CN204725488U - A kind of four-degree-of-freedom flapping articulation robot - Google Patents

A kind of four-degree-of-freedom flapping articulation robot Download PDF

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Publication number
CN204725488U
CN204725488U CN201420754522.6U CN201420754522U CN204725488U CN 204725488 U CN204725488 U CN 204725488U CN 201420754522 U CN201420754522 U CN 201420754522U CN 204725488 U CN204725488 U CN 204725488U
Authority
CN
China
Prior art keywords
arm
robot
forearm
servo motor
fixture
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201420754522.6U
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Chinese (zh)
Inventor
徐德众
李红果
徐志刚
石卓栋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Structure and Environment Engineering
Tianjin Aerospace Ruilai Technology Co Ltd
Beijing Aerostandard Technology Co Ltd
Original Assignee
Beijing Institute of Structure and Environment Engineering
Tianjin Aerospace Ruilai Technology Co Ltd
Beijing Aerostandard Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Structure and Environment Engineering, Tianjin Aerospace Ruilai Technology Co Ltd, Beijing Aerostandard Technology Co Ltd filed Critical Beijing Institute of Structure and Environment Engineering
Priority to CN201420754522.6U priority Critical patent/CN204725488U/en
Application granted granted Critical
Publication of CN204725488U publication Critical patent/CN204725488U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a kind of four-degree-of-freedom flapping articulation robot, comprise be placed in ground frame, the mechanical arm lowering or hoisting gear be arranged in described frame, large arm rotation unit, front arm rotation unit and fixture whirligig; Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described large arm rotation unit one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end and described front arm rotation unit are rotatably assorted; Described fixture whirligig is arranged on the end of described front arm rotation unit, which is provided with for capturing article and rotating fixture.A kind of four-degree-of-freedom flapping articulation robot for carrying of the utility model can realize the vertical and level carrying of article in robot working space, and different fixture can be installed on fixture adpting flange and realize the operations such as carrying, piling, substantially increase production efficiency.

Description

A kind of four-degree-of-freedom flapping articulation robot
Technical field
The present invention relates to packing machinery technology, be specifically related to a kind of four-degree-of-freedom flapping articulation robot.
Background technology
In packing machinery technology, packaging haulage equipment is that packed article or packing material are carried out transfer carrying according to certain requirement.The bucket (bottle) often related to finished product is cased, and is carried out piling to end product packing, also can relate in article carrying placements etc. such as palletization median septums.Be by manually carrying out this kind of operation traditionally, this kind of mode labour intensity is large, to take personnel many, production efficiency is low.Or coordinate fixture complete operation by special-purpose machinery or industrial robot, but this kind of mode equipment cost is high, and adjustment difficulty is large and safeguard the defects such as complicated.
The mechanical arm for carrying operation in recent years market also engendered, but these are generally developed for certain packing material all specially for the mechanical arm carried, special computer for special use, cannot by changing the change of the practical functions such as fixture, and versatility is poor; Or the free degree is fewer, the working space that can cover is limited, can only complete simple task.
Summary of the invention
The object of this invention is to provide a kind of with low cost, structure is simple, working service is convenient and have the four-degree-of-freedom flapping articulation robot of certain versatility.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of four-degree-of-freedom flapping articulation robot, comprise be placed in ground frame, the mechanical arm lowering or hoisting gear be arranged in described frame, large arm rotation unit, front arm rotation unit and fixture whirligig;
Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described large arm rotation unit one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end and described front arm rotation unit are rotatably assorted; Described fixture whirligig is arranged on the end of described front arm rotation unit, which is provided with for capturing article and rotating fixture.
Described mechanical arm lowering or hoisting gear comprises bolster, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and lift servo motor; Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by bolster by bearings, upper synchronous pulley and lower synchronous pulley to be connected with counterweight by 2 Timing Belts and mechanical arm installing plate and to form closed loop and be wound around; Described servomotor is connected with the bolster being provided with lower synchronous pulley by shaft coupling.
Described large arm rotation unit is arranged on described mechanical arm installing plate, comprising large arm rotating servo motor, electric machine support, shaft coupling, rotating shaft, robot ' s arm, large arm support; Described large arm rotating servo motor is arranged on electric machine support upper end; Described robot ' s arm is arranged in the middle of large arm support, and rotating shaft and robot ' s arm fixedly mount, and is connected by shaft coupling through after robot ' s arm arm body support frame with described large arm rotating servo motor.
Described front arm rotation unit is arranged on described robot ' s arm, comprising forearm rotating servo motor, forearm block bearing, front arm support, robot forearm; Described forearm rotating servo motor is arranged on forearm pedestal upper end, and be connected with robot forearm upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
Described fixture whirligig is arranged on described robot forearm, comprising fixture rotating servo motor and fixture mounting flange; Described fixture rotating servo motor is installed on the end of forearm, and fixture adpting flange is connected with rotating servo motor output flange, and is connected with robot clamp.
Described mechanical arm lowering or hoisting gear also comprises guide rail, roller and roller mounting bracket; Roller is arranged on roller mounting bracket; Roller mounting bracket is connected with described mechanical arm installing plate; Guide rail is connected with described frame; Roller is at guide rail both sides reciprocating rolling.
Described large arm rotating servo motor is coaxially connected with large arm rotating shaft by shaft coupling.
Described forearm rotating servo motor is arranged on forearm pedestal upper end, and be connected with robot forearm upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
Beneficial effect of the present invention: a kind of four-degree-of-freedom flapping articulation robot for carrying of the present invention can realize the vertical and level carrying of article in robot working space, and different fixture can be installed on fixture adpting flange and realize the operations such as carrying, piling, substantially increase production efficiency.
Accompanying drawing explanation
Fig. 1 is the Facad structure signal of a kind of four-degree-of-freedom flapping articulation of the present invention robot;
Fig. 2 is the side structure signal of a kind of four-degree-of-freedom flapping articulation of the present invention robot;
Fig. 3 is the partial enlarged drawing in I region in Fig. 2;
Fig. 4 be in Fig. 3 A-A to sectional view.
In figure: 1. frame; 2. go up synchronous pulley; 3. go up bolster; 4. riser guide; 5. mechanical arm installing plate; 6. lower support axle; 7. descend synchronous pulley; 8. shaft coupling; 9. lift servo motor; 10. roller mounting bracket; 11. large arm rotating servo motors; 12. electric machine supports; 13. shaft couplings; 14. large arm supports; 15. large arm rotating shafts; 16. large arm arm bodies; Arm support before 17.; 18. forearm rotating servo motors; 19. forearm arm bodies; 20. fixture rotating servo motors; 21. fixture mounting flanges; 22. Timing Belts; 23. counterweights; 24. rollers.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail:
As shown in Figures 1 to 4, a kind of four-degree-of-freedom flapping articulation of the present invention robot, comprising: the frame 1 being placed in ground, is arranged on the mechanical arm lowering or hoisting gear in described frame 1, large arm rotation unit, front arm rotation unit and fixture whirligig.
Described mechanical arm lowering or hoisting gear comprises 2 along described frame 1 vertically perpendicular to the riser guide 4 that ground is arranged, along the roller 24 that each riser guide 4 rolls, roller 24 is arranged on roller mounting bracket 10, and 4 roller mounting brackets 10 are separately fixed at mechanical arm installing plate 5 side;
Upper synchronous pulley 2 is horizontally disposed with in frame upper end, bearings is passed through by upper bolster 3, lower synchronous pulley 7 is horizontally disposed with in frame lower end, by lower support axle 6 by bearings, 2 Timing Belts 22 are wound in synchronous pulley 2 and lower synchronous pulley 7 and form closed loop be wound around by being connected with counterweight 23 with mechanical arm installing plate 5; Described lift servo motor 9 is connected with the lower support axle 6 installing lower synchronous pulley 7 by shaft coupling 8;
Described large arm rotation unit is arranged on described mechanical arm installing plate 5, and it comprises large arm rotating servo motor 11, electric machine support 12, shaft coupling 13, rotating shaft 15, robot ' s arm 16, large arm support 14; Described large arm rotating servo motor 11 is arranged on electric machine support 12 upper end; Described robot ' s arm 16 is arranged in the middle of large arm support 14, and rotating shaft 15 and robot ' s arm 16 fixedly mount, and are connected by shaft coupling 13 through after robot ' s arm support 14 with described large arm rotating servo motor 11;
Described front arm rotation unit is arranged on described robot ' s arm 16, comprising forearm rotating servo motor 18, forearm block bearing, front arm support 17, robot forearm 19; Described forearm rotating servo motor 18 is arranged on front arm support 17 upper end, and be connected with robot forearm 19 upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm 19 lower surface by transition piece;
Described fixture whirligig is arranged on described robot forearm 19, comprising fixture rotating servo motor 21 and fixture mounting flange 20; Described fixture rotating servo motor 21 is installed on the end of robot forearm 19, and fixture adpting flange 20 is connected with rotating servo motor 21 output flange, and is connected with robot clamp.
The course of work of a kind of four-degree-of-freedom flapping articulation robot provided by the invention is as follows:
When there being article to need carrying, lift servo motor 9 operates, and drive lower synchronous pulley 7 rotate and drive Timing Belt 17 to move, driving mechanical arm installing plate and mechanical arm whirligig mounted thereto move up and down; Large arm rotating servo motor 11, forearm rotating servo motor 18 operate according to control overflow simultaneously, directly over fixture rotary device movement to crawled article, fixture rotating servo motor 21 rotates, and drives fixture to rotate attitude and the position of realization needs, carries out grasping manipulation.

Claims (8)

1. a four-degree-of-freedom flapping articulation robot, is characterized in that: comprise be placed in ground frame, the mechanical arm lowering or hoisting gear be arranged in described frame, large arm rotation unit, front arm rotation unit and fixture whirligig;
Described mechanical arm lowering or hoisting gear moves up and down in described frame; Described large arm rotation unit one end and described mechanical arm lowering or hoisting gear are fixed, and rotate around the fixed position with described mechanical arm lowering or hoisting gear, and the other end and described front arm rotation unit are rotatably assorted; Described fixture whirligig is arranged on the end of described front arm rotation unit, which is provided with for capturing article and rotating fixture.
2. four-degree-of-freedom flapping articulation robot as claimed in claim 1, is characterized in that: described mechanical arm lowering or hoisting gear comprises bolster, upper synchronous pulley, lower synchronous pulley, Timing Belt, mechanical arm installing plate, shaft coupling, counterweight and lift servo motor; Described upper synchronous pulley and lower synchronous pulley are horizontally disposed with in frame top and bottom respectively, and by bolster by bearings, upper synchronous pulley and lower synchronous pulley to be connected with counterweight by 2 Timing Belts and mechanical arm installing plate and to form closed loop and be wound around; Described servomotor is connected with the bolster being provided with lower synchronous pulley by shaft coupling.
3. four-degree-of-freedom flapping articulation robot as claimed in claim 2, it is characterized in that: described large arm rotation unit is arranged on described mechanical arm installing plate, comprising large arm rotating servo motor, electric machine support, shaft coupling, rotating shaft, robot ' s arm, large arm support; Described large arm rotating servo motor is arranged on electric machine support upper end; Described robot ' s arm is arranged in the middle of large arm support, and rotating shaft and robot ' s arm fixedly mount, and is connected by shaft coupling through after robot ' s arm arm body support frame with described large arm rotating servo motor.
4. four-degree-of-freedom flapping articulation robot as claimed in claim 3, is characterized in that: described front arm rotation unit is arranged on described robot ' s arm, comprising forearm rotating servo motor, forearm block bearing, front arm support, robot forearm; Described forearm rotating servo motor is arranged on forearm pedestal upper end, and be connected with robot forearm upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
5. four-degree-of-freedom flapping articulation robot as claimed in claim 4, is characterized in that: described fixture whirligig is arranged on described robot forearm, comprising fixture rotating servo motor and fixture mounting flange; Described fixture rotating servo motor is installed on the end of forearm, and fixture adpting flange is connected with rotating servo motor output flange, and is connected with robot clamp.
6. four-degree-of-freedom flapping articulation robot as claimed in claim 2, is characterized in that: described mechanical arm lowering or hoisting gear also comprises guide rail, roller and roller mounting bracket; Roller is arranged on roller mounting bracket; Roller mounting bracket is connected with described mechanical arm installing plate; Guide rail is connected with described frame; Roller is at guide rail both sides reciprocating rolling.
7. four-degree-of-freedom flapping articulation robot as claimed in claim 3, is characterized in that: described large arm rotating servo motor is coaxially connected with large arm rotating shaft by shaft coupling.
8. four-degree-of-freedom flapping articulation robot as claimed in claim 4, it is characterized in that: described forearm rotating servo motor is arranged on forearm pedestal upper end, be connected with robot forearm upper surface by transition piece, forearm block bearing is arranged on forearm pedestal lower end, is connected with robot forearm lower surface by transition piece.
CN201420754522.6U 2014-12-04 2014-12-04 A kind of four-degree-of-freedom flapping articulation robot Expired - Fee Related CN204725488U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420754522.6U CN204725488U (en) 2014-12-04 2014-12-04 A kind of four-degree-of-freedom flapping articulation robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420754522.6U CN204725488U (en) 2014-12-04 2014-12-04 A kind of four-degree-of-freedom flapping articulation robot

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CN204725488U true CN204725488U (en) 2015-10-28

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437205A (en) * 2015-12-31 2016-03-30 上海珍岛信息技术有限公司 Mechanical hand for loading and unloading column-shaped objects
CN105710870A (en) * 2014-12-04 2016-06-29 北京航天斯达科技有限公司 Four-freedom-degree horizontal joint robot
CN107374732A (en) * 2017-07-31 2017-11-24 成都中科博恩思医学机器人有限公司 Brakes and operating robot for mechanical arm
CN107745393A (en) * 2017-10-15 2018-03-02 无锡市盛宝嘉科技有限公司 Plane joint manipulator for bearing ring forging and stamping loading and unloading
CN109623783A (en) * 2018-11-28 2019-04-16 温州职业技术学院 Industrial production system based on man-machine collaboration robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710870A (en) * 2014-12-04 2016-06-29 北京航天斯达科技有限公司 Four-freedom-degree horizontal joint robot
CN105437205A (en) * 2015-12-31 2016-03-30 上海珍岛信息技术有限公司 Mechanical hand for loading and unloading column-shaped objects
CN105437205B (en) * 2015-12-31 2018-07-13 上海珍岛信息技术有限公司 A kind of cylindrical objects handling manipulator
CN107374732A (en) * 2017-07-31 2017-11-24 成都中科博恩思医学机器人有限公司 Brakes and operating robot for mechanical arm
CN107745393A (en) * 2017-10-15 2018-03-02 无锡市盛宝嘉科技有限公司 Plane joint manipulator for bearing ring forging and stamping loading and unloading
CN109623783A (en) * 2018-11-28 2019-04-16 温州职业技术学院 Industrial production system based on man-machine collaboration robot

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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
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151028

Termination date: 20191204