CN214924398U - Multi-arm rotary robot - Google Patents
Multi-arm rotary robot Download PDFInfo
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- CN214924398U CN214924398U CN202121244714.9U CN202121244714U CN214924398U CN 214924398 U CN214924398 U CN 214924398U CN 202121244714 U CN202121244714 U CN 202121244714U CN 214924398 U CN214924398 U CN 214924398U
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- 239000000725 suspension Substances 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Abstract
The utility model relates to a multi-arm rotary robot belongs to the robot field. The technical scheme is as follows: including the rotation track and around the extension arm of rotation track operation, be equipped with the manipulator on the extension arm, the rotation track is the ring form, and orbital periphery of gyration is fixed in the sky frame, and orbital inner peripheral surface of gyration is equipped with rotary driving mechanism, and orbital the last side of gyration is the track face, and the dolly setting of gyration is on the track face, rotary driving mechanism drive gyration dolly moves on the track of gyration, and the middle part of sky frame extends the suspension post to orbital center of gyration, and the one end of extension arm articulates in the suspension post, extension arm and the gyration dolly that corresponds are equipped with multiunit and relative orbital center of gyration equiangular arrangement. The utility model has the advantages that: the manipulator can rotate in the circular track range, and the manipulator is unlimited in position and wide in operation range.
Description
Technical Field
The utility model relates to a multi-arm rotary robot belongs to the robot field.
Background
The existing truss manipulator is a manipulator structure which is arranged in a suspended mode and moves along a straight line. The linear truss has the motion characteristic of linear motion, and the manipulator carries and moves materials on one side or two sides of the linear truss.
This configuration is suitable for flow lines with rectilinear layouts, for example in machining lines where the production of a component requires movement from one machine to another machine arranged in line. The truss layout structure limits the movement of parts on machine tools at different positions, and reduces the automatic production efficiency.
Disclosure of Invention
The invention provides a multi-arm rotary robot, which realizes the movement and the transportation of a manipulator in a circular range.
In order to achieve the above object, the utility model adopts the following technical scheme:
the multi-arm rotary robot comprises a rotary track and an extension arm running around the rotary track, wherein a mechanical arm is arranged on the extension arm, the rotary track is in a ring shape, the periphery of the rotary track is fixed on a suspension frame, the inner peripheral surface of the rotary track is provided with a rotary driving mechanism, the upper side surface of the rotary track is a track surface, a rotary trolley is arranged on the track surface, the rotary driving mechanism drives the rotary trolley to move on the rotary track, a suspension column extends out of the middle of the suspension frame to the center of the rotary track, one end of the extension arm is hinged to the suspension column, the middle of the extension arm is arranged below the rotary trolley, and the extension arm and the corresponding rotary trolley are provided with a plurality of groups and are arranged at equal angles relative to the center of the rotary track.
Preferably, a linear driving structure is arranged between the extension arm and the manipulator, the linear driving structure is a screw transmission pair, two ends of a screw in the screw transmission pair are arranged at the end parts of two ends of the extension arm, a screw motor for driving the screw is arranged at the connection position of the extension arm and the suspension column, and a nut pair matched with the screw is fixed on a manipulator base.
Preferably, two parallel limiting shafts are arranged on the two sides of the screw rod on the lower side of the extension arm, the manipulator base is provided with a sliding block, the sliding block is located between the two limiting shafts, and the sliding block extends out of the two sides of the limiting shafts to be limited in a protruding mode.
Preferably, the rotary driving mechanism is a gear driving mechanism, a circle of annular gear meshing transmission is arranged on the inner circumferential surface of the rotary track, a driving gear and the annular gear meshing transmission are arranged on the gear driving mechanism, the driving gear and the rotary motor are arranged on a driving frame, the driving frame is upwards connected with the rotary trolley, and the driving frame is downwards connected with the extension arm.
Preferably, the rotary trolley is provided with two sets of moving wheels which move on the upper rail surface of the rotary rail, and the rotary trolley, the driving frame and the extension arm form a rigid body and rotate around the suspension column.
The utility model has the advantages that:
the manipulator can rotate in the circular track range, the position is not limited, and the operation range is wide;
the motion range of the manipulator is lengthened through the extension arm, and the motion range is large;
adopt gear drive, drive power is stable, and the multiunit manipulator can remove a plurality of objects simultaneously, and professional efficiency is high.
Drawings
FIG. 1 is a perspective view of the upper part of the utility model,
figure 2 is a lower perspective view perspective structure diagram of the present invention,
figure 3 is a side view of the present invention,
figure 4 is a bottom view of the present invention,
fig. 5 is a cutaway view of the manipulator position of the present invention.
Reference numerals: 1. the robot comprises a rotary track, 2, an extension arm, 3, a manipulator, 4, a suspension frame, 5, a track surface, 6, a rotary trolley, 7, a driving frame, 8, a suspension column, 9, a linear driving structure, 10, a screw motor, 11, a manipulator base, 12, a nut pair, 13, a limiting shaft, 14, a protruding limiting part, 15, an inner gear ring, 16, a screw rod, 17 and a roller.
Detailed Description
The following further explains the specific contents of the present invention:
the utility model relates to a multi-arm rotary robot, through setting up rotatory and extension arm mechanism with the home range extension of manipulator circular, this structure is unsettled, adapts to the equipment or the spare part transport between multiple equipment.
Specifically, as shown in fig. 1, the multi-arm rotary robot includes a rotary rail 1, an extension arm 2, and a manipulator 3. The rotary track is of a circular annular structure and serves as a track structure for the extension arm and the manipulator to run, the running environments on two sides of the traditional linear track can be expanded to be circular, and the running range of the manipulator is widened.
The periphery of the rotary track 1 is fixed on the suspension frame 4, the suspension frame 4 comprises a cross beam, four end parts of the cross beam extend downwards to form a connecting beam, the connecting beam is connected downwards to the outer peripheral surface of the rotary track, a convex supporting beam is arranged on the lower portion of the connecting beam and fixed on the lower side surface of the rotary track, the middle of the suspension frame extends out of a suspension column 8 to the center of the rotary track 1, and the suspension column 8 is connected to an extension arm. The suspension frame 4 suspends the rotary rail, and compared with the placement positions of a vertical wall surface and the ground, the moving space is large, and the operation interference of a plurality of manipulators is small. The suspension frame is fixed at the top of a workshop, the placing position cannot influence the position of the existing equipment, the installation can be improved in the existing workshop, and the purpose of automatic upgrading can be achieved without moving the existing equipment.
The upper side surface of the rotary track 1 is a track surface, and the rotary trolley 6 is arranged on the track surface 5. The rotary trolley is provided with two groups of moving wheels which move on the upper side rail surface 5 of the rotary rail 1, and wheel shafts of the two groups of moving wheels are arranged on a moving frame.
A rotary driving mechanism is arranged between the rotary trolley 6 and the rotary track 1 and is positioned on the inner circumferential surface of the rotary track 1. The rotary driving mechanism is a gear driving mechanism, a circle of inner gear ring 15 is arranged on the inner circumferential surface of the rotary track 1 for meshing transmission, a driving gear is arranged on the gear driving mechanism and is in meshing transmission with the inner gear ring 15, the driving gear and the rotary motor are arranged on a driving frame 7, the driving frame 7 is upwards connected with the rotary trolley, and the driving frame 7 is downwards connected with the extension arm 2.
One end of the extension arm 2 is hinged to a suspension column 8 in the center of the rotation track, three groups of extension arms 2 are arranged on the suspension column 8 in an up-down stacked mode, holes are formed in the suspension column 8 to penetrate through the suspension column, and bearings are arranged at the positions where hole shafts are connected to support the suspension column, so that the purposes of rotation and support are achieved. The middle parts of the extension arms 2 are arranged below the rotary trolley 6, and the three groups of extension arms 2 and the centers of the opposite rotary tracks 1 are arranged at equal angles and are distributed radially.
Be equipped with linear drive structure 9 between the lower part of extension arm 2 and manipulator 3, linear drive structure 9 is screw drive pair, and the lead screw both ends setting in screw drive pair is at the both ends tip of extension arm 2, and the lead screw both ends are the optical axis, fix on the extension arm through bearing arrangement.
The extension arm 2 is provided with a screw motor 10 for driving a screw at the position of the suspended column, and the screw motor 10 is connected with the screw through a coupling. And the nut pair matched with the lead screw is fixed on the manipulator base 11. Two parallel limiting shafts 13 are arranged on two sides of the screw rod on the lower side of the extension arm 2, the manipulator base 11 is provided with a sliding block between the two limiting shafts 13, and the sliding block extends to two sides of the limiting shafts 13 to form protruding limiting parts 14. The protruding limit 14 is supported by two limit shafts, and the support of the linear manipulator on gravity is realized.
The extension arm has expanded the motion range of manipulator, has increased the area that this device covered, can match multiple processing equipment under an equipment, has improved the availability factor.
The rotary trolley 6, the driving frame 7 and the extension arm 2 form a rigid body, the rotary driving mechanism drives the gear structure to be in meshing transmission along the inner gear ring of the rotary track, the rotary trolley is further driven to move along the track surface of the rotary track, and the rotary trolley drives the extension arm to rotate around the rotary track, so that the manipulator is driven to rotate.
When the manipulator needs to move along the radial direction of the rotary rail, the screw rod transmission pair drives the manipulator to move, so that the rotation and the radial movement along the rotary surface are realized, the movement of the manipulator within the coverage range is realized, and the movement range of the manipulator is greatly improved.
Claims (5)
1. The multi-arm rotary robot comprises a rotary track (1) and an extension arm (2) which rotates around the rotary track (1), wherein a mechanical arm (3) is arranged on the extension arm (2), and is characterized in that the rotary track (1) is in a circular ring shape, a suspended frame (4) is fixed on the periphery of the rotary track (1), a rotary driving mechanism is arranged on the inner circumferential surface of the rotary track (1), the upper side surface of the rotary track (1) is a track surface (5), a rotary trolley (6) is arranged on the track surface (5), the rotary driving mechanism drives the rotary trolley (6) to move on the track surface of the rotary track (1), a suspended column (8) extends from the middle part of the suspended frame to the center of the rotary track (1), one end of the extension arm (2) is hinged to the suspended column (8), the middle part of the extension arm (2) is arranged below the rotary trolley (6), and the extension arm (2) and the corresponding rotary trolley (6) are provided with multiple groups and are opposite to the middle part of the rotary track (1) The centers are arranged at equal angles.
2. The multi-arm rotary robot of claim 1, wherein a linear driving structure (9) is arranged between the extension arm (2) and the manipulator (3), the linear driving structure (9) is a screw transmission pair, two ends of a screw in the screw transmission pair are arranged at two end parts of the extension arm (2), the extension arm (2) is provided with a screw motor (10) for driving the screw at a connecting position with the suspension column (8), and a nut pair matched with the screw is fixed on a manipulator base (11).
3. The multi-arm rotary robot of claim 2, characterized in that the lower side of the extension arm (2) is provided with two parallel limit shafts (13) on both sides of the lead screw, the manipulator base (11) is provided with a slide block between the two limit shafts (13), and the slide block extends a protruding limit (14) above the limit shafts (13).
4. The multi-arm rotary robot of claim 1, wherein the rotary driving mechanism is a gear driving mechanism, the inner circumferential surface of the rotary track (1) is provided with a circle of inner gear ring (15), the gear driving mechanism is provided with a driving gear which is meshed with the inner gear ring (15) for transmission, the driving gear and the rotary motor are arranged on a driving frame (7), the driving frame (7) is upwards connected with the rotary trolley, and the driving frame (7) is downwards connected with the extension arm (2).
5. A multi-arm rotary robot according to claim 4, characterized in that the rotary trolley is provided with two sets of moving wheels to move on the track surface (5) of the rotary track (1), and the rotary trolley, the driving frame (7) and the extension arm (2) form a rigid body to rotate around the suspension posts (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121244714.9U CN214924398U (en) | 2021-06-04 | 2021-06-04 | Multi-arm rotary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121244714.9U CN214924398U (en) | 2021-06-04 | 2021-06-04 | Multi-arm rotary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214924398U true CN214924398U (en) | 2021-11-30 |
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ID=79055134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121244714.9U Active CN214924398U (en) | 2021-06-04 | 2021-06-04 | Multi-arm rotary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214924398U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115157211A (en) * | 2022-09-05 | 2022-10-11 | 山东迪蒙特佳金刚石模具有限公司 | Multifunctional manipulator for material taking |
-
2021
- 2021-06-04 CN CN202121244714.9U patent/CN214924398U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115157211A (en) * | 2022-09-05 | 2022-10-11 | 山东迪蒙特佳金刚石模具有限公司 | Multifunctional manipulator for material taking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shandong Dingsheng Electrical Equipment Co.,Ltd. Assignor: ZAOZHUANG University Contract record no.: X2024980013712 Denomination of utility model: Multi arm rotary robot Granted publication date: 20211130 License type: Common License Record date: 20240905 |
|
| EE01 | Entry into force of recordation of patent licensing contract |