barrel |
| WO2022246927A1 (en) * | 2021-05-28 | 2022-12-01 | 南京蹑波物联网科技有限公司 | Balancing system of industrial robot |
| CN114111903A (en) * | 2021-11-24 | 2022-03-01 | 华中科技大学鄂州工业技术研究院 | Visual identification and carrying system and method for parts of production line |
| CN114111903B (en) * | 2021-11-24 | 2023-10-13 | 华中科技大学鄂州工业技术研究院 | Production line part visual identification and transportation system and method |
| CN114161406A (en) * | 2021-12-22 | 2022-03-11 | 航天科工智能机器人有限责任公司 | Electric heavy-load mechanical arm based on closed chain mechanism and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109531545B (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109531545A (en) | It is a kind of for lifting the robot of weight | |
| LU100822B1 (en) | Turnover multi-finger asynchronous gripper for casting robot | |
| US10668628B2 (en) | Omnidirectional multi-finger asynchronous gripper for casting robot | |
| US10722942B2 (en) | Multi-arm hanging rail type casting cleaning robot | |
| CN107321969B (en) | Omnidirectional wheel type movable heavy-load casting robot | |
| US3262593A (en) | Wall-mounted support structure | |
| WO2019029027A1 (en) | Hybrid mobile heavy-load casting robot | |
| CN114013975B (en) | Multi-degree-of-freedom cargo overturning and transferring device | |
| CN110625603A (en) | Rotary industrial robot equipment | |
| CN109292442A (en) | A kind of industrial carrying machine people | |
| CN108942909B (en) | Snatch and transport manipulator structure | |
| CN204997674U (en) | Three degree of freedom servo manipulators of transport circuit breaker | |
| KR20170107406A (en) | Maintenance apparatus | |
| CN112279154A (en) | Lifting transfer robot | |
| CN114275689A (en) | Full-electric high-precision crane | |
| CN206318462U (en) | It is a kind of can arbitrarily 3D curves work manipulator | |
| CN112875020A (en) | Transfer telescopic device for underwater robot transportation | |
| CN209793724U (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN216403051U (en) | Material taking and placing structure for assembly line workpieces | |
| CN109760010B (en) | Multifunctional transfer robot | |
| CN210635365U (en) | Automatic loading and unloading device for three-section mechanical arm | |
| US11124391B2 (en) | Lifting shipping containers | |
| CN206318496U (en) | A kind of grasping mechanism and the manipulator that pallet can be laid | |
| KR101484801B1 (en) | Transfer robot system having support mechanism for lifter | |
| KR100872095B1 (en) | Apparatus for loading and unloading of automated device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |