CN205660719U - Diaxon pile up neatly machine people - Google Patents
Diaxon pile up neatly machine people Download PDFInfo
- Publication number
- CN205660719U CN205660719U CN201620535229.XU CN201620535229U CN205660719U CN 205660719 U CN205660719 U CN 205660719U CN 201620535229 U CN201620535229 U CN 201620535229U CN 205660719 U CN205660719 U CN 205660719U
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- CN
- China
- Prior art keywords
- drive mechanism
- horizontal
- arm
- base
- vertical
- 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
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Abstract
The utility model discloses a diaxon pile up neatly machine people, include the base and install in the horizontal drive mechanism of base, perpendicular drive mechanism, first motor, still include by the forearm, the postbrachium, first connecting rod, the four -bar linkage that the linking arm was formed by connecting, by the linking arm, the second connecting rod, back pole, the 2nd four -bar linkage that the triangle arm the first arm was formed by connecting, by triangle arm second arm, preceding pole, the wrist, the 3rd four -bar linkage that the forearm was formed by connecting, rotary device is installed to the wrist, rotary device includes the drive mechanism that takes of perpendicular spindle nose and level setting, take drive mechanism to include the driving pulley that second motor and level set up, from the driven pulleys and flat belt, motor dynamic connection drives base along water plane rotation motion, the linking arm, the second connecting rod is connected in horizontal drive mechanism, the mechanism in perpendicular drive is connected to the postbrachium. The utility model discloses simplify the articular motion structure of motion, saved installation space.
Description
Technical field
This utility model relates to robot palletizer field, particularly to the robot palletizer of a kind of two axles.
Background technology
Robot palletizer is usually articulated robot, and it is widely used in the fields such as chemical industry, beverage, food processing,
The stacking form that robot palletizer captures after packaging bag as requested realizes automatic piling, in order to make the end of crawl packaging bag hold
Row mechanism is in required operating position, then needs to simplify the motion structure in each joint, narrow and small work during to meet packaging bag piling
Make the needs in space.
Utility model content
The purpose of this utility model is to provide for a kind of two axle robot palletizers, simplifies the motion structure in each joint.
According to an aspect of the present utility model, it is provided that a kind of two axle robot palletizers, including base and be installed on
The horizontal drive mechanism of base, vertical driving mechanism, the first motor, also include by forearm, postbrachium, first connecting rod, linking arm even
The first quadric chain connect, linking arm, second connecting rod, rear bar, Triangular Arm the first arm the two or four be formed by connecting connects
Linkage, Triangular Arm the second arm, front bar, wrist, forearm the 3rd quadric chain being formed by connecting, wrist is provided with rotation dress
Putting, rotary apparatus includes vertical spindle nose and horizontally disposed tape handler, and tape handler includes the second motor and level
Arrange driving pulley, driven pulley and flat rubber belting, second motor power connect driving pulley, driving pulley by flat rubber belting connect from
Movable belt pulley, driven pulley power connects vertical spindle nose, and the first motor power connects and drive base rotary motion along the horizontal plane, even
Connect arm, second connecting rod is connected to horizontal drive mechanism, and postbrachium is connected to vertical driving mechanism.
Owing to horizontal drive mechanism makes linking arm, first connecting rod, the level actively articulation level of second connecting rod move, thus
The vertical spindle nose load carrying point of rotary apparatus moves only in horizontal direction；Vertical driving mechanism make postbrachium, first connecting rod hang down
Straight actively joint vertically moves, thus the vertical spindle nose load carrying point of rotary apparatus only moves in vertical direction, the most permissible
The load carrying point realizing two axle robot palletizers moves linearly along the horizontal, vertical directions, and simplifies joint
Motion structure, the most vertical spindle nose is driven by tape handler and achieves the rotary motion in horizontal plane.
In some embodiments, vertical driving mechanism includes a connecting seat, vertical slide rail, down-feed screw and horizontal stripes
Drive mechanism, horizontal stripes drive mechanism is installed on base, and connects down-feed screw, and vertical slide rail is installed on base, and first connects
The both sides of seat are slidably mounted on a vertical slide rail respectively, and a connecting seat is connected to postbrachium, down-feed screw.Thus, it is possible to realize
The linear motion of vertical direction.
In some embodiments, horizontal drive mechanism includes the second connection seat, horizontal slide rail, horizontal lead screw and belt
Drive mechanism, belt drive mechanism is installed on base, and connects horizontal lead screw, and horizontal slide rail is installed on base, and second connects
The both sides of seat are slidably mounted on a horizontal slide rail respectively, and second connects seat is connected to linking arm, second connecting rod, horizontal lead screw.By
This, it is possible to achieve the linear motion of horizontal direction.
This utility model simplifies the motion structure of movable joint, saves installing space.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of two axle robot palletizers of a kind of embodiment of this utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings and this utility model is described in further detail by embodiment.
As it is shown in figure 1, this two axles robot palletizer includes base 1 and the horizontal drive mechanism 2 being installed on base 1, hangs down
Straight drive mechanism the 3, first motor 4, also includes the one or four company being formed by connecting by forearm 5, postbrachium 6, first connecting rod 7, linking arm 8
Linkage, linking arm 8, second connecting rod 9, rear bar 10, the first arm of Triangular Arm 11 the second quadric chain being formed by connecting, by
The 3rd quadric chain that second arm of Triangular Arm 11, front bar 12, wrist 13, forearm 5 are formed by connecting.First motor 4 power is even
Connecing and drive base 1 rotary motion along the horizontal plane, linking arm 8, second connecting rod 9 are connected to horizontal drive mechanism 2, and postbrachium 6 connects
In vertical driving mechanism 3.
Vertical driving mechanism 3 includes a connecting seat 31, vertical slide rail 32, down-feed screw 33 and horizontal stripes drive mechanism
34, horizontal stripes drive mechanism 34 is installed on base 1, and connects down-feed screw 33, and vertical slide rail 32 is installed on base 1, and first even
The both sides of joint chair 31 are slidably mounted on a vertical slide rail 32 respectively, and a connecting seat 31 is connected to postbrachium 6, down-feed screw 33.
Horizontal drive mechanism 2 includes the second connection seat 21, horizontal slide rail 22, horizontal lead screw 23 and belt drive mechanism
24, belt drive mechanism 24 is installed on base 1, and connects horizontal lead screw 23, and horizontal slide rail 22 is installed on base 1, and second even
The both sides of joint chair 21 are slidably mounted on a horizontal slide rail 22 respectively, and second connects seat 21 is connected to linking arm 8, second connecting rod 9, water
Flat screw mandrel 23.
Wrist 13 is provided with rotary apparatus 14, and rotary apparatus 14 includes vertical spindle nose 141 and horizontally disposed V belt translation machine
Structure 142, tape handler 142 include the second motor 142a and horizontally disposed driving pulley 142b, driven pulley 142c and
Flat rubber belting 142d, the second motor 142a power connects driving pulley 142b, driving pulley 142b and connects driven belt by flat rubber belting 142d
Wheel 142c, driven pulley 142c power connects vertical spindle nose 141.
Above-mentioned two axle robot palletizers drive horizontal lead screw 23 to drive the second connection seat by belt drive mechanism 24
21 slide along horizontal slide rail 22, thus drive linking arm 8, first connecting rod 7, the moving horizontally of second connecting rod 9, and then drive first
Quadric chain, the second quadric chain, the 3rd quadric chain action, thus drive wrist 13 and vertical spindle nose 141 load
Bearing point swings in vertical；Down-feed screw 33 is driven to drive a connecting seat 31 along hanging down by horizontal stripes drive mechanism 34
Straight slide rail 32 slides, thus drives postbrachium 6, the vertically moving of first connecting rod 7, so drive the first quadric chain, the two or four
Linkage, the 3rd quadric chain action, thus drive wrist 13 and vertical spindle nose 141 load carrying point to put in vertical
Dynamic, the most vertical spindle nose 141 drives the rotary motion in horizontal plane by tape handler 142, and is driven by the first motor 4
The dynamic base 1 rotary motion in horizontal plane, wrist 13 and the vertical spindle nose 141 that therefore can realize two axle robot palletizers are negative
Lotus bearing point moves linearly along the horizontal, vertical directions, and simplifies the motion structure in joint.
Above-described is only embodiments more of the present utility model.For the person of ordinary skill of the art,
On the premise of creating design without departing from this utility model, it is also possible to making some deformation and improvement, these broadly fall into this practicality
Novel protection domain.
Claims (3)
1. liang axle robot palletizer, it is characterised in that include base and be installed on the horizontal drive mechanism of base, vertical drive
Mechanism, the first motor, also include the first quadric chain being formed by connecting by forearm, postbrachium, first connecting rod, linking arm, by even
Connect arm, the second quadric chain that second connecting rod, rear bar, Triangular Arm the first arm are formed by connecting, by Triangular Arm the second arm, front bar,
The 3rd quadric chain that wrist, forearm are formed by connecting, described wrist is provided with rotary apparatus, and described rotary apparatus includes vertically
Spindle nose and tape handler, described tape handler includes the second motor and horizontally disposed driving pulley, driven pulley, puts down
Band, described second motor power connects driving pulley, and described driving pulley connects driven pulley, described driven pulley by flat rubber belting
Power connects vertical spindle nose, and described first motor power connects and drive base rotary motion along the horizontal plane, described linking arm, the
Two connecting rods are connected to horizontal drive mechanism, and described postbrachium is connected to vertical driving mechanism.
Two axle robot palletizers the most according to claim 1, it is characterised in that described vertical driving mechanism includes first even
Joint chair, vertical slide rail, down-feed screw and horizontal stripes drive mechanism, described horizontal stripes drive mechanism is installed on base, and connects vertical
Raw silk rings bar, described vertical slide rail is installed on base, and the both sides of described a connecting seat are slidably mounted on a vertical slide rail respectively, institute
State a connecting seat and be connected to postbrachium, down-feed screw.
Two axle robot palletizers the most according to claim 1, it is characterised in that described horizontal drive mechanism includes second even
Joint chair, horizontal slide rail, horizontal lead screw and belt drive mechanism, described belt drive mechanism is installed on base, and connects water
Flat screw mandrel, described horizontal slide rail is installed on base, and the described second both sides connecting seat are slidably mounted on a horizontal slide rail, institute respectively
State the second connection seat and be connected to linking arm, second connecting rod, horizontal lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620535229.XU CN205660719U (en) | 2016-06-02 | 2016-06-02 | Diaxon pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620535229.XU CN205660719U (en) | 2016-06-02 | 2016-06-02 | Diaxon pile up neatly machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205660719U true CN205660719U (en) | 2016-10-26 |
Family
ID=57158782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620535229.XU Expired - Fee Related CN205660719U (en) | 2016-06-02 | 2016-06-02 | Diaxon pile up neatly machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205660719U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018166332A1 (en) * | 2017-03-13 | 2018-09-20 | 赵德政 | Mechanical arm having synchronous belt drive devices |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
-
2016
- 2016-06-02 CN CN201620535229.XU patent/CN205660719U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018166332A1 (en) * | 2017-03-13 | 2018-09-20 | 赵德政 | Mechanical arm having synchronous belt drive devices |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
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Legal Events
| 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 |
Granted publication date: 20161026 Termination date: 20180602 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |