CN202825825U

CN202825825U - Robot

Info

Publication number: CN202825825U
Application number: CN 201220493466
Authority: CN
Inventors: 曾国友; 邓凌
Original assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Current assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Priority date: 2012-09-26
Filing date: 2012-09-26
Publication date: 2013-03-27
Anticipated expiration: 2022-09-26

Abstract

The utility model discloses a robot. The robot comprises more than three horizontal first driving devices fixed under a base. Each rotating shaft of the first driving devices is respectively connected with rocker arms. The rotating shafts can drive the rocker arms to swing around shaft lines of the rotating shafts in a vertical surface. One ends of each rocker arms, far away from the shafts, are connected with the upper ends of connecting rods through a joint bearing. The lower ends of all connecting rods are connected together with tongs installation components for installing tongs through a joint bearing. The robot is more accurate in locating, more stable in operation stability and faster in operation speed compared with a robot in the prior art.

Description

A kind of robot

Technical field

The utility model relates to a kind of can be used for material or product is carried, put in order or the robot of the work such as assembling.

Background technology

In industrial production; usually can carry material or product by robot; arrangement; perhaps assembling waits work; to enhance productivity; existing robot is generally multiarticulate cascaded structure; be that the Chinese patent application of CN 102049774A discloses such robot such as publication No.; its arm that is installed on the base portion comprises many arm members; adjacent arm member is connected on one by joint (actuator) and connects; and arm member can or rotate relative to corresponding joint rotation; during work; under the control of control system; drive unit (such as motor) actuating arm member rotates relative to corresponding joint or rotates; thereby drive the handgrip motion on the arm member that is installed in foremost; at the crawl station material or product are grasped; then with movement of objects and be placed into preposition, realize the carrying of material or product; arrangement; perhaps assembling waits work.

But the robot of this kind structure, because its arm adopts the many structures that arm member is cascaded, during work, each arm member is the mutually stack of formed error when corresponding joint is rotated or rotated, therefore its positioning accuracy is lower, affect the stability of robot operation, and affect the speed of service of robot.

Summary of the invention

It is a kind of for material or product being carried, put in order or the robot of the work such as assembling that the purpose of this utility model is to provide, and its positioning accuracy is high, good stability and the speed of service are fast.

Robot described in the utility model, comprise at least three the first drive units that are fixed on the level of pedestal bottom, the rotating shaft of each the first drive unit is fixed with respectively rocking arm, can drive rocking arm during the rotating shaft rotation swings at perpendicular around the axis of its rotating shaft, each rocking arm is connected with the upper end of connecting rod by oscillating bearing away from an end of rotating shaft, and the lower end of all connecting rods is connected with for the handgrip installation component that handgrip is installed jointly by oscillating bearing.

The utlity model has at least three separate, and the rocking arm that can under the driving of the rotating shaft of the first drive unit of correspondence, swing at perpendicular, each rocking arm is connected with connecting rod away from an end of rotating shaft by oscillating bearing, the lower end of all connecting rods then is connected with for the handgrip installation component that handgrip is installed jointly by the oscillating bearing of correspondence, during work, control system (such as the PLC control system) is according to concrete carrying, arrangement, the perhaps demand of assembly working, give an order to each first drive unit, make the rotating shaft of the first drive unit drive the swing that rocking arm is made corresponding amplitude, thereby make the rocking arm drive link drive the handgrip installation component in the vertical direction motion, because the amplitude of fluctuation of each rocking arm is different, also can order about connecting rod and drive the horizontal movement of handgrip installation component, make the handgrip that is installed on the handgrip installation component transport limit in each locus in its working range, at the crawl station material or product are grasped, then with movement of objects and be placed into preposition, realize the carrying of material or product, arrangement, perhaps assembling waits work, compare with the multiarticulate cascaded structure of existing robot, the utility model adopts parallel rocker structure (connecting rod that namely is in parallel to drive separately by a plurality of rocking arms drives the structure that the handgrip installation component moves), when work, the athletic meeting of the connecting rod that is driven by rocking arm is complementary and pin down, the kinematic error that finally is delivered to handgrip is far smaller than the error that single rocking arm produces, obviously, positioning accuracy of the present utility model, the stability of operation, and the speed of service is all far above the robot of prior art.

Description of drawings

Fig. 1 is fundamental diagram of the present utility model.

Fig. 2 is schematic perspective view of the present utility model.

Fig. 3 is front view of the present utility model.

Fig. 4 is the schematic diagram of central rotation parts.

Fig. 5 is the schematic diagram of handgrip installation component.

The specific embodiment

Shown in Fig. 1 to 5, robot described in the utility model, comprise at least three the first drive units 2 that are fixed on the level of pedestal 1 bottom, 1 of this pedestal is fixed on the frame 100, the rotating shaft of each the first drive unit 2 is fixed with respectively rocking arm 3, can drive rocking arm 3 during the rotating shaft rotation swings at perpendicular around the axis of its rotating shaft, each rocking arm 3 is connected with the upper end of connecting rod 5 by oscillating bearing 4 away from an end of rotating shaft, and the lower end of all connecting rods 5 is connected with for the handgrip installation component 7 that the handgrip (not shown) is installed jointly by oscillating bearing 6.During work, control system (such as the PLC control system) is according to concrete carrying, arrangement, the perhaps demand of assembly working, give an order to each first drive unit 2, make the rotating shaft of the first drive unit 2 drive the swing that rocking arm 3 is made corresponding amplitude, thereby make rocking arm 3 drive link 5 drive handgrip installation component 7 in the vertical direction motion, because the amplitude of fluctuation of each rocking arm 3 is different, also can order about connecting rod 5 and drive 7 horizontal movements of handgrip installation component, make the handgrip (not shown) that is installed on the handgrip installation component 7 transport limit in each locus in its working range, at the crawl station material or product are grasped, then with movement of objects and be placed into preposition (in packing box), realize the carrying of material or product, arrangement, perhaps assembling waits work.

Such as Fig. 2, shown in Figure 3, described the first drive unit 2 is servomotor or rotary cylinder, and described rocking arm 3 is fixed in the rotating shaft of the first drive unit 2 by planet-gear speed reducer.

Such as Fig. 2, shown in Figure 3, be fixed with its rotating shaft the second drive unit 8 down on the described pedestal 1, this second drive unit 8 can be servomotor or rotary cylinder etc., but the top of the central rotation parts 9 of an axial stretching is connected with the rotating shaft of the second drive unit 8 by the first shaft coupling 91, and can swing, described the first shaft coupling 91 is fixed in the rotating shaft of the second drive unit 8 by planet-gear speed reducer, the bottom of central rotation parts 9 then is connected with the rotating disk of whirligig on being fixed on handgrip installation component 7 by the second shaft coupling 92 and can swings, described the first shaft coupling 91 and the second shaft coupling 92 all can be oscillating bearing, described handgrip then is installed on the rotating disk of whirligig 71, can be by the dial rotation of central rotation parts 9 driven rotary devices 71 when the rotating shaft of the second drive unit 8 is rotated, thereby driving the handgrip (not shown) rotates, make the handgrip can be as required, before crawl material or product, rotary hand grip is to grasp material or product better; Material or the product that perhaps will grasp when handgrip, be placed into the target location before, by rotating handgrip material or product are turned to the angle that needs.

Such as Fig. 1, shown in Figure 2, described pedestal 1 is fixed on the frame 100, be provided with vision system on the frame 100, when the material on the feeding web 10 that is positioned at pedestal 1 below or product run to the visual response scope of vision system with feeding web 10, vision system can send to control system with the information that receives, and change into instruction through control system, make 2 work of the first drive unit, to drive handgrip different colours or dissimilar raw material or product (such as parts) are classified, and can be according to real needs, send instruction to drive the handgrip rotation to the second drive unit 8, product at random on the feeding web 10 or material are put neatly, perhaps according to demand with material or the product optional position pendulum in the working range of robot, assembling etc., described vision system is prior art, no longer its structure and operation principle is given unnecessary details here.

As shown in Figure 2, described the first drive unit 2 evenly distributes around the axis of the rotating shaft of the second drive unit 8.

Claims

1. robot, it is characterized in that: comprise at least three the first drive units (2) that are fixed on the level of pedestal (1) bottom, the rotating shaft of each the first drive unit (2) is fixed with respectively rocking arm (3), can drive rocking arm (3) during the rotating shaft rotation swings at perpendicular around the axis of its rotating shaft, each rocking arm (3) is connected with the upper end of connecting rod (5) by oscillating bearing (4) away from an end of rotating shaft, and the lower end of all connecting rods (5) is connected with for the handgrip installation component (7) that handgrip is installed jointly by oscillating bearing (6).

2. robot according to claim 1, it is characterized in that: described the first drive unit (2) is servomotor or rotary cylinder, and described rocking arm (3) is fixed in the rotating shaft of the first drive unit (2) by planet-gear speed reducer.

3. robot according to claim 1, it is characterized in that: be fixed with its rotating shaft the second drive unit (8) down on the described pedestal (1), but the top of the central rotation parts (9) of an axial stretching is connected with the rotating shaft of the second drive unit (8) by the first shaft coupling (91) and can swings, the bottom of central rotation parts (9) then is connected with the rotating disk of whirligig on being fixed on handgrip installation component (7) by the second shaft coupling (92) and can swings, described handgrip then is installed on the rotating disk of whirligig (71), can be by the dial rotation of central rotation parts (9) driven rotary devices (71) when the rotating shaft of the second drive unit (8) is rotated.

4. according to claim 1 or 3 described robots, it is characterized in that: described pedestal (1) is fixed on the frame (100), frame is provided with vision system on (100), when the material on the feeding web (10) below being positioned at pedestal (1) or product run to the visual response scope of vision system with feeding web (10), vision system can send to control system with the information that receives, and change into instruction through control system, make the work of the first drive unit (2) or the second drive unit (8).

5. robot according to claim 3, it is characterized in that: described the first drive unit (2) evenly distributes around the axis of the rotating shaft of the second drive unit (8).

6. robot according to claim 3, it is characterized in that: described the second drive unit (8) is servomotor or rotary cylinder.

7. robot according to claim 1, it is characterized in that: described the first shaft coupling (91) is fixed in the rotating shaft of the second drive unit (8) by planet-gear speed reducer.