CN207632130U - A kind of general robot palletizer - Google Patents
A kind of general robot palletizer Download PDFInfo
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- CN207632130U CN207632130U CN201721742830.7U CN201721742830U CN207632130U CN 207632130 U CN207632130 U CN 207632130U CN 201721742830 U CN201721742830 U CN 201721742830U CN 207632130 U CN207632130 U CN 207632130U
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- auxiliary rod
- large arm
- forearm
- swivel base
- rotatablely connected
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Abstract
The utility model discloses a kind of general robot palletizers, including pedestal, swivel base, large arm, forearm, wrist, swivel base driving motor, large arm driving motor and forearm driving motor, the other end in forearm is arranged in wrist rotation, further include large arm auxiliary rod and intermediate auxiliary rod, intermediate auxiliary rod is rotatably arranged on the top of large arm and can be rotated coaxially with forearm, the upper end of large arm auxiliary rod is rotatablely connected with intermediate auxiliary rod, the lower end of large arm auxiliary rod is rotatablely connected with swivel base, the tie point A of large arm auxiliary rod and intermediate auxiliary rod, the tie point B of large arm auxiliary rod and swivel base, tie point D the projecting on four vertex of a parallelogram on perpendicular of the tie point C and large arm of large arm and swivel base and intermediate auxiliary rod.The utility model has the beneficial effects that：The utility model is provided with large arm auxiliary rod, enhances the long-term running stability of robot, improves the safety of operating personnel.
Description
Technical field
The utility model is related to a kind of general robot palletizers.
Background technology
For heavily loaded four articulated robots, agent structure generally requires the cast iron quality of good mechanical performance, ensures machine
Device people can work normally with long-term running stability, but robot body can be caused more heavy, can be to second joint
Generate prodigious confrontation torque, for traditional four articulated robot of heavy duty, second joint often use wire spring or
Clump weight balances the load torque of second joint, but both balance modes generally require to occupy larger volume, cause
Overall structure is bulky, Material Cost rises, while the personal safety of operating personnel is also difficult to ensure.It is difficult to do not make large arm
Driving motor enlargement and under conditions of not reducing movement velocity, expands the load capacity of robot.
Invention content
The purpose of this utility model is to provide a kind of general robot palletizer, solves robot palletizer body in the prior art
The technological deficiency that product is huge, operator safety is poor.
To solve the above problems, technical solution adopted in the utility model is：A kind of general robot palletizer, including bottom
Seat, swivel base, large arm, forearm, wrist, swivel base driving motor, large arm driving motor and forearm driving motor, swivel base rotation
It is set on the base to be driven by swivel base driving motor and rotate, the lower rotation setting of the large arm is driven on swivel base by large arm
Motor driving rotation, one end of the forearm, which is rotatably arranged on the upper end of large arm and is driven by forearm driving motor, to rotate,
The other end in forearm is arranged in the wrist rotation, further includes large arm auxiliary rod and intermediate auxiliary rod, the intermediate auxiliary
Bar is rotatably arranged on the top of large arm and can be rotated coaxially with forearm, the upper end of the large arm auxiliary rod and intermediate auxiliary rod
Rotation connection, lower end and the swivel base of large arm auxiliary rod are rotatablely connected, the tie point of the large arm auxiliary rod and intermediate auxiliary rod
A, the tie point C and large arm of the tie point B of large arm auxiliary rod and swivel base, large arm and swivel base and the tie point D of intermediate auxiliary rod exist
Projection on perpendicular is on four vertex of a parallelogram.The utility model by be arranged large arm auxiliary rod and
Intermediate auxiliary rod so that large arm auxiliary rod, intermediate auxiliary rod, swivel base and large arm tie point connecting line constitute one it is flat
Row quadrangle, the shape of parallelogram do not influence the rotation of large arm, simultaneously because setting large arm auxiliary rod, balances the negative of large arm
Torque is carried, the utility model is using large arm auxiliary rod and intermediate auxiliary rod, it is not necessary that wire spring or counterweight is arranged, therefore can be big
The integrally-built volume of reduction of amplitude enhances robot longtime running since the utility model is provided with large arm auxiliary rod
Stability, improve the safety of operating personnel.
Further include forearm auxiliary rod as a further improvement of the utility model, one end of the forearm auxiliary rod with
One end rotation connection of the intermediate auxiliary rod far from large arm auxiliary rod, the other end of the forearm auxiliary rod and the top of wrist turn
Dynamic connection, the large arm and the tie point D, forearm auxiliary rod and tie point E, the forearm of intermediate auxiliary rod of intermediate auxiliary rod are auxiliary
Projections of the tie point G of the tie point F and forearm and wrist that help bar and wrist on perpendicular is located at a parallelogram
Four vertex on.The utility model is by being arranged forearm auxiliary rod so that forearm, wrist, forearm auxiliary rod and intermediate auxiliary
The connecting line of the tie point of bar constitutes a parallelogram, neither influences the rotation of forearm, simultaneously because setting forearm assists
Bar balances the load torque of forearm, the further safety for improving robot long-term running stability and operating personnel.
The intermediate auxiliary rod includes the first auxiliary rod and the second auxiliary as a further improvement of the utility model,
One end of bar, first auxiliary rod is connected with one end of the second auxiliary rod, and the first auxiliary rod and the second auxiliary rod are at one jiao
Degree setting is V-shaped, the rotation connection of the top of the junction and large arm of the first auxiliary rod and the second auxiliary rod, the first auxiliary rod it is another
One end and the top of large arm auxiliary rod are rotatablely connected, and the other end and the forearm auxiliary rod of the second auxiliary rod are rotatablely connected.This practicality
The intermediate auxiliary rod of novel middle V-arrangement so that intermediate auxiliary rod can simultaneously and large arm auxiliary rod and forearm auxiliary rod turn
Dynamic connection reduces the quantity with the intermediate auxiliary rod of large arm rotation connection so that the structure of the utility model obtains further
Simplify.
First auxiliary rod and the second auxiliary rod are integrally formed as a further improvement of the utility model,.This reality
With in novel the first auxiliary rod and the second auxiliary rod be integrally formed, enhance in the utility model the intensity of intermediate auxiliary rod and steady
It is qualitative.
Further include telescopic balancer as a further improvement of the utility model, one end of the balancer turns
Dynamic to be arranged on swivel base, the lower rotational of the other end and large arm connects, and the rotation axle position of balancer and large arm rotation connection
It sets low in the rotary shaft of large arm and swivel base rotation connection.Balancer is arranged in the utility model, realizes the load for expanding robot
Ability.
As the further improvement of the utility model, the balancer is nitrogen gas spring, the nitrogen gas spring
The first connector is arranged in piston rod end, and first connector is rotatablely connected with swivel base, the cylinder body of the nitrogen gas spring
On be provided with the second connector, second connector is rotatablely connected with large arm.Made using nitrogen gas spring in the utility model
For balancer, realization can be facilitated so that large arm is driven by adjusting the pressure balance different loads torque inside nitrogen gas spring
Motor enlargement and under conditions of not reducing movement velocity, expands the load capacity of robot, while nitrogen gas spring is small, machine
Device people compact overall structure is beautiful.
In conclusion the utility model has the beneficial effects that：The utility model is by being arranged large arm auxiliary rod, forearm auxiliary
Bar and intermediate auxiliary rod form two parallelogram sturcutres in conjunction with swivel base, large arm, forearm and wrist, do not influence large arm and small
The rotation of arm can balance the load torque of large arm and forearm it is not necessary that wire spring or counterweight is arranged, therefore can be significantly
Reduce integrally-built volume, since the utility model is provided with large arm auxiliary rod, enhances the long-term running stabilization of robot
Property, improve the safety of operating personnel.
Description of the drawings
Fig. 1 is the front view of the utility model.
Fig. 2 is the vertical view of the utility model.
Fig. 3 is the left view of the utility model.
Fig. 4 is the structural schematic diagram for reflecting balancer in the utility model.
Wherein：1, pedestal；2, swivel base；3, large arm；4, forearm；5, wrist；6, swivel base driving motor；7, large arm driving electricity
Machine；8, forearm driving motor；9, large arm auxiliary rod；10, intermediate auxiliary rod；11, forearm auxiliary rod；12, the first auxiliary rod；13、
Second auxiliary rod；14, balancer；15, piston rod；16, the first connector；17, cylinder body；18, the second connector；19, swivel base subtracts
Fast device；20, large arm retarder；21, forearm retarder；22, the first support shaft；23, the second support shaft.
Specific implementation mode
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
General robot palletizer as shown in Figure 1, Figure 2, Figure 3 and Figure 4, including pedestal 1, swivel base 2, large arm 3, forearm 4, hand
Wrist 5, swivel base driving motor 6, large arm driving motor 7 and forearm driving motor 8, the swivel base 2 be rotatably arranged on pedestal 1 by
The driving rotation of swivel base driving motor 6, the bottom of the large arm 3 is rotatably arranged on by large arm rotation axis (not shown)
It is driven and is rotated by large arm driving motor 7 on seat 2, one end of the forearm 4 is rotatably arranged on large arm 3 by forearm rotation axis
Upper end and being driven by forearm driving motor 8 rotates, and the wrist 5 is rotatably arranged on the other end of forearm 4.
The side at 2 top of swivel base is arranged in swivel base driving motor 6 in the utility model, is set between swivel base 2 and pedestal 1
It is equipped with swivel base retarder 19, the output shaft of swivel base driving motor 6 passes through swivel base 2, and is provided with the first transmission gear (in figure not
Show), the second transmission gear (not shown), the described first transmission are set on the input shaft of the swivel base retarder 19
Gear is meshed with the second transmission gear, and swivel base driving motor 6 rotates, and driving swivel base retarder 19 works, swivel base retarder 19
The rotating speed rear-guard turn seat 2 for reducing swivel base driving motor 6 rotates.
The other side of swivel base 2 raises up in large arm driving motor mounting base, large arm driving in the utility model
Motor 7 is mounted in large arm driving motor mounting base, and large arm retarder 20 is provided on the swivel base 2, and the large arm is driven
The output shaft of dynamic motor 7 by the input axis connection of shaft coupling and large arm retarder 20, the output shaft of large arm retarder 20 with greatly
Arm rotates axis connection, the large arm driving motor 7 rotation, and driving large arm retarder 20 works, and large arm retarder 20 reduces greatly
Large arm 3 is driven to rotate after the rotating speed of arm driving motor 7.
The top of the large arm 3 is removably equipped with forearm retarder 21, forearm driving electricity by bolt
Machine 8 is detachably arranged in by bolt on forearm retarder 21, and the output shaft of forearm driving motor 8 passes through shaft coupling and forearm
The input axis connection of retarder 21, output shaft and the forearm of forearm retarder 21 rotate axis connection, and forearm driving motor 8 rotates,
Forearm retarder 21 is driven to work, driving forearm 4 rotates after turn reading of the reduction forearm of forearm retarder 21 driving motor 8.
The utility model is provided with large arm auxiliary rod 9 and intermediate auxiliary rod 10, and it is remote to be located at large arm 3 for wherein large arm auxiliary rod 9
Side from forearm 4, the intermediate auxiliary rod 10 are rotatably arranged on the side on the top of large arm 3 and can be coaxial with forearm 4
Rotation, the intermediate auxiliary rod 10 and the rotation axis of forearm 4 be rotatablely connected by bearing, the large arm auxiliary rod 9 it is upper
End is rotatablely connected with intermediate auxiliary rod 10, and tie point is labeled as A, and lower end and the swivel base 2 of large arm auxiliary rod 9 are rotatablely connected, connection
Point is labeled as B, the large arm auxiliary rod 9 and the tie point A of intermediate auxiliary rod 10, the tie point of large arm auxiliary rod 9 and swivel base 2
B, large arm 3 is located at one with the projection of the tie point C and large arm 3 of swivel base 2 and the tie point D of intermediate auxiliary rod 10 on perpendicular
On four vertex of a parallelogram.It since swivel base 2 is not subjected to displacement in the vertical direction, does not also rotate, so when big
When arm 3 rotates, large arm auxiliary rod 9 is rotated synchronously with large arm 3, and intermediate auxiliary rod 10 keeps parallel with original state, and its
Height changes with the rotation of large arm 3, i.e., in the utility model intermediate auxiliary rod 10 can only lift in the vertical direction without
Energy relative level rotates, and large arm auxiliary rod 9 applies large arm 3 pulling force in the direction away from forearm 4, balances large arm
3 load torque.The preferred large arm auxiliary rod 9 of the utility model is arc-shaped away from the direction bending of large arm 3.
The utility model is provided with forearm auxiliary rod 11, and the forearm auxiliary rod 11 is located at the top of forearm 4, described
One end of forearm auxiliary rod 11 is rotatablely connected with the intermediate one end of auxiliary rod 10 far from large arm auxiliary rod 9, forearm auxiliary
The other end of bar 11 is rotatablely connected with the top of wrist 5, and the large arm 3 and tie point D, the forearm of intermediate auxiliary rod 10 assist
The connection of bar 11 and the tie point E, forearm auxiliary rod 11 and the tie point F and forearm 4 and wrist 5 of wrist 5 of intermediate auxiliary rod 10
Projections of the point G on perpendicular is on four vertex of a parallelogram.Forearm auxiliary rod 11 in the utility model
Balance the load torque of forearm 4.
Intermediate auxiliary rod 10 described in the utility model includes the first auxiliary rod 12 and the second auxiliary rod 13, and described the
One end of one auxiliary rod 12 is connected with one end of the second auxiliary rod 13, the first auxiliary rod 12 with the second auxiliary rod 13 is at an angle sets
It is set to V-shaped, the first auxiliary rod 12 and the junction of the second auxiliary rod 13 and the top of large arm 3 is rotatablely connected, the first auxiliary rod
12 other end is rotatablely connected with the top of large arm auxiliary rod 9, and the other end and the forearm auxiliary rod 11 of the second auxiliary rod 13 rotate
Connection, intermediate auxiliary rod 10 respectively constitute three revolute pairs with large arm 3, large arm auxiliary rod 9 and forearm auxiliary rod 11.This practicality is new
Type preferred first auxiliary rod 12 and the second auxiliary rod 13 are integrally formed.Intermediate auxiliary rod 10 in the utility model
Both ends are separately connected large arm auxiliary rod 9 and forearm auxiliary rod 11, and large arm auxiliary rod 9 and forearm auxiliary rod 11 mutually restrain, due to
The angle of intermediate first auxiliary rod 12 and horizontal plane remains constant, so the angle of the second auxiliary rod 13 and horizontal plane is also protected
Hold it is constant, so during forearm rotates the tie point F and forearm 4 and wrist 5 of forearm auxiliary rod 11 and wrist 5 tie point
The angle of line and horizontal plane between G also remains unchanged, so the angle of wrist 5 and vertical direction is kept fixed constant, hand
The initial state of wrist 5 is vertical direction, and vertical state is kept in any position of work, and workpiece when stacking is kept to keep
Horizontal positioned, the stability of stacking workpiece is good.
The utility model is additionally provided with telescopic balancer 14, and one end of the balancer 14 is rotatably arranged on swivel base
On 2, the other end is connect with the lower rotational of large arm 3, and the rotary shaft position that balancer 14 is rotatablely connected with large arm 3 is less than big
The rotary shaft that arm 3 is rotatablely connected with swivel base 2.
The balancer 14 is preferably used nitrogen gas spring, the piston rod 15 of the nitrogen gas spring by the utility model
The first connector of end set 16, first connector 16 is rotatablely connected by the first support shaft 22 with swivel base 2, described
The second connector 18 is provided on the cylinder body 17 of nitrogen gas spring, second connector 18 passes through the second support shaft 23 and large arm
3 rotation connections.One end setting of the first connector 16 in the utility model is provided with the first through hole vertical with its length direction,
Its other end is removably connect by bolt with the end of piston rod 15, and first support shaft 22 is arranged in first through hole
Interior, the both ends of the first support shaft 22 are connected on swivel base 2；One end of second connector 17 is provided with hangs down with its length direction
The second straight through-hole, the other end are fixed with the one end of cylinder body 17 far from piston rod 15（There are many fixed forms, for example uses spiral shell
Bolt removably connects or using rigid connections such as welding）, the second support shaft 23 setting is in the second through-hole, and second
The both ends of support shaft 23 are connect with large arm 3.The pressure regulation spectrum of nitrogen gas spring is 6MPa~15MPa in the utility model, can
The torque that different loads are balanced by adjusting nitrogen gas spring internal inflation pressure facilitates realization not making large arm driving motor large-scale
Under conditions of changing and not reducing movement velocity, expand the load capacity of robot, while nitrogen gas spring is small, robot is whole
Compact-sized beauty.
The preferred forearm 4 of the utility model, large arm 3 and forearm auxiliary rod 11 are all made of carbon fibre composite making,
Under the premise of the mechanical property for keeping forearm 4, large arm 3 and forearm auxiliary rod 11, whole weight is significantly reduced, it is medium and small
4 weight of arm compared with the prior art in forearm weight saving 70%, can not only reduce large arm 3, forearm driving motor 8 and small
The type selecting of arm retarder 21, and improve the stability of robot.
It is the prior art not do the part illustrated in description above, or can be realized by the prior art.
And the preferable case study on implementation that case is only the utility model is embodied described in the utility model, not it is used for limiting
The scope of the utility model.Equivalent changes and modifications made by i.e. all contents according to present utility model application the scope of the claims,
It all should be used as the technology scope of the utility model.
Claims (6)
1. a kind of general robot palletizer, including the driving of pedestal (1), swivel base (2), large arm (3), forearm (4), wrist (5), swivel base
Motor (6), large arm driving motor (7) and forearm driving motor (8), the swivel base (2) are rotatably arranged on pedestal (1) by turning
Seat driving motor (6) drives rotation, the lower rotation of the large arm (3) to be arranged on swivel base (2) by large arm driving motor (7)
One end of driving rotation, the forearm (4) is rotatably arranged on the upper end of large arm (3) and is driven by forearm driving motor (8)
Rotation, the wrist (5) are rotatably arranged on the other end of forearm (4), it is characterised in that：Further include large arm auxiliary rod (9) and
Intermediate auxiliary rod (10), the intermediate auxiliary rod (10) are rotatably arranged on the top of large arm (3) and can be coaxial with forearm (4)
Rotation, the upper end of the large arm auxiliary rod (9) are rotatablely connected with intermediate auxiliary rod (10), the lower end of large arm auxiliary rod (9) with
Swivel base (2) is rotatablely connected, the tie point A of the large arm auxiliary rod (9) and intermediate auxiliary rod (10), large arm auxiliary rod (9) with
The tie point B of swivel base (2), the tie point D of large arm (3) and the tie point C and large arm (3) and intermediate auxiliary rod (10) of swivel base (2)
Projection on perpendicular is on four vertex of a parallelogram.
2. general robot palletizer according to claim 1, it is characterised in that：Further include forearm auxiliary rod (11), it is described
One end of forearm auxiliary rod (11) be rotatablely connected with the intermediate one end of auxiliary rod (10) far from large arm auxiliary rod (9), it is described
The other end of forearm auxiliary rod (11) is rotatablely connected with the top of wrist (5), the large arm (3) and intermediate auxiliary rod (10)
The connection of tie point D, forearm auxiliary rod (11) and the tie point E, forearm auxiliary rod (11) and wrist (5) of intermediate auxiliary rod (10)
Tie point G the projecting positioned at four vertex of a parallelogram on perpendicular of point F and forearm (4) and wrist (5)
On.
3. general robot palletizer according to claim 2, it is characterised in that：The intermediate auxiliary rod (10) includes the
One auxiliary rod (12) and the second auxiliary rod (13), one end of one end and the second auxiliary rod (13) of first auxiliary rod (12)
Connection, the first auxiliary rod (12) and the second auxiliary rod (13) setting at an angle are V-shaped, the first auxiliary rod (12) and the second auxiliary
The junction of bar (13) is rotatablely connected with the top of large arm (3), the other end and the large arm auxiliary rod (9) of the first auxiliary rod (12)
Top is rotatablely connected, and the other end and the forearm auxiliary rod (11) of the second auxiliary rod (13) are rotatablely connected.
4. general robot palletizer according to claim 3, it is characterised in that：First auxiliary rod (12) and second
Auxiliary rod (13) is integrally formed.
5. general robot palletizer according to any one of claims 1 to 4, it is characterised in that：Further include telescopic flat
One end of weighing apparatus (14), the balancer (14) is rotatably arranged on swivel base (2), the lower rotational of the other end and large arm (3)
Connection, and balancer (14) and the rotary shaft position of large arm (3) rotation connection are rotatablely connected less than large arm (3) and swivel base (2)
Rotary shaft.
6. general robot palletizer according to claim 5, it is characterised in that：The balancer (14) is nitrogen bullet
Spring, piston rod (15) first connector of end set (16) of the nitrogen gas spring, first connector (16) with turn
Seat (2) is rotatablely connected, and the second connector (18), second connector are provided on the cylinder body (17) of the nitrogen gas spring
(18) it is rotatablely connected with large arm (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742830.7U CN207632130U (en) | 2017-12-14 | 2017-12-14 | A kind of general robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742830.7U CN207632130U (en) | 2017-12-14 | 2017-12-14 | A kind of general robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207632130U true CN207632130U (en) | 2018-07-20 |
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ID=62862836
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721742830.7U Active CN207632130U (en) | 2017-12-14 | 2017-12-14 | A kind of general robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207632130U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972511A (en) * | 2018-08-27 | 2018-12-11 | 聊城大学 | A kind of robot palletizer and its application method |
-
2017
- 2017-12-14 CN CN201721742830.7U patent/CN207632130U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972511A (en) * | 2018-08-27 | 2018-12-11 | 聊城大学 | A kind of robot palletizer and its application method |
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