CN206383134U - A kind of wu-zhi-shan pig - Google Patents
A kind of wu-zhi-shan pig Download PDFInfo
- Publication number
- CN206383134U CN206383134U CN201621489428.8U CN201621489428U CN206383134U CN 206383134 U CN206383134 U CN 206383134U CN 201621489428 U CN201621489428 U CN 201621489428U CN 206383134 U CN206383134 U CN 206383134U
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- reductor
- harmonic
- servomotor
- zhi
- forearm
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Abstract
The utility model provides a kind of wu-zhi-shan pig, including, elevating mechanism, the second shaft base on elevating mechanism, the first servomotor on the second shaft base, located at the first harmonic reductor of the first servomotor output end, the large arm being connected with harmonic wave speed reducing machine；Second harmonic reductor located at large arm one end upper surface, the forearm being connected with second harmonic reductor；Second servomotor, the output shaft of second servomotor is connected with second harmonic reductor；Transmission mechanism in forearm, the motor being connected with transmission mechanism driving wheel；The third harmonic reductor being connected with transmission mechanism driven pulley, the roll-over unit being connected with third harmonic reductor.Compared with the existing technology, the utility model has the function of lifting and upset, makes itself application surface more extensive, is easy to carry out product the operation of multiaspect.The technological difficulties of operation can not be overturn by breaching traditional robot, and structure is simpler, cost is low, load is big, durable.
Description
Technical field
The utility model is related to technical field of automation in industry, refers in particular to a kind of for automating on machining production line
Wu-zhi-shan pig with functions such as upset, carrying, laminating and assemblings.
Background technology
SCARA (Selective Compliance Assembly Robot Arm, Chinese translation：Select compliance assembling
Robotic arm) it is a kind of industrial robot of the specific type of circular cylindrical coordinate type, there are three rotary joints in SCARA robots, its
Axis is parallel to each other, and is planar positioned and is oriented.Another joint is linear joint, for completing end piece vertical
In the motion of plane.While realizing that horizontal direction is rotated and vertical when traditional SCARA robots can not be realized to Product processing
Direction carries out upset operation, when having product to need to carry out two sides or multiaspect operation, must increase extra switching mechanism
Coordinate the integration of operation of SCARA robot bodies, it is necessary to existing production line be reequiped, so that production cost is significantly increased.
Utility model content
In order in place of overcoming the deficiencies in the prior art, the utility model purpose be to provide it is a kind of provided with elevating mechanism and
The wu-zhi-shan pig of roll-over unit, elevating mechanism can adjust height of the roll-over unit in vertical direction.
To achieve the above object, the technical solution adopted in the utility model is：A kind of wu-zhi-shan pig, including, lift
Structure, on elevating mechanism can the upper and lower slip of OQ t mechanism the second shaft base, on the second shaft base
One servomotor, located at the first harmonic reductor of the first servomotor output end, the large arm being connected with harmonic wave speed reducing machine, institute
Stating large arm can in the horizontal direction rotate relative to the second shaft base；Second harmonic reductor located at large arm one end upper surface,
The forearm being connected with second harmonic reductor；Second servomotor, the output shaft and second harmonic of second servomotor
Reductor is connected, and forearm can in the horizontal direction be rotated relative to large arm；Transmission mechanism in forearm, with transmission mechanism actively
The motor being connected is taken turns, transmission mechanism driven pulley is located in forearm one end；The 3rd be connected with transmission mechanism driven pulley is humorous
Ripple reductor, the roll-over unit being connected with third harmonic reductor；Roll-over unit can in the horizontal direction be rotated relative to forearm.
Preferably, the elevating mechanism includes：Lifting pedestal, the brake motor in lifting pedestal, located at brake electricity
Main pulley on machine output shaft, the ball-screw in lifting pedestal is sheathed on the secondary belt pulley of ball-screw bottom, even
The timing belt of main pulley and secondary belt pulley is connect, the guide rail on lifting pedestal can the upper and lower cunning of opposite rail on guide rail
Dynamic slide clamp seat, is fixedly arranged on the fixed plate on slide clamp seat；Slide clamp seat rearward end is connected with ball screw；Described second
Shaft base is in fixed plate.
Preferably, the second harmonic reductor is in the one end of forearm.
Preferably, the transmission mechanism is belt gear, and it includes driving wheel, belt and driven pulley；Driving wheel with
Motor output shaft is connected, and driven pulley is located in forearm one end and is connected with third harmonic reductor.
Third harmonic reductor is provided with the first adapter sleeve, and roll-over unit passes through the first adapter sleeve and third harmonic reductor
It is connected.
The roll-over unit includes, fixed pedestal, the reductor fixed seat on fixed pedestal, is fixed located at reductor
Seat one end and the planetary reducer in fixed pedestal, located at the servomotor of planetary reducer input；Located at deceleration
The adapter sleeve of machine fixed seat the other end, the rotary swinging arm on adapter sleeve；It is connected with rotary swinging arm one end surface
Load clamps on camera, with rotary swinging arm the other end surface；The light source being connected with camera；On fixed pedestal bottom surface
Harmonic wave steel wheel, the harmonic oscillator on harmonic wave steel wheel.
Further, in addition to the protective cover that is connected with fixed pedestal and covers at outside fixed pedestal, the servo electricity
Machine and planetary reducer are respectively positioned in protective cover；One piece of installing plate, the camera are installed with rotary swinging arm one end surface
It is connected with installing plate；The harmonic oscillator is connected with adapter sleeve.
The installation front edge of board is provided with installation gap, and a mounting post is connected with installation gap, and mounting post and installation
Plate is vertical；Camera is on the one end of mounting post；Light source is sheathed in mounting post.
The fixed pedestal is connected by bottom plate, two pieces of triangular side panels and one piece of backboard to be formed, provided with circle in backboard
Shape mounting hole；Reductor fixed seat is provided with circular mounting plate, and the circular mounting plate is embedded in circular mounting hole.
Also include a bridge piece and the first protective cover being connected with forearm one end；Second servomotor and
Motor is in the first protective cover；Described bridge piece one end is on the second shaft base upper surface, and the other end is located at the
On the upper surface of one protective cover.
Advantageous effects：The utility model includes, elevating mechanism, by the first servomotor, located at the first servomotor
The first harmonic reductor of output end, the large arm being connected with harmonic wave speed reducing machine, located at the second humorous of large arm one end upper surface
Ripple reductor, the forearm being connected with second harmonic reductor, the second servomotor, the transmission mechanism in forearm and biography
The body unit of motor that motivation structure driving wheel is connected, the third harmonic reductor being connected with driven pulley composition, upset is single
Member；Elevating mechanism meets the lifting requirement on the body unit vertical direction being installed on its platform；Body unit includes two
Rotary mode in individual horizontal direction, mode of operation is identical with SCARA robots first and second joints；Roll-over unit is arranged on this
Body unit end, roll-over unit can make processed product realize 360 degree of rotations in vertical direction, realize and enter towards processed products
The actions such as row upset, carrying, laminating, assembling.Compared with the existing technology, the utility model has the function of lifting and upset, makes
Itself application surface is more extensive, is easy to carry out product the operation of multiaspect.The skill of operation can not be overturn by breaching traditional robot
Art difficult point, and structure is simpler, cost is low, load is big, durable.
Brief description of the drawings
Fig. 1 is decomposing schematic representation of the present utility model；
Fig. 2 is partial exploded view of the present utility model；
Fig. 3 is the first working condition stereogram of the present utility model；
Fig. 4 is the second working condition stereogram of the present utility model；
Fig. 5 is roll-over unit decomposing schematic representation of the present utility model；
Fig. 6 is elevating mechanism partial sectional view of the present utility model；
Fig. 7 is that the utility model realizes that horizontal direction carries the schematic diagram of function；
Fig. 8 is roll-over unit original state schematic perspective view of the present utility model；
Fig. 9 is roll-over unit working condition schematic perspective view of the present utility model；
Figure 10 is that the utility model realizes laminating, the implementation illustration of assembling.
Embodiment
In order that those skilled in the art more fully understand this New Scheme, below in conjunction with the accompanying drawings with embodiment to this
Utility model is described in further detail.
As Figure 1-4, wu-zhi-shan pig includes, elevating mechanism 1, on elevating mechanism can in OQ t mechanism,
Second shaft base 2 of lower slider, the first servomotor 3 on the second shaft base, located at the output of the first servomotor
The first harmonic reductor 4 at end, the large arm 5 being connected with harmonic wave speed reducing machine, the large arm 5 can be with respect to the second shaft base in water
Square to rotation；Second harmonic reductor 6 located at the one end upper surface of large arm 5, what is be connected with second harmonic reductor is small
Arm 7；Second servomotor 8, the output shaft of second servomotor is connected with second harmonic reductor 6, and forearm 7 can be relative
Large arm 5 is rotated in the horizontal direction；Transmission mechanism 10 in forearm, the motor being connected with transmission mechanism driving wheel 1001
11, transmission mechanism driven pulley is located in forearm one end；The third harmonic reductor 12 being connected with driven pulley 1002, with the 3rd
The roll-over unit that harmonic wave speed reducing machine 12 is connected；Roll-over unit can in the horizontal direction be rotated relative to forearm 7.
In the present embodiment, as shown in Figure 1 and Figure 6, the elevating mechanism 1 includes：Lifting pedestal 101, located at lifting pedestal
Interior brake motor 102, the main pulley (not shown) on brake motor output shaft, the ball wire in lifting pedestal
Thick stick 103, is sheathed on the timing belt 105 of the secondary belt pulley 104 of ball-screw bottom, connection main pulley and secondary belt pulley, is located at
Guide rail 106 on lifting pedestal, on guide rail can the upper and lower slip of opposite rail slide clamp seat 107, be fixedly arranged on slide clamp seat
On fixed plate 108；Slide clamp seat rearward end is connected with ball screw；Second shaft base 2 is located at fixed plate 108
On.Brake motor 102 drives connected major and minor pulley rotation, so as to drive the rolling being connected with secondary belt pulley 104
Ballscrew 103 is rotated, and then drives the slide clamp seat 107 being connected with ball-screw to move up and down, and then drives second turn
Axle base 2 is lifted, so as to drive roll-over unit to be lifted in vertical direction.
The second harmonic reductor 6 is in the one end of forearm 7.
The transmission mechanism 10 is belt gear, and it includes driving wheel 1001, belt 1003 and driven pulley 1002；It is main
Driving wheel 1001 is connected with motor output shaft, and driven pulley is located in forearm one end and is connected with third harmonic reductor 12.
Third harmonic reductor 12 is provided with the first adapter sleeve 13, and roll-over unit passes through the first adapter sleeve 13 and third harmonic
Reductor 12 is connected.
As shown in Fig. 5 and Fig. 8-9, the roll-over unit includes, fixed pedestal 14, and the reductor on fixed pedestal is consolidated
Reservation 15, the planetary reducer 16 located at the one end of reductor fixed seat 15 and in fixed pedestal, located at planetary reducer
The servomotor 17 of input；Adapter sleeve 18 located at reductor fixed seat the other end, the rotary swinging arm on adapter sleeve
19；Load clamps 21 on the camera 20 being connected with rotary swinging arm one end surface, with rotary swinging arm the other end surface；With
The light source 22 that camera is connected；Harmonic wave steel wheel 23 on fixed pedestal bottom surface, the harmonic oscillator on harmonic wave steel wheel
24。
First adapter sleeve 13 is connected with harmonic oscillator 24.
In the present embodiment, one piece of installing plate 25 is installed with rotary swinging arm one end surface, the installation front edge of board is set
There is installation gap 2501, a mounting post 26 is connected with installation gap 2501, and mounting post 26 is vertical with installing plate 25；Camera
20 on the one end of mounting post, so that the camera 20 is connected with installing plate 25；Light source 22 is sheathed on mounting post 26
On.
Fixed pedestal 14 in the present embodiment is connected by bottom plate 1401, two pieces of triangular side panels 1402 and one piece of backboard 1403
Connect and form, circular mounting hole is provided with backboard 1403；Reductor fixed seat 15 is provided with circular mounting plate 1501, the circle
Installing plate 1501 is embedded in circular mounting hole.
Also include the protective cover 27 for being connected with fixed pedestal 14 and covering at outside fixed pedestal, the servomotor 17
And planetary reducer 16 is respectively positioned in protective cover.
External impetus drives harmonic oscillator 24, and harmonic oscillator 24 rotates harmonic wave steel wheel 23, and then drive is fixed on
Fixed pedestal 14 above steel wheel rotates；Servomotor 17 drives rotary swinging arm 19 in vertical direction with the direct connection of planetary reducer 16
Rotate, so as to drive the load clamps 21 being connected with rotary swinging arm 19 and camera 20, light source 22 to rotate, servomotor 17 is to embrace
Lock type, can be such that load clamps 21 are stopped optional position in the range of 360 ° of vertical direction；Treated so as to drive load clamps 21
Processing workpiece rotates in the horizontal direction, or in vertical direction upset.
As Figure 8-9, it is that the schematic diagram of working condition is arrived in the original state change of roll-over unit, harmonic oscillator makes humorous
Ripple steel wheel 23 is rotated, and then drives the fixed pedestal 14 that is fixed on above steel wheel to rotate to optional position in the horizontal direction to stop；
Servomotor 17 is rotated with the direct connection of planetary reducer 16 driving rotary swinging arm 19 in vertical direction, so as to drive and rotary swinging arm 19
The load clamps 21 and camera 20 that are connected, light source 22 rotate to vertical direction optional position and stopped.
As shown in figure 1, also including a bridge piece 28 and the first protective cover 29 being connected with forearm one end；It is described
Second servomotor 8 and motor 11 are in the first protective cover；Described pipe one end of connecting bending 28 is on the second shaft base 2
On surface, the other end is on the upper surface of the first protective cover 29.
The utility model includes, elevating mechanism 1, by the first servomotor 3, first located at the first servomotor output end
Harmonic wave speed reducing machine 4, the large arm 5 being connected with harmonic wave speed reducing machine, the second harmonic reductor 6 located at large arm one end upper surface,
Forearm 7, the second servomotor 8, the transmission mechanism 10 and transmission mechanism in forearm being connected with second harmonic reductor
The body unit that motor 11 that driving wheel is connected, the third harmonic reductor 12 being connected with driven pulley are constituted, roll-over unit；
Elevating mechanism 1 meets the lifting requirement on the body unit vertical direction being installed on its platform；Body unit includes two
Rotary mode in horizontal direction, mode of operation is identical with SCARA robots first and second joints；Roll-over unit is arranged on body
Cell end, roll-over unit can make processed product realize 360 degree of rotations in vertical direction, realize and carry out towards processed products
The actions such as upset, carrying, laminating, assembling.Compared with the existing technology, the utility model has the function of lifting and upset, makes it
Application surface itself is more extensive, is easy to carry out product the operation of multiaspect.The technology of operation can not be overturn by breaching traditional robot
Difficult point, and structure is simpler, cost is low, load is big, durable.
As shown in fig. 7, different shape of the utility model from original position to target location, is realized to product in horizontal blank
Between class carrying function, in addition equipped with elevating mechanism, it is possible to achieve product carries out transport operation in solid space.
End load fixture 21 of the present utility model, Fig. 4 is reached after product, upset 180 degree is drawn shown in Fig. 3 at position
Shown position, realizes the rotary movement to product.
As shown in Figure 10, laminating of the present utility model, assembling function implementation process are that load clamps 21 are from being stacked
Element 30 at, draw or gripping element 30, fitted or be assembled into specific region in the workpiece 32 on conveyer belt 31, than
In such as groove, so as to realize the laminating of product, assembling function.
Although depicting the utility model by embodiment, it will be appreciated by the skilled addressee that the utility model has perhaps
Shape changeable and change without departing from spirit of the present utility model, it is desirable to appended claim include these deformation and change without
Depart from spirit of the present utility model.
Claims (10)
1. a kind of wu-zhi-shan pig, it is characterised in that including, elevating mechanism, on elevating mechanism can in OQ t mechanism,
Second shaft base of lower slider, the first servomotor on the second shaft base, located at the first servomotor output end
First harmonic reductor, the large arm being connected with harmonic wave speed reducing machine, the large arm can be with respect to the second shaft base in level side
To rotation；Second harmonic reductor located at large arm one end upper surface, the forearm being connected with second harmonic reductor；Second
Servomotor, the output shaft of second servomotor is connected with second harmonic reductor, and forearm can be with respect to large arm in level
Direction is rotated；Transmission mechanism in forearm, the motor being connected with transmission mechanism driving wheel, transmission mechanism driven pulley is located at
In forearm one end；The third harmonic reductor being connected with transmission mechanism driven pulley, is connected with third harmonic reductor
Roll-over unit；Roll-over unit can in the horizontal direction be rotated relative to forearm.
2. a kind of wu-zhi-shan pig as claimed in claim 1, it is characterised in that the elevating mechanism includes：Lifting pedestal, if
In the brake motor in lifting pedestal, the main pulley on brake motor output shaft, the ball wire in lifting pedestal
Thick stick, is sheathed on the timing belt of the secondary belt pulley of ball-screw bottom, connection main pulley and secondary belt pulley, on lifting pedestal
Guide rail, on guide rail can the upper and lower slip of opposite rail slide clamp seat, be fixedly arranged on the fixed plate on slide clamp seat；Slide
Deck rearward end is connected with ball screw；Second shaft base is in fixed plate.
3. a kind of wu-zhi-shan pig as claimed in claim 1, it is characterised in that the second harmonic reductor is located at forearm
In one end.
4. a kind of wu-zhi-shan pig as claimed in claim 1, it is characterised in that the transmission mechanism is belt gear,
It includes driving wheel, belt and driven pulley；Driving wheel is connected with motor output shaft, and driven pulley is located in forearm one end and the
Three harmonic wave speed reducing machines are connected.
5. a kind of wu-zhi-shan pig as claimed in claim 4, it is characterised in that third harmonic reductor is provided with the first connection
Set, roll-over unit is connected by the first adapter sleeve with third harmonic reductor.
6. a kind of wu-zhi-shan pig as claimed in claim 1, it is characterised in that the roll-over unit includes, fixed pedestal, if
In the reductor fixed seat on fixed pedestal, the planetary reduction gear located at reductor fixed seat one end and in fixed pedestal
Machine, located at the servomotor of planetary reducer input；Adapter sleeve located at reductor fixed seat the other end, located at adapter sleeve
On rotary swinging arm；Load on the camera being connected with rotary swinging arm one end surface, with rotary swinging arm the other end surface
Fixture；The light source being connected with camera；Harmonic wave steel wheel on fixed pedestal bottom surface, the harmonic wave on harmonic wave steel wheel occurs
Device.
7. a kind of wu-zhi-shan pig as claimed in claim 6, it is characterised in that also set including being connected with fixed pedestal and covering
Protective cover outside fixed pedestal, the servomotor and planetary reducer are respectively positioned in protective cover；In rotary swinging arm one end
One piece of installing plate is installed with portion surface, the camera is connected with installing plate.
8. a kind of wu-zhi-shan pig as claimed in claim 7, it is characterised in that the installation front edge of board is provided with installation gap,
A piece mounting post is connected with installation gap, and mounting post is vertical with installing plate；Camera is on the one end of mounting post；Light source
It is sheathed in mounting post.
9. a kind of wu-zhi-shan pig as claimed in claim 6, it is characterised in that the fixed pedestal is by bottom plate, two pieces of triangles
Shape side plate and one piece of backboard, which are connected, to be formed, and circular mounting hole is provided with backboard；Reductor fixed seat is provided with circular mounting
Plate, the circular mounting plate is embedded in circular mounting hole.
10. a kind of wu-zhi-shan pig as claimed in claim 1, it is characterised in that also including a bridge piece and and forearm
The first protective cover that one end is connected；Second servomotor and motor are in the first protective cover；The connecting bending
Pipe one end is on the second shaft base upper surface, and the other end is on the upper surface of the first protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621489428.8U CN206383134U (en) | 2016-12-30 | 2016-12-30 | A kind of wu-zhi-shan pig |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621489428.8U CN206383134U (en) | 2016-12-30 | 2016-12-30 | A kind of wu-zhi-shan pig |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206383134U true CN206383134U (en) | 2017-08-08 |
Family
ID=59492618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621489428.8U Expired - Fee Related CN206383134U (en) | 2016-12-30 | 2016-12-30 | A kind of wu-zhi-shan pig |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206383134U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514638A (en) * | 2016-12-30 | 2017-03-22 | 深圳市小智勇机器人有限公司 | Five-axis robot |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN116852340A (en) * | 2023-09-05 | 2023-10-10 | 昆山智能装备研究院 | High-speed transfer arm mechanism |
-
2016
- 2016-12-30 CN CN201621489428.8U patent/CN206383134U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514638A (en) * | 2016-12-30 | 2017-03-22 | 深圳市小智勇机器人有限公司 | Five-axis robot |
| CN108312130A (en) * | 2018-03-27 | 2018-07-24 | 湖南粤科汇智能科技有限公司 | A kind of long-armed heavy load wu-zhi-shan pig |
| CN116852340A (en) * | 2023-09-05 | 2023-10-10 | 昆山智能装备研究院 | High-speed transfer arm mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170808 Termination date: 20191230 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |