CN206335573U - A kind of rectilinear articulated robot - Google Patents

A kind of rectilinear articulated robot Download PDF

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Publication number
CN206335573U
CN206335573U CN201621043974.9U CN201621043974U CN206335573U CN 206335573 U CN206335573 U CN 206335573U CN 201621043974 U CN201621043974 U CN 201621043974U CN 206335573 U CN206335573 U CN 206335573U
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CN
China
Prior art keywords
arm
sucker
articulated robot
rectilinear
swing arm
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CN201621043974.9U
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Chinese (zh)
Inventor
刘阳升
蒋培龙
朱敏
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DONGGUAN SMARTWIN INTELLIGENT EQUIPMENT Co Ltd
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DONGGUAN SMARTWIN INTELLIGENT EQUIPMENT Co Ltd
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Priority to CN201621043974.9U priority Critical patent/CN206335573U/en
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Abstract

A kind of rectilinear articulated robot of the present utility model, including support base, angle swing arm, erect arm, the material fetching mechanism for having taken or having placed workpiece and for the governor motion for the direction for adjusting material fetching mechanism, material fetching mechanism is fixedly connected with governor motion, adjustment mechanism is connected to the bottom for erectting arm, the upper end for erectting arm is connected with the one end of angle swing arm, and setting arm remains vertical;The other end of angle swing arm is connected with support base, angle swing arm can relative support seat in the range of the predetermined angle of same vertical plane swing, to drive the top of the top for erectting arm translational motion in peripheral feeding area and peripheral blowing area, and then drive material fetching mechanism reaches peripheral feeding area progress feeding and the peripheral blowing area of arrival carries out blowing.The utility model can carry out feeding and blowing in same vertical plane, reduce robot space-consuming;The state that arm keeps vertical is erect, and is translational motion so that grasping mechanism is all more stable accurate in feeding and blowing.

