CN206242049U - Transfer robots - Google Patents

Transfer robots Download PDF

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Publication number
CN206242049U
CN206242049U CN201621262490.3U CN201621262490U CN206242049U CN 206242049 U CN206242049 U CN 206242049U CN 201621262490 U CN201621262490 U CN 201621262490U CN 206242049 U CN206242049 U CN 206242049U
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CN
China
Prior art keywords
jig arm
crane
arm
horizontal rotation
drive
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Active
Application number
CN201621262490.3U
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Chinese (zh)
Inventor
林友旺
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Ruian Zhongkai Automation Technology Co Ltd
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Ruian Zhongkai Automation Technology Co Ltd
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Priority to CN201621262490.3U priority Critical patent/CN206242049U/en
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Abstract

Transfer robots,Transmission transfer is carried out for gripping workpiece,Its frame is provided with rotary table,Rotary table is rotated by the first drive in frame,Rotary table is provided with crane,Crane is lifted by the second drive on rotary table,The crane is provided with transverse arm,Transverse arm is moved forward and backward by the 3rd drive on crane,Transverse arm is provided with runing rest,Runing rest is rotated by the 4th drive on transverse arm,Horizontal rotation frame is set on runing rest,Horizontal rotation frame is by the 5th drive horizontal rotation on runing rest,Horizontal rotation frame is provided with the left jig arm and right jig arm of cooperate clamping and release movement,Left jig arm and/or right jig arm carry out interoperation by the 6th drive,There is provided a kind of brand-new gearing hand,And the gearing hand free degree is high,Flexibility ratio is good,Workpiece can be gripped and transferred,It is stable.

Description

Transfer robots
Technical field
The utility model is related to transfer robots, and transmission transfer is carried out for gripping workpiece.
Background technology
During modern mechanical production operation, the gripping transfer for carrying out workpiece using manipulator is very key.Machine The flexibility ratio of tool hand, the free degree are the key Design and service factor of manipulator.
Utility model content
In view of technical problem present in background technology, the technical problem that the utility model is solved aims to provide a kind of complete New transfer robots.
In order to solve the above technical problems, the utility model is adopted the following technical scheme that:Transfer robots, set in its frame There is rotary table, rotary table is rotated by the first drive in frame, it is characterised in that:The rotary work Platform is provided with crane, and crane is lifted by the second drive on rotary table, and the crane is provided with horizontal stroke Arm, transverse arm is moved forward and backward by the 3rd drive on crane, and transverse arm is provided with runing rest, and runing rest is by the 4th Drive is rotated on transverse arm, and horizontal rotation frame is set on runing rest, and horizontal rotation frame is passed by the 5th transmission device The horizontal rotation on runing rest is moved, horizontal rotation frame is provided with the left jig arm and right folder of cooperate clamping and release movement Arm, left jig arm and/or right jig arm carry out interoperation by the 6th drive.
The rotation axis of rotary table is vertically arranged, and the first transmission device includes the first motor and deceleration device.
Second transmission device includes screw mandrel, guide rail and the second motor, and the second motor is connected with screw rod transmission, screw mandrel and guide rail Vertically on rotary table, crane coordinates along lifting rail, screw mandrel with crane lifting transmission.
3rd transmission device includes gear, tooth bar and the 3rd motor, and the 3rd motor is arranged on crane, the 3rd motor with Gear drive is connected, and tooth bar is arranged on transverse arm, wheel and rack drive connection, and transverse arm anterior-posterior horizontal on crane is slided and set Put.
4th transmission device includes the 4th motor, transmission belt and the belt wheel that mutually transmission coordinates, and the 4th motor is arranged on horizontal stroke On arm, belt wheel is connected with runing rest.
5th transmission device includes the first cylinder and gyroaxis, and gyroaxis is connected with horizontal rotation frame, horizontal rotation frame It is arranged on runing rest by gyroaxis, the first cylinder-driven gyroaxis revolution, gyroaxis is horizontally disposed with.
6th transmission device includes the second cylinder, and left jig arm coordinates with right jig arm to be carried out closing up clamping and separate release Action.
Horizontal rotation frame is provided with installing plate, and left jig arm and right jig arm have been connected respectively lower tooth bar and upper rack, peace Dress plate is provided with perforate for lower tooth bar and upper rack installation, idler gear between upper rack and lower tooth bar, idler gear and upper tooth Bar and lower tooth bar are engaged respectively, and idler gear is set on a mounting board.
The left and right sides of installing plate is provided with opening and is moved for left jig arm and right jig arm, and left jig arm and right jig arm are separately positioned on In left mounting seat and right mounting seat, left mounting seat and right mounting seat are matched in opening respectively.
Groove is respectively equipped with left mounting seat and right mounting seat, raised line track, groove and raised line track are located in opening With guiding.
The beneficial effects of the utility model are, there is provided a kind of brand-new gearing hand, and gearing hand freedom Degree is high, flexibility ratio is good, workpiece can be gripped and transferred, stable.Therefore the utility model is compared with prior art With substantive distinguishing features and progress.
Brief description of the drawings
The relevant details and operation principle of implementation method of the present utility model and embodiment are described below in conjunction with the accompanying drawings.
Fig. 1 is dimensional structure diagram of the present utility model.
Fig. 2 is side structure schematic view of the present utility model.
Fig. 3 is runing rest of the present utility model, the dimensional structure diagram of horizontal rotation part.
Fig. 4 is decomposing schematic representation of the present utility model.
Specific embodiment
Referring to accompanying drawing, transfer robots in present embodiment, its frame 1 is provided with rotary table 2, rotary table 2 are rotated by the first drive in frame.The rotation axis of rotary table 2 is vertically arranged, the first transmission device 11 Including the first motor and deceleration device.First transmission device 11 passes through the first motor and deceleration device(Such as reductor)To drive rotation Revolving worktable is rotated in frame.Rotary table can be rotated back and forth, and rotating range can be configured, such as Rotated back and forth in the range of 270 degree.
Rotary table 2 is provided with crane 3, and crane 3 is lifted by the second drive on rotary table. Second transmission device includes screw mandrel 12, the motor 14 of guide rail 13 and second, and the second motor is connected with screw rod transmission, and screw mandrel and guide rail are perpendicular Directly on rotary table, crane coordinates along lifting rail, screw mandrel with crane lifting transmission(Form matching somebody with somebody for feed screw nut pair Close structure).Second transmission device is driven lifting seat and is lifted along guide rail by the second motor and screw mandrel.On rotary table With frame structure, the second motor can be arranged on the top of frame structure.
Crane 3 is provided with transverse arm 4, and transverse arm 4 is moved forward and backward by the 3rd drive on crane 3.3rd passes Dynamic device includes gear 15, the motor 17 of tooth bar 16 and the 3rd(Such as servomotor), the 3rd motor is arranged on crane 3, and the 3rd Motor is connected with gear drive, and tooth bar is arranged on transverse arm, wheel and rack drive connection, transverse arm anterior-posterior horizontal on crane Slide and set.Slide rail is set between transverse arm 4 and crane 3 and slide rail bearing is slidably matched.3rd motor is by driving tooth Wheel driving rack is moved forward and backward, final to drive transverse arm to be moved forward and backward on crane.Bearing peace is set between transverse arm and crane Dress plate, can connect bearing installing plate on crane, and slide rail and slide rail bearing are arranged between bearing installing plate and transverse arm, and the 3rd Transmission device carries out horizontal reciprocating slip by tooth bar, gear cooperation drive transverse arm.Slide rail bearing is set on bearing installing plate(Directly Bobbin holds), slide rail is arranged on the lower section of transverse arm, slide rail at least provided with two, every slide rail in the top of bearing installing plate at least Two slide rail bearings of configuration.Using four square tube sections, bearing installing plate has transverse slat part and riser part to transverse arm, and slide rail is set On the lateral surface of the lower section of transverse arm, slide rail bearing is arranged on the upper side of transverse slat part of bearing installing plate, and tooth bar is set Transverse arm has the first depressed part and tooth bar Matching installation on the side wall of riser part on the side wall.Outside below transverse arm Face has the second depressed part, the second depressed part and slide rail Matching installation.Slide rail, tooth bar are easier for installation, slide rail, tooth bar operation Transmission is more stablized.Used as further preferred, transverse arm horizontal reciprocating moves through the rotation centerline of swivel mount;The situation of rotation Under, the place space occupied during the activity of transverse arm 5 is smaller, safer.
Transverse arm 4 is provided with runing rest 5, and runing rest 5 is rotated by the 4th drive on transverse arm 4.4th passes Dynamic device includes the 4th motor 18(Such as servomotor), transmission belt 19 and belt wheel, the 4th motor is arranged on transverse arm, transmission belt 19 Can be arranged in transverse arm with belt wheel or be covered with case, the transverse arm of four square tube sections is can be arranged directly in the present embodiment It is interior.Belt wheel is connected with runing rest 5.4th motor, transmission belt and belt wheel are mutually driven cooperation, and the 4th motor is by transmission V belt translation belt wheel is rotated, and belt wheel is connected with runing rest 5 and synchronizes rotation, realizes rotation of the runing rest 5 on transverse arm 4. Belt wheel includes that from belt wheel 40 and main pulley 41 runing rest is arranged on the lower section of transverse arm.Transverse arm is four square tube sections, is set in transverse arm There is support shaft 42, support shaft is vertically arranged, axle sleeve outside support shaft is provided with from belt wheel 40, and first axle is provided between belt wheel and support shaft 44 are held, rotary shaft 401 is connected with from belt wheel, the lower wall of transverse arm is provided with opening and bearing mounting base 43, and bearing mounting base is set At opening, second bearing 45 is provided between bearing mounting base 43 and rotary shaft 401, is arranged in transverse arm from belt wheel, in transverse arm Be additionally provided with main pulley, main pulley with from belt wheel by transmission belt(Such as Timing Belt)It is connected, main pulley and the 4th motor are passed Dynamic connection.Can be wholely set with rotary shaft from belt wheel.It is provided with from the inner ring wall of belt wheel and is got out of a predicament or an embarrassing situation, is set in the collar wall of support shaft Between thering is the first top bar, clutch shaft bearing to be arranged on the first top bar and get out of a predicament or an embarrassing situation.The collar wall of rotary shaft is provided with second Step, second bearing is arranged between the second top bar and bearing mounting base.Support shaft 42 is hollow support shaft, and rotary shaft is sky Heart rotary shaft, hollow rotary shaft is set in outside hollow support shaft, and hollow rotary shaft and hollow supporting axially open overhang, transverse arm Top offer through hole and connected with the central duct of hollow support shaft.Clutch shaft bearing is a swivel bearing, and second bearing is Two swivel bearings.4th motor is arranged in the top outside of transverse arm.Support shaft is connected to transverse arm by the first fastener Inside top, bearing mounting base is connected at the opening of transverse arm by the second fastener.Runing rest 5 is connected on the rotary shaft Synchronize rotation.
Horizontal rotation frame 6 is set on runing rest 5, and horizontal rotation frame 6 can carry out horizontal rotation on runing rest 5. The horizontal rotation on runing rest 5 by the 5th drive of horizontal rotation frame 6, can carry out 90 degree, 180 degree revolution.The Five transmission devices can set motor and be driven, and the 5th transmission device includes the first cylinder 20 in the present embodiment(Revolution gas Cylinder)With gyroaxis 21, gyroaxis is connected with horizontal rotation frame, and horizontal rotation frame 6 is connected to runing rest 5 by gyroaxis 21 On, the first cylinder-driven gyroaxis revolution, gyroaxis is horizontally disposed with.Gyroaxis revolution will drive the horizontal rotation frame to carry out level Revolution.
Horizontal rotation frame 6 is provided with left jig arm 7 and right jig arm 8, left jig arm 7 and right jig arm 8 cooperate carry out clamping and Discharge the action of workpiece.Clamped when left jig arm is closed up with right jig arm, release movement when separating.Left jig arm 7 or right folder Arm 8 or they two interoperation is carried out by the 6th drive, that is, coordinate clamped and discharged workpiece.6th passes Dynamic device includes the second cylinder or motor, and in the present embodiment, the 6th transmission device includes the second cylinder 22, the second cylinder-driven Left jig arm or right jig arm or they two carry out interoperation.
Horizontal rotation frame 6 is provided with installing plate 23, and installing plate 23 is installed for left jig arm 7 and right jig arm 8, left jig arm and right folder Arm has been connected respectively lower tooth bar 24 and upper rack 25, wherein left jig arm connects lower tooth bar, right jig arm connects tooth bar.Installing plate 23 It is provided with perforate 26 to be installed for lower tooth bar and upper rack, perforate sets upper and lower two, so that upper and lower tooth bar stabilization is moved, upper lower tooth Bar is by correspondence insertion perforate.Idler gear 27 between upper rack and lower tooth bar, idler gear 27 and upper rack and lower tooth bar point Do not engage, idler gear 27 is arranged on installing plate 23 and covers 28 by cover plate, and upper rack and lower tooth bar can synchronize movement. Installing plate 23 is arranged on using the second cylinder 22, volume exclusion is smaller, it is more reasonable to be laid out.
The left and right sides of installing plate 23 is provided with opening 29 and is moved for left jig arm and right jig arm, opening is divided to or so two.Zuo Jia Arm is arranged in left mounting seat 30, and right jig arm is arranged in right mounting seat 31, and left mounting seat and right mounting seat distinguish Corresponding matching In opening.Can stably move so as to left jig arm and right jig arm, act.
It is respectively equipped with groove 32 in left mounting seat and right mounting seat, is located at raised line track 33 in opening, such as figure groove and convex Bar track is arranged at upper and lower both sides, and groove is oriented to raised line track Corresponding matching.Can preferably, further carry out stabilization It is mobile.The upper side of upper rack, the downside of lower tooth bar also are provided with groove, and the groove is also oriented to raised line track Corresponding matching.
In figure, the second cylinder 22 is mounted in the back of installing plate 23, and the piston shaft of the second cylinder is connected with right jig arm 8.
When transfer robots work, rotary table is rotated by the first drive in frame, crane Lifted on rotary table by the second drive, transverse arm front and rear shifting on crane by the 3rd drive Dynamic, runing rest is rotated by the 4th drive on transverse arm, and horizontal rotation frame is by the 5th drive in rotation Horizontal rotation on support, left jig arm and right jig arm are clamped and release movement by the 6th drive.Each tumbler With control device(Such as PLC or computer)Connection, and be operated by control device control.

Claims (10)

1. transfer robots, its frame(1)It is provided with rotary table(2), rotary table(2)By the first drive Rotated in frame, it is characterised in that:The rotary table(2)It is provided with crane(3), crane(3)By the second transmission Device is driven in rotary table(2)Upper lifting, the crane(3)It is provided with transverse arm(4), transverse arm(4)Filled by the 3rd transmission Transmission is put in crane(3)It is upper movable, transverse arm(4)It is provided with runing rest(5), runing rest(5)Filled by the 4th transmission Transmission is put in transverse arm(4)Upper rotation, runing rest(5)Upper setting horizontal rotation frame(6), horizontal rotation frame(6)By the 5th transmission Device is driven in runing rest(5)Upper horizontal rotation, horizontal rotation frame(6)It is provided with a left side for cooperate clamping and release movement Jig arm(7)With right jig arm(8), left jig arm(7)And/or right jig arm(8)Interoperation is carried out by the 6th drive.
2. transfer robots as claimed in claim 1, it is characterised in that:Rotary table(2)Rotation axis be vertically arranged, First transmission device includes the first motor and deceleration device that are engaged.
3. transfer robots as claimed in claim 1, it is characterised in that:Second transmission device includes screw mandrel, guide rail and second Motor(14), the second motor and screw mandrel(12)Drive connection, screw mandrel and guide rail(13)Vertically on rotary table, crane edge Lifting rail, screw mandrel coordinates with crane lifting transmission.
4. transfer robots as claimed in claim 1, it is characterised in that:3rd transmission device includes gear(15), tooth bar (16)With the 3rd motor(17), the 3rd motor is arranged on crane(3)On, the 3rd motor is connected with gear drive, and tooth bar is set On transverse arm, wheel and rack drive connection, transverse arm anterior-posterior horizontal on crane is slided and set.
5. transfer robots as claimed in claim 1, it is characterised in that:4th transmission device includes that mutually transmission coordinates Four motors(18), transmission belt(19)And belt wheel, the 4th motor is arranged on transverse arm(4)On, belt wheel and runing rest(5)Connection.
6. transfer robots as claimed in claim 1, it is characterised in that:5th transmission device includes the first cylinder(20)With Gyroaxis(21), gyroaxis and horizontal rotation frame(6)Connection, horizontal rotation frame is arranged on runing rest by gyroaxis(5)On, First cylinder-driven gyroaxis is turned round, and gyroaxis horizontal rotation is set.
7. transfer robots as claimed in claim 1, it is characterised in that:6th transmission device includes the second cylinder(22), Left jig arm(7)With right jig arm(8)Cooperation is carried out closing up clamping and separates release movement.
8. transfer robots as claimed in claim 1, it is characterised in that:Horizontal rotation frame(6)It is provided with installing plate(23), it is left Jig arm(7)With right jig arm(8)It has been connected respectively lower tooth bar(24)And upper rack(25), installing plate is provided with perforate(26)For Lower tooth bar and upper rack are installed, and are idler gear between upper rack and lower tooth bar(27), idler gear and upper rack and lower tooth bar Engage respectively, idler gear is set on a mounting board.
9. transfer robots as claimed in claim 8, it is characterised in that:Installing plate(23)The left and right sides be provided with opening(29) Moved for left jig arm and right jig arm, left jig arm and right jig arm are separately positioned in left mounting seat and right mounting seat, left mounting seat and Right mounting seat is matched in opening respectively.
10. transfer robots as claimed in claim 9, it is characterised in that:It is respectively equipped with left mounting seat and right mounting seat recessed Groove(32), raised line track is located in opening(33), groove and raised line Orbit Matching are oriented to.
CN201621262490.3U 2016-11-24 2016-11-24 Transfer robots Active CN206242049U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621262490.3U CN206242049U (en) 2016-11-24 2016-11-24 Transfer robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621262490.3U CN206242049U (en) 2016-11-24 2016-11-24 Transfer robots

Publications (1)

Publication Number Publication Date
CN206242049U true CN206242049U (en) 2017-06-13

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ID=59001676

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621262490.3U Active CN206242049U (en) 2016-11-24 2016-11-24 Transfer robots

Country Status (1)

Country Link
CN (1) CN206242049U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514633A (en) * 2016-11-24 2017-03-22 瑞安市中凯自动化科技有限公司 Transmission mechanical hand
CN107651454A (en) * 2017-12-05 2018-02-02 合肥汉德贝尔属具科技有限公司 A kind of palletizing mechanical arm
CN109895070A (en) * 2019-04-09 2019-06-18 合肥伟达智能科技有限公司 A kind of mechanical arm for high-temperature operation environment

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106514633A (en) * 2016-11-24 2017-03-22 瑞安市中凯自动化科技有限公司 Transmission mechanical hand
CN107651454A (en) * 2017-12-05 2018-02-02 合肥汉德贝尔属具科技有限公司 A kind of palletizing mechanical arm
CN109895070A (en) * 2019-04-09 2019-06-18 合肥伟达智能科技有限公司 A kind of mechanical arm for high-temperature operation environment

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