WO2019109295A1 - 一种多角度安装型工业搬运机器人 - Google Patents

一种多角度安装型工业搬运机器人 Download PDF

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Publication number
WO2019109295A1
WO2019109295A1 PCT/CN2017/114978 CN2017114978W WO2019109295A1 WO 2019109295 A1 WO2019109295 A1 WO 2019109295A1 CN 2017114978 W CN2017114978 W CN 2017114978W WO 2019109295 A1 WO2019109295 A1 WO 2019109295A1
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WO
WIPO (PCT)
Prior art keywords
joint
fixing
base
rocker
hole
Prior art date
Application number
PCT/CN2017/114978
Other languages
English (en)
French (fr)
Inventor
周利锋
Original Assignee
无锡艾度科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 无锡艾度科技有限公司 filed Critical 无锡艾度科技有限公司
Priority to PCT/CN2017/114978 priority Critical patent/WO2019109295A1/zh
Priority to SG11202006643UA priority patent/SG11202006643UA/en
Publication of WO2019109295A1 publication Critical patent/WO2019109295A1/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention relates to the technical field of industrial machinery, in particular to a multi-angle installation type industrial handling robot.
  • the industrial robot is a multi-joint robot or a multi-degree-of-freedom robot for the industrial field. It is a machine that automatically performs work, and realizes various functions by its own power and control ability. It consists of three basic parts: the main body, the drive system and the control system. It can be commanded by humans or run in accordance with pre-programmed procedures, and modern industrial robots can also act according to the principles of artificial intelligence.
  • Typical applications for industrial robots include welding, painting, assembly, collection and placement, product inspection and testing; all work is done with efficiency, durability, speed and accuracy, and industrial robots in the prior art are
  • the clamping of the clamping mechanism is controlled by the cylinder, but the accuracy of the cylinder transmission is not high, which tends to result in different clamping weights.
  • the transmission mode of the rack and pinion will bring greater friction, resulting in greater power and waste of energy.
  • the wear is large, the service life is low, and the industrial robot can only work and install at a fixed height. It needs to be installed on other machines when clamping different height items, which is not only inconvenient, but also increases.
  • the cost, and the heat generated by the servo motor during operation is difficult to dissipate heat uniformly.
  • An object of the present invention is to provide a multi-angle mounting type industrial handling robot to solve the problems set forth in the above background art.
  • the present invention provides the following technical solutions:
  • a multi-angle mounting type industrial handling robot includes a fixing base, a surface of the fixing base is provided with a rotating seat, a surface of the rotating seat is provided with a first joint, and a first arm of the first joint is provided with a main arm and a main One end of the arm is rotatably connected, and one end of the main arm is provided with a second joint and is rotatably connected to the second joint, and one end of the second joint is provided with a first fixing block, and one side of the first fixing block is provided a second fixing block parallel thereto, wherein the second fixing block is provided with fixing holes at four corners thereof, and the fixing holes are fixedly connected by four connecting posts, and one end of the second fixing block is provided with a jaw assembly.
  • a lifting mechanism is disposed at four corners of the rotating base.
  • the bottom end of the rotating base is provided with a clamping and mounting mechanism.
  • the surface of the rotating base is provided with a supporting seat, and a heat dissipating device is disposed above the supporting base.
  • the surface of the rotating base is provided with a first servo motor, and an output shaft of the first servo motor passes through a motor shaft hole on the rotating base and is between the rotating base and the fixed seat
  • the shaft is provided with a pinion gear, and one side of the pinion gear is provided with a large gear and meshes with the large gear.
  • the top end of the large gear is fixedly connected with the rotating seat, and the bottom end of the large gear is rotatably connected with the fixed seat.
  • a side surface of the first joint is provided with a second servo motor for driving the main arm to rotate, and a side wall of one end of the main arm is provided with a third servo motor for driving the rotation of the second joint, the first A fourth servo motor is disposed between the fixed block and the second fixed block.
  • the jaw assembly includes a lead screw fixedly coupled to the output shaft of the fourth servo motor, the lead screw having a sleeve at one end and being threadedly coupled to a threaded bore in the sleeve, the sleeve being The outer wall has an elliptical cross section, one end of the sleeve passes through the second fixing block and is slidably connected thereto, and a tie rod is fixedly connected to the other end of the sleeve.
  • two sides of the pull rod are provided with two clamps, one ends of the two clamps are rotatably connected to each other through a rotating shaft, and an empty slot for sliding along the rotating shaft is opened at the center of the pull rod, and one end of the pull rod is rotatably connected with two
  • the root struts, one end of the two struts are respectively rotatably connected to one end of the two clamps, and rubber anti-slip heads are arranged at the ends of the two clamps.
  • the support base is provided with a motor bracket, and the top of the motor bracket is provided with a rocker motor, and the output shaft of the rocker motor is provided with a second rocker and is rotatably connected with one end of the second rocker One end of the second rocker is provided with a first rocker and is rotatably connected to one end of the first rocker.
  • the heat dissipating device comprises a protective casing, a rear cover at one end of the protective casing, and an air outlet head at the other end of the protective casing, wherein the inside of the protective casing is provided with a geared motor, an output shaft of the geared motor and one end thereof
  • the fan is coaxially fixedly connected, and a swing arm is disposed on both sides of the protective casing, wherein one end of one of the swing arms is rotatably connected to one end of the first rocker, and the other side of the swing arm is fixed
  • the rod is rotatably coupled to one end of the fixed rod, and the other end of the fixed rod is fixed to the support base.
  • the lifting mechanism comprises four lifting rods, each of which is respectively installed in a telescopic groove formed at four corners of the fixing seat and is respectively slidably connected with a corresponding expansion groove, each of the lifting rods And a plurality of limiting holes are formed at equal intervals; a sidewall of the fixing seat is provided with a through hole corresponding to the position of the lifting rod, and the through hole is provided with the through hole and the limiting hole Matching limit pin.
  • the clamping and mounting mechanism comprises two clamping blocks disposed vertically between the guide rails on the two side walls of the bottom surface of the fixing base and the guiding rails, and the opposite vertical surfaces of the two clamping blocks are provided with anti-slip grooves.
  • the inner wall of the guide rail is provided with a sliding slot, and both ends of the clamping block are provided with a sliding card member slidably connected with the sliding slot.
  • a plurality of locking mechanisms are disposed on the inner wall of the sliding slot at equal intervals, and a pulling rod is disposed directly above the guiding rail, and the connecting rod is provided with a circular hole corresponding to the position of the locking mechanism.
  • the locking mechanism includes a connecting rod and a locking tongue.
  • the inner wall of the sliding slot is provided with a square hole corresponding to the position of the locking tongue.
  • the locking tongue is slidably connected with the square hole and passes through the return spring and the inner wall of the square hole.
  • the connecting rod passes through the rail and is slidably connected with the circular hole, and a retaining piece for preventing the stripping from the round hole is further provided at one end of the connecting rod.
  • the invention drives the gear to rotate by the first servo motor, thereby driving the large gear that meshes with the rotation, so that the rotating seat can rotate in all directions along the fixed seat, and drives the second servo motor and the third servo motor respectively.
  • the rotation of one joint and the second joint enables the entire main arm to move in three degrees of freedom, simulating the joint structure of the human arm, and has excellent effects and precision in the industrial handling process.
  • the invention drives the lead screw to rotate by the fourth servo motor, so that the elliptical sleeve can be freely retracted and extended laterally along the second fixed block, and the pull rod is advanced and retracted during the retracting and telescopic process.
  • the tensioning force of the rod controls the clamping and loosening of the two clamps, and is driven by the fourth servo motor with the lead screw, so that the clamp can be clamped to the micrometer accurately, and the article can be clamped without damaging the article, and the transmission
  • the wear is small and the service life is long.
  • the rubber anti-skid head can also effectively increase the friction during clamping and prevent slipping.
  • the invention controls the height of the whole robot by raising and lowering the lifting rod in the telescopic slot, so that the robot can freely adjust the height, and after adjusting to the required height, the limit pin can be inserted into the corresponding limiting hole to complete.
  • the invention drives the fan to rotate rapidly by the speed reducer to generate strong wind, which is blown out from the air outlet head, and the rocker motor drives the second rocker to rotate the motor shaft in a circular shape, thereby passing the first rocker with the crank rocker
  • the principle of the swing arm swings, so that the whole heat sink can swing up and down under the rotation of one end of the fixed rod. Only one heat sink is needed to dissipate the friction of the motor and joint of the joints of the whole robot, which saves a lot of cost and makes the robot work. Uniform heat dissipation during the process increases the life of the robot.
  • the present invention advances the two clamping blocks along the guide rail in the middle, and the sliding card member touches the curved surface of the locking tongue during the movement along the sliding groove toward the center, and the locking tongue is forced into the square hole. At the same time, the connecting rod is retracted into the circular hole.
  • the sliding card member passes over a locking tongue, the locking tongue is ejected and resetted under the elastic force of the return spring. At this time, the straight surface of the locking tongue prevents the clamping block from moving outward, and the button can be continuously
  • the clamp moves to the center to be clamped and fixed to any part of some machines. It can be installed not only on the ground, but also on other mechanisms at any angle, and it is easy to disassemble. Simply pull the lever upwards to prevent it.
  • FIG. 1 is a schematic view showing the overall structure of a viewing angle in the present invention
  • FIG. 2 is a schematic view showing the overall structure of another perspective of the present invention.
  • Figure 3 is a schematic view showing the connection structure of the fixing base and the rotating base in the present invention.
  • FIG. 4 is a schematic structural view of a clamping and mounting mechanism in the present invention.
  • Figure 5 is a schematic structural view of a guide rail according to the present invention.
  • Figure 6 is an enlarged schematic view showing the structure of the A zone in the present invention.
  • Figure 7 is a schematic view showing the structure of the jaw assembly of the present invention.
  • Figure 8 is a schematic structural view of a heat sink according to the present invention.
  • Figure 9 is a front elevational view showing the entire structure of the present invention.
  • the present invention provides a technical solution:
  • a multi-angle mounting type industrial handling robot includes a fixing base 1.
  • the surface of the fixing base 1 is provided with a rotating seat 10.
  • the surface of the rotating base 10 is provided with a first servo motor 11, and the output shaft of the first servo motor 11 passes through the rotation.
  • a motor shaft hole 100 is formed on the seat 10 and a pinion gear 12 is coaxially disposed between the rotating base 10 and the fixed base 1.
  • One side of the pinion gear 12 is provided with a large gear 13 and meshes with the large gear 13, and the top end of the large gear 13
  • the bottom end of the large gear 13 is rotatably connected to the fixed base 1 , and the first servo motor 11 drives the gear 12 to rotate, thereby driving the large gear 13 meshing therewith, so that the rotating base 10 can be along the fixed seat.
  • the surface of the rotating base 10 is provided with a first joint 2, and the first joint 2 is provided with a main arm 3 at one end thereof and is rotatably connected with one end of the main arm 3, and one end of the main arm 3 is provided with a second
  • the joint 4 is rotatably connected to the second joint 4, and one end of the second joint 4 is provided with a first fixing block 40, and one side of the first fixing block 40 is provided with a second fixing block 42 parallel thereto, and the second fixing block 42
  • Fixing holes 43 are provided at the four corners, and four connecting columns 4 are passed between the fixing holes 43 1 fixedly connected
  • the side of the first joint 2 is provided with a second servo motor 20 for driving the rotation of the main arm 3, and a side wall of one end of the main arm 3 is provided with a third servo motor 30 for driving the rotation of the second joint 4, through
  • the second servo motor 20 and the third servo motor 30 respectively drive the rotation of the first joint 2 and the second joint 4, so that the entire main arm 3
  • a fourth servo motor 44 is disposed between the first fixing block 40 and the second fixing block 42.
  • One end of the second fixing block 42 is provided with a jaw assembly 45, and the jaw assembly 45 includes a fixed connection with the output shaft of the fourth servo motor 44.
  • the lead screw 451 has a sleeve 450 at one end thereof and is screwed with a screw hole 4500 in the sleeve 450.
  • the outer wall of the sleeve 450 has an elliptical cross section, and one end of the sleeve 450 passes through the second fixing block. 42 is slidably connected thereto, and a pull rod 452 is fixedly connected to the other end of the sleeve 450.
  • Two clamps 453 are disposed on both sides of the pull rod 452. One ends of the two clamps 453 are rotatably connected to each other through a rotating shaft, and are provided at the center of the pull rod 452. Two struts 454 are rotatably connected to one end of the pull rod 452. One ends of the two struts 454 are respectively rotatably connected to one end of the two clamps 453, and are provided at the ends of the two clamps 453.
  • the rubber anti-slip head 455 drives the lead screw 451 to rotate by the fourth servo motor 44, so that the elliptical sleeve 450 can be freely retracted and extended laterally along the second fixing block 42, and the pull rod 452 is pulled during the retracting and telescopic process. Forward and backward, using struts 454 The tensioning force controls the clamping and loosening of the two clamps 453, and is driven by the fourth servo motor 44 in cooperation with the lead screw 451, so that the clamping of the clamp 453 can be accurate to the micrometer, and the articles are not damaged when the articles are clamped. And the transmission wear is small, the service life is long, and the rubber anti-slip head 455 can also effectively increase the frictional force during clamping and prevent slipping.
  • the lifting mechanism 7 includes four lifting rods 71 .
  • Each lifting rod 71 is respectively mounted in the expansion and contraction slots 14 defined at the four corners of the fixing base 1 and respectively corresponding to the corresponding telescopic slots 14 .
  • the sliding connection is provided with a plurality of limiting holes 72 evenly spaced apart from each of the lifting rods 71.
  • the side wall of the fixing base 1 is provided with a through hole 15 corresponding to the position of the lifting rod 71, and the through hole 15 is provided with a through hole.
  • the limiting pin 16 is inserted into the corresponding limiting hole 72 to complete the fixing, which is not only simple in operation, but also stable in lifting and lifting, and greatly improves the applicability of the robot when carrying different goods, without using other machines to complete the height adjustment, adopting Low-cost ways to achieve lifting, greatly increasing market competitiveness and production costs.
  • the support base 5 is disposed on the surface of the rotating base 10.
  • the heat sink 6 is disposed above the support base 5.
  • the motor bracket 50 is disposed on the support base 5.
  • the rocker motor 53 and the output of the rocker motor 53 are disposed on the top of the motor bracket 50.
  • a second rocker 52 is disposed on the shaft and is rotatably connected to one end of the second rocker 52.
  • One end of the second rocker 52 is provided with a first rocker 51 and is rotatably connected to one end of the first rocker 51.
  • the utility model comprises a protective cover 60, a rear cover 61 for protecting one end of the outer casing 60 and an air outlet head 64 of the other end of the protective outer casing 60.
  • the inside of the protective outer casing 60 is provided with a reduction motor 62.
  • the output shaft of the reduction motor 62 is coaxially fixedly connected with the fan 63 at one end thereof.
  • a swing arm 65 is disposed on both sides of the protective casing 60.
  • One end of one swing arm 65 is rotatably connected to one end of the first rocker 51, and the other swing arm 65 is provided with a fixing rod 54 and one end of the fixed rod 54.
  • Rotating connection, the other end of the fixing rod 54 is fixed on the support base 5, and the heat sink 6 drives the fan 63 to rotate rapidly by the reduction motor 62 to generate strong wind, which is blown out from the air outlet head 64, and the rocker motor 53 drives the second rocker.
