CN204566159U - Two-way parallelogram articulated system on a kind of transfer robot - Google Patents
Two-way parallelogram articulated system on a kind of transfer robot Download PDFInfo
- Publication number
- CN204566159U CN204566159U CN201520180609.1U CN201520180609U CN204566159U CN 204566159 U CN204566159 U CN 204566159U CN 201520180609 U CN201520180609 U CN 201520180609U CN 204566159 U CN204566159 U CN 204566159U
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- swing arm
- hinged
- base plate
- main shaft
- control lever
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Abstract
The utility model discloses the two-way parallelogram articulated system on a kind of transfer robot, it comprises the mair motor be fixed on base plate, decelerator, driving gear on decelerator engages with the driven gear on main shaft, described main shaft is arranged on base plate, one end of described main shaft and the bottom-hinged of Swing Arm, hinged of described main shaft and Swing Arm perpendicular to horizontal plane, base plate is hinged with control lever, the upper end thereof of Swing Arm has sucker pole pedestal, one end connecting sucker handgrip away from described Swing Arm of described sucker pole pedestal, sucker pole pedestal is hinged on the upper end of Swing Arm by large bar connector alive, described control lever all forms the articulated linkage structure of parallelogram in main apparent direction and side-looking direction with Swing Arm, described sucker pole pedestal is fixedly connected on the connecting rod between two described control lever upper ends.The material of feeding swing arm system grabs of the present utility model is in the state of level all the time, improves carrying stability, and the saving energy, cost are lower.
Description
Technical field
The utility model relates to Industrial Robot Technology field, relates to the two-way parallelogram articulated system on a kind of 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.What robot gripper generally adopted when feeding position feeding moves to feed entrance point is all spinning movement, due to different at the rotational angle of feeding point and feed points handgrip, so just easily cause material easy run-off the straight in the process of movement, or need the drive unit that other are set on handgrip to ensure that handgrip is stablized, and then it is unstable to cause material moving process, and need to expend the more energy.
Utility model content
The utility model aims to provide a kind of driving torque that can reduce can be reduced cost again and capture the two-way parallelogram articulated system of material stably on transfer robot.
For solving the problems of the technologies described above, the technical solution of the utility model is:
Two-way parallelogram articulated system on a kind of transfer robot, it comprises the mair motor be fixed on base plate, the output of described mair motor is connected with decelerator, the driving gear for Power output on described decelerator 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 Swing Arm, hinged of described main shaft and described Swing Arm perpendicular to horizontal plane, described base plate is hinged with the control lever for assisting described Swing Arm to swing, 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 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, in side-looking direction, two described control levers are symmetricly set on the both sides of described Swing Arm.
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, and the described bearing for supporting described main shaft is separately fixed at described framed side wallboard and described front wallboard.
Further, described balancing weight is arranged on the centre position of described framed side wallboard and described front wallboard.
Further, the lower end of described control lever is hinged on carriage assembly, and described carriage assembly is fixed on described base plate, 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, described carriage assembly is fixedly installed the fixed axis coaxial with described main shaft, described control lever is hinged on described fixed axis.
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 below of described base plate is provided with the complete machine lifting assembly for driving described base plate to be elevated, described complete machine lifting assembly comprises the lifting motor fixed on the ground, the output of described lifting motor is coaxially connected with driving screw mandrel, the axes normal of described driving screw mandrel is arranged in horizontal plane, described driving screw mandrel is provided with the commutator with the threaded engagement on described driving screw mandrel, described commutator is connected with the elevating screw that horizontal direction extends, described commutator is suitable for described driving screw mandrel and turns the rotation of described elevating screw; The thread rotary orientation of the axial midpoint both sides of described elevating screw is contrary, the screw thread that two of described elevating screw are reverse is arranged with the drive block with the threaded engagement of corresponding rotation direction respectively, the upper and lower side of described drive block is hinged with elevating lever respectively, be positioned at the lower surface of upper end thereof at described base plate of two described elevating levers above described elevating screw, the lower end being positioned at two described elevating levers below described elevating screw is hinged on the upper surface of rotary disk, and four described elevating levers are arranged in " X " shape; When described elevating screw rotates forward, drive two described drive blocks mutually away from, when described elevating screw rotates backward, drive two described drive blocks close to each other.
Further, the side of described rotary disk is provided with the rotary disk motor for driving described rotary disk to rotate.
Adopt technique scheme, the utility model at least comprises following beneficial effect:
Two-way parallelogram articulated system on transfer robot on transfer robot of the present utility model is by being arranged to parallelogram sturcutre by control lever and Swing Arm, can ensure that sucker gripper can ensure that material is in the state of level all the time in the process capturing material, and then improve the stability of material movement, and this feeding rocker arm system structure is simple, drive unit is less, more can save the energy than traditional feeding robot, and reduce manufacturing cost.
Accompanying drawing explanation
Fig. 1 is the front view of the two-way parallelogram articulated system on the utility model transfer robot;
Fig. 2 is the side view of the two-way parallelogram articulated system on the utility model transfer robot;
Fig. 3 is the top view of the two-way articulated system of parallelogram that control lever of the present utility model and Swing Arm are formed;
Fig. 4 is that the K-K of Fig. 3 is to sectional view;
Fig. 5 is the front view of the structure chart of another kind of embodiment;
Fig. 6 is the parallel principle schematic that control lever of the present utility model is formed with Swing Arm.
Wherein: 1. balancing weight, 2. mair motor, 3. base plate, 4. driving gear, 5. decelerator, 6. framed side wallboard, 7. driven gear, 8. main shaft, 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. complete machine lifting assemblies, 28. rotary disks, 29. elevating screws, 30. rotary disk motors, 31. commutators, 32. lifting motors, 33. sucker grippers, 34. drive screw mandrel, 35. drive blocks, 36. elevating levers.
Detailed description of the invention
Further illustrate the utility model below in conjunction with drawings and Examples, the direction that in figure, black arrow represents is the rotation direction of corresponding component, and the dotted line of Fig. 2 left and right sides represents that the maximum rotation angle of Swing Arm and control arm, this angle are 65 degree.
As shown in Figure 1 to Figure 2, two-way parallelogram articulated system on a kind of transfer robot, it comprises the mair motor 2 be fixed on base plate, the output of described mair motor 2 is connected with decelerator 5, the driving gear 4 for Power output on described decelerator 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 is by the bottom-hinged of turnover axle 23 with Swing Arm 15, hinged of described main shaft 8 and described Swing Arm 15 perpendicular to horizontal plane, so that main shaft 8 drives Swing Arm 15 to rotate when circumference is rotated thereupon, described base plate 3 is hinged with the control lever 21 for assisting described Swing Arm 15 to swing, 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 33, 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 (see Fig. 1), the both sides of described Swing Arm 15 are laid respectively in the projection of side-looking direction (see Fig. 2), 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 33 of described sucker pole pedestal 17 is fixedly connected on the connecting rod between two described control lever 21 upper ends.By described control lever and described Swing Arm are arranged to parallelogram sturcutre, can ensure that sucker gripper can ensure that material is in the state of level all the time in the process capturing material, and then improve the stability of material movement, and this feeding rocker arm system structure is simple, drive unit is less, more can save the energy than traditional feeding robot, and reduce manufacturing cost.
In the present embodiment, 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 be positioned at 0 ° time position) perpendicular to the center of gravity of balancing weight 1 described during horizontal plane, its counterweight is according to Swing Arm, control lever, sucker pole pedestal, sucker gripper and grabbing workpiece weight summation coupling, and balancing weight weight is between 18kg-27kg; The swing of Swing Arm when feeding, balancing weight all can rotate with the rotation of main shaft, and then the center of gravity of balancing weight is raised, under the Action of Gravity Field of balancing weight, a torsion contrary with main axis direction can be applied to main shaft, 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, two described control levers 21 are symmetricly set on the both sides of described Swing Arm 15, to improve the job stability of control lever.
In the present embodiment, described main shaft 8 is supported on described base plate 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, and the described bearing 24 for supporting described main shaft 8 is separately fixed at described framed side wallboard 6 and described front wallboard 26.Described balancing weight 1 is arranged on the centre position of described framed side wallboard 6 and described front wallboard 26, can ensure the stability of Swing Arm work further, and reduce energy consumption.
In the present embodiment, the lower end of described control lever 21 is hinged on carriage assembly 25, and described carriage assembly 25 is fixed on described base plate 3, 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 order to be convenient to ensure that 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 when mounted, described carriage assembly 25 is fixedly installed the fixed axis 22 coaxial with described main shaft 8, described control lever 21 is hinged on described fixed axis 22, and this structural design can improve packaging efficiency.
See Fig. 3-4, Fig. 6, 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.Do counter motion under the parallelogram connection-rod effect of the articulated structure that this setup can make shaft coupling 19 be formed at Swing Arm 15 and control lever 21, be in level all the time to keep sucker gripper 33.
See Fig. 5, in other embodiments, the below of described base plate 3 is provided with the complete machine lifting assembly 27 for driving described base plate 3 to be elevated, described complete machine lifting assembly 27 comprises the lifting motor 32 fixed on the ground, the output of described lifting motor 32 is coaxially connected with and drives screw mandrel 34, the axes normal of described driving screw mandrel 34 is arranged in horizontal plane, described driving screw mandrel 34 is provided with the commutator 31 with the threaded engagement on described driving screw mandrel 34, described commutator 31 is connected with the elevating screw 29 that horizontal direction extends, described commutator 31 is suitable for described driving screw mandrel 34 and turns described elevating screw 29 and rotate, also namely when lifting motor rotates, drive and drive screw mandrel rotating shaft, on the one hand commutator is moved up or down when described driving screw mandrel rotates, elevating screw is then driven to rotate forward or backwards on the other hand, the thread rotary orientation of the axial midpoint both sides of described elevating screw 29 is contrary, the screw thread that two of described elevating screw 29 are reverse is arranged with the drive block 35 with the threaded engagement of corresponding rotation direction respectively, the upper and lower side of described drive block 35 is hinged with elevating lever 36 respectively, be positioned at the lower surface of upper end thereof at described base plate 3 of two described elevating levers 36 above described elevating screw 29, the lower end being positioned at two described elevating levers 36 below described elevating screw 29 is hinged on the upper surface of described rotary disk 28, rotary disk 28 is turned by rotary disk motor 30, four described elevating levers are arranged in " X " shape, when described elevating screw 29 rotates forward, drive two described drive blocks 35 mutually away from, when described elevating screw 29 rotates backward, drive two described drive blocks 35 close to each other, as can be known from Fig. 1, when two described drive blocks 36 are close to each other, the whole height of robot is in decline state, when two drive blocks 36 mutually away from time, then the whole height of robot is in propradation, and height of its lifting is determined according to concrete operating mode.
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. the two-way parallelogram articulated system on a transfer robot, it is characterized in that: comprise the mair motor be fixed on base plate, the output of described mair motor is connected with decelerator, the driving gear for Power output on described decelerator 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 Swing Arm, hinged of described main shaft and described Swing Arm perpendicular to horizontal plane, described base plate is hinged with the control lever for assisting described Swing Arm to swing, 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.
2. the two-way parallelogram articulated system on transfer robot as claimed in claim 1, it is characterized in that: the below of described main shaft is fixedly connected with balancing weight, described Swing Arm is in extreme lower position perpendicular to the center of gravity of balancing weight described during horizontal plane.
3. the two-way parallelogram articulated system on transfer robot as claimed in claim 2, it is characterized in that: in side-looking direction, two described control levers are symmetricly set on the both sides of described Swing Arm.
4. the two-way parallelogram articulated system on transfer robot as claimed in claim 3, 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, and the described bearing for supporting described main shaft is separately fixed at described framed side wallboard and described front wallboard.
5. the two-way parallelogram articulated system on transfer robot as claimed in claim 4, is characterized in that: described balancing weight is arranged on the centre position of described framed side wallboard and described front wallboard.
6. the two-way parallelogram articulated system on transfer robot as claimed in claim 1, it is characterized in that: the lower end of described control lever is hinged on carriage assembly, described carriage assembly is fixed on described base plate, 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.
7. the two-way parallelogram articulated system on transfer robot as claimed in claim 6, is characterized in that: described carriage assembly is fixedly installed the fixed axis coaxial with described main shaft, described control lever is hinged on described fixed axis.
8. the two-way parallelogram articulated system on transfer robot as claimed in claim 1, 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.
9. the two-way parallelogram articulated system on transfer robot as claimed in claim 1, it is characterized in that: the below of described base plate is provided with the complete machine lifting assembly for driving described base plate to be elevated, described complete machine lifting assembly comprises the lifting motor fixed on the ground, the output of described lifting motor is coaxially connected with driving screw mandrel, the axes normal of described driving screw mandrel is arranged in horizontal plane, described driving screw mandrel is provided with the commutator with the threaded engagement on described driving screw mandrel, described commutator is connected with the elevating screw that horizontal direction extends, described commutator is suitable for described driving screw mandrel and turns the rotation of described elevating screw, the thread rotary orientation of the axial midpoint both sides of described elevating screw is contrary, the screw thread that two of described elevating screw are reverse is arranged with the drive block with the threaded engagement of corresponding rotation direction respectively, the upper and lower side of described drive block is hinged with elevating lever respectively, be positioned at the lower surface of upper end thereof at described base plate of two described elevating levers above described elevating screw, the lower end being positioned at two described elevating levers below described elevating screw is hinged on the upper surface of rotary disk, and four described elevating levers are arranged in " X " shape, when described elevating screw rotates forward, drive two described drive blocks mutually away from, when described elevating screw rotates backward, drive two described drive blocks close to each other.
10. the two-way parallelogram articulated system on transfer robot as claimed in claim 9, is characterized in that: the side of described rotary disk is provided with the rotary disk motor for driving described rotary disk to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180609.1U CN204566159U (en) | 2015-03-28 | 2015-03-28 | Two-way parallelogram articulated system on a kind of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180609.1U CN204566159U (en) | 2015-03-28 | 2015-03-28 | Two-way parallelogram articulated system on a kind of transfer robot |
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| Publication Number | Publication Date |
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| CN204566159U true CN204566159U (en) | 2015-08-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520180609.1U Withdrawn - After Issue CN204566159U (en) | 2015-03-28 | 2015-03-28 | Two-way parallelogram articulated system on a kind of transfer robot |
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| CN (1) | CN204566159U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723361A (en) * | 2015-03-28 | 2015-06-24 | 苏州荣威工贸有限公司 | Bidirectional parallelogram hinged structure on transfer robot |
| CN106041440A (en) * | 2016-06-29 | 2016-10-26 | 苏州市吴中区木渎华利模具加工店 | Discharge manipulator of automatic antenna terminal laminating machine |
-
2015
- 2015-03-28 CN CN201520180609.1U patent/CN204566159U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723361A (en) * | 2015-03-28 | 2015-06-24 | 苏州荣威工贸有限公司 | Bidirectional parallelogram hinged structure on transfer robot |
| CN104723361B (en) * | 2015-03-28 | 2016-04-13 | 苏州荣威工贸有限公司 | Two-way parallelogram articulated system on a kind of transfer robot |
| CN106041440A (en) * | 2016-06-29 | 2016-10-26 | 苏州市吴中区木渎华利模具加工店 | Discharge manipulator of automatic antenna terminal laminating machine |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150819 Effective date of abandoning: 20160413 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |