CN204640216U - A kind of robot for carrying and piling - Google Patents
A kind of robot for carrying and piling Download PDFInfo
- Publication number
- CN204640216U CN204640216U CN201520141170.1U CN201520141170U CN204640216U CN 204640216 U CN204640216 U CN 204640216U CN 201520141170 U CN201520141170 U CN 201520141170U CN 204640216 U CN204640216 U CN 204640216U
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- Prior art keywords
- forearm
- large arm
- connecting rod
- driving mechanism
- hinged
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Abstract
The utility model discloses a kind of robot for carrying and piling, comprise base, base is provided with rotary frame and rotating driving device, rotating driving device connects and drives rotary frame to rotate in horizontal plane; Rotary frame is provided with the bar linkage structure that large arm, large arm driving mechanism, crank, connecting rod, forearm and forearm driving mechanism are formed jointly, large arm one end connects large arm driving mechanism, and large arm driving mechanism drives large arm swing; One end of forearm driving mechanism connecting crank, the other end of crank and one end of connecting rod are hinged, the other end of connecting rod and one end of forearm are hinged; the middle part of forearm and the other end of large arm are hinged; forearm drive unit driving crank rotates and finally just acts on forearm by connecting rod; rotary frame is in " L " shape, large arm drive unit and forearm drive unit are installed on the same side of described runing rest.This robot architecture is compact, floor space is little and greatly reduce manufacturing cost.
Description
Technical field
The utility model relates to Industrial Robot Technology field, especially link joint type robot palletizer.
Background technology
Along with the development of industrial automation, robot palletizer status in the industrial production improves constantly.Comparatively ripe at present, occupy the maximum robot palletizer of the market share and mainly contain German KUKA series, Sweden ABB series and Japanese FANUC, OKURA, FUJI series, in the robot palletizer of these series, the tandem type robot palletizer being Typical Representative with KR40PA type robot palletizer makes such robot application comparatively wide due to ease for operation, the robot palletizer of Smaller load especially.Although the structure technology of this kind of robot palletizer is ripe, and has good market, because occupation of land amount is larger, and decelerator all adopts expensive RV decelerator, and therefore cost is very expensive, is unfavorable for universal use.
Utility model content
The purpose of this utility model is the defect in order to solve above-mentioned prior art, provides a kind of structure simple and floor space is little, the robot for carrying and piling of economy and durability.
The utility model solves the technical scheme that its technical problem adopts: a kind of robot for carrying and piling, comprise base, described base is provided with rotary frame and rotating driving device, described rotating driving device connects and drives described rotary frame to rotate in horizontal plane; Described rotary frame is provided with the bar linkage structure that large arm, large arm driving mechanism, crank, connecting rod, forearm and forearm driving mechanism are formed jointly, described large arm one end connects described large arm driving mechanism, and described large arm driving mechanism drives described large arm swing; Described forearm driving mechanism connects one end of described crank, the other end of described crank and one end of described connecting rod are hinged, the other end of described connecting rod and one end of described forearm are hinged, the middle part of described forearm and the other end of described large arm are hinged, described forearm drive unit drives described crank to rotate finally just to act on described forearm by described connecting rod, described rotary frame is in " L " shape, and described large arm drive unit and described forearm drive unit are installed on the same side of described runing rest.Like this, large arm drive unit and forearm drive unit are all positioned at the same side, and disalignment, therefore this robot for carrying and piling structure can reduce the floor space of robot for carrying and piling, arranges significant to workshop.Wherein, described rotating driving device, described large arm drive unit include drive motors with described forearm drive unit and are connected the decelerator of described drive motors.
Further, described decelerator all adopts the multi-stage planetary gear speed reducer that performance is good, price is low, can greatly reduce costs.
Further, the other end of described forearm is also provided with wrist brace, described wrist brace is provided with the gripper for carrying article or vacuum absorption device.Wherein, the lower end of described wrist brace and the other end of forearm are hinged, the upper end of described wrist brace is also hinged is provided with balanced connecting rod device, described balanced connecting rod device comprises balancing pole and lower balancing pole, one end of upper balancing pole and the upper end thereof of wrist brace, the other end of upper balancing pole is installed on the middle part of described forearm and the hinged installation place of described large arm, one end of described lower balancing pole is installed on the middle part of described forearm and the hinged installation place of described large arm, the other end of described lower balancing pole is connected with described forearm driving mechanism, the bar linkage structure of described balanced connecting rod device and described large arm, crank, the bar linkage structure that connecting rod and forearm are formed jointly is identical, drive the upper and lower side of described wrist brace to move by the dual arm of force simultaneously, described wrist brace is made operationally to keep level.
The utility model has following beneficial effect relative to prior art: the utility model robot for carrying and piling structure not only compact, floor space is little, working space is large, and the manufacturing cost of robot for carrying and piling is greatly reduced, improve economic benefit and the market competitiveness.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
In figure: 1 is forearm driving decelerator, and 2 is forearm drive motors, and 3 is that large arm drives decelerator, 4 is large arm drive motors, and 5 is runing rest, and 6 is runing rest drive motors, 7 is runing rest driving decelerator, and 8 is base, and 9 is pinion, 10 is crank, and 11 is gear wheel, and 12 is connecting rod, 13 is large arm, and 14 is forearm, and 15 is wrist brace, 16 is vacuum absorption device, and 17 is lower balanced connecting rod, and 18 is upper balanced connecting rod.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, a kind of robot for carrying and piling of the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
As shown in Figure 1, a kind of robot for carrying and piling, comprise base 8, described base 8 is provided with rotary frame 5 and rotating driving device (comprise the runing rest being arranged on runing rest drive motors 6 on base 8 and being connected runing rest drive motors 6 and rotary frame 5 and drive decelerator 7), described rotating driving device connects and drives described rotary frame 5 in horizontal plane, do 360 degree and rotates freely motion; Described rotary frame 5 is provided with the bar linkage structure of large arm 13, large arm driving mechanism (comprise and be arranged on large arm drive motors 4 on rotary frame 5 and be connected large arm drive motors 4 and drive decelerator 3 with the large arm of large arm 13), crank 10, connecting rod 12, forearm 14 and forearm driving mechanism (comprise the forearm being arranged on forearm drive motors 2 on rotary frame 5 and being connected forearm drive motors 2 and large arm 14 and drive decelerator 1) formation jointly, described large arm 13 one end connects described large arm driving mechanism, and described large arm driving mechanism drives described large arm 13 to swing; Described forearm driving mechanism connects one end of described crank 10, the other end of described crank 10 and one end of described connecting rod 12 are hinged, the other end of described connecting rod 12 and one end of described forearm 14 are hinged, the middle part of described forearm 14 and the other end of described large arm 13 are hinged, described forearm drive unit drives described crank to rotate finally just to act on described forearm by described connecting rod, described rotary frame 5 is in " L " shape, and described large arm drive unit and described forearm drive unit are installed on the same side of described runing rest 5.Like this, large arm drive unit and forearm drive unit are all positioned at the same side, and disalignment, therefore this robot for carrying and piling structure can reduce the floor space of robot for carrying and piling, arranges significant to workshop.
Its mounting means is as follows: be fixed on large arm driving shaft bottom large arm 13, and this axle is arranged on runing rest 5 by a gear, the output shaft of large arm decelerator 3 is connected with this axle key, large arm drive unit drives large arm by such mode just: the moment transmitted from large arm drive motors 4 is after large arm decelerator 3 amplifies, act on this axle, drive this axle to rotate, thus drive large arm 13 to rotate around this axle.This axle also has an effect, and namely install a bearing at this large arm driving shaft end, gear wheel 11 is installed on the bearing, can do relative rotary motion with this axle and can not affect the motion of large arm, with this simultaneously, gear wheel 11 is fixed with a crank 10.Described crank 10 end is connected by bearing with connecting rod 12, and connecting rod 12 upper end is connected with forearm 14 end; The middle part of described forearm 14 is connected by the end of bearing with large arm 13.Such structure, forms a parallelogram connection-rod structure by connecting rod 12, crank 10, large arm 13 and forearm 14 afterbody, namely constitutes the arm of force of robot for carrying and piling.Pinion 9 is meshed with gear wheel 11, and pinion 9 is installed on forearm driving shaft, and this axle is installed on runing rest 5 by bearing; The output shaft of forearm decelerator 1 is connected with this axle key, and when forearm drive motors 2 rotates institute, moment acts on this axle after forearm decelerator 1 amplifies, and drives pinion 9 to rotate by this axle.As can be seen here, large arm drive unit and forearm drive unit make wrist brace 15 by a position precise motion by this way to another location, that is: large arm drive unit drives large arm to rotate a certain angle, meanwhile; forearm drive unit drives crank 10 to turn over certain angle after first being slowed down further by pinion 9, gear wheel 11; because the arm of force is parallelogram sturcutre, the angle that forearm 14 turns over is identical with crank 10; Large arm 13 and angle coordinate any one some one_to_one corresponding just and in its working face of forearm 14, therefore driven thus achieve the accurate location of wrist brace 15 large arm 13, crank 10 by two groups of drive units respectively.Runing rest 5 is fixed on an axle, and this axle is arranged in base 8 by bearing; Runing rest drive motors 6 after runing rest decelerator 7, then drives runing rest 5 to do 360 degree in horizontal plane by a pair mechanical reduction gear to rotate freely.
Further, the decelerator (runing rest drives decelerator 7, forearm to drive decelerator 1 and large arm to drive decelerator 3) in each joint all adopts the planetary reducer that the good price of performance is low, and select runing rest 5 to be biased on one side, although multi-stage planetary gear speed reducer length is longer like this, but too large impact can't be had on working space, now structure is not only more compact attractive in appearance, and greatly can reduce the separate unit production cost of robot for carrying and piling.
Further, the other end of described forearm 14 is also provided with wrist brace 15, described wrist brace 15 is provided with the gripper for carrying article or vacuum absorption device 16.Wherein, the lower end of described wrist brace 15 and the other end of forearm 13 are hinged, the upper end of described wrist brace 15 is also hinged is provided with balanced connecting rod device, described balanced connecting rod device comprises balancing pole 17 and lower balancing pole 18, one end of upper balancing pole 17 and the upper end thereof of wrist brace 15, the other end of upper balancing pole 17 is installed on the middle part of forearm 14 and the hinged installation place of the other end of large arm 13, one end of lower balancing pole 18 is installed on the middle part of forearm 14 and the hinged installation place of the other end of large arm 13, the other end of lower balancing pole 18 is connected with forearm driving mechanism, like this, described balanced connecting rod device and described large arm 13, crank 10, the bar linkage structure that connecting rod 12 and forearm 14 are formed jointly is identical, drive the upper and lower side of described wrist brace 15 to move by the dual arm of force simultaneously, described wrist brace 15 is made operationally to keep level.
The above; be only the utility model patent preferred embodiment; but the protection domain of the utility model patent is not limited thereto; anyly be familiar with those skilled in the art in the scope disclosed in the utility model patent; be equal to according to the technical scheme of the utility model patent and utility model patent design thereof and replaced or change, all belonged to the protection domain of the utility model patent.
Claims (5)
1. a robot for carrying and piling, comprises base, it is characterized in that, described base is provided with rotary frame and rotating driving device, and described rotating driving device connects and drives described rotary frame to rotate; Described rotary frame is provided with large arm, large arm driving mechanism, crank, connecting rod, forearm and forearm driving mechanism, described large arm one end connects described large arm driving mechanism, and described large arm driving mechanism drives described large arm swing; Described forearm driving mechanism connects one end of described crank, the other end of described crank and one end of described connecting rod are hinged, the other end of described connecting rod and one end of described forearm are hinged, the middle part of described forearm and the other end of described large arm are hinged, described forearm drive unit drives described crank to rotate finally just to act on described forearm by described connecting rod, described rotary frame is in " L " shape, and described large arm drive unit and described forearm drive unit are installed on the same side of described runing rest.
2. a kind of robot for carrying and piling according to claim 1, is characterized in that, described rotating driving device, described large arm drive unit include drive motors with described forearm drive unit and are connected the decelerator of described drive motors.
3. a kind of robot for carrying and piling according to claim 2, is characterized in that, described decelerator all adopts multi-stage planetary gear speed reducer.
4. a kind of robot for carrying and piling according to claim 1, is characterized in that, the other end of described forearm is also provided with wrist brace, described wrist brace is provided with the gripper for carrying article or vacuum absorption device.
5. a kind of robot for carrying and piling according to claim 4, it is characterized in that, the lower end of described wrist brace and the other end of described forearm are hinged, the upper end of described wrist brace is also hinged is provided with balanced connecting rod device, described balanced connecting rod device comprises balancing pole and lower balancing pole, one end of upper balancing pole and the upper end thereof of wrist brace, the other end of upper balancing pole is installed on the middle part of described forearm and the hinged installation place of described large arm, one end of described lower balancing pole is installed on the middle part of described forearm and the hinged installation place of described large arm, the other end of described lower balancing pole is connected with described forearm driving mechanism, the bar linkage structure of described balanced connecting rod device and described large arm, crank, the bar linkage structure that connecting rod and forearm are formed jointly is identical, drive the upper and lower side of described wrist brace to move by the dual arm of force simultaneously, described wrist brace is made operationally to keep level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520141170.1U CN204640216U (en) | 2015-03-12 | 2015-03-12 | A kind of robot for carrying and piling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520141170.1U CN204640216U (en) | 2015-03-12 | 2015-03-12 | A kind of robot for carrying and piling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204640216U true CN204640216U (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520141170.1U Expired - Fee Related CN204640216U (en) | 2015-03-12 | 2015-03-12 | A kind of robot for carrying and piling |
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| CN (1) | CN204640216U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214316A (en) * | 2017-07-03 | 2017-09-29 | 宁波伊泽机器人有限公司 | A kind of seven axle die casting spraying pickup robot |
| CN107284549A (en) * | 2017-06-08 | 2017-10-24 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN108033277A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | A kind of robot for carrying and piling |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
-
2015
- 2015-03-12 CN CN201520141170.1U patent/CN204640216U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284549A (en) * | 2017-06-08 | 2017-10-24 | 中国科学院自动化研究所 | Limb motion biomimetic features and the bionic machine mouse including limb motion biomimetic features |
| CN107284549B (en) * | 2017-06-08 | 2023-09-12 | 中国科学院自动化研究所 | Limb movement bionic structure and bionic robot mouse comprising same |
| CN107214316A (en) * | 2017-07-03 | 2017-09-29 | 宁波伊泽机器人有限公司 | A kind of seven axle die casting spraying pickup robot |
| CN107310062A (en) * | 2017-08-10 | 2017-11-03 | 安庆市凯立金刚石科技有限公司 | A kind of processing workpiece erecting device for processing of stone |
| CN108033277A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | A kind of robot for carrying and piling |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150916 Termination date: 20160312 |
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| CF01 | Termination of patent right due to non-payment of annual fee |