CN217292327U - Robot with mobile module - Google Patents
Robot with mobile module Download PDFInfo
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- CN217292327U CN217292327U CN202220808836.4U CN202220808836U CN217292327U CN 217292327 U CN217292327 U CN 217292327U CN 202220808836 U CN202220808836 U CN 202220808836U CN 217292327 U CN217292327 U CN 217292327U
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- material taking
- module
- robot
- swing arm
- rotary joint
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Abstract
The utility model provides a robot of module is removed in area, its characterized in that: including rectilinear movement module, base, first rotary joint module, first swing arm, second rotary joint module and second swing arm, wherein the base with rectilinear movement module sliding connection, first swing arm passes through first rotary joint module with base rotatable coupling, first swing arm is kept away from the one end of first rotary joint module is passed through second rotary joint module with second swing arm rotatable coupling, the utility model discloses a remove big module and fold the arm design with being parallel, the manipulator motion is nimble, compact structure, and the range of motion is wide, improves the robot availability factor, and the speed reduction robot drops into, saves occupation space.
Description
Technical Field
The utility model belongs to the technical field of automation and specifically relates to a robot is related to.
Background
The existing robot is often provided with a material taking and placing mechanism at an arm end, the material taking and placing mechanism is often provided with only one clamping jaw or one sucking disc, only one material can be taken and placed at each time, and the efficiency is low. In addition, even if the material taking and placing mechanism is provided with a plurality of clamping jaws or suckers, the clamping jaws or suckers cannot independently rotate, or the structure/control scheme is complex and the like, and needs to be further optimized.
In addition, the material taking and placing efficiency, the movement flexibility, the structure compactness and the like of the existing robot need to be further improved.
Disclosure of Invention
The utility model discloses a main objective is not enough in order to overcome prior art's part, provides a robot of module is removed in area.
The utility model discloses a take robot of mobile module, its characterized in that: including rectilinear movement module, base, first rotary joint module, first swing arm, second rotary joint module and second swing arm, wherein the base with rectilinear movement module sliding connection, first swing arm passes through first rotary joint module with base rotatable coupling, first swing arm is kept away from the one end of first rotary joint module passes through the second rotary joint module with second swing arm rotatable coupling.
Preferably, the robot with the moving module further comprises a turret mechanism, and the turret mechanism is arranged at one end of the second swing arm far away from the second rotary joint module.
Preferably, a plurality of material taking heads are arranged on the turret mechanism.
Preferably, the length L of the first swing arm is smaller than the height H of the base.
Preferably, the rotation axis of the first rotary joint module and the moving direction of the linear moving module are in the same direction.
Preferably, the first rotary joint module comprises a rotary mechanism with a speed reducer.
Preferably, the rotating shaft of the second rotary joint module and the rotating shaft of the first rotary joint module are arranged in parallel.
Preferably, the turret mechanism comprises a turret seat, a turret rotating assembly, a material taking head rotating assembly and a plurality of material taking heads, the plurality of material taking heads are arranged on the turret seat, the turret rotating assembly drives the turret seat to rotate so as to switch the material taking heads, and the material taking head rotating assembly drives the material taking heads to rotate.
Preferably, the material taking head rotating assembly comprises a material taking head driving synchronizing wheel, a material taking head driving shaft, a driving bevel gear, a sub bevel gear and a material taking head self-rotating shaft, wherein the material taking head driving synchronizing wheel is arranged at one end of the material taking head driving shaft, and the driving bevel gear is arranged at the other end of the material taking head driving shaft; each material taking head is correspondingly provided with a material taking head rotating shaft, one end of each material taking head rotating shaft is connected with the material taking head, and the other end of each material taking head rotating shaft is provided with the sub bevel gear; and each sub bevel gear is in meshed connection with the driving bevel gear respectively.
Preferably, the second swing arm is further provided with a first motor and a second motor, and the first motor and the second motor drive the material taking head driving synchronous wheel and the turret driving synchronous wheel to rotate through corresponding synchronous belts respectively.
The advantageous effects of the present invention will be described with reference to the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of a turret mechanism from a certain perspective;
FIG. 2 is a cross-sectional view taken at A-A of FIG. 1;
FIG. 3 is a perspective view of the turret mechanism of FIG. 1;
FIG. 4 is a schematic view of the turret mechanism in a different shape and configuration for the take-out head;
FIG. 5 is a schematic view of the overall structure of a robot with a mobile module;
fig. 6 is a schematic plan view of fig. 5 from a certain viewing angle.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that all directional indicators (such as … …, i.e. upper, lower, left, right, front, rear, etc.) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, in the present invention, when only the structures and components related to the solution of the technical problem are described, the technical features that are known to be necessary, the components and the connection relation, or can be determined by combining the drawings and the common general knowledge are not described below, but are not equal to the structures and components that are not present in the technical solution, and should not be a reason for insufficient disclosure.
Referring to fig. 5 and 6, in a preferred embodiment, the robot with a moving module comprises a linear moving module 21 and a base 22, wherein the base 22 is connected with the linear moving module 21 through a sliding block, and the base 22 can move linearly on the linear moving module 21. The linear motion module 21 may be a linear motor drive, or a combination of a servo motor and a timing belt.
The robot with moving module further comprises a first rotary joint module 23, a first swing arm 24, a second rotary joint module 25, a second swing arm 26 and a turret mechanism 1. Wherein, the first swing arm 24 is rotatably connected with the base 22 through the first rotary joint module 23. The first swing arm 24 rotates relative to the base 22 under the driving control of the first rotary joint module 23. Preferably, the rotation axis of the first rotary joint module 23 and the moving direction of the linear movement module 21 are in the same direction.
The first rotary joint module 23 includes a rotating mechanism with a speed reducer, and the rotating mechanism with the speed reducer may be formed by connecting a speed reducer and a motor through a flange, or may be a motor with a speed reducer or a speed reduction motor.
In a preferred embodiment, the length L of the first swing arm 24 is less than the height H of the base 22. Therefore, the distance between the base 22 and the first swing arm 24 is smaller, the space can be saved, meanwhile, the length L of the first swing arm 24 is smaller than the sum H of the heights of the base 22 and the rotary support, the first swing arm 24 can rotate freely left and right and is not blocked by the linear moving module 21, and the flexibility and the space movement freedom degree of the swing arm are improved.
And one end of the first swing arm 24 far away from the first rotary joint module 23 is connected with a second swing arm 26 through a second rotary joint module 25. The rotation axis of the second rotary joint module 25 and the rotation axis of the first rotary joint module 23 are arranged in parallel. The second swing arm 26 can be rotated by the first swing arm 24 via the second rotary joint module 25.
The end of the second swing arm 26 remote from the second rotary joint module 25 is provided with a turret mechanism 1. The turret mechanism 1 is able to rotate on the second swing arm 26. Preferably, the rotation axis of the turret mechanism 1 and the second rotary joint module 25 are parallel.
The turret mechanism 1 is provided with at least more than two clamping jaws, or more than two vacuum suction heads, or a combination of more than one vacuum suction head and more than one vacuum clamping jaw. The turret mechanism 1 rotates to switch different clamping jaws or suction heads to pick up materials, so that multiple groups of products can be quickly picked and placed and switched, the motion frequency of the robot is reduced, the turnover time of picking and placing materials of equipment is prolonged, and the production efficiency of the equipment is greatly improved. The quick material taking and placing switching device is widely applied to various types of assembly, and products or jigs of detection equipment are quickly taken, placed and switched.
In operation, the robot can first move linearly through the whole of the linear movement module 21, the first swing arm 24, the second swing arm 26 and the turret mechanism 1. In addition, since the rotation axes of the first rotary joint module 23 and the second rotary joint module 25 are parallel, the first rotary joint module 23 can drive the whole of the first swing arm 24 and the second swing arm 26 and the turret mechanism 1 to rotate on the corresponding plane to adjust the orientation on the plane. And the second swing arm 26 and the turret mechanism 1 can be driven to rotate further on the plane through the second rotary joint module 25, so as to adjust the included angle between the second swing arm 26 and the first swing arm 24 and the total length of the outward extension of the second swing arm 26 and the first swing arm 24. Finally, different clamping jaws or suction heads can be switched to pick up materials to quickly pick and place and switch a plurality of groups of products through rotation of the turret mechanism 1, the motion frequency of the robot is reduced, the turnover time of picking and placing materials of equipment is prolonged, and the production efficiency of the equipment is greatly improved.
Referring to fig. 1 to 3, in a preferred embodiment, a turret mechanism 1 comprises:
the turret base 11 has a base plate 111 and a plurality of side plates 112.
And the turret rotating component is used for driving the whole turret to rotate so as to switch different material taking heads 14 to take the materials.
And the plurality of material taking heads 14 are respectively arranged on the side plates 112 corresponding to the turret seat 11.
And the material taking head rotating assembly is used for driving each material taking head 14 to rotate.
The material taking head rotating assembly comprises a material taking head driving synchronizing wheel 121, a material taking head driving shaft 122, a driving bevel gear 123, a sub bevel gear 124, a material taking head rotating shaft 125 and the like. Wherein, get material head drive synchronizing wheel 121 and locate the one end of getting material head drive shaft 122, get material head drive synchronizing wheel 121 and rotate through first motor and the drive of corresponding hold-in range. The other end of the take-off head drive shaft 122 is provided with a drive bevel gear 123, i.e., a large bevel gear. Each material taking head 14 is correspondingly provided with a material taking head rotation shaft 125, one end of the material taking head rotation shaft 125 is connected with the material taking head 14, and the other end is provided with a sub bevel gear 124, namely a small bevel gear. The sub bevel gear 124 is in meshing engagement with the drive bevel gear 123. Preferably, one end of the take-up head driving shaft 122 passes through the base plate 111 of the turret seat 11 to reach the inside of the turret seat 11, the driving bevel gear 123 is embedded inside the turret seat 11, and the sub bevel gear 124 and the driving bevel gear 123 are engaged and connected inside the turret seat 11. Thus, the turret mechanism 1 has a compact structure as a whole, and the rotation of the pickup head driving synchronizing wheel 121 rotates the driving bevel gear 123 of the pickup head driving shaft 122, and further drives the plurality of sub bevel gears 124 to rotate synchronously by the driving bevel gear 123. The rotation of the sub-bevel gears 124 drives the corresponding material taking head rotation shafts 125 to rotate, so as to rotate the material taking head 14. Preferably, the pick head spin axis 125 and the pick head drive shaft 122 are perpendicular to each other.
The pick-up head 14 may be a vacuum cleaner head 144, or a gripper, wherein when the pick-up head 14 is a gripper, each gripper is provided with a finger cylinder 142, an air intake assembly 141, and a chuck 143. The air intake assembly 141 comprises an air intake nozzle, a sealing ring, an air intake slip ring, an air pipe and the like, and the opening and closing of the finger cylinder 142 are pneumatically controlled through the air intake assembly 141, so that the opening and closing of the chuck 143 are driven through the finger cylinder 142 to realize material taking and placing. When the material taking head 14 is a vacuum suction head 144, it includes a suction cup and an air intake assembly 141, and the vacuum suction control of the suction cup is realized through the air intake assembly 141 to realize material taking and discharging.
The material taking head 14 of the turret mechanism 1 may be a clamping jaw, or a vacuum suction head 144, or a clamping jaw, or a vacuum suction head 144, so as to meet diversified material taking and placing requirements.
