CN208276906U - A kind of heavy four axis robot palletizer - Google Patents
A kind of heavy four axis robot palletizer Download PDFInfo
- Publication number
- CN208276906U CN208276906U CN201820854897.8U CN201820854897U CN208276906U CN 208276906 U CN208276906 U CN 208276906U CN 201820854897 U CN201820854897 U CN 201820854897U CN 208276906 U CN208276906 U CN 208276906U
- Authority
- CN
- China
- Prior art keywords
- arm
- driving motor
- connecting plate
- axis
- axis driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of heavy four axis robot palletizers, including fixing seat, swivel base, large arm, torque arm, forearm, end flange, second axis driving motor, third axis driving motor, 4th axis driving motor, swivel base includes pedestal, first connecting plate, second connecting plate, the top of pedestal is equipped with first axle driving motor, the two sides of first connecting plate respectively with third axis driving motor, torque arm connection, the two sides of second connecting plate respectively with large arm, the connection of second axis driving motor, one end that large arm is connected to the second connecting plate is equipped with the connecting shaft of connection torque arm, the utility model convenient for the crawl on different directions and can keep the angle of wrist, structure is simple, maintenance cost is low, it is easy to use.
Description
Technical field
The utility model relates to industrial Manufacturing Automation Technology fields, and in particular to a kind of heavy four axis robot palletizer.
Background technique
Industrial robot apply with manufacture it is more more and more universal, with gradualling mature and perfect, heavy code for each component market
The batch production of pile robot increasingly becomes reality, and door is also lower and lower, my company according to the market demand and gradually at
Ripe component market autonomous Design has developed a heavy four axis robot palletizer.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of heavy four axis robot palletizers, can be convenient for not Tongfang
Upward crawl and the angle for keeping wrist, structure is simple, and maintenance cost is low, is easy to use, causes to solve the prior art
Defect.
The utility model provides a kind of technical solution below: heavy four axis stacking machine to solve above-mentioned technical problem
People, wherein including fixing seat, swivel base, large arm, torque arm, forearm, end flange, the second axis driving motor, Three-axis drive electricity
Machine, the 4th axis driving motor, the swivel base include pedestal and the first connecting plate being symmetrically connected at the top of the pedestal and
Two connecting plates are connected with the first axle driving electricity for driving the swivel base in the fixing seat rotary-top at the top of the pedestal
Machine, the two sides of first connecting plate are connect with the third axis driving motor, the torque arm respectively, second connecting plate
Two sides are connect with the large arm, the second axis driving motor respectively, and the large arm is connected to one end of second connecting plate
Equipped with the connecting shaft for connecting the torque arm, the large arm is equipped with departing from one end of second connecting plate and is connected to the forearm
Groove, the both ends of the forearm are respectively equipped with the torque arm connecting rod for connecting the torque arm, connection the 4th axis driving motor
Wrist, the end flange are connected to the bottom of the 4th axis driving motor, and it is solid that triangle is connected on the outside of the large arm
Determine frame, the both ends of the triangular fixing frame, which are respectively equipped with, to be connected the big arm link of second connecting plate, connects the wrist
It is equipped with the spring damping for being connected to the large arm at the top of small arm link, first connecting plate and second connecting plate,
The junction of the torque arm and the torque arm connecting rod is connected with clump weight；
First axle driving motor is equipped with the first axle speed reducer for connecting the swivel base, sets on the second axis driving motor
There is the second axis speed reducer for connecting the large arm, the third axis driving motor is equipped with the third axis deceleration for connecting the torque arm
Machine；The bottom of the 4th axis driving motor is equipped with the 4th axis speed reducer for being drivingly connected the end flange.
A kind of above-mentioned heavy four axis robot palletizer, wherein the large arm and the forearm, the triangular fixing frame,
It is connected by shaft between the spring damping, between the triangular fixing frame and the big arm link, the small arm link
It is connected by the shaft, the big arm link, the spring damping are connected by the shaft and first connecting plate
It connects, the spring damping is connect with second connecting plate by the shaft, and the small arm link, the forearm pass through institute
It states shaft to connect with the wrist, the both ends of the torque arm connecting rod are connected with the forearm, the torque arm respectively by the shaft
It connects.
Above-mentioned a kind of heavy four axis robot palletizer, wherein the triangular fixing frame is inverted V type, and the triangle is fixed
The both ends of frame are connect with the big arm link, the small arm link respectively, and the large arm is connected in the triangular fixing frame
Between position.
Above-mentioned a kind of heavy four axis robot palletizer, wherein the big arm link and the small arm link are set to together
Side.
It is according to a kind of technical solution effect that heavy four axis robot palletizer provides of above-mentioned the utility model: convenient for difference
Crawl on direction and the angle for keeping wrist, structure is simple, and maintenance cost is low, is easy to use.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of heavy four axis robot palletizer of the utility model；
Fig. 2 is a kind of side structure schematic view of heavy four axis robot palletizer of the utility model.
Wherein, appended drawing reference is as follows: fixing seat 101, pedestal 102, the first connecting plate 103, the second connecting plate 104, large arm
105, torque arm 106, forearm 107, end flange 108, clump weight 109, the second axis driving motor 110, third axis driving motor
111, the 4th axis driving motor 112, groove 113, torque arm connecting rod 114, big arm link 115, small arm link 116, wrist 117, three
Corner steady 118, spring damping 119, first axle driving motor 201.
Specific embodiment
In order to realize utility model technological means, create feature, reach purpose and effect is easy to understand, lower knot
Conjunction is specifically illustrating, and the utility model is further described.
One preferred embodiment of the utility model is to provide a kind of heavy four axis robot palletizer, it is therefore an objective to convenient for not Tongfang
Upward crawl and the angle for keeping wrist, structure is simple, and maintenance cost is low, is easy to use.
As shown in Figs. 1-2, a kind of heavy four axis robot palletizer, wherein including fixing seat 101, swivel base, large arm 105, draw
Arm 106, forearm 107, end flange 108, the second axis driving motor 110, third axis driving motor 111, the 4th axis driving motor
112, swivel base includes pedestal 102 and is symmetrically connected to first connecting plate 103 and the second connecting plate 104 at 102 top of pedestal, base
The top of seat 102 is connected with first axle driving motor 201 of the driving swivel base in 101 rotary-top of fixing seat, the first connecting plate
103 two sides are connect with third axis driving motor 111, torque arm 106 respectively, the two sides of the second connecting plate 104 respectively with large arm
105, the second axis driving motor 110 connects, and one end that large arm 105 is connected to the second connecting plate 103 is equipped with the company of connection torque arm 106
Spindle, large arm 105 are equipped with the groove 113 for being connected to forearm 107, the both ends of forearm 107 departing from one end of the second connecting plate 103
It is respectively equipped with the torque arm connecting rod 114 of connection torque arm 106, connects the wrist 117 of the 4th axis driving motor 112, end flange 108 connects
It is connected to the bottom of the 4th axis driving motor 112, the outside of large arm 105 is connected with triangular fixing frame 118, triangular fixing frame 118
Both ends be respectively equipped with connection the second connecting plate 103 big arm link 115, connect wrist 117 small arm link 116, first connect
The top of fishplate bar 103 and the second connecting plate 104 is equipped with the spring damping 119 for being connected to large arm 105, and torque arm 106 and torque arm connect
The junction of bar 114 is connected with clump weight 109；
First axle driving motor 201 is equipped with the first axle speed reducer of connection swivel base, and the second axis driving motor 110 is equipped with
The second axis speed reducer of large arm 105 is connected, third axis driving motor 111 is equipped with the third axis speed reducer of connection torque arm 106；The
The bottom of four axis driving motors 112 is equipped with the 4th axis speed reducer for being drivingly connected end flange 108.
A kind of heavy four axis robot palletizer provided in this embodiment, large arm 105 and forearm 107, the triangle of use are fixed
Connected by shaft between frame 118, spring damping 119, triangular fixing frame 118 and big arm link 115, small arm link 116 it
Between connected by shaft, big arm link 115, spring damping 119 are connect with the first connecting plate 103 by shaft, and spring hinders
Buddhist nun 119 is connect with the second connecting plate 104 by the shaft, and small arm link 116, forearm 107 are connected by shaft and wrist 117
It connects, the both ends of torque arm connecting rod 114 are connect with forearm 107, torque arm 106 respectively by shaft.
A kind of heavy four axis robot palletizer provided in this embodiment, the triangular fixing frame 118 used is inverted V type, triangle
The both ends of fixed frame 118 are connect with big arm link 115, small arm link 116 respectively, and large arm 105 is connected to triangular fixing frame 118
Intermediate position.
A kind of heavy four axis robot palletizer provided in this embodiment, the big arm link 115 of use are set with small arm link 116
It is placed in the same side.
A kind of heavy four axis robot palletizer provided in this embodiment when in use, is connected by large arm 105, torque arm 106, torque arm
Bar 114, triangular fixing frame 118 form large arm power parallelogram sturcutre, are connected by large arm 105, the first connecting plate 103, large arm
Bar 115, triangular fixing frame 118 form large arm and balance quadrilateral structure, by forearm 107, triangular fixing frame 118, small arm link
116, wrist 117 forms forearm and balances quadrilateral structure, balances quadrangle knot by large arm power parallelogram sturcutre, large arm
The cooperation of structure, forearm balance quadrilateral structure, when large arm 105 is swung, forearm 107 and wrist 117 are able to maintain constant, forearm
107 swing when, wrist 117 be also able to maintain it is constant, convenient for object crawl with put, spring damping 119 is in large arm 105
With the increasing of amplitude of fluctuation when swing, the opposite direction resistance that spring damping 119 provides also is gradually increased, so that large arm 105 is stopped
Resistance when only moving and restarting movement greatly reduces, and subtracts significantly so that four axis robot palletizers shake in rapid operation
It is small.
To sum up, a kind of heavy four axis robot palletizer of the utility model, can be convenient for the crawl on different directions and guarantor
The angle of wrist is held, structure is simple, and maintenance cost is low, is easy to use.
The specific embodiment of utility model is described above.It is to be appreciated that utility model is not limited to
Above-mentioned particular implementation, devices and structures not described in detail herein should be understood as is given with the common mode in this field
To implement；Those skilled in the art, which can make various deformations or amendments within the scope of the claims and make, several simply to push away
It drills, deform or replaces, this has no effect on the substantive content of utility model.
Claims (4)
1. a kind of heavy four axis robot palletizer, which is characterized in that including fixing seat, swivel base, large arm, torque arm, forearm, end method
Orchid, the second axis driving motor, third axis driving motor, the 4th axis driving motor, the swivel base include pedestal and symmetrical connection
The first connecting plate and the second connecting plate at the top of the pedestal are connected with the driving swivel base at the top of the pedestal in institute
The first axle driving motor of fixing seat rotary-top is stated, the two sides of first connecting plate are electric with the Three-axis drive respectively
Machine, torque arm connection, the two sides of second connecting plate are connect with the large arm, the second axis driving motor respectively, institute
It states large arm and is connected to one end of second connecting plate and be equipped with the connecting shaft for connecting the torque arm, the large arm is departing from described the
One end of two connecting plates is equipped with the groove for being connected to the forearm, and the both ends of the forearm are respectively equipped with the drawing for connecting the torque arm
The wrist of arm link, connection the 4th axis driving motor, the end flange are connected to the bottom of the 4th axis driving motor
Portion, triangular fixing frame is connected on the outside of the large arm, and the both ends of the triangular fixing frame are respectively equipped with connection described second
Big arm link, the small arm link of the connection wrist of connecting plate, the top of first connecting plate and second connecting plate
It is equipped with the spring damping for being connected to the large arm, the torque arm and the junction of the torque arm connecting rod are connected with clump weight；
First axle driving motor is equipped with the first axle speed reducer for connecting the swivel base, and the second axis driving motor, which is equipped with, to be connected
The second axis speed reducer of the large arm is connect, the third axis driving motor is equipped with the third axis speed reducer for connecting the torque arm；
The bottom of the 4th axis driving motor is equipped with the 4th axis speed reducer for being drivingly connected the end flange.
2. a kind of heavy four axis robot palletizer as described in claim 1, which is characterized in that the large arm and the forearm,
It is connected by shaft between the triangular fixing frame, the spring damping, the triangular fixing frame and the big arm link, institute
It states and is connected by the shaft between small arm link, the big arm link, the spring damping pass through the shaft and institute
The connection of the first connecting plate is stated, the spring damping is connect with second connecting plate by the shaft, the small arm link, institute
Forearm is stated to connect by the shaft with the wrist, the both ends of the torque arm connecting rod by the shaft respectively with it is described small
Arm, torque arm connection.
3. a kind of heavy four axis robot palletizer as claimed in claim 2, which is characterized in that the triangular fixing frame is V
Type, the both ends of the triangular fixing frame are connect with the big arm link, the small arm link respectively, and the large arm is connected to described
The intermediate position of triangular fixing frame.
4. a kind of heavy four axis robot palletizer as claimed in claim 3, which is characterized in that the big arm link with it is described small
Arm link is set to the same side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854897.8U CN208276906U (en) | 2018-06-04 | 2018-06-04 | A kind of heavy four axis robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854897.8U CN208276906U (en) | 2018-06-04 | 2018-06-04 | A kind of heavy four axis robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208276906U true CN208276906U (en) | 2018-12-25 |
Family
ID=64705673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820854897.8U Expired - Fee Related CN208276906U (en) | 2018-06-04 | 2018-06-04 | A kind of heavy four axis robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208276906U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
-
2018
- 2018-06-04 CN CN201820854897.8U patent/CN208276906U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340910A (en) * | 2019-06-28 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of small-sized static load balance belt drive tool arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR200484533Y1 (en) | A two-way transfer robot with two rods by parallel principle | |
| WO2016155469A1 (en) | Robot based on parallelogram principle | |
| CN105583819A (en) | Palletizing robot with grabbing function | |
| CN204021954U (en) | Five axle bridge glass stacking machine people | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN206230519U (en) | A kind of stacking machine robot device | |
| CN204584093U (en) | A kind of can free adjustment both arms angle and height automatic manipulator | |
| CN105773654B (en) | A kind of scalable pick-and-place material joint | |
| CN204221785U (en) | A kind of industrial robot | |
| CN208276906U (en) | A kind of heavy four axis robot palletizer | |
| CN218614059U (en) | Novel stand robot | |
| CN105479451B (en) | A kind of planar redundant robot | |
| CN103934824A (en) | Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot | |
| CN207593838U (en) | One kind three saves folding mechanism arm | |
| CN205906704U (en) | SPS commodity circulation automation equipment | |
| CN206717850U (en) | A kind of parallel robot | |
| CN205660719U (en) | Diaxon pile up neatly machine people | |
| CN212859490U (en) | Can realize pile up neatly machinery hand of turn-over operation | |
| CN209504157U (en) | A kind of robot forearm attachment device | |
| CN209158375U (en) | A kind of 3-freedom parallel mechanism | |
| CN208854634U (en) | A kind of robot automatic arm in six joints | |
| CN210339521U (en) | Gantry manipulator for transferring large-caliber optical elements | |
| CN209080958U (en) | Robot palletizer | |
| CN205438560U (en) | Double gear pile up neatly machinery hand | |
| CN206858069U (en) | A kind of mechanical lifting gear |
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: 20181225 Termination date: 20200604 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |