CN209936915U

CN209936915U - Transfer robot

Info

Publication number: CN209936915U
Application number: CN201920745505.9U
Authority: CN
Inventors: 谭玉良; 耿职; 蒋涛涛; 郑雯雯; 祝传林; 许金明; 詹腾; 陈展
Original assignee: Bengbu Triumph Engineering and Technology Co Ltd
Current assignee: Bengbu Triumph Engineering and Technology Co Ltd
Priority date: 2019-05-22
Filing date: 2019-05-22
Publication date: 2020-01-14
Anticipated expiration: 2029-05-22

Abstract

The utility model discloses a transfer robot, including base, elevating gear, big arm rotating device, forearm rotating device and execution rotating device, fixed elevating gear on the base, big arm rotating device one end is fixed on elevating gear, and forearm rotating device is connected to the other end, be fixed with the execution rotating device who connects actuating mechanism on the forearm rotating device. The utility model has the advantages of, through elevating gear's setting, realize reciprocating of actuating mechanism, increased actuating mechanism's translation stroke, positioning accuracy is high, and execution rotating device's setting reduces original lead screw effect, is favorable to the operation in the little space, and the application range is bigger, and this robot overall structure is simple compact moreover, the processing cost is lower.

Description

Transfer robot

Technical Field

The utility model relates to the technical field of robot, specifically be a transfer robot.

Background

With the rise of labor prices, the advantages of "population dividends" in the manufacturing industry of china are continuously disappearing. The promotion of intelligentized and modernized equipment industries is realized, the population dividend is promoted to be converted to the technical dividend, and the method becomes a necessary choice for optimizing and upgrading the Chinese manufacturing industry and continuously increasing the economy. In the automatic production line of the industries such as light industry, medicine, food, electronics and the like, the robot is pushed to change people, the conversion from the traditional industry to intelligent equipment is realized, the population dividend is shifted to the technical dividend, the optimized upgrading of the industry and the continuous increase of the economy are realized, and the automatic production line has the pushing effect on realizing the technical progress and improving the production efficiency; in addition, it is important to improve the quality of labor, promote the adjustment of industrial structure, and promote the transformation of industrial development. The robot is an operation robot which is usually required to be arranged in a space for repeated work in an operation process in order to reduce the labor intensity of human beings and improve the work efficiency. The existing robot adopts five-axis or more freedom degree space manipulator under most conditions, but the manufacturing cost is too high; the traditional SCARA (selective company Assembly Robot) Robot has three motors and a ball screw arranged on a small arm thereof due to the self factors, so that the action range of the Robot is limited; in addition, in the translational parallel robot mechanism, the acceleration of the end effector is limited, so that the position and posture accuracy is difficult to ensure.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve lies in: the existing robot has high manufacturing cost, limited action range and difficult guarantee of precision.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model provides a transfer robot, includes base, elevating gear, big arm rotating device, forearm rotating device and execution rotating device, fixed elevating gear on the base, big arm rotating device one end is fixed on elevating gear, and forearm rotating device is connected to the other end, be fixed with the execution rotating device who connects actuating mechanism on the forearm rotating device, through elevating gear's setting, realize reciprocating of actuating mechanism, increased actuating mechanism's translation stroke, positioning accuracy is high, and execution rotating device's setting reduces original lead screw effect, is favorable to the operation in the little space, and the range of action is bigger, and this robot overall structure is simple compact moreover, the processing cost is lower.

Preferably, elevating gear includes mount pad, mounting panel, elevator motor, first speed reducer, transmission lead screw, supporting seat and screw-nut, the mount pad is fixed on the base, the equal vertical fixing on the mount pad of mounting panel and elevator motor, first speed reducer is connected to elevator motor's output, first speed reducer passes through coupling joint transmission lead screw, the both ends of transmission lead screw are fixed on the mounting panel through the supporting seat, the transmission lead screw cover between the supporting seat is equipped with the screw-nut that can reciprocate, screw-nut connects big arm rotating device, through the rotation of elevator motor control transmission lead screw, drives the reciprocating of big arm rotating device on elevating gear to realize reciprocating of actuating mechanism, increased actuating mechanism's translation stroke, improve positioning accuracy.

Preferably, the lifting motor is fixed on the mounting base through a first flange.

Preferably, a first housing is fixed to the mounting plate.

Preferably, the mounting plate is further fixed with a sliding rail parallel to the transmission screw rod, the sliding rail is provided with a sliding block capable of moving up and down, and the sliding block is connected with the large-arm rotating device.

Preferably, the big arm rotating device comprises a big arm mounting seat, a big arm motor, a second speed reducer and a big arm, the big arm mounting seat is fixed on the screw rod nut and the sliding block, the big arm motor is fixed on the big arm mounting seat, the output end of the big arm motor is connected with the big arm through the second speed reducer, and one end of the big arm far away from the second speed reducer is connected with the small arm rotating device.

Preferably, the boom motor is fixed to the boom mounting base by a second flange.

Preferably, a second cover casing is fixed on the large arm mounting seat.

Preferably, the forearm rotating device comprises a forearm motor, a third speed reducer and a forearm, the output end of the forearm motor is connected with the third speed reducer, the output end of one side of the third speed reducer is connected to the large arm, the other side of the third speed reducer is connected with the forearm through a third flange, and the forearm is provided with an execution rotating device.

Preferably, carry out rotating device including rotating motor, planetary reducer, driving pulley, spline nut, spline and driven pulleys, planetary reducer is connected to the output that rotates the motor to fix on the forearm through planetary reducer, driving pulley is connected to planetary reducer's output, the spline nut passes through the nut gland to be fixed in the forearm and keeps away from the one end of forearm motor, be equipped with the matched with spline on the spline nut, connect driven pulleys on the spline, driving pulley passes through the hold-in range and connects driven pulleys, and this transmission mode precision is high, also makes the structure compacter, does benefit to the operation in the little space, and the application range is bigger.

Compared with the prior art, the beneficial effects of the utility model are that:

the robot has the advantages that the up-down movement of the executing mechanism is realized through the arrangement of the lifting device, the translation stroke of the executing mechanism is increased, the positioning precision is high, the arrangement of the rotating device is executed, the original screw rod effect is reduced, the operation in a small space is facilitated, the acting range is larger, the whole structure of the robot is simple and compact, and the processing cost is lower.

Drawings

Fig. 1 is a schematic structural view of a transfer robot according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a lifting device, a large arm rotating device, a small arm rotating device and an execution rotating device according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a lifting device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a large arm rotating device, a small arm rotating device and an executing rotating device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a second lifting device according to an embodiment of the present invention.

Detailed Description

In order to facilitate the understanding of the technical solutions of the present invention by those skilled in the art, the technical solutions of the present invention will now be further described with reference to the drawings attached to the specification.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Example one

Referring to fig. 1, the present embodiment discloses a transfer robot, which includes a base 1, a lifting device 2, a large arm rotation device 3, a small arm rotation device 4, and an execution rotation device 5, the base 1 is a hollow base with an opening at the upper end, the lifting device 2 is fixed on the base 1, one end of the big arm rotating device 3 is fixed on the lifting device 2, the other end is connected with the small arm rotating device 4, an actuating rotating device 5 connected with an actuating mechanism (not shown) is fixed on the small arm rotating device 4, through the setting of lifting device 2, realize reciprocating of actuating mechanism, increased actuating mechanism's translation stroke, positioning accuracy is high, and the setting of execution rotating device 5 reduces original lead screw effect, is favorable to the operation in the little space, and the operating range is bigger, and this robot overall structure is simple compact moreover, the processing cost is lower.

Referring to fig. 2 to 3, the lifting device 2 includes a mounting base 21, a mounting plate 22, a lifting motor 23, a first flange 24, a first speed reducer 25, a coupler 26, a transmission screw 27, a supporting base 28 and a screw nut 29, the mounting base is an L-shaped base and is fixed on the upper surface of the base 1 through screws, the mounting plate 22 is vertically fixed on the upper surface of the mounting base 21, the lifting motor 23 is connected to the mounting base 21 through the first flange 24, a body of the lifting motor 23 is arranged under the mounting base 21 and is arranged in the hollow base 1, an output end of the lifting motor 23 extends out of the upper surface of the mounting base 21 and is connected with the first speed reducer 25, the first speed reducer 25 is connected with the lower end of the transmission screw 27 through the coupler 26, two ends of the transmission screw 27 are fixed on the mounting plate 22 through the supporting base 28, the screw nut 29 capable of moving up and down is sleeved on the transmission screw 27 between the supporting bases, the screw nut 29 is connected with the large-arm rotating device 3 through a bolt, the lifting motor 23 controls the rotation of the transmission screw 27, the screw nut 29 is driven to move up and down on the transmission screw 27, and the large-arm rotating device 3 is driven to move up and down on the lifting device 2, so that the up and down movement of an executing mechanism (not shown) is realized, the translation stroke of the executing mechanism is increased, and the positioning precision is improved.

Referring to fig. 4, the large arm rotating device 3 includes a large arm mounting base 31, a large arm motor 32, a second flange 33, a second speed reducer 34 and a large arm 35, the large arm mounting base 31 is fixed on the screw nut 29 and moves by up-and-down movement of the screw nut 29, the large arm motor 32 is fixed on the large arm mounting base 31 through the second flange 33, an output end of the large arm motor 32 is connected with the large arm 35 through the second speed reducer 34, one end of the large arm 35, which is far away from the second speed reducer 34, is connected with the small arm rotating device 4, and the large arm is driven to rotate by rotation of the large arm motor 32, so that the small arm rotating device 4 at one end of the large arm 35 is controlled to rotate.

The forearm rotating device 4 comprises a forearm motor 41, a third speed reducer 42, a third flange 43 and a forearm 44, the third speed reducer 42 is connected with the output end of the forearm motor 41, the output end of one side of the third speed reducer 42 is connected to the large arm 35 and is in running fit with the large arm 35, the fixed end of the other side is connected with the forearm 44 through the third flange 43, the forearm 44 is provided with an execution rotating device 5, the third speed reducer 42 is in running fit with the large arm 35, the large arm 35 is relatively fixed, and the forearm 44 fixed on the third speed reducer 42 rotates relatively, so that the execution rotating device 5 at the other end of the forearm 44 is driven to rotate.

The executing and rotating device 5 comprises a rotating motor 51, a planetary reducer 52, a driving pulley 53, a spline nut 54, a nut gland 55, a spline 56 and a driven pulley 57, wherein the output end of the rotating motor 51 is connected with the planetary reducer 52 and fixed on the upper surface of the middle section of the small arm 44 through the planetary reducer 52, the output end of the planetary reducer passes through the small arm 44 and is connected with the driving pulley 53, the spline nut 54 is fixed on one end of the small arm 44 far away from the small arm motor 41 through the nut gland 55, the spline nut 54 is provided with a matched spline 56, the spline 56 is used for connecting an executing mechanism (not shown), the lower end of the spline 56 is provided with the driven pulley 57 in matching connection with the driving pulley 53, the driving pulley 53 is connected with the driven pulley 57 through a synchronous belt (not shown), and the driving pulley is driven to rotate through the, and then the synchronous belt drives the driven belt pulley 57 to rotate, so that the spline 56 rotates on the spline nut 54, the execution mechanism connected to the spline 56 rotates, the planetary reducer 52 and the synchronous belt are used for driving the spline 56 to transmit, the transmission mode has high precision, the structure is more compact, the operation in a small space is facilitated, and the action range is larger.

Further, install first housing 6 on the mounting panel 22, install second housing 7 on the big arm mount pad 31, first housing 6 and second housing 7 all are used for preventing dust, improve this robot's life-span.

The working principle of the embodiment is as follows: the large arm motor 32 and the small arm motor 41 are started, the large arm 35 and the small arm 44 are driven to rotate by the rotation of the large arm motor 32 and the small arm motor 41, the execution rotating device 5 on the small arm 44 is rotated right above a workpiece to be processed, the rotating motor 51 is started to drive the spline 56 to rotate, so that the execution mechanism connected to the spline 56 rotates the position to be processed, finally the lifting motor 23 is started to drive the transmission screw rod 27 to rotate, so that the large arm rotating device 3 descends on the lifting device 2, the operation of the lifting motor 23 is stopped when the execution mechanism grabs the workpiece, the workpiece is grabbed, similarly, the operation of the grabbed workpiece can be completed according to the steps, the robot increases the translation stroke of the execution mechanism, has high positioning precision, reduces the original screw rod effect, is beneficial to the operation in a small space, and has a larger acting range, and the robot has simple and compact integral structure and lower processing cost.

Example two

Referring to fig. 5, in this embodiment, on the basis of the first embodiment, the mounting plate 22 is further fixed with a sliding rail 221 parallel to the transmission screw 27, the sliding rail 221 is provided with a sliding block 222 capable of moving up and down, the sliding block 222 is connected to the large arm mounting seat 31 on the large arm rotating device 3, and by the arrangement of the sliding rail and the sliding block, not only the upward movement of the large arm mounting seat 31 is facilitated, but also a limiting effect can be started on the large arm mounting seat 31, so that the stability of the large arm rotating device 3 is improved.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The above embodiments only show the embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and for those skilled in the art, a plurality of modifications and improvements can be made without departing from the concept of the present invention, and these modifications and improvements all belong to the protection scope of the present invention.

Claims

1. A transfer robot, characterized in that: the lifting device is fixed on the base, one end of the large-arm rotating device is fixed on the lifting device, the other end of the large-arm rotating device is connected with the small-arm rotating device, and the small-arm rotating device is fixed with an execution rotating device connected with an execution mechanism.

2. A transfer robot as recited in claim 1, wherein: elevating gear includes mount pad, mounting panel, elevator motor, first speed reducer, transmission lead screw, supporting seat and screw-nut, the mount pad is fixed on the base, the equal vertical fixing on the mount pad of mounting panel and elevator motor, first speed reducer is connected to elevator motor's output, first speed reducer passes through coupling joint transmission lead screw, the both ends of transmission lead screw are passed through the supporting seat and are fixed on the mounting panel, transmission lead screw cover between the supporting seat is equipped with the screw-nut that can reciprocate, screw-nut connects the bull-arm rotating device.

3. A transfer robot as recited in claim 2, wherein: the lifting motor is fixed on the mounting base through the first flange.

4. A transfer robot as recited in claim 2, wherein: a first housing is fixed on the mounting plate.

5. A transfer robot as recited in claim 2, wherein: the mounting plate is further fixedly provided with a sliding rail parallel to the transmission screw rod, the sliding rail is provided with a sliding block capable of moving up and down, and the sliding block is connected with the large-arm rotating device.

6. The transfer robot according to claim 5, wherein: the large arm rotating device comprises a large arm mounting seat, a large arm motor, a second speed reducer and a large arm, the large arm mounting seat is fixed on the screw rod nut and the sliding block, the large arm motor is fixed on the large arm mounting seat, the output end of the large arm motor is connected with the large arm through the second speed reducer, and one end, far away from the second speed reducer, of the large arm is connected with the small arm rotating device.

7. The transfer robot according to claim 6, wherein: and the large arm motor is fixed on the large arm mounting seat through a second flange.

8. The transfer robot according to claim 6, wherein: and a second housing is fixed on the large arm mounting seat.

9. The transfer robot according to claim 6, wherein: the forearm rotating device comprises a forearm motor, a third speed reducer and a forearm, the output end of the forearm motor is connected with the third speed reducer, the output end of one side of the third speed reducer is connected to the large arm, the other side of the third speed reducer is connected with the forearm through a third flange, and an execution rotating device is arranged on the forearm.

10. A transfer robot as recited in claim 9, wherein: execute rotating device including rotating motor, planetary reducer, driving pulley, spline nut, spline and driven pulleys, planetary reducer is connected to the output that rotates the motor to fix on the forearm through planetary reducer, driving pulley is connected to planetary reducer's output, the one end of keeping away from the forearm motor at the forearm is fixed through the nut gland to the spline nut, be equipped with the matched with spline on the spline nut, connect driven pulleys on the spline, driven pulleys passes through the hold-in range and connects driven pulleys.