CN206066439U - A kind of intelligent heavy-load robot - Google Patents
A kind of intelligent heavy-load robot Download PDFInfo
- Publication number
- CN206066439U CN206066439U CN201620902028.9U CN201620902028U CN206066439U CN 206066439 U CN206066439 U CN 206066439U CN 201620902028 U CN201620902028 U CN 201620902028U CN 206066439 U CN206066439 U CN 206066439U
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- connecting rod
- driving motor
- armstand
- bearing
- revolution support
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Abstract
The utility model discloses a kind of intelligent heavy-load robot, including：Including base, revolution support, revolution support driving motor, transverse arm, transverse arm driving motor, balance weight, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy static organ, wrist pedestal, handgrip driving motor, handgrip driving motor decelerator and handgrip adpting flange, compact conformation, small volume, it is easy to operate, production efficiency is high, by arranging adjustable connecting rod three, the distance of connected two ends centre bore can accurately be adjusted, the horizontal base of wrist is ensure that preferably, it is allowed to work more to balance, the accumulation of energy static organ for adopting is for nitrogen spring, its small volume, elastic force is big, stroke is long, stable working, manufacture is accurate, long service life, make robot integral layout attractive in appearance, balance system is simple using nitrogen balance mode balanced controls, it is reliable, balanced action is big, operate steadily, security reliability is good.
Description
Technical field
This utility model is related to transmission field, more particularly to a kind of intelligent heavy-load robot.
Background technology
Robot palletizer performs high-volume workpiece, the crawl of package, carrying, code in being used in industrial processes at present
One class industrial robot of the tasks such as pile, destacking, integrates electromechanical son, information, intellectual technology, computer science subject
High-new electronic product.With the continuous development of robot of China industry, technology and research field have reached certain level, stacking machine
Device people's technical merit is also developed rapidly.Existing some mechanical arm complex structures, volume are big, although versatility is big, but
Specific aim is not good, and when piling meets the tendency of, programme-control is complicated, manufactures high processing costs, taken up space big：Installation difficulty is larger, especially
It is the installation of wherein bevel gear, needs to debug repeatedly.It is therefore desirable to being improved.Brickmaking industry stacking machine volume is big at present,
Complex structure, operation not enough facilitate, low production efficiency, it is impossible to realize quick piling adobe, unbaked tile.
The content of the invention
The purpose of this utility model is：Overcome the above-mentioned problems in the prior art, propose a kind of intelligent heavy-load machine
Device people, compact conformation, small volume are easy to operate, and production efficiency is high, it is possible to achieve quick piling case class, bag class, bottle class and building
Plate class object, is particularly well-suited to brick, the vanning of unbaked tile part and piling.
The purpose of this utility model is realized by following technical proposals：
A kind of intelligent heavy-load robot, including：Including base, revolution support, revolution support driving motor, transverse arm, transverse arm
Driving motor, balance weight, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy static organ, wrist pedestal, grab
Handss driving motor, handgrip driving motor decelerator and handgrip adpting flange；Revolution support is arranged on base top, and revolution support is passed
Galvanic electricity machine is arranged on revolution support, and revolution support driving motor is driven revolution support by travelling gear, decelerator, in base
Top is turned round, and the running part of the decelerator is located in the cavity that base and revolution support are formed；Armstand bottom connection fork
Both sides are arranged on revolution support by bearing, connecting shaft, and transverse arm driving motor is turned round installed in armstand side by reductor
On support, balance weight is connected with transverse arm driving motor decelerator by balance weight mounting bracket, and one lower end of connecting rod is pacified with balance weight
Dress support is flexibly connected by bearing, connecting shaft, and one upper end of connecting rod is connected by bearing, connecting shaft and transverse arm back end activity,
Transverse arm rear portion is flexibly connected with armstand upper end side by bearing, connecting shaft, and transverse arm is anterior to pass through bearing, connecting shaft and wrist
Pedestal is connected, and handgrip driving motor is arranged on wrist pedestal, and handgrip driving motor bottom is connected with the deceleration of handgrip driving motor
Device, handgrip adpting flange are connected with handgrip driving motor decelerator；Armstand driving motor is pacified by armstand driving motor decelerator
It is mounted on armstand opposite side revolution pedestal, accumulation of energy static organ is arranged on armstand opposite side by bearing connecting shaft and turns round on support,
Accumulation of energy static organ is provided with cylinder body, cylinder body and is provided with telescopic shaft, and nitrogen is full of in the cylinder body, and the cylinder body is provided with air pressure
Table, telescopic shaft front end is by bearing, connecting shaft and armstand lower end connection fork connection；Two lower end of connecting rod by bearing, connecting shaft with
Revolution support is flexibly connected, and two upper end of connecting rod is flexibly connected with connecting rod rack one end by bearing, connecting shaft, and connecting bracket is another
One end is flexibly connected with three one end of connecting rod by bearing, connecting shaft, and three other end of connecting rod passes through bearing, connecting shaft and wrist pedestal
It is flexibly connected, connecting rod rack bottom is flexibly connected with armstand upper end opposite side by bearing, connecting shaft；The connecting rod three is
Length adjustable connecting rod.
