A kind of multipurpose material handling industrial robot
The utility model relates to a kind of robot, relates in particular to a kind of Multifunctional material transportation industrial robot.
China is greatly developing machinery manufacturing industry present stage, and machinery manufacturing industry is the embodiment of a national He Ming family Hard Power, and in machinery manufacturing industry, a very important developing direction is exactly by means of modern science and technology, realizes the manufacture process of automation.In evolution, various types of industrial robots play a very important effect therein, and a lot of operation tasks will be completed by various industrial robots.
The basic quantity of China robot is very low at present, artificially routine with industrial machine, to China robot owning amount in 2010 can only reach world's owning amount 1.38%～2%, Zhe Yu China requires gap too large as the main manufacturing nation in the 21 century first half leaf world, if this gap can only make up with import robot, its massive losses can not calculate with currency loss.Visible, no matter from fund aspect, consider, or consider from long-term interest, we are necessary independently robot to be researched and developed.But due to the research and development of domestic robot with still have larger gap abroad, although what the robot of plan exploitation adopted substantially is the technology being mature on the whole abroad, domestic constituent parts has considerable part also to rest on document or in local techniques to the understanding of these technology.So we should, from substantially doing, be necessary develop the robot of minority model and carry out a collection of basic technology research as the main research and development content of robot problem.
Utility model content
The utility model is for solving the artificial continuous productive process of material handling industrial robot equipment configuration imperfection, and operating efficiency is low; Routine material handling robot provides a kind of multipurpose material handling industrial robot in carrying different kind of material, the different problems such as artificial replacing end-effector that need of disposing way.
described in the utility modela material handling industrial robot, comprises waist gyroaxis, shoulder pitching rotating shaft, ancon pitching rotating shaft, ancon gyroaxis, wrist pitch axis, operator gyroaxis, large arm, forearm, pedestal, wrist, end-effector; On described pedestal, arrange waist gyroaxis, the top layout shoulder pitching rotating shaft of waist gyroaxis, shoulder pitching rotating shaft connects one end of large arm, and the other end of large arm connects ancon pitching rotating shaft; Ancon pitching rotating shaft connects forearm, and forearm is connected with ancon gyroaxis, and wrist is arranged on the top of ancon gyroaxis, and wrist pitch axis and operator gyroaxis are set on wrist, and operator gyroaxis connects end-effector.
the utility modeldescribed multipurpose material handling industrial robot, also comprises servomotor; Described operator gyroaxis is connected with servomotor, and driving gear set is arranged in end-effector, and servomotor drives the rotation of operator gyroaxis by gear train.
Multipurpose material handling industrial robot described in the utility model, also comprises sheet material sucker and tubing handgrip; Sheet material sucker, other end layout tubing handgrip are arranged in one end of described end-effector, and tubing handgrip drives by telescopic cylinder.
the utility modeldescribed multipurpose material handling industrial robot, the finger of described tubing handgrip is divided into outside friction and refers to and inner side clamping finger.
Multifunctional material transfer robot provided by the utility model, utilizes pedestal, large arm, and forearm, the tacit agreement between wrist and end-effector coordinates, and raises labour productivity, and reduces production costs.When wanting carrying plate and tubing two kinds of workpiece Shi，Gai robots, do not need manpower intervention, just can change end-effector, and only need an end-effector, just can replace connecting a special-purpose end-effector.The end-effector of this robot tubing that surely any posture of carrying in jail is piled up.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the overall diagram of end-effector;
Fig. 3 is the generalized section of A-A in Fig. 2;
Fig. 4 is the structural representation of large arm internal gear pair transmission component;
Fig. 5 is the structural representation of forearm internal gear pair transmission component;
In figure: 1 is waist gyroaxis; 2 is shoulder pitching rotating shaft; 3 is ancon pitching rotating shaft; 4 is ancon gyroaxis; 5 is wrist pitch axis; 6 is operator gyroaxis; 7 for driving servomotor; 8 is large arm; 9 is end-effector; 10 is sheet material sucker; 11 is tubing handgrip; 12 is forearm; 13 is pedestal; 14 is wrist; 15 is driving gear set; 16 is telescopic cylinder; 17 refer to for outside rubs; 18 is inner side clamping finger.
Below by reference to the accompanying drawings the utility model is further illustrated:
As shown in Figure 1, the multipurpose material handling industrial robot that the utility model is mentioned, comprises pedestal 13, large arm 8, forearm 12, wrist 14 and end-effector 9.There is waist gyroaxis 1, shoulder pitching rotating shaft 2, ancon pitching rotating shaft 3, ancon gyroaxis 4, wrist pitch axis 5, the 6 six-freedom degree rotating shafts of operator gyroaxis.
The mode of this six degree of freedom rotation is: large arm 8 horizontally rotates around waist gyroaxis 1, simultaneously again around shoulder pitching rotating shaft 2 with respect to waist gyroaxis 1 vertical rotary; Shoulder pitching rotating shaft 2 and ancon pitching rotating shaft 3 are parallel to each other, and forearm 12 is around ancon pitching rotating shaft 3 with respect to large arm 8 vertical rotaries, and ancon gyroaxis 4 is arranged in forearm 12, orthogonal with respect to ancon pitching rotating shaft 3, and ancon gyroaxis 4 one end connect wrist 14; Wrist pitch axis 5 is arranged in wrist 14, mutually vertical with ancon gyroaxis 4, wrist pitch axis 5 other end attended operation device gyroaxises 6; Operator gyroaxis 6 is arranged in end-effector 9, mutually vertical with wrist pitch axis 5.Except the driving servomotor 7 of operator gyroaxis 6 is arranged in end-effector 9, other servomotors 7 are all outside in robot components.
Working method: horizontally rotating of waist gyroaxis 1, impel large arm 8 to horizontally rotate, the vertical rotation of shoulder pitching rotating shaft 2, impels the pitching of large arm 8.The vertical rotation of ancon pitching rotating shaft 3, impels the pitching of forearm 12 and wrist 14.The rotation of ancon gyroaxis 4, impels the rotation of wrist 14.The rotation of wrist pitch axis 5, impels the pitching of end-effector 9.The rotation of operator gyroaxis 6, impels the rotation of end-effector 9.Waist gyroaxis 1, shoulder pitching rotating shaft 2 and ancon pitching rotating shaft 3 are with the position of deciding end-effector 9, ancon gyroaxis 4, and wrist pitch axis 5 and operator gyroaxis 6 are by the attitude that decides end-effector 9.
As shown in Fig. 2 and Fig. 3: the driving servomotor 7 of operator gyroaxis 6 and driving gear set 15 are arranged in end-effector 9, servomotor 7 drives the rotation of operator gyroaxis 6 by gear train 15.Sheet material sucker 10 and tubing handgrip 11 are arranged on respectively the two ends of end-effector 9, and tubing handgrip 11 use telescopic cylinders 16 drive.The rotation of operator gyroaxis 6, just can reach the object of manpower-free's involved switching end-effector easily.
The finger of tubing handgrip 11 is divided into outside friction and refers to 17 and inner side clamping finger 18.If the pipe fitting of vertically putting is mentioned, outside friction can be referred to 17 vertical insertions in pipe fitting, telescopic cylinder 16 motions, rely on frictional force that pipe fitting is mentioned.As the pipe fitting that level will be put is mentioned, can directly use inner side clamping finger 18, telescopic cylinder 16 motions, rely on chucking power that pipe fitting is mentioned.