CN109531545B - Robot for lifting heavy object - Google Patents
Robot for lifting heavy object Download PDFInfo
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- CN109531545B CN109531545B CN201811586734.7A CN201811586734A CN109531545B CN 109531545 B CN109531545 B CN 109531545B CN 201811586734 A CN201811586734 A CN 201811586734A CN 109531545 B CN109531545 B CN 109531545B
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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
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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
- B25J9/10—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
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Abstract
The invention discloses a robot for lifting a heavy object, which comprises a robot body and a clamp, wherein the robot body comprises a base, a rotating support, a first servo motor, a large arm, a V-shaped frame, a first connecting rod, a crank, a second connecting rod, a small arm, a second servo motor, a second parallelogram mechanism, a third servo motor and a clamp mounting seat, the three parallelogram mechanisms are formed by hinging the large arm, the V-shaped frame, the first connecting rod, the crank, the second connecting rod, the small arm, the second servo motor, the second parallelogram mechanism, the third servo motor and the clamp mounting seat through hinged shafts, an end executor is mounted on the clamp mounting seat, and a clamp. According to the invention, the rotary support is driven to rotate by the first servo motor, so that the position of the clamp can be adjusted; the second servo motor drives the big arm to shake up and down and the clamp can be driven to shift in a large range through the matching of the parallelogram mechanism, the third servo motor drives the crank to shake up and down and the clamp can be finely adjusted through the matching of the parallelogram mechanism, and therefore the clamp can move stably all the time without worrying about the fact that a heavy object can turn on one's side.
Description
Technical Field
The invention belongs to the technical field of logistics cargo handling, and particularly relates to a robot for lifting heavy objects.
Background
At present, in the field of modern logistics loading and unloading, the loading and unloading equipment is single in form, and the loading and unloading efficiency and the automation level are lower. The robot is often used on an industrial production line to replace manpower to carry and neatly arrange workpieces on a pallet, so that the production efficiency can be greatly improved, the stability is ensured, the labor intensity is reduced, and major safety accidents can be prevented. The traditional four-shaft stacking industrial robot has limited arm length, limited bearing capacity and limited rotation range of a large arm, so that the lifting operation of a large box body or a cylinder with great requirements on height cannot be finished; and the robot with six or more shafts has higher cost, lower bearing capacity at the tail end and potential safety hazard. On the premise of safety, economy, practicality and reliability, the prior robot can hardly meet the carrying requirement of large boxes or cylinders in the field of logistics carrying, loading and unloading. At present, the robot palletizer mainly adopts a motion mode of grabbing and lifting a heavy object to realize the palletizing operation of the heavy object at a flange at the tail end of a wrist part. In the logistics transportation, especially in the occasions with certain height requirements on object lifting, the stacking robot is not suitable for stacking or loading and unloading goods in a stacking robot mode.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the invention provides a robot for lifting heavy objects, which can realize heavy-load lifting capacity, can lift large-sized boxes or cylinders, and complete the operation of grabbing and lifting the boxes or cylinders to a specified height in logistics loading and unloading.
To achieve the above object, according to one aspect of the present invention, there is provided a robot for lifting a heavy object, comprising a robot body including a base, a rotary support, a first servo motor, a large arm, a V-shaped frame and a first link, a crank, a second link, a small arm, a second servo motor, a second parallelogram mechanism, a third servo motor, and a jig mount, wherein,
the rotating support and the first servo motor are respectively arranged on the base, and the first servo motor is connected with the rotating support and used for driving the rotating support to rotate around a vertical axis;
one end of the large arm is hinged to the rotating support through a first hinge shaft, the other end of the large arm is connected with the V-shaped frame through a second hinge shaft, the V-shaped frame comprises a first section and a second section which are integrally formed, the opening of the V-shaped frame faces the large arm, the second section is arranged above the first section, the second hinge shaft is arranged at the joint of the first section and the second section, one end, far away from the second hinge shaft, of the second section is connected with one end of a first connecting rod through a third hinge shaft, the other end of the first connecting rod is hinged to the rotating support through a fourth hinge shaft, and the first hinge shaft to the fourth hinge shaft are arranged on four vertexes of a parallelogram, so that the large arm, the second section of the V-shaped frame and the first connecting rod form a first parallelogram mechanism together;
the second servo motor is connected with the large arm to drive the large arm to rotate around the axis of the first hinge shaft;
one end of the crank is hinged to the rotary support through a fifth hinge shaft, the other end of the crank is hinged to one end of the second connecting rod through a sixth hinge shaft, the other end of the second connecting rod is hinged to the small arm through a seventh hinge shaft, the small arm is hinged to the large arm through the second hinge shaft, the small arm comprises a third section and a fourth section which are integrally formed, the second hinge shaft is located at the joint of the third section and the fourth section, and the fifth hinge shaft, the sixth hinge shaft, the seventh hinge shaft and the second hinge shaft are arranged on four vertexes of a parallelogram, so that the crank, the second connecting rod, the third section of the small arm and the large arm form a second parallelogram mechanism together;
the third servo motor is connected with the crank so as to drive the crank to rotate around the axis of the fifth hinge shaft;
the end, far away from the second hinge shaft, of the first section of the V-shaped frame is hinged to the third connecting rod through an eighth hinge shaft, the third connecting rod is hinged to the clamp mounting seat through a ninth hinge shaft, the clamp mounting seat is hinged to the end, far away from the second hinge shaft, of the fourth section of the small arm through a tenth hinge shaft, the eighth hinge shaft, the ninth hinge shaft, the tenth hinge shaft and the second hinge shaft are arranged on four vertexes of a parallelogram, so that the first section of the V-shaped frame, the third connecting rod, the clamp mounting seat and the fourth section of the small arm form a third parallelogram mechanism together, an end effector is mounted on the clamp mounting seat, and the clamp is mounted on the end effector;
the first hinge shaft to the tenth hinge shaft are all horizontally arranged and are parallel to each other;
and a balance buffer cylinder is arranged between the second hinge shaft and the fourth hinge shaft so as to reduce the driving torque required by the robot in the working process.
Preferably, the first servo motor is connected with the rotary support through a worm and gear mechanism.
Preferably, the second servo motor is connected with the large arm through a speed reducer.
Preferably, the third servo motor is connected with the crank through a speed reducer.
Preferably, the large arm is provided with a large arm limiting block which is used for being matched with the rotating support to limit the rotating stroke of the large arm.
Preferably, the small arm is provided with a small arm limiting block which is used for being matched with the large arm to limit the rotation stroke of the small arm.
Preferably, the fixture comprises a fixture bottom plate, a guide rail, a servo motor, a ball screw mechanism and two clamping plates, wherein the fixture bottom plate is installed on the fixture installation seat, the guide rail, the servo motor and the ball screw mechanism are respectively installed on the fixture bottom plate, the servo motor is connected with a screw rod of the ball screw mechanism and used for driving a ball nut of the ball screw mechanism to move, the ball nut is installed on a sliding block, the sliding block is installed on the guide rail, the screw rod of the ball screw mechanism is a bidirectional screw rod, the bidirectional screw rod is divided into two sections with opposite thread turning directions, and each section is respectively connected with one clamping plate.
Preferably, a balance buffer cylinder is further arranged between the second hinge shaft and the fourth hinge shaft.
Preferably, a plurality of rollers for receiving the materials are arranged on the clamp bottom plate, and the rollers are positioned between the two clamping plates.
Preferably, an end servo motor is mounted on the clamp mounting seat, and the end servo motor is connected with the end effector through an end reducer so as to drive the end effector to rotate around a vertical line.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1) according to the invention, the rotary support is driven to rotate by the first servo motor, so that the position of the clamp can be adjusted; the second servo motor drives the large arm to vertically rock and the first parallelogram mechanism and the third parallelogram mechanism are matched to drive the clamp to transfer in a large range, the third servo motor drives the crank to vertically rock and the second parallelogram mechanism and the third parallelogram mechanism are matched to drive the clamp to finely adjust the position of the clamp, and the first parallelogram mechanism, the second parallelogram mechanism and the third parallelogram mechanism are matched to enable the clamp to stably move all the time without worrying about the rollover of heavy objects.
2) The robot for lifting the heavy objects upwards is provided with the clamp at the wrist joint, the clamp movement mode adopts upwards lifting, the traditional palletizing robot clamp adopts a hand-grasping movement mode, the robot can effectively cooperate with a suspension arm manipulator matched in high altitude, meanwhile, the two manipulators are effectively prevented from interfering when in butt joint, the two manipulators are mutually matched for operation, the automation level of loading and unloading goods is greatly improved, and the efficiency of loading and unloading goods is improved. The novel mechanism adopted by the robot for lifting the heavy object upwards has stronger adaptability and flexibility, and is suitable for occasions with large-range distance and height change.
Drawings
FIG. 1 is a three-dimensional schematic of a robot body according to the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a rear view of the robot body in the present invention;
FIG. 4 is a three-dimensional schematic view of a base of the present invention;
FIG. 5 is a schematic view of the internal structure of the base in the present invention;
FIG. 6 is a schematic diagram of the parallelogram mechanism of the present invention;
FIG. 7 is a three-dimensional schematic view of a clamp of the present invention;
FIG. 8 is a schematic diagram of the cooperative operation of a robot and a mating manipulator of the present invention;
fig. 9 is a three-dimensional schematic of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 8, a robot for lifting heavy objects comprises a robot body and a clamp 11, wherein the robot body comprises a base 1, a rotary support 2, a first servo motor 18, a large arm 3, a V-shaped frame 10, a first connecting rod 6, a crank 8, a second connecting rod 7, a small arm 4, a second servo motor 14, a second parallelogram mechanism, a third servo motor 12 and a clamp mounting seat 5,
the rotary support 2 and the first servo motor 18 are respectively installed on the base 1, and the first servo motor 18 is connected with the rotary support 2 for driving the rotary support 2 to rotate around a vertical axis;
one end of the large arm 3 is hinged on the rotating support 2 through a first hinge shaft 101, the other end of the large arm 3 is connected with the V-shaped frame 10 through a second hinge shaft 102, the V-shaped frame 10 comprises a first section and a second section which are integrally formed, the opening of the V-shaped frame 10 faces the large arm 3, and the second section is above the first section, the second hinge shaft 102 is arranged at the joint of the first section and the second section, one end of the second section far away from the second hinge shaft 102 is connected with one end of the first connecting rod 6 through a third hinge shaft 103, the other end of the first connecting rod 6 is hinged on the rotary support 2 through a fourth hinge shaft 104, the first hinge shaft 101-the fourth hinge shaft 104 are arranged on four vertexes of a parallelogram, so that the large arm 3, the second section of the V-shaped frame 10 and the first link 6 together form a first parallelogram mechanism, such as the parallelogram ADCB in fig. 6;
the second servo motor 14 is connected with the large arm 3 to drive the large arm 3 to rotate around the axis of the first hinge shaft 101;
one end of the crank 8 is hinged to the rotary support 2 through a fifth hinge shaft 105, the other end of the crank 8 is hinged to one end of the second connecting rod 7 through a sixth hinge shaft 106, the other end of the second connecting rod 7 is hinged to the small arm 4 through a seventh hinge shaft 107, the small arm 4 is hinged to the large arm 3 through the second hinge shaft 102, the small arm 4 comprises a third section and a fourth section which are integrally formed, the second hinge shaft 102 is located at the junction of the third section and the fourth section, and the fifth hinge shaft 105, the sixth hinge shaft 106, the seventh hinge shaft 107 and the second hinge shaft 102 are arranged on four vertexes of a parallelogram, so that the crank 8, the second connecting rod 7, the third section of the small arm 4 and the large arm 3 jointly form a third parallelogram mechanism, such as parallelogram ADIH in fig. 6;
the third servo motor 12 is connected with the crank 8 to drive the crank 8 to rotate around the axis of the fifth hinge shaft 105;
the end of the first section of the V-shaped frame 10 far away from the second hinge shaft 102 is hinged with the third connecting rod 9 through an eighth hinge shaft 108, the third connecting rod 9 is hinged with the clamp mounting seat 5 through a ninth hinge shaft 109, the clamp mounting seat 5 is hinged with the end of the fourth section of the small arm 4 far away from the second hinge shaft 102 through a tenth hinge shaft 110, the eighth hinge shaft 108, the ninth hinge shaft 109, the tenth hinge shaft 110 and the second hinge shaft 102 are arranged on four vertexes of a parallelogram, so that the first section of the V-shaped frame 10, the third connecting rod 9, the clamp mounting seat 5 and the fourth section of the small arm 4 together form a third parallelogram mechanism, such as a parallelogram DGFE in FIG. 6;
referring to fig. 6, a point a corresponds to positions of a first hinge shaft 101 and a fifth hinge shaft 105, a point B corresponds to a position of a fourth hinge shaft 104, a point C corresponds to a position of a third hinge shaft 103, a point D corresponds to a position of a second hinge shaft 102, a point E corresponds to a position of a tenth hinge shaft 110, a point F corresponds to a position of a ninth hinge shaft 109, a point G corresponds to a position of an eighth hinge shaft 108, a point H corresponds to a position of a sixth hinge shaft 106, and a point I corresponds to a position of a seventh hinge shaft 107.
An end effector 19 is installed on the clamp installation seat 5, and the clamp 11 is installed on the end effector 19;
the first hinge shaft 101 to the tenth hinge shaft 110 are all horizontally arranged and are parallel to each other.
When the second servo motor 14 drives the large arm 3 to swing up and down, the large arm 3 can drive the second hinge shaft 102 to move, so that the third parallelogram mechanism can move integrally, each edge of the third parallelogram mechanism cannot rotate, and the clamp 11 can also be driven by the third parallelogram mechanism to transfer in a large range;
when the third servo motor 12 drives the crank 8 to swing up and down, the swing of the crank 8 drives the small arm 4 of the second parallelogram mechanism to swing up and down, and the swing of the small arm 4 drives the third connecting rod 9 to swing up and down, namely, two edges of the third parallelogram mechanism can swing at the moment, but the clamp mounting seat 5 can not swing and only can integrally translate, and at the moment, the clamp mounting seat 5 can drive the clamp 11 to move, which is equivalent to that the third parallelogram mechanism finely adjusts the movement of the clamp 11;
no matter the second servo motor 14 or the third servo motor 12 is used for driving, the clamp 11 can keep not to incline in the moving process, so that materials clamped in the clamp 11 cannot incline in the moving process, and the moving process is stable.
In addition, the three parallelogram mechanisms are adopted to lift the heavy object, so that the heavy object lifting device is high in bearing capacity, safe and reliable, can be cooperatively operated with other matched mechanical arms, can meet the use environment with large-range distance and height change, and can improve the operation flexibility and efficiency.
Further, the first servo motor 18 is connected to the rotary holder 2 through a worm gear mechanism, so that smooth power transmission can be maintained.
Further, the second servo motor 14 is connected to the boom 3 through a reducer, and the third servo motor 12 is connected to the crank 8 through a reducer, so that the vertical rocking of the boom 3 and the crank 8 can be controlled by an angle easily.
Further, be provided with on the big arm 3 be used for with rotatory support 2 cooperation restriction big arm 3 rotates the big arm stopper 21 of stroke, be provided with on the forearm 4 be used for with big arm 3 cooperation restriction forearm 4 rotation stroke's forearm 4 stopper to prevent to rotate the too big robot that damages of stroke.
Further, the clamp 11 includes a clamp base plate 300, a guide rail 320, a servo motor 350, a ball screw mechanism, a slider 390 and two clamping plates 330, the clamp base plate 300 is mounted on the clamp mounting base 5, the guide rail 320, the servo motor 350 and the ball screw mechanism are respectively mounted on the clamp base plate 300, the servo motor 350 is connected to a lead screw 310 of the ball screw machine for driving a ball nut 370 of the ball screw machine to move, the ball nut 370 is mounted on the slider 390, the slider 390 is mounted on the guide rail 320, the lead screw 310 of the ball screw mechanism is a bidirectional lead screw, the bidirectional lead screw 310 is divided into two sections with opposite thread directions, each section is respectively connected to one of the clamping plates 330, and the two clamping plates 330 can clamp or loosen a material by moving relatively or oppositely.
Further, every be provided with a plurality of blocks of rubber 340 on the splint 330 respectively, still be provided with the recess on every block of rubber 340 to make anchor clamps 11 can adapt to the box material, can adapt to cylindrical material again. In addition, the rubber plate 340 can reduce the friction between the contact surface between the box body and the base 1 during clamping.
Further, a plurality of rollers 380 for receiving the material are disposed on the clamp base plate 300, and the rollers 380 are disposed between the two clamping plates to facilitate the movement of the material in the clamp 11 and prevent friction between the material and the clamp base plate 300.
Further, an end servomotor 16 is mounted on the jig mounting base 5, and the end servomotor 16 is connected to the end effector 19 through an end reducer 17 for driving the end effector 19 to rotate around a vertical line, so that the postures of the end effector 19 and the jig 11 can be adjusted.
Further, a balance buffer cylinder 20 is arranged between the second hinge shaft 102 and the fourth hinge shaft 104. The balance buffer cylinder 20 adopts a hydraulic or pneumatic force-reducing balance device to reduce the driving moment required by the robot in the working process.
The base 1 of the present invention can be attached to a chassis or a slide rail table and is fitted to other loading/unloading equipment, see fig. 8.
The rotary support 2 can be regarded as a waist joint of the robot, a motor shaft of the first servo motor 18 is connected with the worm 200 through a flat key, and the first servo motor 18 drives the worm gear mechanism to move; the worm wheel 210 is connected with the rotary support 2 through a worm wheel output shaft 230, the worm wheel output shaft 230 is driven to rotate by the rotation of the worm wheel 210, and the rotation of the waist joint at-170 degrees on the horizontal plane is realized. The worm wheel output shaft 230 is mounted on the base 1 through an upper bearing 270, an upper bearing housing 220, a lower bearing 250 and a lower bearing 240, and the worm 200 is mounted on the base 1 through a worm bearing housing 260.
The combination of the second servo motor 14, the reducer connected with the second servo motor 14 and the first hinge shaft 101 is equivalent to a shoulder joint of the robot, the reducer connected with the second servo motor 14 is a shoulder joint reducer 15, the shoulder joint reducer 15 is internally installed in a shoulder joint accommodating groove flange surface on the rotary support 2, an output shaft of the shoulder joint reducer 15 is connected with the large arm 3, and the second servo motor 14 rotates to realize the up-and-down swing of the large arm 3.
The large arm 3, the small arm 4, the V-shaped frame 10, the first connecting rod 6, the second connecting rod 7, the crank 8, the third connecting rod 9 and the like of the invention jointly form an arm component of the robot.
The combination of the speed reducer connected with the third servo motor 12 and the fifth hinge shaft 105 is equivalent to an elbow joint of the robot, the speed reducer connected with the third servo motor 12 is an elbow joint speed reducer 13, the elbow joint speed reducer 13 is internally installed on a flange face of an elbow joint accommodating groove on the rotary support 2, an output shaft of the elbow joint speed reducer 13 is connected with the crank 8, and the third servo motor 12 rotates to drive the crank 8 connecting rod mechanism to operate, so that the up-and-down swing of the forearm 4 is realized.
The invention forms the attitude keeping mechanism by three four-bar mechanisms, and the attitude keeping mechanism ensures that the clamp 11 can always stably move and does not incline when the robot lifts a heavy object upwards. The robot is different from the traditional method for lifting the heavy object by the hand of the stacking robot, the wrist joint of the robot adopts the upward lifting method for carrying out operation, so that the cooperative operation of other matched mechanical arms is facilitated, the mutual interference of the mechanical arms is avoided, and the space operation range of the mechanical arms is enlarged; meanwhile, the action height of the robot is greatly improved. The robot has simple structure and high transmission precision. The base 1 can be arranged on a chassis vehicle or a movable guide rail, and has good adaptability and practicability in the field of logistics transportation, particularly in the occasions with requirements on lifting height, and in cooperation with an aerial matched manipulator.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A robot for lifting heavy objects is characterized by comprising a robot body and a clamp, wherein the robot body comprises a base, a rotating support, a first servo motor, a large arm, a V-shaped frame, a first connecting rod, a crank, a second connecting rod, a small arm, a second servo motor, a second parallelogram mechanism, a third servo motor and a clamp mounting seat,
the rotating support and the first servo motor are respectively arranged on the base, and the first servo motor is connected with the rotating support and used for driving the rotating support to rotate around a vertical axis;
one end of the large arm is hinged to the rotating support through a first hinge shaft, the other end of the large arm is connected with the V-shaped frame through a second hinge shaft, the V-shaped frame comprises a first section and a second section which are integrally formed, the opening of the V-shaped frame faces the large arm, the second section is arranged above the first section, the second hinge shaft is arranged at the joint of the first section and the second section, one end, far away from the second hinge shaft, of the second section is connected with one end of a first connecting rod through a third hinge shaft, the other end of the first connecting rod is hinged to the rotating support through a fourth hinge shaft, and the first hinge shaft to the fourth hinge shaft are arranged on four vertexes of a parallelogram, so that the large arm, the second section of the V-shaped frame and the first connecting rod form a first parallelogram mechanism together;
the second servo motor is connected with the large arm to drive the large arm to rotate around the axis of the first hinge shaft;
one end of the crank is hinged to the rotary support through a fifth hinge shaft, the other end of the crank is hinged to one end of the second connecting rod through a sixth hinge shaft, the other end of the second connecting rod is hinged to the small arm through a seventh hinge shaft, the small arm is hinged to the large arm through the second hinge shaft, the small arm comprises a third section and a fourth section which are integrally formed, the second hinge shaft is located at the joint of the third section and the fourth section, and the fifth hinge shaft, the sixth hinge shaft, the seventh hinge shaft and the second hinge shaft are arranged on four vertexes of a parallelogram, so that the crank, the second connecting rod, the third section of the small arm and the large arm form a second parallelogram mechanism together;
the third servo motor is connected with the crank so as to drive the crank to rotate around the axis of the fifth hinge shaft;
the end, far away from the second hinge shaft, of the first section of the V-shaped frame is hinged to a third connecting rod through an eighth hinge shaft, the third connecting rod is hinged to the clamp installation seat through a ninth hinge shaft, the clamp installation seat is hinged to the end, far away from the second hinge shaft, of the fourth section of the small arm through a tenth hinge shaft, the eighth hinge shaft, the ninth hinge shaft, the tenth hinge shaft and the second hinge shaft are arranged on four vertexes of a parallelogram, so that the first section of the V-shaped frame, the third connecting rod, the clamp installation seat and the fourth section of the small arm form a third parallelogram mechanism together, an end effector is installed on the clamp installation seat, and the clamp is installed on the end effector;
the first hinge shaft to the tenth hinge shaft are all horizontally arranged and are parallel to each other;
and a balance buffer cylinder is arranged between the second hinge shaft and the fourth hinge shaft so as to reduce the driving torque required by the robot in the working process.
2. A robot for lifting a weight according to claim 1, wherein the first servo motor is connected to the rotating support via a worm and gear mechanism.
3. A robot for lifting weights according to claim 1, characterised in that the second servomotor is connected to the large arm by means of a reduction gear.
4. A robot for lifting weights according to claim 1, characterised in that the third servomotor is connected to the crank via a reduction gear.
5. A robot for lifting heavy objects according to claim 1, wherein the boom is provided with a boom stopper for limiting the boom rotation stroke in cooperation with the rotation support.
6. A robot for lifting heavy objects as claimed in claim 1, wherein the small arm is provided with a small arm limiting block for limiting the rotation stroke of the small arm in cooperation with the large arm.
7. A robot for lifting heavy objects according to claim 1, wherein the clamp comprises a clamp base plate, a guide rail, a servo motor, a ball screw mechanism and two clamp plates, the clamp base plate is mounted on the clamp mounting base, the guide rail, the servo motor and the ball screw mechanism are respectively mounted on the clamp base plate, the servo motor is connected with a screw of the ball screw mechanism for driving a ball nut of the ball screw mechanism to move, the ball nut is mounted on a slide block, the slide block is mounted on the guide rail, the screw of the ball screw mechanism is a bidirectional screw which is divided into two sections with opposite thread directions, and each section is respectively connected with one of the clamp plates.
8. A robot for lifting a weight according to claim 1, wherein a balance cushion cylinder is further provided between the second hinge shaft and the fourth hinge shaft.
9. A robot for lifting loads according to claim 7, wherein the gripper floor is provided with a plurality of rollers for receiving material and the rollers are located between the jaws.
10. A robot for lifting a weight according to claim 1, wherein the clamp mount has an end servomotor mounted thereon, the end servomotor being connected to the end effector via an end reducer for driving the end effector to rotate about a vertical line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811586734.7A CN109531545B (en) | 2018-12-25 | 2018-12-25 | Robot for lifting heavy object |
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| CN201811586734.7A CN109531545B (en) | 2018-12-25 | 2018-12-25 | Robot for lifting heavy object |
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| CN109531545A CN109531545A (en) | 2019-03-29 |
| CN109531545B true CN109531545B (en) | 2021-03-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111775139B (en) * | 2019-04-03 | 2023-06-23 | 库卡机器人(广东)有限公司 | Robot |
| 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 |
| CN111940607B (en) * | 2020-08-11 | 2022-05-20 | 东阳市日盛电子有限公司 | 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 |
| CN113211502A (en) * | 2021-05-28 | 2021-08-06 | 南京蹑波物联网科技有限公司 | Industrial robot's balanced system |
| 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 |
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| 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 |
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