A kind of intelligent heavy-load robot of the present utility model, the connecting rod three include fixed part and adjustment portion, the fixation
Portion and adjustment portion are realized connecting by flange.
There is in a kind of intelligent heavy-load robot of the present utility model, the adjustment portion leading screw of telescopic adjustment, the silk
Thick stick passes through fixing nut and locking nut realizes locking.
A kind of intelligent heavy-load robot of the present utility model, described connecting rod rack are triangular in shape, be provided with three it is movable
Connection dead eye, constitutes three motion vice mechanisms.
A kind of intelligent heavy-load robot of the present utility model, described armstand, connecting rod one, balance weight and transverse arm rear portion are constituted
First parallelogram lindage；Described transverse arm, connecting rod three, wrist pedestal, connecting rod rack constitute the second parallelogram lindage；It is described
Connecting rod two, armstand, connecting rod rack, revolution support, constitute the 3rd parallelogram lindage.
A kind of intelligent heavy-load robot of the present utility model, described the first parallelogram lindage, the second parallel four-bar machine
Structure, the 3rd parallelogram lindage and three motion vice mechanisms constitute balancing chain
According to above-mentioned technical proposal, the beneficial effects of the utility model are：Rationally, structure is tight for intelligent heavy-load Robot Design
Gather, small volume, easy to operate, production efficiency is high, by arranging adjustable connecting rod three, accurately can adjust in connected two ends
The distance in heart hole, preferably ensure that the horizontal base of wrist, is allowed to work and more balances, and the accumulation of energy static organ for adopting is for nitrogen
Spring, its small volume, elastic force are big, stroke length, stable working, and manufacture is accurate, long service life, make robot integral layout beautiful
See, balance system is simple, reliable using nitrogen balance mode balanced controls, and balanced action is big, operates steadily, security reliability
It is good.
Description of the drawings
Fig. 1 is a kind of intelligent heavy-load robot front view of this utility model；
Fig. 2 is a kind of intelligent heavy-load robot rearview of this utility model；
Fig. 3 is a kind of accumulation of energy static organ schematic diagram of intelligent heavy-load robot of this utility model；
Fig. 4 is a kind of accumulation of energy static organ sectional view of intelligent heavy-load robot of this utility model.
Specific embodiment
This utility model is further described with reference to specific embodiments and the drawings.
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
If Fig. 1-4 is a kind of embodiment of intelligent heavy-load robot of this utility model, a kind of intelligent heavy-load robot is wrapped
Include：Including base 1, revolution support 2, revolution support driving motor 4, transverse arm 12, transverse arm driving motor 3, balance weight 6, armstand 10,
Armstand driving motor 18, connecting rod 1, connecting rod 28, connecting rod 3 13, accumulation of energy static organ 20, wrist pedestal 14, handgrip driving motor
15th, handgrip driving motor decelerator 16 and handgrip adpting flange 17；Revolution support 2 is arranged on 1 top of base, revolution support transmission
Motor 4 is arranged on revolution support 2, and 2 driving motor of revolution support is driven revolution support 2 by travelling gear, decelerator 5,
1 top of base is turned round, and the running part of the decelerator 5 is located in the cavity that base 1 and revolution support 2 are formed；Under armstand 10
End connection fork both sides are arranged on revolution support 2 by bearing, connecting shaft, and transverse arm driving motor 3 is arranged on by reductor
On 10 side of armstand revolution support, balance weight 6 is connected with transverse arm driving motor decelerator by balance weight mounting bracket 7, connecting rod
One 9 lower ends are flexibly connected by bearing, connecting shaft with balance weight mounting bracket 7, and one 9 upper end of connecting rod passes through bearing, connecting shaft
It is connected with 12 back end activity of transverse arm, 12 rear portion of transverse arm is flexibly connected with armstand upper end side by bearing, connecting shaft, transverse arm 12
Anterior to be connected with wrist pedestal by bearing, connecting shaft, handgrip driving motor 15 is arranged on wrist pedestal 14, handgrip transmission electricity
15 bottom of machine is connected with handgrip driving motor decelerator 16, and handgrip adpting flange 17 is connected with handgrip driving motor decelerator 16；
Armstand driving motor 18 is arranged on 10 opposite side of armstand by armstand driving motor decelerator and turns round on pedestal 2, accumulation of energy static organ
20 are arranged on 10 opposite side of armstand by bearing connecting shaft turns round on support, and accumulation of energy static organ 20 is provided with cylinder body 21, cylinder body
Telescopic shaft 19 is provided with, nitrogen in the cylinder body 21, is full of, the cylinder body 21 is provided with air gauge 22, and 19 front end of telescopic shaft passes through axle
Hold, connecting shaft and 10 lower end of armstand connection fork connect；28 lower end of connecting rod is connected by bearing, connecting shaft and 2 activity of revolution support
Connect, 28 upper end of connecting rod is flexibly connected with 11 one end of connecting rod rack by bearing, connecting shaft, and 11 other end of connecting bracket passes through
Bearing, connecting shaft are flexibly connected with 3 13 one end of connecting rod, and 3 13 other end of connecting rod is lived by bearing, connecting shaft and wrist pedestal 14
Dynamic connection, 11 bottom of connecting rod rack is flexibly connected with 10 upper end opposite side of armstand by bearing, connecting shaft；The connecting rod three
13 is length adjustable connecting rod, and the connecting rod 3 13 includes fixed part 1301 and adjustment portion 1302, the fixed part 1301 and is adjusted
Section portion 1302 realizes connection by flange 1303, has the leading screw 1306 of telescopic adjustment, the leading screw in the adjustment portion 1302
1306 pass through fixing nut 1304 and the realization locking of locking nut 1306, and described connecting rod rack 11 is triangular in shape, is provided with three
Individual flexible connection dead eye, constitutes three motion vice mechanisms, described armstand 10, connecting rod 1, balance weight 6 and 12 rear portion structure of transverse arm
Into the first parallelogram lindage；Described transverse arm 12, connecting rod 3 13, wrist pedestal 14, connecting rod rack 11 constitute second parallel four
Linkage；Described connecting rod two, armstand 10, connecting rod rack 11, revolution support 2, constitute the 3rd parallelogram lindage, and described the
One parallelogram lindage, the second parallelogram lindage, the 3rd parallelogram lindage and three motion vice mechanisms constitute balance connection.
Due to adopting above-mentioned technical proposal, the beneficial effects of the utility model to be：
Rationally, compact conformation, small volume are easy to operate for intelligent heavy-load Robot Design, and production efficiency is high, can by arranging
Adjustable type connecting rod three, can accurately adjust the distance of connected two ends centre bore, preferably ensure that the horizontal base of wrist, be allowed to
Work is more balanced, and, for nitrogen spring, its small volume, elastic force are big, stroke length, stable working, system for the accumulation of energy static organ for adopting
Make precision, long service life makes robot integral layout attractive in appearance, balance system using nitrogen balance mode balanced controls it is simple,
Reliable, balanced action is big, operates steadily, and security reliability is good.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (4)
1. a kind of intelligent heavy-load robot, it is characterised in that include：Including base, revolution support, revolution support driving motor,
Transverse arm, transverse arm driving motor, balance weight, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy static organ, handss
Brachiophore seat, handgrip driving motor, handgrip driving motor decelerator and handgrip adpting flange；Revolution support is arranged on base top,
Revolution support driving motor is arranged on revolution support, and revolution support driving motor is by travelling gear, decelerator transmission revolution
Support, turns round on base top, and the running part of the decelerator is located in the cavity that base and revolution support are formed；Under armstand
End connection fork both sides are arranged on revolution support by bearing, connecting shaft, and transverse arm driving motor is arranged on vertical by reductor
On arm side revolution support, balance weight is connected with transverse arm driving motor decelerator by balance weight mounting bracket, one lower end of connecting rod
It is flexibly connected by bearing, connecting shaft with balance weight mounting bracket, one upper end of connecting rod passes through bearing, connecting shaft and transverse arm rear end
It is flexibly connected, transverse arm rear portion is flexibly connected with armstand upper end side by bearing, connecting shaft, transverse arm is anterior to be passed through bearing, connects
Spindle is connected with wrist pedestal, and handgrip driving motor is arranged on wrist pedestal, and handgrip driving motor bottom is connected with handgrip biography
Dynamic motor reducer, handgrip adpting flange are connected with handgrip driving motor decelerator；Armstand driving motor is by armstand transmission electricity
Machine decelerator is arranged on armstand opposite side revolution pedestal, and accumulation of energy static organ is returned installed in armstand opposite side by bearing connecting shaft
On favourable turn seat, accumulation of energy static organ is provided with cylinder body, cylinder body and is provided with telescopic shaft, is full of nitrogen, on the cylinder body in the cylinder body
Air gauge is provided with, telescopic shaft front end is by bearing, connecting shaft and armstand lower end connection fork connection；Two lower end of connecting rod by bearing,
Connecting shaft is flexibly connected with revolution support, and two upper end of connecting rod is flexibly connected with connecting rod rack one end by bearing, connecting shaft, even
Connect the support other end to be flexibly connected with three one end of connecting rod by bearing, connecting shaft, three other end of connecting rod by bearing, connecting shaft and
Wrist base runner connects, and connecting rod rack bottom is flexibly connected with armstand upper end opposite side by bearing, connecting shaft；It is described
Connecting rod three be length adjustable connecting rod, the connecting rod three include fixed part and adjustment portion, the fixed part and adjustment portion pass through method
The blue leading screw for realizing having telescopic adjustment in connection, the adjustment portion, the leading screw passes through fixing nut and locking nut is realized
Locking.
2. the intelligent heavy-load robot according to claim 1, it is characterised in that：Described connecting rod rack is triangular in shape, if
Three flexible connection dead eyes are equipped with, three motion vice mechanisms are constituted.
3. the intelligent heavy-load robot according to claim 2, it is characterised in that：Described armstand, connecting rod one, balance weight
The first parallelogram lindage is constituted with transverse arm rear portion；It is flat that described transverse arm, connecting rod three, wrist pedestal, connecting rod rack constitute second
Row four-bar mechanism；Described connecting rod two, armstand, connecting rod rack, revolution support, constitute the 3rd parallelogram lindage.
4. the intelligent heavy-load robot according to claim 3, it is characterised in that：Described the first parallelogram lindage,
Two parallelogram lindages, the 3rd parallelogram lindage and three motion vice mechanisms constitute balancing chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620902028.9U CN206066439U (en) | 2016-08-19 | 2016-08-19 | A kind of intelligent heavy-load robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620902028.9U CN206066439U (en) | 2016-08-19 | 2016-08-19 | A kind of intelligent heavy-load robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066439U true CN206066439U (en) | 2017-04-05 |
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ID=58430894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620902028.9U Active CN206066439U (en) | 2016-08-19 | 2016-08-19 | A kind of intelligent heavy-load robot |
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| Country | Link |
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| CN (1) | CN206066439U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813344A (en) * | 2017-11-27 | 2018-03-20 | 常州市新创智能科技有限公司 | A kind of manipulator load balance device |
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN109178451A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Bagged product the Automation Bottle Packaging Line |
| CN110538036A (en) * | 2018-05-29 | 2019-12-06 | 福建江夏学院 | Conveyor of business turn over bath from side |
| WO2022095239A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | All-around slag removal robot for metal smelting |
-
2016
- 2016-08-19 CN CN201620902028.9U patent/CN206066439U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813344A (en) * | 2017-11-27 | 2018-03-20 | 常州市新创智能科技有限公司 | A kind of manipulator load balance device |
| CN107813344B (en) * | 2017-11-27 | 2024-04-19 | 常州市新创智能科技有限公司 | Manipulator load balancing device |
| CN107962555A (en) * | 2017-12-26 | 2018-04-27 | 聊城大学 | A kind of heavy duty transfer robot |
| CN110538036A (en) * | 2018-05-29 | 2019-12-06 | 福建江夏学院 | Conveyor of business turn over bath from side |
| CN110538036B (en) * | 2018-05-29 | 2020-12-18 | 福建江夏学院 | Conveyor of business turn over bath from side |
| CN109178451A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Bagged product the Automation Bottle Packaging Line |
| WO2022095239A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | All-around slag removal robot for metal smelting |
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