CN208277220U - A kind of five axis transfer robots - Google Patents

A kind of five axis transfer robots Download PDF

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Publication number
CN208277220U
CN208277220U CN201820778670.XU CN201820778670U CN208277220U CN 208277220 U CN208277220 U CN 208277220U CN 201820778670 U CN201820778670 U CN 201820778670U CN 208277220 U CN208277220 U CN 208277220U
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CN
China
Prior art keywords
motor
joint
connecting rod
support arm
output shaft
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Active
Application number
CN201820778670.XU
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Chinese (zh)
Inventor
谢建锋
郭嘉俊
谢辉鸿
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Fujian Yishun Machine Equipment Co Ltd
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Fujian Yishun Machine Equipment Co Ltd
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Priority to CN201820778670.XU priority Critical patent/CN208277220U/en
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Abstract

The utility model provides a kind of five axis transfer robots, including robot body, angular adjustment component and absorbent module, the robot body has wrist joint and executes joint, the angular adjustment component includes T shape frame, adjusts motor and angular frame, the angular frame has the connecting plate and mounting plate for being mutually perpendicular to arrangement, the connecting plate and the output shaft for adjusting motor are arranged vertically, the absorbent module includes adsorptive racks and sucker, and the adsorption plane of the sucker and the output shaft for adjusting motor are arranged in parallel.By the way that angular adjustment component is arranged, using the angular frame of angular adjustment component the plate being attracted in absorbent module is rotated around the output shaft for adjusting motor, and then realize plate it is flat take, side is put, is overturn, production efficiency is relatively high, simultaneously because two covering devices are used cooperatively, occupied area is relatively small, furthermore, the rotary movement of plate only need adjust motor independently drive, can simplified control system, reduce cost.

Description

A kind of five axis transfer robots
Technical field
The utility model relates to a kind of handling device, especially a kind of five axis transfer robots.
Background technique
In the production process that stone material is cut into plate, it is often necessary to which the plate laid flat on production line is removed simultaneously side Stand on side, or by the turning plate arranged vertically to horizontally disposed state and carry out stacking, in short, plate production, after During continuous transport and storage etc., it is likely to need to put down that side is taken to put, pick and place, overturning plate and by specific orientation, angle Carry out stacking.Currently, it is above-mentioned it is flat take, side is put, overturn and stacking movement is usually relied on and is accomplished manually, production efficiency is relatively low, Some Enterprises use dedicated turn-over rig and existing palletizing apparatus are cooperated to complete above-mentioned movement, due to needing two covering devices Cooperated, occupied area is relatively large.
In addition, with the continuous promotion of multi-spindle machining workmanship art, multi-spindle machining hand currently on the market theoretically can also be with By replacing being accomplished manually above-mentioned movement in the actuating station mounting clamping device of multi-spindle machining hand, and occupied area is relatively It is small, but lose application in actual production, main reason is that, existing multi-spindle machining hand execute it is flat take, side is put, is overturn When the movement of plate, need multiple motor linkages that can realize that control system is complex, the cost is relatively high;Meanwhile it is existing In some multi-spindle machining hands, the driving motor of each axis is commonly mounted directly on the joint where each axis, increases each joint Load, energy consumption is relatively large, and stability is relatively poor.
In view of this, the applicant conducts in-depth research the structure of five axis transfer robots, there is this case generation then.
Utility model content
That the purpose of this utility model is to provide a kind of production efficiencys is relatively high, occupied area is relatively small and cost phase To lower five axis transfer robot.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of five axis transfer robots, including robot body, the angular adjustment group being mounted on the robot body Part and the absorbent module being mounted on the angular adjustment component, the robot body have wrist joint and are rotatably connected on Execution joint on the wrist joint, the rotation connection axis executed between joint and the wrist joint and the execution The central axis in joint arranges that the angular adjustment component includes the T shape frame being fixedly connected on the execution joint, fixation The angular frame for adjusting motor and be sequentially connected on the output shaft for adjusting motor being connected on the T shape frame, it is described The output shaft and the central axis arrangement for executing joint, the angular frame for adjusting motor have the company for being mutually perpendicular to arrangement Fishplate bar and mounting plate, the connecting plate and the output shaft for adjusting motor are arranged vertically, and the absorbent module includes fixed connects Connect on the mounting plate adsorptive racks and more than one be mounted on the sucker on the adsorptive racks, the adsorption plane of the sucker with The output shaft parallel arrangement for adjusting motor.
As a kind of improvement of the utility model, the sucker has multiple, and the adsorption plane of each sucker is located at same flat On face.
As a kind of improvement of the utility model, the robot body also has pedestal, is rotatably connected on the pedestal On horizontal rotating table, one end be rotatably connected on the horizontal rotating table support arm, to be rotatably connected on the support arm another Lever arm on one end, the first motor for driving the horizontal rotating table rotation, for driving the support arm rotation Second motor, third motor, the 4th motor for driving the wrist articulation for driving the lever arm rotation With for driving the 5th motor for executing articulation, the wrist articulation is connected to one end of the lever arm, The rotation between rotation connection axis, the support arm and the lever arm between the horizontal rotating table and the support arm connects Rotation connection axis between spindle and the lever arm and the wrist joint is arranged parallel.
As a kind of improvement of the utility model, the lever arm is rotatably connected to far from the one end in the wrist joint One connecting rod is sequentially connected with the first swing arm on the output shaft of the third motor, and the first connecting rod is far from the lever arm One end and first swing arm are mutually rotatablely connected far from one end of the third motor, and the support arm is located at described first and connects Between bar and the wrist joint.
As a kind of improvement of the utility model, the one end of the support arm far from the horizontal rotating table is also rotatablely connected There is ancon joint, the both ends in the ancon joint are rotatably connected to second connecting rod and third connecting rod respectively, the 4th motor The second swing arm is sequentially connected on output shaft, one end and second swing arm far from the ancon joint of the second connecting rod are remote One end rotation connection from the 4th motor, the one end of the third connecting rod far from the ancon joint and the wrist joint Rotation connection, the support arm is between the second connecting rod and the third connecting rod, and the third connecting rod and the wrist Rotation connection axis between rotation connection axis between portion joint and the lever arm and the wrist joint is arranged parallel.
As a kind of improvement of the utility model, rotation connection axis between the lever arm and the support arm with it is described Rotation connection axis between ancon joint and the support arm is coaxially arranged.
It is the adjusting motor, the first motor, second motor, described as a kind of improvement of the utility model Hypocycloid few teeth difference joint speed reducer is connected on the output shaft of third motor, the 4th motor and/or the 5th motor.
By adopting the above technical scheme, the utility model has the following beneficial effects:
1, by setting angular adjustment component, to be attracted in absorbent module using the angular frame of angular adjustment component Plate can around adjust motor output shaft rotation, and then realize plate it is flat take, side is put, is overturn, production efficiency is opposite Higher, simultaneously because two covering devices are used cooperatively, occupied area is relatively small, in addition, the rotary movement of plate only needs to adjust electricity Machine independently drives, can simplified control system, reduce cost.
2, by setting absorbent module, the pick-and-place of plate is realized in a manner of vacuum suction, with conventionally employed mechanical grip Mode compare, not easy damaged plate, and required operating space is relatively small.
3, lever arm movement is driven by using first connecting rod, drives wrist joint dynamic using second connecting rod and third connecting rod Make, corresponding motor can be positioned close at the position of pedestal, reduce the load of each arm and each joint, facilitate elevator The load capacity of device human body, while stability is relatively high.
4, by using hypocycloid few teeth difference joint speed reducer, the kinematic accuracy of robot body is effectively improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of five axis transfer robot of the utility model, omits absorbent module in figure;
Fig. 2 is the structural schematic diagram at five another visual angle of axis transfer robot of the utility model, omits robot body in figure Parts thereof.
It is as follows that correspondence is indicated in figure:
10- robot body;11- wrist joint;
12- executes joint;13- pedestal;
14- horizontal rotating table;15- support arm;
16- lever arm;17- first motor;
The 5th motor of 18-;19- first connecting rod;
20- angular adjustment component;21-T shape frame;
22- adjusts motor;23- angular frame;
24- connecting plate;25- mounting plate;
30- absorbent module;31- adsorptive racks;
32- sucker;The first swing arm of 41-;
42- ancon joint;43- second connecting rod;
44- third connecting rod;The second swing arm of 45-.
Specific embodiment
The present invention is described further in the following with reference to the drawings and specific embodiments.
As Figure 1-Figure 2, five axis transfer robot provided in this embodiment, including robot body 10, it is mounted on machine Angular adjustment component 20 on device human body 10 and the absorbent module 30 being mounted on angular adjustment component 20, wherein robot The execution joint 12 that ontology 10 has wrist joint 11 and is rotatably connected on wrist joint 11, the execution joint 12 and wrist close The central axis arrangement for being rotatablely connected axis and executing joint 12 between section 11, i.e. execution joint 12 can be around central shaft certainly Turn.Turned between two components or two parts by one it should be noted that the rotation connection that the present embodiment refers to all refers to Moving axis links together, and connecting can relatively rotate between latter two components or two parts.
Also there is robot body 10 pedestal 13, the horizontal rotating table 14 being rotatably connected on pedestal 13, one end rotation to connect Connect on horizontal rotating table 14 support arm 15, be rotatably connected on 15 other end of support arm lever arm 16, for driving water First motor 17 that flat turntable 14 rotates, the second motor (not shown) for driving support arm 15 to rotate, for driving Move the third motor (not shown) of the rotation of lever arm 16, for driving the 4th motor of the rotation of wrist joint 11 (in figure not Show) and for driving the 5th motor 18 for executing joint 12 and rotating, wherein the second motor is arranged in horizontal rotatable platform 14 On, third motor and the 4th motor are all disposed within support arm 15 at the position of horizontal rotatable platform 14, and wrist joint 11 Then it is rotatably connected on one end of lever arm 16.Pedestal 13 can be fixedly connected on the ground, horizontal rotating table 14 and support arm 15 it Between rotation connection axis, the rotation connection axis between support arm 15 and lever arm 16 and between lever arm 16 and wrist joint 11 Rotation connection axis be arranged parallel, i.e., support arm 15, lever arm 16, wrist joint 11 and execute joint 12 be located at it is same flat On face.
Lever arm 16 is rotatably connected to first connecting rod 19 far from the one end in wrist joint 11, and the position wherein of lever arm 16 It sets or the position close to first connecting rod 19 is rotatablely connected with support arm 15, i.e., support arm 15 is located at first connecting rod 19 and wrist joint Between 11.In addition, be sequentially connected with the first swing arm 41 on the output shaft of third motor, first connecting rod 19 far from lever arm 16 one End and first one end of swing arm 41 far from third motor are mutually rotatablely connected, lever arm 16, support arm 15, first connecting rod 19 and the One swing arm 41 can collectively form a parallelogram sturcutre, be swung by the first swing arm of third motor driven 41, drive activity Arm 16 with support arm 15 be branch spot wobble, and then realize execute joint 12 up and down motion.
The one end of support arm 15 far from horizontal rotating table 14 is also rotatably connected to ancon joint 42, and the two of the ancon joint 42 End is rotatably connected to second connecting rod 43 and third connecting rod 44 respectively, and medium position and support arm 15 are rotatablely connected, and the ancon closes Section 42 on three rotation connection axis in isosceles triangle arrangement, i.e. support arm 15 between second connecting rod 43 and third connecting rod 44, And the rotation connection being rotatablely connected between axis and lever arm 16 and wrist joint 11 between third connecting rod 44 and wrist joint 11 Axis is arranged parallel.In addition, being sequentially connected with the second swing arm 45 on the output shaft of the 4th motor, second connecting rod 43 is far from ancon The one end in joint 42 and the second swing arm 45 are rotatablely connected far from one end of the 4th motor, and third connecting rod 44 is far from ancon joint 42 One end and wrist joint 11 are rotatablely connected, in this way, swung by the 4th the second swing arm of motor driven 45, the second swing arm 45 passes through the Two connecting rods 43 pull or push ancon joint 42 with support arm 15 for branch spot wobble, and ancon joint 42 then passes through 44 band of third connecting rod Dynamic wrist joint 11 rotates, and then realizes that execute joint 12 rotates on perpendicular.
Preferably, in the present embodiment, the rotation connection axis between lever arm 16 and support arm 15 and ancon joint 42 and Rotation connection axis between support arm 15 is coaxially arranged.Wrist joint 11 and execution joint 12, lever arm 16 and third connecting rod 44 Line (line and each line mentioned below be all virtual line) between three tie points of connection can be formed one it is steady Fixed triangular structure, three tie points that ancon joint 42 is connect with third connecting rod 44, lever arm 16 and second connecting rod 43 it Between line can also form a stable triangular structure;Line and activity between the tie point at 44 both ends of third connecting rod Line between the tie point at 16 both ends of arm is arranged parallel, and 16 both ends of the tie point at 44 both ends of third connecting rod and lever arm Tie point can connect to form a stable parallelogram sturcutre by line, between the tie point at 15 both ends of support arm Line, 43 both ends of second connecting rod tie point between 19 both ends of line and first connecting rod tie point between line it is mutually flat Row arrangement, and the tie point at 15 both ends of support arm can connect to form one surely by line with the tie point at 43 both ends of second connecting rod The tie point of fixed parallelogram sturcutre, 19 both ends of tie point and first connecting rod at 15 both ends of support arm can also be connected by line It connects to form a stable parallelogram sturcutre, in this way it can be ensured that multi-joint processing unit (plant) 10 has more stable structure, energy Enough bear biggish load, as long as and keep second connecting rod 43 different, so that it may ensure wrist joint 11 and execute joint 12 Angle with respect to the horizontal plane is constant always.
Angular adjustment component 20 includes the T shape frame 21 being fixedly connected on execute on joint 12, is fixedly connected on T shape frame 21 Adjust motor 22 and transmission connection adjust motor 22 output shaft on angular frame 23, wherein adjust motor 22 output Axis and the central axis cloth for executing joint 12.Angular frame 23 has the connecting plate 24 and mounting plate 25 for being mutually perpendicular to arrangement, even Fishplate bar 24 and the output shaft for adjusting motor 22 are arranged vertically, and are sequentially connected with motor 22 is adjusted.
Preferably, in the present embodiment, motor 22, first motor 17, the second motor, third motor, the 4th motor are adjusted And/or the 5th motor 18 output shaft on be connected with can directly buy from the market acquisition hypocycloid few teeth difference joint slow down Device, i.e., corresponding motor are realized transmission connection by hypocycloid few teeth difference joint speed reducer and corresponding component, are conducive in this way Improve operation precision.
Absorbent module 30 includes the adsorptive racks 31 that are fixedly connected on mounting plate 25 and more than one is mounted on adsorptive racks Sucker 32 on 31, the adsorption plane of sucker 32 and the output shaft for adjusting motor 22 are arranged in parallel, and in the present embodiment, sucker 32 has Multiple, the adsorption plane of each sucker 32 is in the same plane, and certainly, each needs of sucker 32 are connect with external vacuum air-extractor. It should be noted that plate is towards locating for the side of sucker 32 after adsorption plane herein refers to that sucker 32 is adsorbed on plate Plane.
The present invention is described in detail above in conjunction with attached drawing, but embodiments of the present invention be not limited in it is above-mentioned Embodiment, those skilled in the art can make various modifications to the present invention according to the prior art, these belong to practical Novel protection scope.

Claims (7)

1. a kind of five axis transfer robots, which is characterized in that including robot body, the angle being mounted on the robot body The absorbent module that degree adjusts component and is mounted on the angular adjustment component, the robot body have wrist joint and turn The dynamic execution joint being connected on the wrist joint, the rotation connection axis executed between joint and the wrist joint and The central axis arrangement for executing joint, the angular adjustment component include the T being fixedly connected on the execution joint Shape frame, the angle for adjusting motor and be sequentially connected on the output shaft for adjusting motor being fixedly connected on the T shape frame Shape frame, the output shaft for adjusting motor and the central axis arrangement for executing joint, the angular frame, which has, mutually to hang down The connecting plate and mounting plate directly arranged, the connecting plate and the output shaft for adjusting motor are arranged vertically, the absorbent module Adsorptive racks including being fixedly connected on the mounting plate are mounted on the sucker on the adsorptive racks, the sucker with more than one Adsorption plane and it is described adjust motor output shaft be arranged in parallel.
2. five axis transfer robot as described in claim 1, which is characterized in that the sucker have it is multiple, each sucker Adsorption plane is in the same plane.
3. five axis transfer robot as claimed in claim 1 or 2, which is characterized in that the robot body also have pedestal, The horizontal rotating table that is rotatably connected on the pedestal, one end are rotatably connected on support arm on the horizontal rotating table, rotation The lever arm that is connected on the support arm other end, the first motor for driving the horizontal rotating table rotation, for driving Move the second motor of the support arm rotation, the third motor for driving the lever arm rotation, for driving the wrist 4th motor of articulation and for driving the 5th motor for executing articulation, the wrist articulation is connected to One end of the lever arm, rotation connection axis, the support arm between the horizontal rotating table and the support arm and described The rotation connection axis between rotation connection axis and the lever arm and the wrist joint between lever arm is parallel to each other cloth It sets.
4. five axis transfer robot as claimed in claim 3, which is characterized in that the lever arm is far from the wrist joint One end is rotatably connected to first connecting rod, and the first swing arm, the first connecting rod are sequentially connected on the output shaft of the third motor One end and first swing arm far from the lever arm are mutually rotatablely connected far from one end of the third motor, the support Arm is between the first connecting rod and the wrist joint.
5. five axis transfer robot as claimed in claim 3, which is characterized in that the support arm is far from the horizontal rotating table One end be also rotatably connected to ancon joint, the both ends in the ancon joint are rotatably connected to second connecting rod respectively and third connects Bar, is sequentially connected with the second swing arm on the output shaft of the 4th motor, the second connecting rod far from the ancon joint one End and second swing arm are rotatablely connected far from one end of the 4th motor, and the third connecting rod is far from the ancon joint One end is connect with the wrist articulation, and the support arm is between the second connecting rod and the third connecting rod, and institute State the rotation connection axis between third connecting rod and the wrist joint and the rotation between the lever arm and the wrist joint Connecting shaft is arranged parallel.
6. five axis transfer robot as claimed in claim 5, which is characterized in that between the lever arm and the support arm The rotation connection axis being rotatablely connected between axis and the ancon joint and the support arm is coaxially arranged.
7. five axis transfer robot as claimed in claim 3, which is characterized in that the adjusting motor, the first motor, institute State that be connected with hypocycloid on the output shaft of the second motor, the third motor, the 4th motor and/or the 5th motor few Tooth difference joint speed reducer.
CN201820778670.XU 2018-05-23 2018-05-23 A kind of five axis transfer robots Active CN208277220U (en)

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Application Number Priority Date Filing Date Title
CN201820778670.XU CN208277220U (en) 2018-05-23 2018-05-23 A kind of five axis transfer robots

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Application Number Priority Date Filing Date Title
CN201820778670.XU CN208277220U (en) 2018-05-23 2018-05-23 A kind of five axis transfer robots

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Publication Number Publication Date
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093635A (en) * 2018-08-01 2018-12-28 厦门鼎铸智能设备有限公司 Cast dedicated five axis robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109093635A (en) * 2018-08-01 2018-12-28 厦门鼎铸智能设备有限公司 Cast dedicated five axis robot

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