Description

A kind of rectilinear articulated robot
Technical field
The utility model is related to robotics, and in particular to a kind of rectilinear articulated robot.
Background technology
In developed country, industrial robot automatic production line complete set of equipments turns into the main flow machine of automated arm People's development prospect and following developing direction.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery largely make With industrial robot automation's production line, to ensure product quality, production efficiency is improved, while avoiding substantial amounts of industrial injury thing Therefore.The use of the industrial robot of the whole world many national nearly half a century practice have shown that, the popularization of industrial robot be realize from Dynamic metaplasia production, improves social production efficiency, promotes the effective means of enterprise and social productive forces development.
, it is necessary to the work on different station or on streamline when particularly streamline is processed for parts assembling Part is moved or reversing of position, such as in polishing machining, it is necessary to the polished workpiece grabbing on streamline into polishing machine, Or need the polished workpiece grabbing finished to packaging case.When carrying out this operation, the machine that prior art is used People typically has two kinds, a kind of to be provided in outside polishing machine, extends to the inside of polishing machine to capture by mechanical brachiocylloosis Workpiece, but the mechanical arm of this robot is long, during putting in and exiting polishing machine, because the bending of mechanical arm is encircleed Rise, the longitudinal space of occupancy is than larger, and robot is arranged on outside polishing machine, and overall space-consuming is very big;Other one Plant and be provided in inside polishing machine, robot is placed on polishing station(Feeding area)And packaging case(Blowing area)Between, lead to Cross and be provided with horizontal pivoted arm to realize both sides progress feeding and blowing in robot, needed yet with mechanical arm in level side To rotation, i.e., material acquisition unit is located to one end of horizontal pivoted arm, then horizontal pivoted arm is using the other end of horizontal pivoted arm as fulcrum, Progress feeding and blowing are rotated as radius in certain scope with horizontal pivoted arm sheet, the scope that horizontal pivoted arm is inswept is one Sector on horizontal plane, therefore, the space taken in the horizontal direction limit the polishing station of a polishing machine than larger Quantity, so as to limit operating efficiency.In addition, be not sufficiently stable when existing robot feeding and blowing, grabbing workpiece and put down Workpiece is not accurate enough;Polishing machine to workpiece when being polished, and workpiece is usually horizontal positioned, and the workpiece that polishing is finished During taking-up, in order to avoid workpiece is laminated and is easy to packaging, now need the work piece vertically after polishing to get up put successively, and it is existing Robot can not meet this demand.
The content of the invention
There is above-mentioned technical problem for prior art, the utility model provides a kind of compact overall structure flexibly, and Space-consuming can be reduced, workpiece has been taken and has put down that workpiece is more stable accurate, is capable of hanging down for different angle feedings and blowing Straight articulated robot.
To achieve the above object, the utility model provides following technical scheme:
A kind of rectilinear articulated robot is provided, including support base, angle swing arm, erects arm, for having taken or having placed work The material fetching mechanism of part and for the governor motion for the direction for adjusting material fetching mechanism, material fetching mechanism is fixed with the governor motion to be connected Connect, the adjustment mechanism is connected to the bottom of the setting arm, the upper end of the setting arm and one end of the angle swing arm Portion is connected, and the setting arm remains vertical;The other end of the angle swing arm is connected with the support base, the angle swing Arm can relatively described support base swung in the range of the predetermined angle of same vertical plane, with drive erect arm translational motion in outer The top in feeding area and the top in peripheral blowing area are enclosed, and then drives material fetching mechanism to reach peripheral feeding area and carries out feeding and arrival Peripheral blowing area carries out blowing.
Wherein, the material fetching mechanism is the sucker by vacuum suction.
Wherein, suction nozzle or sucker of the sucker including four rectangular distributions include five suction nozzles, wherein four suction nozzles Rectangular distribution, another suction nozzle is located at rectangular centre.
Wherein, the governor motion is rotating disk, and the rotating disk is rotatably connected and be used to make in the bottom of the setting arm Sucker is overturn.
Wherein, when the peripherally located feeding area of the sucker, sucker towards orientation for straight down, when sucker position When peripheral blowing area, the direction of the sucker is horizontal forward.
Wherein, the side of the bottom for erectting arm is provided with depressed part, and the rotating disk is arranged in the depressed part.
Wherein, the rectilinear articulated robot also includes guide rail, and the support base is slidably connected at the upper of the guide rail Side can simultaneously be fixed in predeterminated position, and the upper end of the angle swing arm is swung back and forth in the range of predetermined angle in the guide rail Both sides.
Wherein, the rectilinear articulated robot also includes guide rail and cursor, and the support base is slidably connected at described The lower section of guide rail can simultaneously be fixed in predeterminated position, the one end of the cursor and the one of the remote support base of the angle swing arm End is rotatably connected, and the other end of the cursor is connected with the upper end of the setting arm, the rotation of the cursor Direction is consistent with the swaying direction of the angle swing arm or opposite.
Wherein, the guide rail is erected at the top of ancillary equipment by support, and the support is fixedly connected with ancillary equipment.
The beneficial effects of the utility model:
A kind of rectilinear articulated robot of the present utility model, in use, robot of the present utility model is attached to Periphery is using in equipment, and angle swing arm is swung around with the junction of support base, so as to drive the setting arm for remaining vertical same Back and forth movement is translated on one vertical plane, and realizes that raising and lowering is acted simultaneously, and then drives material fetching mechanism in same vertical plane Back and forth movement carries out feeding and blowing between peripheral feeding area and peripheral blowing area, and can be from difference by adjustment mechanism Angle taken workpiece and different angles to put workpiece.Compared with prior art, overall structure of the present utility model is compact Flexibly, feeding and blowing can be carried out in same vertical plane, reduces robot in horizontal and vertical space-consuming, periphery makes More operating spaces are left with equipment, operating efficiency is substantially increased;Erect arm and be always maintained at vertical state, and be flat Shifting movement so that grasping mechanism is all more stable accurate in feeding and blowing.
Brief description of the drawings
Fig. 1 is that a kind of rectilinear articulated robot in embodiment 1 uses structure when in equipment to show installed in periphery It is intended to.
Fig. 2 is the structural representation under a kind of rectilinear working condition of articulated robot first in embodiment 1.
Fig. 3 is the structural representation under a kind of rectilinear working condition of articulated robot second in embodiment 1.
Fig. 4 is that a kind of rectilinear articulated robot in embodiment 2 uses structure when in equipment to show installed in periphery It is intended to.
Fig. 5 be embodiment 2 in a kind of rectilinear articulated robot structural representation.
Fig. 6 is the structural representation under a kind of rectilinear working condition of articulated robot first in embodiment 2.
Fig. 7 is the structural representation under a kind of rectilinear working condition of articulated robot second in embodiment 2.
Fig. 8 is the structural representation under a kind of rectilinear working condition of articulated robot the 3rd in embodiment 2.
Reference:
Fig. 1 to 3 includes:
Guide rail 1, support 2, support base 3, angle swing arm 4, cursor 5, setting arm 6, rotating disk 7, sucker 8;
Periphery uses equipment 9, feeding area 10, blowing area 11, control device 12, workpiece 13.
Fig. 4 to 8 includes:
Guide rail 14;Support base 15;Angle swing arm 16;Erect arm 17;Rotating disk 18;Sucker 19;
Periphery uses equipment 20, feeding area 21, blowing area 22;Control device 23;Workpiece 24.
Embodiment
The utility model is described in detail below in conjunction with specific embodiment and accompanying drawing.
Embodiment 1
A kind of rectilinear articulated robot of the present embodiment, as shown in Figures 1 to 3, guide rail 1, support base 3, angle swing arm 4, Cursor 5, erect arm 6, rotating disk 7 and sucker 8, guide rail 1 is erected at top of the periphery using equipment 9 by support 2, support 2 with Periphery is fixedly connected using equipment 9, and support base 3 is slidably connected at the lower section of guide rail 1 and can fixed in predeterminated position, angle swing arm 4 upper end is connected with support base 3, angle swing arm 4 can around the junction with support base 3 same vertical plane predetermined angle model Interior swing is enclosed, the upper end and the bottom of angle swing arm 4 of cursor 5 are rotatably connected, the bottom of cursor 5 is with erectting arm 6 Upper end connection, the rotation direction of cursor 5 is consistent with the swaying direction of angle swing arm 4 or the opposite control setting arm 6 of being used for Raising and lowering, erects arm 6 and remains vertical, and rotating disk 7 is rotatably connected and be used to turn over sucker 8 in the bottom for erectting arm 6 Turn, sucker 8 is fixedly connected with rotating disk 7 for drawing or placing workpiece 13.Wherein, when the peripherally located feeding area 10 of sucker 8, inhale Disk 8 is that straight down, when the peripherally located blowing area 11 of sucker 8, the direction of sucker 8 is horizontal forward towards orientation. Sucker 8 is vacuum cup 8, and sucker 8 includes five suction nozzles, wherein four rectangular distributions of suction nozzle, a suction nozzle is located at rectangle Center, absorption dynamics is uniform.
In use, setting the swing speed and swing angle of angle swing arm 4 by peripheral control device 12, rotating disk 7 is set The data such as the time of rotation and angle, set as shown in figure 3, the robot of the present embodiment is attached to peripheral use by support 2 Standby 9(Can be polishing machine or other machining centers)Top, angle swing arm 4 around with the swing of the junction of support base 3, so as to drive Vertical setting arm 6 is remained, feeding area 10 and blowing area 11 are travelled to and fro between on same vertical plane, and passes through cursor simultaneously 5 realize that rise and fall are acted, and then drive sucker 8 in same vertical plane back and forth movement between feeding area 10 and blowing area 11.
Specifically, during feeding, position is as shown in Fig. 2 sucker 8 is drawn after the workpiece 13 of horizontal positioned, feeding vertically downward Angle swing arm 4 is around the junction counter-clockwise swing with support base 3, so that the setting arm 6 for remaining vertical is driven, same vertical Upper direction to the right on face, is reached behind appropriate location, angle swing arm 4 is rotated clockwise, and cursor 5 rotates to drive simultaneously erects arm 6 Move downward, position is as shown in figure 3, so that workpiece 13 erects to be placed in blowing area 11.Compared with prior art, the present embodiment Rectilinear articulated robot overall structure it is compact flexibly, feeding and blowing can be carried out in same vertical plane, reduced The mechanical arm horizontally rotated of traditional robot, therefore, it is possible to reduce robot in horizontal and vertical space-consuming, significantly Improve operating efficiency.Sucker 8 can realize rotation by rotating disk 7, and the workpiece 13 of horizontal positioned can be drawn with horizontal direction, and When putting down workpiece 13, rotate sucker 8 and workpiece 13 is erected to put.And employ the layout of lift-on/lift-off type, more convenient feeding, Overall space is more optimized to use, and due to being provided with cursor 5, when sucker 8 captures different size of product, all without Interfered with each joint of robot, therefore the robot can be used in the crawl of workpiece 13 of different sizes.Erect Arm 6 is always maintained at vertical state, and is translational motion so that sucker 8 is in feeding and blowing, all more stable essence Really.
Embodiment 2
A kind of rectilinear articulated robot of the present embodiment, as shown in Fig. 4 to Fig. 8, and embodiment difference, mainly It is the no support of guide rail 14 of the present embodiment, but is directly installed between feeding area 21 and blowing area 22, and support base 15 The top of guide rail 14 is mounted in, the shape in each joint is also different in addition.Specific structure include guide rail 14, support base 15, Angle swing arm 16, setting arm 17, rotating disk 18 and sucker 19, support base 15 are slidably connected with guide rail 14 and can be solid in predeterminated position Fixed, the bottom of angle swing arm 16 is hinged the rear side of simultaneously connecting support seat 15 with support base 15, and the upper end of angle swing arm 16 is in preset angle Swung back and forth in the range of degree and in vertical direction in the both sides of guide rail 14, erect the upper end of arm 17 and the upper end of angle swing arm 16 Front side is connected, and setting arm 17 remains vertical, and the left side side for erectting the bottom of arm 17 is provided with depressed part, and rotating disk 18 can Be rotatably connected on is used to overturn sucker 19 in depressed part, and sucker 19 is vacuum cup 19, and sucker 19 is rectangular including four The suction nozzle of distribution, sucker 19 is fixedly connected with rotating disk 18 places workpiece 24 for drawing.
In use, setting the swing speed and swing angle of angle swing arm 16 by peripheral control device 23, rotating disk is set The robot of the present embodiment, as shown in Figure 4, Figure 5 and Figure 6, is attached to periphery and used by the data such as 18 times rotated and angle Equipment 20(Can be polishing machine or other machining centers)In feeding area 21 and blowing area 22 between, angle swing arm 16 around with support The hinged place of seat 15 is swung, and back and forth movement is in the both sides of support base 15, so that the setting arm 17 for remaining vertical is driven, same The both sides of support base 15 are travelled to and fro between on one vertical plane and while realize that rise and fall are acted, and then drive sucker 19 same vertical Face back and forth movement is between feeding area 21 and blowing area 22.
More specifically, as shown in fig. 6, when angle swing arm 16 goes to vertical position, rotating disk 18 drives sucker 19 towards vertical Lower section, then sucker 19 move to the left side of guide rail 14 under the drive of angle swing arm 16, during the lateral movement to the left of sucker 19 downwards simultaneously Close to feeding area 21, sucker 19 is then driven to draw workpiece 24, as shown in Figure 7;Draw after workpiece 24, angle swing arm 16 is toward opposite direction Rotate, when angle swing arm 16 goes to vertical position, the driving sucker 19 of rotating disk 18 is rotated towards in front of level, and then sucker 19 is at angle Swing arm 16 moves to the right side of guide rail 14 under driving, then driven close to blowing area 22 downwards while the lateral movement to the right of sucker 19 Dynamic sucker 19, which stops suction, decontrols workpiece 24, you can workpiece 24 is erected to place, as shown in Figure 8.Move in circles above-mentioned action.
Finally it should be noted that above example is only illustrating the technical solution of the utility model, rather than to this reality With the limitation of novel protected scope, although being explained with reference to preferred embodiment to the utility model, this area it is general Lead to it will be appreciated by the skilled person that can be modified to the technical solution of the utility model or equivalent, without departing from this The spirit and scope of utility model technical scheme.

Claims (9)

1. a kind of rectilinear articulated robot, it is characterised in that:Including support base, angle swing arm, erect arm, for having taken or having put Put the material fetching mechanism of workpiece and for the governor motion for the direction for adjusting material fetching mechanism, material fetching mechanism is fixed with the governor motion Connection, the adjustment mechanism is connected to the bottom of the setting arm, the upper end of the setting arm and the one of the angle swing arm End is connected, and the setting arm remains vertical;The other end of the angle swing arm is connected with the support base, the angle Swing arm can relatively described support base swung in the range of the predetermined angle of same vertical plane, with drive erect arm translational motion in The top in peripheral feeding area and the top in peripheral blowing area, and then drive the peripheral feeding area of material fetching mechanism arrival to carry out feeding and arrive Blowing is carried out up to peripheral blowing area.
2. a kind of rectilinear articulated robot according to claim 1, it is characterized in that:The material fetching mechanism is by true The attached sucker of suction.
3. a kind of rectilinear articulated robot according to claim 2, it is characterized in that:It is in square that the sucker, which includes four, The suction nozzle or sucker of shape distribution include five suction nozzles, wherein four rectangular distributions of suction nozzle, another suction nozzle is located in rectangle At the heart.
4. a kind of rectilinear articulated robot according to claim 2, it is characterized in that:The governor motion is rotating disk, The rotating disk is rotatably connected and be used to overturn sucker in the bottom of the setting arm.
5. a kind of rectilinear articulated robot according to claim 4, it is characterized in that:Taken when the sucker is peripherally located When expecting area, sucker towards orientation for straight down, when the peripherally located blowing area of the sucker, the direction of the sucker To be horizontal forward.
6. a kind of rectilinear articulated robot according to claim 5, it is characterized in that:The bottom for erectting arm Side is provided with depressed part, and the rotating disk is arranged in the depressed part.
7. a kind of rectilinear articulated robot according to claim 1 or 5, it is characterized in that:The rectilinear multi-joint machine Device people also includes guide rail, and the support base is slidably connected at the top of the guide rail and can fixed in predeterminated position, the angle The upper end of swing arm is swung back and forth in the range of predetermined angle in the both sides of the guide rail.
8. a kind of rectilinear articulated robot according to claim 1 or 5, it is characterized in that:The rectilinear multi-joint machine Device people also includes guide rail and cursor, and the support base is slidably connected at the lower section of the guide rail and can be solid in predeterminated position Fixed, the one end of the one end of the cursor and the remote support base of the angle swing arm is rotatably connected, the cursor The other end is connected with the upper end of the setting arm, the rotation direction of the cursor and the swaying direction one of the angle swing arm Cause or opposite.
9. a kind of rectilinear articulated robot according to claim 8, it is characterized in that:The guide rail is set up by support In the top of ancillary equipment, the support is fixedly connected with ancillary equipment.
CN201621043974.9U 2016-09-08 2016-09-08 A kind of rectilinear articulated robot Active CN206335573U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621043974.9U CN206335573U (en) 2016-09-08 2016-09-08 A kind of rectilinear articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621043974.9U CN206335573U (en) 2016-09-08 2016-09-08 A kind of rectilinear articulated robot

Publications (1)

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CN206335573U true CN206335573U (en) 2017-07-18

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106113020A (en) * 2016-09-08 2016-11-16 东莞市智赢智能装备有限公司 A kind of rectilinear articulated robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106113020A (en) * 2016-09-08 2016-11-16 东莞市智赢智能装备有限公司 A kind of rectilinear articulated robot

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