CN204525456U - A kind of single armed transfer robot - Google Patents
A kind of single armed transfer robot Download PDFInfo
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- CN204525456U CN204525456U CN201520181580.9U CN201520181580U CN204525456U CN 204525456 U CN204525456 U CN 204525456U CN 201520181580 U CN201520181580 U CN 201520181580U CN 204525456 U CN204525456 U CN 204525456U
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- swing arm
- inlet
- outlet mechanism
- main shaft
- rotary disk
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Abstract
The utility model discloses a kind of single armed transfer robot, comprise rotary disk, the side of rotary disk is provided with the rotary disk motor for driving rotary disk circumference to rotate; The top of rotary disk is provided with the base plate of level, one end of base plate is provided with the carriage assembly for supporting sucker gripper, carriage assembly is hinged with Swing Arm and the control lever for assisting Swing Arm to swing, Swing Arm is laterally hinged with a teeter under the driving of horizontal drive rotating device bottom it.Balancing weight is set by the below at main shaft, can effectively reduces driving torque and reduce driving power, and then save cost and the energy.And between its Swing Arm and control lever be engaged in longitudinal oscillation and teeter time composition parallelogram sturcutre, under parallelogram effect, the article that handgrip sucker captures can remain level, allow the dynamic rotation mechanism of handgrip sucker maintenance level without the need to arranging in addition, thus reduce cost and save power resource.
Description
Technical field
The utility model relates to Industrial Robot Technology field, relates to a kind of single armed transfer robot specifically.
Background technology
In developed country, industrial robot automatic production line complete set of equipments has become main flow robot development prospect and the developing direction in future of automated arm.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line in a large number, to ensure product quality, enhance productivity, avoid a large amount of industrial accidents simultaneously.The use practice of the industrial robot of global many national nearly half a century shows, the universal of industrial robot realizes automated production, improves social production efficiency, the effective means that promotion enterprise and social productive forces develop.
Industrial robot is normally arranged on workshop in manufacturing industry factory and uses, and its base and ground are fixed.Therefore, first joint of usual multi-joint industrial robot be support complete machine load-bearing base and carry out with mechanical arm the revolute joint that is connected, also have and be called waist and turn joint, we are referred to as rotary balance device here.Common its structural shape of rotary balance device of modern industry robot is integral type, it structurally adopts the decelerator of the base bearing with enough bearing capacitys, as the RV decelerator of hollow, robot complete machine is directly seated on the output slab of the coaxial mounted hollow decelerator with rotary middle spindle by turntable.Bear complete machine by the base bearing of decelerator all to topple bending moment and axial force, when comprising static state with time dynamic.The base bearing of the decelerator needed for the rotary balance device of this kind of structure can provide higher support accuracy, but this decelerator cost is very expensive, is not suitable for commercial Application.Therefore for the robot that some load capacity are larger, bascule (as balancing weight, spring balancing structure, cylinder balancing structure etc.) substantially all can be set at mechanical arm position.But some mechanical arm complex structures, its bascule is heavier, and institute takes up space large; Installation difficulty is comparatively large, needs repeatedly to debug.
Therefore, inventor of the present utility model needs a kind of new technology of design badly to improve its problem.
Utility model content
The utility model aims to provide a kind of cost that can reduce can allow again the transfer robot of handgrip sucker maintenance level.
For solving the problems of the technologies described above, the technical solution of the utility model is:
A kind of single armed transfer robot, comprises rotary disk, and the axes normal of described rotary disk is in horizontal plane, and the side of described rotary disk is provided with the rotary disk motor for driving described rotary disk circumference to rotate; The top of described rotary disk is provided with the base plate of level, one end of described base plate is provided with the carriage assembly for supporting sucker gripper, described carriage assembly is hinged with Swing Arm and the control lever for assisting described Swing Arm to swing, described Swing Arm is laterally hinged with a teeter under the driving of horizontal drive rotating device bottom it.
Wherein said horizontal drive rotating device comprises the mair motor be fixed on described base plate, the output of described mair motor is connected with reductor, the driving gear for Power output on described reductor engages with the driven gear be set on main shaft, described main shaft is rotatably arranged on described base plate by bearing, one end of described main shaft and the bottom-hinged of described Swing Arm, promote described Swing Arm transverse reciprocating and swing when the articulated structure of described main shaft and described Swing Arm is suitable for described main axis.
The below of described main shaft is fixedly connected with balancing weight, and described Swing Arm is in extreme lower position perpendicular to the center of gravity of balancing weight described during horizontal plane.
Further, described Swing Arm and described control lever all upwards extend and be arranged in parallel, the upper end thereof of described Swing Arm has sucker pole pedestal, described sucker pole pedestal is horizontally disposed with, one end away from described Swing Arm of described sucker pole pedestal connects described sucker gripper, described sucker pole pedestal is hinged on the upper end of described Swing Arm by large bar connector alive, the rotation direction that described sucker pole pedestal is lived in connector at described large bar is vertical with the rotation direction of the relative described Swing Arm of described large bar connector alive, described control lever is provided with two, two described control levers overlap in the projection of main apparent direction, the both sides of described Swing Arm are laid respectively in the projection in side-looking direction, described control lever all forms the articulated linkage structure of parallelogram in main apparent direction and side-looking direction with described Swing Arm, one end away from described sucker gripper of described sucker pole pedestal is fixedly connected on the connecting rod between two described control lever upper ends.
Further, the upper end of two described control levers is all hinged with little bar connector alive, the axle center place of described little bar connector alive rotates and is provided with shaft coupling, described shaft coupling extends to described Swing Arm side and parallel with described sucker pole pedestal, connected by three axle connecting rods between the free end of two described shaft couplings, described sucker pole pedestal, described shaft coupling are all fixedly connected with described three axle connecting rods.
Further, the longitudinal pin joint longitudinal oscillation of described Swing Arm under the driving of longitudinal drive rotating device bottom it, the articulated structure of described main shaft and described Swing Arm is suitable for described longitudinal drive rotating device and drives described Swing Arm at longitudinal reciprocally swinging.
Further, described longitudinal drive rotating device comprises the inlet/outlet mechanism drive unit be arranged on above described main shaft, the end that ejects of described inlet/outlet mechanism drive unit links with inlet/outlet mechanism connecting rod support, described inlet/outlet mechanism connecting rod support is slidably arranged on the linear module of inlet/outlet mechanism, described inlet/outlet mechanism connecting rod support is hinged with inlet/outlet mechanism connecting rod, the other end of described inlet/outlet mechanism connecting rod is hinged on described Swing Arm, the pin joint in the vertical direction of described inlet/outlet mechanism connecting rod and described Swing Arm is higher than the pin joint of described inlet/outlet mechanism connecting rod support and described inlet/outlet mechanism connecting rod.
Further, described main shaft is supported on described base plate by the framed side wallboard that be arranged in parallel and front wallboard, the bottom of described framed side wallboard and described front wallboard is fixed on described base plate, described bearing for supporting described main shaft is separately fixed at described framed side wallboard and described front wallboard, and described balancing weight is arranged between described framed side wallboard and described front wallboard.
Further, the linear module of described inlet/outlet mechanism is linear guides, and described inlet/outlet mechanism connecting rod support is arranged in the rail groove of described linear guides.
Further, the lower end of described control lever is fixed on described carriage assembly, and the pin joint of described control lever lower end and the pin joint of described Swing Arm lower end are positioned on same level line.
Further, in side-looking direction, two described control levers are symmetricly set on the both sides of described Swing Arm.
Further, described Swing Arm is connected with the output of described main shaft by turnover axle.
Adopt technique scheme, the utility model at least comprises following beneficial effect:
Single armed transfer robot described in the utility model, arranges balancing weight by the below at main shaft, can effectively reduce driving torque and reduce driving power, and then saves cost and the energy.And between its Swing Arm and control lever be engaged in longitudinal oscillation and teeter time composition parallelogram sturcutre, under parallelogram effect, the article that handgrip sucker captures can remain level, allow the dynamic rotation mechanism of handgrip sucker maintenance level without the need to arranging in addition, thus reduce cost and save power resource.
Accompanying drawing explanation
Fig. 1 is the front view of single armed transfer robot described in the utility model;
Fig. 2 is the side view of single armed transfer robot described in the utility model;
Fig. 3 is the top view at Swing Arm described in the utility model and top, control lever cooperation place;
Fig. 4 is that the K-K of Fig. 3 is to sectional view.
Wherein: 1. balancing weight, 2. mair motor, 3. base plate, 4. driving gear, 5. reductor, 6. framed side wallboard, 7. driven gear, 8. main shaft, 9. inlet/outlet mechanism drive unit, 10. inlet/outlet mechanism motor cabinet, the linear module of 11. inlet/outlet mechanism, 12. inlet/outlet mechanism connecting rod supports, 13. inlet/outlet mechanism connecting rods, 14. Swing Arm bearings, 15. Swing Arms, 16. large bars connector alive, 17. sucker pole pedestals, 18. 3 axle connecting rods, 19. shaft couplings, 20. little bars connector alive, 21. control levers, 22. fixed axis, 23. turnover axles, 24. bearings, 25. carriage assemblies, 26. front wallboards, 27. rotary disks, 28. rotary disk motors, 29. sucker grippers.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further illustrated.
As shown in Figures 1 to 4, for meeting a kind of single armed transfer robot of the present utility model, comprise rotary disk 27, the axes normal of described rotary disk 27 is in horizontal plane, the side of described rotary disk 27 is provided with the rotary disk motor 28 for driving described rotary disk 27 circumference to rotate, and described rotary disk motor 28 can drive described rotary disk 27 to rotate positive and negative 360 degree; The top of described rotary disk 27 is provided with the base plate 3 of level, one end of described base plate 3 is provided with the carriage assembly 25 for supporting sucker gripper 29, described carriage assembly 25 is hinged with Swing Arm 15 and the control lever 21 for assisting described Swing Arm 15 to swing, described Swing Arm 15 is hinged by turnover axle 23, described control lever 21 is hinged on fixed axis 22, and described Swing Arm 15 is laterally hinged with a teeter under the driving of horizontal drive rotating device bottom it.
Wherein said horizontal drive rotating device comprises the mair motor 2 be fixed on described base plate 3, the output of described mair motor 2 is connected with reductor 5, the driving gear 4 for Power output on described reductor 5 engages with the driven gear 7 be set on main shaft 8, described main shaft 8 is rotatably arranged on described base plate 3 by bearing 24, one end of described main shaft 8 and the bottom-hinged of described Swing Arm 15, described main shaft 8 is suitable for promoting described Swing Arm 15 transverse reciprocating when described main shaft 8 rotates with the articulated structure of described Swing Arm 15 and swings.
The below of described main shaft 8 is fixedly connected with balancing weight 1, described Swing Arm 15 is in extreme lower position (main shaft 8 is positioned at 0 ° of position) perpendicular to the center of gravity of balancing weight 1 described during horizontal plane, its counterweight is according to Swing Arm 15 and parallel system, shaft coupling 19 and Swing Arm 15 rotating mechanism, shaft coupling 19 end handgrip coupling mechanism and grabbing workpiece weight summation coupling, and balancing weight 1 weight is between 18kg-27kg; Once Swing Arm 15 swings in the vertical, balancing weight 1 all can rotate with the rotation of main shaft 8, and then the center of gravity of balancing weight 1 is raised, under the Action of Gravity Field of balancing weight 1, a torsion contrary with main shaft 8 rotation direction can be applied to main shaft 8, and then reduce driving torque to reduce driving power, be 3/5 of conventional six-joint robot second axle moment of torsion, thus reduce cost and save energy consumption.
In the present embodiment, described Swing Arm 15 all upwards extends with described control lever 21 and be arranged in parallel, the upper end thereof of described Swing Arm 15 has sucker pole pedestal 17, described sucker pole pedestal 17 is horizontally disposed with, one end away from described Swing Arm 15 of described sucker pole pedestal 17 connects described sucker gripper 29, described sucker pole pedestal 17 is hinged on the upper end of described Swing Arm 15 by large bar connector 16 alive, the rotation direction that described sucker pole pedestal 17 is lived in connector 16 at described large bar is vertical with the rotation direction of the relative described Swing Arm 15 of described large bar connector 16 alive, described control lever 21 is provided with two, two described control levers 21 overlap in the projection of main apparent direction, the both sides of described Swing Arm 15 are laid respectively in the projection in side-looking direction, described control lever 21 all forms the articulated linkage structure of parallelogram with described Swing Arm 15 in main apparent direction and side-looking direction, and one end away from described sucker gripper 29 of described sucker pole pedestal 17 is fixedly connected on the connecting rod between two described control lever 21 upper ends.Between the Swing Arm 15 of the present embodiment and control lever 21 be engaged in longitudinal oscillation (direction that swings in Fig. 2 is for longitudinally) and teeter (direction that swings in Fig. 1) time form parallelogram sturcutre, under parallelogram effect, the article that handgrip sucker captures can remain level, allow the dynamic rotation mechanism of handgrip sucker maintenance level without the need to arranging in addition, thus reduce cost and save power resource.
In the present embodiment, the upper end of two described control levers 21 is all hinged with little bar connector 20 alive, the axle center place of described little bar connector 20 alive rotates and is provided with shaft coupling 19, described shaft coupling 19 extends to described Swing Arm 15 side and parallel with described sucker pole pedestal 17, connected by three axle connecting rods 18 between the free end of two described shaft couplings 19, described sucker pole pedestal 17, described shaft coupling 19 are all fixedly connected with described three axle connecting rods 18.
In the present embodiment, the longitudinal pin joint longitudinal oscillation of described Swing Arm 15 under the driving of longitudinal drive rotating device bottom it, described main shaft 8 is suitable for described longitudinal drive rotating device with the articulated structure of described Swing Arm 15 and drives described Swing Arm 15 at longitudinal reciprocally swinging.See Fig. 1, the left end of described main shaft 8 and hinged of described Swing Arm 15 are the plane of vertical direction, this perpendicular can ensure the teeter (swing of Fig. 1 left and right directions) of Swing Arm 15 on the one hand, can ensure again the longitudinal oscillation (Fig. 1 is perpendicular to the swing in paper direction) of Swing Arm 15 on the other hand.
In the present embodiment, described longitudinal drive rotating device comprises the inlet/outlet mechanism drive unit 9 be arranged on above described main shaft 8, described inlet/outlet mechanism drive unit 9 is servomotor (also can be oil cylinder or cylinder), described servomotor is fixed on inlet/outlet mechanism motor cabinet 10, the end that ejects of described inlet/outlet mechanism drive unit 9 links with inlet/outlet mechanism connecting rod 13 bearing 12, described inlet/outlet mechanism connecting rod 13 bearing 12 is slidably arranged on the linear module 11 of inlet/outlet mechanism, described inlet/outlet mechanism connecting rod 13 bearing 12 is hinged with inlet/outlet mechanism connecting rod 13, the other end of described inlet/outlet mechanism connecting rod 13 is hinged on described Swing Arm 15 by Swing Arm bearing 14, the pin joint in the vertical direction of described inlet/outlet mechanism connecting rod 13 and described Swing Arm 15 is higher than the pin joint of described inlet/outlet mechanism connecting rod 13 bearing 12 with described inlet/outlet mechanism connecting rod 13, and then ensure that inlet/outlet mechanism connecting rod 13 can effectively promote Swing Arm 15.
In the present embodiment, described main shaft 8 is supported on described base plate 3 by the framed side wallboard 6 that be arranged in parallel and front wallboard 26, the bottom of described framed side wallboard 6 and described front wallboard 26 is fixed on described base plate 3, described bearing 24 for supporting described main shaft 8 is separately fixed at described framed side wallboard 6 and described front wallboard 26, and described balancing weight 1 is arranged between described framed side wallboard 6 and described front wallboard 26.
In the present embodiment, linear module is reciprocating stroke 230mm under the driving of servomotor, and the longitudinal oscillation angle of Swing Arm 15 is 42 degree (dotted portions see on the left of Fig. 1); Main shaft 8 drives Swing Arm 15 to be 65 degree (dotted portions see Fig. 2 left and right sides) at the pendulum angle of longitudinal direction.
In the present embodiment, the linear module 11 of described inlet/outlet mechanism is linear guides, and described inlet/outlet mechanism connecting rod 13 bearing 12 is arranged in the rail groove of described linear guides.
In the present embodiment, the lower end of described control lever 21 is fixed on described carriage assembly 25, and the pin joint of described control lever 21 lower end and the pin joint of described Swing Arm 15 lower end are positioned on same level line.
In the present embodiment, in side-looking direction, two described control levers 21 are symmetricly set on the both sides of described Swing Arm 15.
In the present embodiment, described Swing Arm 15 is connected with the output of described main shaft 8 by turnover axle 23.
Above an embodiment of the present utility model has been described in detail, but described content is only the preferred embodiment that the utility model is created, and can not be considered to for limiting practical range of the present utility model.All any equivalent variations done according to the utility model application range, all should still be within patent covering scope of the present utility model.
Claims (10)
1. a single armed transfer robot, is characterized in that: comprise rotary disk, and the axes normal of described rotary disk is in horizontal plane, and the side of described rotary disk is provided with the rotary disk motor for driving described rotary disk circumference to rotate; The top of described rotary disk is provided with the base plate of level, one end of described base plate is provided with the carriage assembly for supporting sucker gripper, described carriage assembly is hinged with Swing Arm and the control lever for assisting described Swing Arm to swing, described Swing Arm is laterally hinged with a teeter under the driving of horizontal drive rotating device bottom it;
Wherein said horizontal drive rotating device comprises the mair motor be fixed on described base plate, the output of described mair motor is connected with reductor, the driving gear for Power output on described reductor engages with the driven gear be set on main shaft, described main shaft is rotatably arranged on described base plate by bearing, one end of described main shaft and the bottom-hinged of described Swing Arm, promote described Swing Arm transverse reciprocating and swing when the articulated structure of described main shaft and described Swing Arm is suitable for described main axis;
The below of described main shaft is fixedly connected with balancing weight, and described Swing Arm is in extreme lower position perpendicular to the center of gravity of balancing weight described during horizontal plane.
2. single armed transfer robot as claimed in claim 1, it is characterized in that: described Swing Arm and described control lever all upwards extend and be arranged in parallel, the upper end thereof of described Swing Arm has sucker pole pedestal, described sucker pole pedestal is horizontally disposed with, one end away from described Swing Arm of described sucker pole pedestal connects described sucker gripper, described sucker pole pedestal is hinged on the upper end of described Swing Arm by large bar connector alive, the rotation direction that described sucker pole pedestal is lived in connector at described large bar is vertical with the rotation direction of the relative described Swing Arm of described large bar connector alive, described control lever is provided with two, two described control levers overlap in the projection of main apparent direction, the both sides of described Swing Arm are laid respectively in the projection in side-looking direction, described control lever all forms the articulated linkage structure of parallelogram in main apparent direction and side-looking direction with described Swing Arm, one end away from described sucker gripper of described sucker pole pedestal is fixedly connected on the connecting rod between two described control lever upper ends.
3. single armed transfer robot as claimed in claim 2, it is characterized in that: the upper end of two described control levers is all hinged with little bar connector alive, the axle center place of described little bar connector alive rotates and is provided with shaft coupling, described shaft coupling extends to described Swing Arm side and parallel with described sucker pole pedestal, connected by three axle connecting rods between the free end of two described shaft couplings, described sucker pole pedestal, described shaft coupling are all fixedly connected with described three axle connecting rods.
4. the single armed transfer robot as described in as arbitrary in claim 1-3, it is characterized in that: the longitudinal pin joint longitudinal oscillation of described Swing Arm under the driving of longitudinal drive rotating device bottom it, the articulated structure of described main shaft and described Swing Arm is suitable for described longitudinal drive rotating device and drives described Swing Arm at longitudinal reciprocally swinging.
5. single armed transfer robot as claimed in claim 4, it is characterized in that: described longitudinal drive rotating device comprises the inlet/outlet mechanism drive unit be arranged on above described main shaft, the end that ejects of described inlet/outlet mechanism drive unit links with inlet/outlet mechanism connecting rod support, described inlet/outlet mechanism connecting rod support is slidably arranged on the linear module of inlet/outlet mechanism, described inlet/outlet mechanism connecting rod support is hinged with inlet/outlet mechanism connecting rod, the other end of described inlet/outlet mechanism connecting rod is hinged on described Swing Arm, the pin joint in the vertical direction of described inlet/outlet mechanism connecting rod and described Swing Arm is higher than the pin joint of described inlet/outlet mechanism connecting rod support and described inlet/outlet mechanism connecting rod.
6. single armed transfer robot as claimed in claim 5, it is characterized in that: described main shaft is supported on described base plate by the framed side wallboard that be arranged in parallel and front wallboard, the bottom of described framed side wallboard and described front wallboard is fixed on described base plate, described bearing for supporting described main shaft is separately fixed at described framed side wallboard and described front wallboard, and described balancing weight is arranged between described framed side wallboard and described front wallboard.
7. single armed transfer robot as claimed in claim 6, it is characterized in that: the linear module of described inlet/outlet mechanism is linear guides, described inlet/outlet mechanism connecting rod support is arranged in the rail groove of described linear guides.
8. single armed transfer robot as claimed in claims 6 or 7, it is characterized in that: the lower end of described control lever is fixed on described carriage assembly, the pin joint of described control lever lower end and the pin joint of described Swing Arm lower end are positioned on same level line.
9. single armed transfer robot as claimed in claim 8, it is characterized in that: in side-looking direction, two described control levers are symmetricly set on the both sides of described Swing Arm.
10. single armed transfer robot as claimed in claim 9, is characterized in that: described Swing Arm is connected with the output of described main shaft by turnover axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520181580.9U CN204525456U (en) | 2015-03-28 | 2015-03-28 | A kind of single armed transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520181580.9U CN204525456U (en) | 2015-03-28 | 2015-03-28 | A kind of single armed transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204525456U true CN204525456U (en) | 2015-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520181580.9U Expired - Fee Related CN204525456U (en) | 2015-03-28 | 2015-03-28 | A kind of single armed transfer robot |
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| Country | Link |
|---|---|
| CN (1) | CN204525456U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584444A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Arm mechanism of robot and robot |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
-
2015
- 2015-03-28 CN CN201520181580.9U patent/CN204525456U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584444A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Arm mechanism of robot and robot |
| CN106584444B (en) * | 2015-10-19 | 2019-02-15 | 沈阳新松机器人自动化股份有限公司 | Arm mechanism of robot and robot |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20210328 |