CN204248903U

CN204248903U - A kind of modified transfer robot

Info

Publication number: CN204248903U
Application number: CN201420584116.XU
Authority: CN
Inventors: 林砺宗; 李伟; 罗彬�; 韩帅; 林立; 徐亚军
Original assignee: SHANGHAI HAOCHUANG ELECTROMECHANICAL ENGINEERING CO Ltd
Current assignee: SHANGHAI HAOCHUANG ELECTROMECHANICAL ENGINEERING CO Ltd
Priority date: 2014-10-10
Filing date: 2014-10-10
Publication date: 2015-04-08
Anticipated expiration: 2024-10-10

Abstract

The utility model relates to a kind of modified transfer robot, it comprises base, main truss, large arm, forearm, wrist and end effector, have four rotary joints between base and main truss, between main truss and large arm, between large arm and forearm and between wrist and end effector, drive by servomotor and control; Main truss and large arm coupling part, adopt the two-side supporting that bearing distribution is good; Spring is set on rear side of forearm to improve the dynamics state of robot; The axis angle adjustable of end effector, the level outside forearm keeps connecting rod adjustable, can adapt to different industrial process.

Description

A kind of modified transfer robot

Technical field:

The utility model relates to transfer robot field, is applied particularly to carrying and the piling of industry spot material.

Background technology:

For the transfer robot of industry spot, be mainly applicable to the carrying that alternative manpower carries out workpiece, improve the labour intensity of workman, this robot can complete the industrial process of feeding, lifting, swing, decline, discharging.

But industry spot complexity is various, unalterable robot working cycles cannot meet robot needs carry out suitable structural adjustment demand for different industrial environments or industrial process.

Summary of the invention:

Technical problem to be solved in the utility model provides a kind of four axle transfer robots for above-mentioned the deficiencies in the prior art, and it has the hardware design facilitating controlling and adjustment.

The utility model solves the technical scheme that its technical problem adopts:

A kind of four axle transfer robots, its can complete feeding, by desired trajectory motion, discharging process, comprise base, main truss, large arm, forearm, wrist and end effector, have four rotary joints between base and main truss, between main truss and large arm, between large arm and forearm and between wrist and end effector, drive by servomotor and control;

Wherein large arm and body frame structure coupling part, adopt the bi-lateral support that bearing distribution is good on the one hand, improve the bad stress that one-sided supporting brings, assist on the other hand and adopt bolt-connection between load side and large arm, coordinate by the adjustment of adjustment pad during assembling, and the requirement on machining accuracy of bi-lateral support can be reduced, reduce the difficulty of processing of large arm;

Wherein forearm rear section, arranges spring on rear side of forearm, can improve the dynamics state of robot, reduces the load torque of forearm motor;

Wherein end effector part, the level outside connecting rod and forearm is kept to keep two parallelogram of connecting rod composition by the level outside large arm on the one hand, ensure that the axis of end effector is perpendicular to the ground, another aspect connecting rod support adopts adjustable to connect with body frame structure part and designs, make the axis angle adjustable of end effector, to adapt to different industrial process;

Level wherein outside forearm keeps shaft portion, and these connecting rod two ends can adjust mounting hole site simultaneously, can change the angle of the parallelogram that this connecting rod forms with forearm, adjusts the working space of robot, to adapt to the working space demand of different operating process.

Beneficial effect:

The main truss of a kind of transfer robot of the utility model and large arm coupling part, have employed better supporting form; Spring is set on rear side of forearm to improve the dynamics state of robot; The axis angle adjustable of end effector, the level outside forearm keeps connecting rod adjustable, can adapt to different industrial process.

Accompanying drawing illustrates:

Below in conjunction with drawings and Examples, the utility model is further illustrated.

Fig. 1 is integrated model schematic diagram of the present utility model

Fig. 2 is that in the utility model, outside forearm, level keeps the adjustable schematic diagram of installation of connecting rod

Fig. 3 is large arm bi-lateral support structure

Detailed description of the invention:

Embodiment: as shown in Figure 1, comprise base 101, main truss 102, large arm 103, forearm 104, wrist 105 and end effector 106, O between base 101 and main truss 102, A between main truss 102 and large arm 103, between large arm 103 and forearm 104 D and between wrist 105 and end effector 106 E have four rotary joints;

Base 101 is load-bearing basic components of robot palletizer, is fixed on ground or support;

Main truss 102 is support components of large arm 103, realizes the revolute function of robot, and main truss 102 can rotate on base 101;

Large arm 103 is support components of forearm 104, and the swing of large arm 103 can change end effector 106 stroke in the horizontal direction;

The pitching of forearm 104 then can realize end effector 106 evolution in vertical direction;

Rotary joint K between wrist 105 and end effector 106 can adjust the angle of fixture;

The parallelogram GADH keeping connecting rod 107 and level to keep connecting rod 109 to form by level and parallelogram DEJI, ensures that the axis of end effector 106 is perpendicular to the ground; Meanwhile, turning cylinder G can be adjusted by the adjustment installation site of connecting rod support on body frame structure 102 in the position of main truss 102, and then regulates the axis angle of end effector 106, to adapt to different industrial process;

Be provided with spring MN on rear side of forearm 104, the dynamics state of robot can be improved;

As shown in Figure 2, the level outside forearm 204 keeps the installation site of connecting rod 209 by adjusting the mounting hole site adjustment at two ends simultaneously, can change the angle of the parallelogram DEJI that connecting rod 209 forms with forearm 204, the working space of adjustment robot;

As shown in Figure 3, large arm supplemental support 302 is arranged in large arm 301 by screw attachment 304 large arm bi-lateral support structure, adjusts and coordinates, and can reduce the requirement on machining accuracy of bi-lateral support, reduce the difficulty of processing of large arm during assembling by adjustment pad 303.

Claims

1. a modified transfer robot, it is characterized in that, comprise: base, main truss, large arm, forearm, wrist and end effector, four rotary joints are had, by driven by servomotor between base and main truss, between main truss and large arm, between large arm and forearm and between wrist and end effector.

2. modified transfer robot according to claim 1, is characterized in that: main truss and large arm coupling part, have employed bi-lateral support; Wherein Left-side support is adjustable structure, be convenient to install, and can be used to compensate mismachining tolerance cause installation inconvenience problem.

3. modified transfer robot according to claim 1, is characterized in that: the axis angle adjustable of end effector; By the support bracket fastened setting angle of adjustment connecting rod, the angle of end axis and level can be changed.

4. modified transfer robot according to claim 1, is characterized in that: arrange spring on rear side of forearm to improve the dynamics state of robot, reducing the load of motor, can playing the energy-conservation effect with reducing costs.

5. modified transfer robot according to claim 1, is characterized in that: the level outside forearm keeps connecting rod installation site adjustable, makes applicable working space adjustable, and high-order working region load capacity strengthens.