  • the rod 52 rotates in a circular shape with the motor shaft from The swing arm 65 is swung by the first rocker 51 on the principle of the crank rocker, so that the whole heat sink 6 is swung up and down under the rotation of one end of the fixed rod 54, and only one heat sink 6 is needed to realize the motor of the joints of the entire robot. Joint friction for heat dissipation saves a lot of cost, allowing the robot to dissipate heat evenly during the work process, increasing the service life of the robot.
  • the bottom end of the rotating base 10 is provided with a clamping mounting mechanism 8.
  • the clamping mounting mechanism 8 includes two clamping blocks 81 vertically disposed between the guide rails 80 on the two side walls of the bottom surface of the fixing base 1 and the guide rails 80, and two clamping blocks 81.
  • the opposite façades are provided with anti-slip grooves 810, and the inner wall of the guide rails 80 is provided with a sliding slot 800, and both ends of the clamping block 81 are provided with a sliding card member 811 slidingly connected with the sliding slot 800, and the inner wall of the sliding slot 800
  • a plurality of locking mechanisms 801 are disposed on the upper and equal intervals, and a pull rod 82 is disposed directly above the guide rail 80.
  • the pull rod 82 is provided with a circular hole 820 corresponding to the position of the locking mechanism 801.
  • the locking mechanism 801 includes a connecting rod 8010 and a lock.
  • the tongue 8011, one side of the locking tongue 8011 is a straight surface, and the other side is a curved surface.
  • the inner wall of the sliding slot 800 is provided with a square hole 802 corresponding to the position of the locking tongue 8011.
  • the locking tongue 8011 is slidably connected with the square hole 802, and is passed back.
  • the positional spring 8012 is fixedly connected to the inner wall of the square hole 802.
  • the connecting rod 8010 passes through the guide rail 80 and is slidably connected to the circular hole 820.
  • a retaining piece 8013 for preventing the escape from the circular hole 820 is further provided.
  • the sliding card member 811 touches the arc surface of the locking tongue 8011 during the movement toward the center along the sliding slot 800, and the locking tongue 8011 is forced into the square hole 802, and the connecting rod 8010 is contracted toward the circular hole 820.
  • the sliding card member 811 passes over a locking tongue 8011, the locking tongue 8011 is ejected and resetted under the elastic force of the return spring 8012.
  • the straight surface of the locking tongue 8011 prevents the clamping block 81 from moving outward, and the clamping block can be continuously moved.
  • the center movement is fixed to any part of some machines by clamping. It can be installed not only on the ground, but also on other mechanisms at any angle, and it is easy to disassemble. Just pull the lever 82 upwards, and the anti-drop piece 8013 The anti-lifting action pulls down all the locking tongues 8011 to retract them, so that the clamping block 81 can be loosened, the operation is simple, the distance between the clamping blocks 81 can be arbitrarily adjusted, and the clamping installation is realized for any different mechanism. Strong adaptability.

Abstract

一种多角度安装型工业搬运机器人,包括固定座(1),固定座(1)的表面设有转动座(10),转动座(10)的表面设有第一关节(2),第一关节(2)一端设有主臂(3)并与主臂(3)的一端转动连接,主臂(3)的一端设有第二关节(4)并与第二关节(4)转动连接,第二关节(4)的一端设有第一固定块(40),第一固定块(40)一侧设有与其平行的第二固定块(42),第二固定块(42)的一端设有夹爪组件(45),转动座(10)的四角处均设有升降机构(7),转动座(10)的底端设有夹持安装机构(8),转动座(10)的表面设有支撑座(5),支撑座(5)的上方设有散热装置(6),对于任意不同的机构实现夹紧安装,具有很强的适应性,且仅需一个散热装置(6)实现对整个机器人各关节的电机和关节摩擦进行散热,使机器人在工作过程中均匀的散热,增加了机器人的使用寿命。

Description

一种多角度安装型工业搬运机器人 技术领域
本发明涉及工业机械技术领域,具体为一种多角度安装型工业搬运机器人。
背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器人,是自动执行工作的机器装置,靠自身动力和控制能力来实现各种功能的一种机器。由主体、驱动系统和控制系统三个基本部分组成。它可以接受人类指挥,也可以按照预先编排的程序运行,现代的工业机器人还可以根据人工智能技术制定的原则纲领行动。工业机器人的典型应用包括焊接、刷漆、组装、采集和放置、产品检测和测试等;所有的工作的完成都具有高效性、持久性、速度和准确性,现有技术中的工业机器人都是通过气缸来控制夹持机构的夹持,但是气缸传动精度不高,容易导致夹持轻重不一,齿轮齿条的传动方式会带来较大的摩擦力,导致所需动力更大,浪费能源,并且磨损较大,使用寿命低,并且工业机器人只能够在固定的高度进行工作和安装,需要对不同高度的物品进行夹持时需要通过安装在其他机器上使用,不仅不方便,且加大了成本,并且在工作时伺服电机产生的热量难以均匀的进行散热,鉴于此,我们提出一种多角度安装型工业搬运机器人。
技术问题
本发明的目的在于提供一种多角度安装型工业搬运机器人,以解决上述背景技术中提出的问题。
技术解决方案
为实现上述目的,本发明提供如下技术方案:
一种多角度安装型工业搬运机器人,包括固定座,所述固定座的表面设有转动座,所述转动座的表面设有第一关节,所述第一关节一端设有主臂并与主臂的一端转动连接,所述主臂的一端设有第二关节并与第二关节转动连接,所述第二关节的一端设有第一固定块,所述第一固定块的一侧设有与其平行的第二固定块,所述第二固定块的四角处均设有固定孔,且固定孔之间通过四根连接柱固定连接,所述第二固定块的一端设有夹爪组件,所述转动座的四角处均设有升降机构,所述转动座的底端设有夹持安装机构,所述转动座的表面设有支撑座,所述支撑座的上方设有散热装置。
作为优选,所述转动座的表面设有第一伺服电机,所述第一伺服电机的输出轴穿过所述转动座上的电机轴孔并在所述转动座与所述固定座之间同轴设有小齿轮,所述小齿轮的一侧设有大齿轮并与所述大齿轮啮合,所述大齿轮的顶端与转动座固定连接,所述大齿轮的底端与固定座转动连接。
作为优选,所述第一关节的侧面设有用于带动主臂转动的第二伺服电机,所述主臂的一端侧壁上设有用于带动第二关节转动的第三伺服电机,所述第一固定块与所述第二固定块之间设有第四伺服电机。
作为优选,所述夹爪组件包括与第四伺服电机输出轴固定连接的丝杠,所述丝杠的一端处设有套管并与所述套管内的螺孔螺纹连接,所述套管的外壁截面为椭圆形,所述套管的一端穿过所述第二固定块并与其滑动连接,在所述套管的另一端固定连接有一根拉杆。
作为优选,所述拉杆的两侧设有两根夹具,两根所述夹具的一端通过转轴相互转动连接,在拉杆中心开设有用于沿转轴滑动的空槽,所述拉杆的一端转动连接有两根撑杆,两根所述撑杆的一端分别与两根夹具的一端转动连接,在两根夹具的末端均设有橡胶防滑头。
作为优选,所述支撑座上设有电机支架,所述电机支架的顶部设有摇杆电机,所述摇杆电机的输出轴上设有第二摇杆并与第二摇杆的一端转动连接,所述第二摇杆的一端设有第一摇杆并与第一摇杆的一端转动连接。
作为优选,所述散热装置包括保护外壳、所述保护外壳一端的后罩和所述保护外壳另一端的出风头,所述保护外壳的内部设有减速电机,所述减速电机的输出轴与其一端的风扇同轴固定连接,在所述保护外壳的两侧均设有摆臂,其中一个所述摆臂的一端与所述第一摇杆的一端转动连接,另一个所述摆臂侧面设有固定杆并与固定杆的一端转动连接,所述固定杆的另一端固定在支撑座上。
作为优选,所述升降机构包括四根升降杆,每根所述升降杆分别安装在所述固定座四角处开设的伸缩槽中且分别与对应的伸缩槽滑动连接,每根所述升降杆上均匀等间距开设有若干限位孔,所述固定座的侧壁上开设有与所述升降杆位置相对应的通孔,所述通孔内设有与所述通孔和限位孔插接配合的限位销。
作为优选,所述夹持安装机构包括所述固定座底面两侧壁上的导轨和所述导轨之间垂直设置的两根夹块,两根夹块的相对立面上均设有防滑槽,所述导轨的内壁上均开设有滑槽,且夹块的两端均设有与滑槽滑动连接的滑动卡件。
作为优选,所述滑槽的内壁上均匀等间距设有若干锁止机构,所述导轨的正上方设有拉杆,所述拉杆上开设有与所述锁止机构位置相对应的圆孔,所述锁止机构包括连杆和锁舌,所述滑槽的内壁上开设有与锁舌位置相对应的方孔,所述锁舌与方孔滑动连接,且通过回位弹簧与方孔的内壁固定连接,所述连杆穿过导轨并与圆孔滑动连接,在所述连杆的一端还设有防止从圆孔中脱出的防脱片。
有益效果
与现有技术相比,本发明的有益效果如下:
1、本发明通过第一伺服电机带动齿轮转动,从而带动与其啮合的大齿轮转动,使转动座能够沿着固定座进行°全方位的转动,通过第二伺服电机和第三伺服电机分别带动第一关节和第二关节的转动,使整个主臂能够三自由度活动,模拟人手臂的关节结构,在工业搬运过程中起到了优异的效果和精准度。
2、本发明通过第四伺服电机带动丝杠转动,使椭圆形的套管能够沿第二固定块进行横向的自由缩进和伸出,在缩进和伸缩过程中拉动拉杆前进和后退,利用撑杆的拉紧力控制两根夹具的夹紧和松开,通过第四伺服电机配合丝杠进行传动,能够使夹具的夹持精确到微米,对物品进行夹持时不会损坏物品,并且传动磨损小,使用寿命长,橡胶防滑头还能够有效增加夹持时的摩擦力,防止打滑。
3、本发明通过使升降杆在伸缩槽中上升和下降来控制整个机器人的高度,使机器人可自由调整高度,在调整到需要的高度后用限位销插入对应的限位孔中即可完成固定,不仅操作简单,升降稳定,并且大大提高了机器人在对不同货物进行搬运时的适用性,无需借助其他机器完成高度的调节,采用低成本方式实现升降,大大增加了市场竞争力及生产成本。
4、本发明通过减速电机带动风扇快速旋转,来产生强力的风,从出风头中吹出,并且摇杆电机带动第二摇杆以电机轴为圆形转动,从而通过第一摇杆以曲柄摇杆的原理带动摆臂摆动,使整个散热装置在固定杆一端的转动下实现上下摆动,仅需一个散热装置实现对整个机器人各关节的电机和关节摩擦进行散热,节约了大量成本,使机器人在工作过程中均匀的散热,增加了机器人的使用寿命。
5、本发明通过将两个夹块沿着导轨向中间推进,滑动卡件在沿着滑槽向中心运动的过程中触碰到锁舌的弧面,锁舌受力向方孔中缩进,同时连杆向圆孔中缩进,在滑动卡件越过一个锁舌时,在回位弹簧的弹力下锁舌弹出复位,此时锁舌的直面阻止夹块向外运动,即可不断使夹块向中心运动,以夹紧固定在一些机器的任意部位,不仅能够在平地上进行安装使用,还可以任意角度安装在其他机构上使用,并且拆卸简单,只需向上拉动拉杆,在防脱片的防脱出作用下拉动所有锁舌使其缩回,即可使夹块松开,操作简单,能够任意调节夹块之间的距离,对于任意不同的机构实现夹紧安装,具有很强的适应性。
附图说明
图1为本发明中一种视角的整体结构示意图;
图2为本发明中另一种视角的整体结构示意图;
图3为本发明中固定座和转动座的连接结构示意图;
图4为本发明中夹持安装机构的结构示意图;
图5为本发明中导轨的结构示意图;
图6为本发明中A区的结构放大示意图;
图7为本发明中夹爪组件的结构示意图;
图8为本发明中散热装置的结构示意图;
图9为本发明的整体结构主视图。
图中:1、固定座;10、转动座;100、电机轴孔;11、第一伺服电机;12、小齿轮;13、大齿轮;14、伸缩槽;15、通孔;16、限位销;2、第一关节;20、第二伺服电机;3、主臂;30、第三伺服电机;4、第二关节;40、第一固定块;41、连接柱;42、第二固定块;43、固定孔;44、第四伺服电机;45、夹爪组件;450、套管;4500、螺孔;451、丝杠;452、拉杆;4520、空槽;453、夹具;454、撑杆;455、橡胶防滑头;5、支撑座;50、电机支架;51、第一摇杆;52、第二摇杆;53、摇杆电机;54、固定杆;6、散热装置;60、保护外壳;61、后罩;62、减速电机;63、风扇;64、出风头;65、摆臂;7、升降机构;70、底脚;71、升降杆;72、限位孔;8、夹持安装机构;80、导轨;800、滑槽; 801、锁止机构;802、方孔;8010、连杆;8011、锁舌;8012、回位弹簧;8013、防脱片;81、夹块;810、防滑槽;811、滑动卡件;82、拉杆;820、圆孔。
本发明的实施方式
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
请参阅图1-9,本发明提供一种技术方案:
一种多角度安装型工业搬运机器人,包括固定座1,固定座1的表面设有转动座10,转动座10的表面设有第一伺服电机11,第一伺服电机11的输出轴穿过转动座10上的电机轴孔100并在转动座10与固定座1之间同轴设有小齿轮12,小齿轮12的一侧设有大齿轮13并与大齿轮13啮合,大齿轮13的顶端与转动座10固定连接,大齿轮13的底端与固定座1转动连接,通过第一伺服电机11带动齿轮12转动,从而带动与其啮合的大齿轮13转动,使转动座10能够沿着固定座1进行360°全方位的转动,转动座10的表面设有第一关节2,第一关节2一端设有主臂3并与主臂3的一端转动连接,主臂3的一端设有第二关节4并与第二关节4转动连接,第二关节4的一端设有第一固定块40,第一固定块40的一侧设有与其平行的第二固定块42,第二固定块42的四角处均设有固定孔43,且固定孔43之间通过四根连接柱41固定连接,第一关节2的侧面设有用于带动主臂3转动的第二伺服电机20,主臂3的一端侧壁上设有用于带动第二关节4转动的第三伺服电机30,通过第二伺服电机20和第三伺服电机30分别带动第一关节2和第二关节4的转动,使整个主臂3能够三自由度活动,模拟人手臂的关节结构,在工业搬运过程中起到了优异的效果和精准度。
第一固定块40与第二固定块42之间设有第四伺服电机44,第二固定块42的一端设有夹爪组件45,夹爪组件45包括与第四伺服电机44输出轴固定连接的丝杠451,丝杠451的一端处设有套管450并与套管450内的螺孔4500螺纹连接,套管450的外壁截面为椭圆形,套管450的一端穿过第二固定块42并与其滑动连接,在套管450的另一端固定连接有一根拉杆452,拉杆452的两侧设有两根夹具453,两根夹具453的一端通过转轴相互转动连接,在拉杆452中心开设有用于沿转轴滑动的空槽4520,拉杆452的一端转动连接有两根撑杆454,两根撑杆454的一端分别与两根夹具453的一端转动连接,在两根夹具453的末端均设有橡胶防滑头455,通过第四伺服电机44带动丝杠451转动,使椭圆形的套管450能够沿第二固定块42进行横向的自由缩进和伸出,在缩进和伸缩过程中拉动拉杆452前进和后退,利用撑杆454的拉紧力控制两根夹具453的夹紧和松开,通过第四伺服电机44配合丝杠451进行传动,能够使夹具453的夹持精确到微米,对物品进行夹持时不会损坏物品,并且传动磨损小,使用寿命长,橡胶防滑头455还能够有效增加夹持时的摩擦力,防止打滑。
转动座10的四角处均设有升降机构7,升降机构7包括四根升降杆71,每根升降杆71分别安装在固定座1四角处开设的伸缩槽14中且分别与对应的伸缩槽14滑动连接,每根升降杆71上均匀等间距开设有若干限位孔72,固定座1的侧壁上开设有与升降杆71位置相对应的通孔15,通孔15内设有与通孔15和限位孔72插接配合的限位销16,通过使升降杆71在伸缩槽14中上升和下降来控制整个机器人的高度,使机器人可自由调整高度,在调整到需要的高度后用限位销16插入对应的限位孔72中即可完成固定,不仅操作简单,升降稳定,并且大大提高了机器人在对不同货物进行搬运时的适用性,无需借助其他机器完成高度的调节,采用低成本方式实现升降,大大增加了市场竞争力及生产成本。
转动座10的表面设有支撑座5,支撑座5的上方设有散热装置6,支撑座5上设有电机支架50,电机支架50的顶部设有摇杆电机53,摇杆电机53的输出轴上设有第二摇杆52并与第二摇杆52的一端转动连接,第二摇杆52的一端设有第一摇杆51并与第一摇杆51的一端转动连接,散热装置6包括保护外壳60、保护外壳60一端的后罩61和保护外壳60另一端的出风头64,保护外壳60的内部设有减速电机62,减速电机62的输出轴与其一端的风扇63同轴固定连接,在保护外壳60的两侧均设有摆臂65,其中一个摆臂65的一端与第一摇杆51的一端转动连接,另一个摆臂65侧面设有固定杆54并与固定杆54的一端转动连接,固定杆54的另一端固定在支撑座5上,散热装置6通过减速电机62带动风扇63快速旋转,来产生强力的风,从出风头64中吹出,并且摇杆电机53带动第二摇杆52以电机轴为圆形转动,从而通过第一摇杆51以曲柄摇杆的原理带动摆臂65摆动,使整个散热装置6在固定杆54一端的转动下实现上下摆动,仅需一个散热装置6实现对整个机器人各关节的电机和关节摩擦进行散热,节约了大量成本,使机器人在工作过程中均匀的散热,增加了机器人的使用寿命。
转动座10的底端设有夹持安装机构8,夹持安装机构8包括固定座1底面两侧壁上的导轨80和导轨80之间垂直设置的两根夹块81,两根夹块81的相对立面上均设有防滑槽810,导轨80的内壁上均开设有滑槽800,且夹块81的两端均设有与滑槽800滑动连接的滑动卡件811,滑槽800的内壁上均匀等间距设有若干锁止机构801,导轨80的正上方设有拉杆82,拉杆82上开设有与锁止机构801位置相对应的圆孔820,锁止机构801包括连杆8010和锁舌8011,锁舌8011的一面为直面,另一面为弧面,滑槽800的内壁上开设有与锁舌8011位置相对应的方孔802,锁舌8011与方孔802滑动连接,且通过回位弹簧8012与方孔802的内壁固定连接,连杆8010穿过导轨80并与圆孔820滑动连接,在连杆8010的一端还设有防止从圆孔820中脱出的防脱片8013,在需要固定在复杂的位置进行使用时,将两个夹块81沿着导轨向中间推进,滑动卡件811在沿着滑槽800向中心运动的过程中触碰到锁舌8011的弧面,锁舌8011受力向方孔802中缩进,同时连杆8010向圆孔820中缩进,在滑动卡件811越过一个锁舌8011时,在回位弹簧8012的弹力下锁舌8011弹出复位,此时锁舌8011的直面阻止夹块81向外运动,即可不断使夹块向中心运动,以夹紧固定在一些机器的任意部位,不仅能够在平地上进行安装使用,还可以任意角度安装在其他机构上使用,并且拆卸简单,只需向上拉动拉杆82,在防脱片8013的防脱出作用下拉动所有锁舌8011使其缩回,即可使夹块81松开,操作简单,能够任意调节夹块81之间的距离,对于任意不同的机构实现夹紧安装,具有很强的适应性。

Claims (10)

  1. 一种多角度安装型工业搬运机器人,包括固定座(1),其特征在于:所述固定座(1)的表面设有转动座(10),所述转动座(10)的表面设有第一关节(2),所述第一关节(2)一端设有主臂(3)并与主臂(3)的一端转动连接,所述主臂(3)的一端设有第二关节(4)并与第二关节(4)转动连接,所述第二关节(4)的一端设有第一固定块(40),所述第一固定块(40)的一侧设有与其平行的第二固定块(42),所述第二固定块(42)的四角处均设有固定孔(43),且固定孔(43)之间通过四根连接柱(41)固定连接,所述第二固定块(42)的一端设有夹爪组件(45),所述转动座(10)的四角处均设有升降机构(7),所述转动座(10)的底端设有夹持安装机构(8),所述转动座(10)的表面设有支撑座(5),所述支撑座(5)的上方设有散热装置(6)。
  2. 根据权利要求1所述的多角度安装型工业搬运机器人,其特征在于:所述转动座(10)的表面设有第一伺服电机(11),所述第一伺服电机(11)的输出轴穿过所述转动座(10)上的电机轴孔(100),所述第一伺服电机(11)在所述转动座(10)与所述固定座(1)之间同轴设有小齿轮(12),所述小齿轮(12)的一侧设有大齿轮(13),所述小齿轮(12)与所述大齿轮(13)啮合,所述大齿轮(13)的顶端与转动座(10)固定连接,所述大齿轮(13)的底端与固定座(1)转动连接。
  3. 根据权利要求1所述的多角度安装型工业搬运机器人,其特征在于:所述第一关节(2)的侧面设有用于带动主臂(3)转动的第二伺服电机(20),所述主臂(3)的一端侧壁上设有用于带动第二关节(4)转动的第三伺服电机(30),所述第一固定块(40)与所述第二固定块(42)之间设有第四伺服电机(44)。
  4. 根据权利要求3所述的多角度安装型工业搬运机器人,其特征在于:所述夹爪组件(45)包括与第四伺服电机(44)输出轴固定连接的丝杠(451),所述丝杠(451)的一端处设有套管(450)并与所述套管(450)内的螺孔(4500)螺纹连接,所述套管(450)的外壁截面为椭圆形,所述套管(450)的一端穿过所述第二固定块(42)并与其滑动连接,在所述套管(450)的另一端固定连接有一根拉杆(452)。
  5. 根据权利要求4所述的多角度安装型工业搬运机器人,其特征在于:所述拉杆(452)的两侧设有两根夹具(453),两根所述夹具(453)的一端通过转轴相互转动连接,在拉杆(452)中心开设有用于沿转轴滑动的空槽(4520),所述拉杆(452)的一端转动连接有两根撑杆(454),两根所述撑杆(454)的一端分别与两根夹具(453)的一端转动连接,在两根夹具(453)的末端均设有橡胶防滑头(455)。
  6. 根据权利要求1所述的多角度安装型工业搬运机器人,其特征在于:所述支撑座(5)上设有电机支架(50),所述电机支架(50)的顶部设有摇杆电机(53),所述摇杆电机(53)的输出轴上设有第二摇杆(52)并与第二摇杆(52)的一端转动连接,所述第二摇杆(52)的一端设有第一摇杆(51)并与第一摇杆(51)的一端转动连接。
  7. 根据权利要求6所述的多角度安装型工业搬运机器人,其特征在于:所述散热装置(6)包括保护外壳(60)、所述保护外壳(60)一端的后罩(61)和所述保护外壳(60)另一端的出风头(64),所述保护外壳(60)的内部设有减速电机(62),所述减速电机(62)的输出轴与其一端的风扇(63)同轴固定连接,在所述保护外壳(60)的两侧均设有摆臂(65),其中一个所述摆臂(65)的一端与所述第一摇杆(51)的一端转动连接,另一个所述摆臂(65)侧面设有固定杆(54)并与固定杆(54)的一端转动连接,所述固定杆(54)的另一端固定在支撑座(5)上。
  8. 根据权利要求1所述的多角度安装型工业搬运机器人,其特征在于:所述升降机构(7)包括四根升降杆(71),每根所述升降杆(71)分别安装在所述固定座(1)四角处开设的伸缩槽(14)中且分别与对应的伸缩槽(14)滑动连接,每根所述升降杆(71)上均匀等间距开设有若干限位孔(72),所述固定座(1)的侧壁上开设有与所述升降杆(71)位置相对应的通孔(15),所述通孔(15)内设有与所述通孔(15)和限位孔(72)插接配合的限位销(16)。
  9. 根据权利要求1所述的多角度安装型工业搬运机器人,其特征在于:所述夹持安装机构(8)包括所述固定座(1)底面两侧壁上的导轨(80)和所述导轨(80)之间垂直设置的两根夹块(81),两根夹块(81)的相对立面上均设有防滑槽(810),所述导轨(80)的内壁上均开设有滑槽(800),且夹块(81)的两端均设有与滑槽(800)滑动连接的滑动卡件(811)。
  10. 根据权利要求9所述的多角度安装型工业搬运机器人,其特征在于:所述滑槽(800)的内壁上均匀等间距设有若干锁止机构(801),所述导轨(80)的正上方设有拉杆(82),所述拉杆(82)上开设有与所述锁止机构(801)位置相对应的圆孔(820),所述锁止机构(801)包括连杆(8010)和锁舌(8011),所述滑槽(800)的内壁上开设有与锁舌(8011)位置相对应的方孔(802),所述锁舌(8011)与方孔(802)滑动连接,且通过回位弹簧(8012)与方孔(802)的内壁固定连接,所述连杆(8010)穿过导轨(80)并与圆孔(820)滑动连接,在所述连杆(8010)的一端还设有防止从圆孔(820)中脱出的防脱片(8013)。
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