The turret rotation assembly includes a turret driving synchronizing wheel 131, a turret driving shaft 132, a decelerator 133, and the like. Wherein the turret driving synchronizing wheel 131 is driven to rotate by a second motor and a corresponding timing belt, and the turret driving synchronizing wheel 131 drives the turret driving shaft 132 to rotate and passes through the reducer 133 to realize speed reduction, or increase torque or reduce motion inertia. Preferably, the take-up head drive synchronizing wheel 121 of the take-up head rotating assembly and the turret drive synchronizing wheel 131 of the turret rotating assembly are coaxially disposed. Thus, the turret mechanism 1 is compact in structure and high in precision; through the transmission of drive bevel gear 123, it is rotatory simultaneously to get stub bar 14 by a power simultaneous drive a plurality of, compact structure is steady, and bearing capacity is higher, can alternate bull quantity in a flexible way, reduces the hardware cost. Each material taking head 14 is in a modular design, air inlet assemblies 141 such as an air inlet sliding ring and the like are adopted in the material taking head, the structure is compact and flexible, positive air pressure or negative pressure can be introduced, and the head can be connected with a sucking disc or a clamping jaw to pick up materials.
Referring to fig. 4, the base plate 111 of the turret base 11 may have an octagonal shape, i.e. the turret base 11 has 8 corresponding side plates 112, according to the specific implementation requirements, as shown in fig. 4 a and C. Each of the 4 spaced side plates 112 is provided with one material taking head 14, that is, 4 material taking heads 14 in total. Of the 4 take-off heads 14, two may be gripping jaws, two vacuum tips 144, as shown at a, or all may be gripping jaws, as shown at C. As shown in fig. 4B, the base plate 111 of the turret seat 11 may have a hexagonal shape, i.e., 6 side plates 112 are corresponding to the turret seat 11. Each of the 3 spaced side plates 112 is provided with a material taking head 14, that is, 3 material taking heads 14 in total, and likewise, the 3 material taking heads 14 can be vacuum suction heads 144 or clamping jaws, or partly vacuum suction heads 144 and partly clamping jaws. As shown in fig. 4D, the base plate 111 of the turret seat 11 may have a pentagonal shape, i.e., 5 side plates 112 correspond to the turret seat 11. Each of the side plates 112 is provided with a material taking head 14, that is, a total of 5 material taking heads 14, and 5 material taking heads 14 can be vacuum suction heads 144 or clamping jaws, or are partly vacuum suction heads 144 and partly clamping jaws. As shown in fig. 4E, the base plate 111 of the turret seat 11 may have a hexagonal shape, i.e. the turret seat 11 has 6 corresponding side plates 112. Each of the side plates 112 is provided with a material taking head 14, that is, a total of 6 material taking heads 14, wherein the 6 material taking heads 14 can be vacuum suction heads 144 or clamping jaws, or a part of the vacuum suction heads 144 and a part of the clamping jaws. Like this, a power simultaneous drive bull is rotatory simultaneously, and compact structure is steady, and bearing capacity is higher, can alternate bull quantity in a flexible way, reduces the hardware cost to get stub bar 14 and can connect sucking disc or clamping jaw, or their combination to pick up the material, can satisfy the diversified material demand of getting and put.
In a preferred embodiment, the first motor and the second motor are disposed on the second swing arm 26.
The robot with the mobile module adopts the design of the mobile big module and the parallel folding mechanical arm, the movement of the mechanical arm is flexible, the structure is compact, the movement range is wide, the use efficiency of the robot is improved, the investment of the robot is reduced, and the occupied space is saved; the design of the swing arm structure can enable the manipulator to reach a target position by the fastest and simplest motion trail, and the cycle time is saved; the multi-head turret material taking and placing structure can realize quick taking and placing switching of multiple groups of products, reduces the motion frequency of a robot, improves the material taking and placing turnover time of equipment, and greatly improves the production efficiency of the equipment. The quick material taking and placing switching device is widely applied to various types of assembly, and products or jigs of detection equipment are quickly taken, placed and switched.
Claims (10)
1. The utility model provides a robot of module is removed in area which characterized in that: including rectilinear movement module, base, first rotary joint module, first swing arm, second rotary joint module and second swing arm, wherein the base with rectilinear movement module sliding connection, first swing arm passes through first rotary joint module with base rotatable coupling, first swing arm is kept away from the one end of first rotary joint module passes through the second rotary joint module with second swing arm rotatable coupling.
2. The robot with moving module set of claim 1, wherein: the robot with the mobile module further comprises a turret mechanism, and the turret mechanism is arranged at one end, far away from the second rotary joint module, of the second swing arm.
3. The robot with moving module set of claim 2, wherein: and a plurality of material taking heads are arranged on the turret mechanism.
4. A robot with a moving module according to any one of claims 1 to 3, wherein: the length L of the first swing arm is smaller than the height H of the base.
5. A robot with a moving module according to any one of claims 1 to 3, wherein: and the rotating shaft of the first rotating joint module and the moving direction of the linear moving module are in the same direction.
6. A robot with a moving module according to any one of claims 1 to 3, wherein: the first rotary joint module comprises a rotary mechanism with a speed reducer.
7. A robot having a moving module according to any one of claims 1 to 3, wherein: and the rotating shaft of the second rotary joint module and the rotating shaft of the first rotary joint module are arranged in parallel.
8. The robot with moving module set of claim 2, wherein: the turret mechanism comprises a turret seat, a turret rotating assembly, a material taking head rotating assembly and a plurality of material taking heads, the material taking heads are arranged on the turret seat, the turret rotating assembly drives the turret seat to rotate so as to switch the material taking heads, and the material taking head rotating assembly drives the material taking heads to rotate.
9. The robot with moving module of claim 8, wherein: the material taking head rotating assembly comprises a material taking head driving synchronizing wheel, a material taking head driving shaft, a driving bevel gear, a sub bevel gear and a material taking head self-rotating shaft, wherein the material taking head driving synchronizing wheel is arranged at one end of the material taking head driving shaft, and the driving bevel gear is arranged at the other end of the material taking head driving shaft; each material taking head is correspondingly provided with a material taking head rotating shaft, one end of each material taking head rotating shaft is connected with the material taking head, and the other end of each material taking head rotating shaft is provided with the sub bevel gear; and each sub bevel gear is in meshed connection with the driving bevel gear respectively.
10. The robot with moving module of claim 9, wherein: the second swing arm is further provided with a first motor and a second motor, and the first motor and the second motor drive the material taking head driving synchronous wheel and the turret driving synchronous wheel to rotate through corresponding synchronous belts respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220808836.4U CN217292327U (en) | 2022-04-09 | 2022-04-09 | Robot with mobile module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220808836.4U CN217292327U (en) | 2022-04-09 | 2022-04-09 | Robot with mobile module |
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| CN217292327U true CN217292327U (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220808836.4U Active CN217292327U (en) | 2022-04-09 | 2022-04-09 | Robot with mobile module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117228308A (en) * | 2023-08-10 | 2023-12-15 | 柳州赛克科技发展有限公司 | Intelligent grabbing device compatible with various cylinder body bearing caps and grabbing method |
-
2022
- 2022-04-09 CN CN202220808836.4U patent/CN217292327U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117228308A (en) * | 2023-08-10 | 2023-12-15 | 柳州赛克科技发展有限公司 | Intelligent grabbing device compatible with various cylinder body bearing caps and grabbing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230802 Address after: 518105, 1st Floor, Building 3, No. 44 Xinhe Road, Shangmugu Community, Pinghu Street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Lu Dajin Address before: No. 5, Industrial 1st Street, Lougang Community, Songgang Street, Bao'an District, Shenzhen, Guangdong Province, 518110 Patentee before: Shenzhen Yihengxi Automation Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |