CN107486854A - A kind of swinging multistation transfer robot - Google Patents
A kind of swinging multistation transfer robot Download PDFInfo
- Publication number
- CN107486854A CN107486854A CN201710951918.8A CN201710951918A CN107486854A CN 107486854 A CN107486854 A CN 107486854A CN 201710951918 A CN201710951918 A CN 201710951918A CN 107486854 A CN107486854 A CN 107486854A
- Authority
- CN
- China
- Prior art keywords
- overall
- robot body
- hollow rotating
- screw pair
- manipulator
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of swinging multistation transfer robot is provided, including robot body, move integrally mechanism, main slew gear, manipulating hoist structure and multidigit manipulator mechanism, the bottom of the robot body is arranged on and moved integrally in mechanism, moving integrally mechanism includes base, overall slide rail and overall screw pair, the bottom of robot body is arranged on overall slide, the bottom of overall slide connects overall slide rail by sliding block, and connect the feed screw nut of overall screw pair, overall screw pair and overall slide rail are installed on base, main slew gear is installed on robot body, main slew gear includes the pivoted loop being arranged on robot body；The periphery installation manipulator elevating mechanism of pivoted loop, the multi-angle that the multidigit manipulator mechanism present invention is installed on manipulating hoist structure to be provided while revolution travelling workpiece is carried out for workpiece in the higher lifting of precision and solid space move.
Description
Technical field
The invention belongs to robotic technology field, especially a kind of swinging multistation transfer robot.
Background technology
Transfer robot includes robot body, and robot body has two side arms of both sides, side arm clamping thing
Body and walking can carry to object.It is the most extensive for such robot application in industrial production, existing industry
Transfer robot motion etc. is relatively simple, can only provide the simple displacement of workpiece.
The content of the invention
Present invention solves the technical problem that：Essence can be provided while revolution travelling workpiece is carried out for workpiece by providing one kind
The swinging multistation transfer robot of multi-angle movement in the higher lifting of degree and solid space.
The technical solution adopted by the present invention：A kind of swinging multistation transfer robot, including robot body, overall shifting
Motivation structure, main slew gear, manipulating hoist structure and multidigit manipulator mechanism, the bottom of the robot body is installed in whole
In body travel mechanism, moving integrally mechanism includes base, overall slide rail and overall screw pair, and the bottom of robot body is arranged on
On overall slide, the bottom of overall slide connects overall slide rail by sliding block, and connects the feed screw nut of overall screw pair, overall
Screw pair and overall slide rail are installed on base, and main slew gear is installed on robot body, and main slew gear includes installation
Pivoted loop on robot body, robot body are integrally enclosed on robot body in cylinder, pivoted loop, pivoted loop
Thrust ball bearing is provided between upper and lower surface and robot body, the inner circumferential of pivoted loop is provided with gear ring, and gear ring is nibbled with swiveling gear
Close, swiveling gear is arranged on the output shaft of the rotary decelerating motor inside robot body；The periphery installation machinery of pivoted loop
Hand elevating mechanism, multidigit manipulator mechanism is installed, manipulating hoist structure includes lifting seat, lifting is slided on manipulating hoist structure
Rail, elevating screw are secondary and lift slide, lifting seat are fixedly mounted on pivoted loop, and the lifting being vertically arranged is installed on lifting seat and is slided
Rail and elevating screw pair, lift slide connect lifting sliding rail by slide, and connect the secondary feed screw nut of elevating screw；Multidigit machine
Tool mobile phone structure includes the first hollow rotating platform, the second hollow rotating platform, the 3rd hollow rotating platform and sucking disc type mechanical hand,
The stator connection L-shaped frame of first hollow rotating platform, L-shaped frame are fixed on lift slide, the rotor of the first hollow rotating platform
The stator of the second hollow rotating platform is connected, the rotor of the second hollow rotating platform connects the stator of the 3rd hollow rotating platform,
The rotor connecting sucker formula manipulator of 3rd hollow rotating platform.
Further scheme as the present invention：One end of the screw mandrel of the overall screw pair connects overall silk by shaft coupling
The output shaft of bar reducing motor.
Further scheme as the present invention：The sucking disc type mechanical hand replaces with three-pawl type manipulator.
Further scheme as the present invention：One end of the screw mandrel of the overall screw pair connects overall silk by shaft coupling
The output shaft of bar reducing motor.
Further scheme as the present invention：One end of the secondary screw mandrel of the elevating screw connects lifting silk by shaft coupling
The output shaft of bar reducing motor.
The present invention compared with prior art the advantages of：
1st, the present invention by move integrally mechanism and main slew gear can be provided for manipulator one large range of time
Transfer is dynamic and moves linearly, there is provided more efficient revolution movement；
2nd, manipulating hoist structure of the invention can drive multidigit manipulator mechanism to carry out elevating movement, multidigit machinery
Three hollow rotating platforms of mobile phone structure can be that manipulator brings three different gyrations, can not only so realize machine
Tool hand-motion workpiece realizes revolution transposition, and workpiece can be driven to make the higher lifting of precision and three-dimensional space on a large scale
Interior gyration, the processing for carrying out many kinds of work position can be coordinated while travelling workpiece.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 moves integrally mechanism structure schematic diagram for the present invention's.
Fig. 3 is the manipulating hoist structure of the present invention and the structural representation of multidigit manipulator mechanism.
Embodiment
A kind of embodiment of the 1-3 descriptions present invention below in conjunction with the accompanying drawings.
A kind of swinging multistation transfer robot, including robot body 1, move integrally mechanism, main slew gear, machine
Tool hand elevating mechanism 10 and multidigit manipulator mechanism 11, the bottom of the robot body 1, which is arranged on, to be moved integrally in mechanism, whole
Body travel mechanism includes base 2, overall slide rail 3 and overall screw pair 4, and the bottom of robot body 1 is arranged on overall slide,
The bottom of overall slide connects overall slide rail 3 by sliding block, and connects the feed screw nut of overall screw pair 4, the overall He of screw pair 4
Overall slide rail 3 is installed on base 2, and main slew gear is installed on robot body 1, and main slew gear includes being arranged on machine
Pivoted loop 5 on human agent 1, robot body 1 is overall to be enclosed on robot body 1 in cylinder, pivoted loop 5, pivoted loop 5
Thrust ball bearing is provided between upper and lower surface and robot body 1, the inner circumferential of pivoted loop 5 is provided with gear ring, gear ring and swiveling gear
Engagement, swiveling gear are arranged on the output shaft of the rotary decelerating motor inside robot body 1.Pass through rotary decelerating motor
Output shaft driving swiveling gear drives pivoted loop 5 to rotate.
The periphery installation manipulator elevating mechanism 10 of pivoted loop 5, multidigit machinery mobile phone is installed on manipulating hoist structure 10
Structure 11, it is solid that manipulating hoist structure 10 includes lifting seat 12, lifting sliding rail, elevating screw pair and lift slide 13, lifting seat 12
The lifting sliding rail being vertically arranged and elevating screw pair are installed, lift slide 13 passes through on lifting seat 12 on pivoted loop 5 in Dingan County
Slide connects lifting sliding rail, and connects the secondary feed screw nut of elevating screw；Multidigit manipulator mechanism 11 includes the first hollow rotating
Platform 14, the second hollow rotating platform 15, the 3rd hollow rotating platform 16 and sucking disc type mechanical hand 17, the first hollow rotating platform
14 stator connection L-shaped frame 18, L-shaped frame 18 is fixed on lift slide 13, the rotor connection of the first hollow rotating platform 14 the
The stator of two hollow rotating platforms 15, the rotor of the second hollow rotating platform 15 connect the stator of the 3rd hollow rotating platform 16,
The rotor connecting sucker formula manipulator 17 of 3rd hollow rotating platform 16.3rd hollow rotating platform 16 provides one for manipulator
The rotation of rotation type, the second hollow rotating platform 15 provide the gyration of a perpendicular, the first hollow rotation for manipulator
Turn the gyration that platform 14 provides horizontal plane for manipulator, manipulating hoist structure 10 provides a lifting fortune for manipulator
It is dynamic.Wherein the structure of hollow rotating platform and principle are prior art, and therefore not to repeat here.
Further, one end of the screw mandrel of overall screw pair 4 connects the output shaft of overall screw mandrel reducing motor by shaft coupling.
Further, sucking disc type mechanical hand 17 replaces with three-pawl type manipulator.Other do not influence the manipulator of function.
Further, one end of the screw mandrel of overall screw pair 4 connects the output shaft of overall screw mandrel reducing motor by shaft coupling.
Driven and rotated by overall screw mandrel reducing motor, there is provided power.
Further, one end of the secondary screw mandrel of elevating screw connects the output shaft of elevating screw reducing motor by shaft coupling.
Driven and rotated by elevating screw reducing motor, there is provided power.
The design feature and its operation principle of the present invention：The movement of robot body 1 can be driven by moving integrally mechanism, be made
It is moved between different station, and main slew gear can provide a large range of revolution for manipulator, there is provided more high
The revolution movement of effect, and manipulating hoist structure 10 can drive multidigit manipulator mechanism 11 to carry out elevating movement, multidigit machinery
Three hollow rotating platforms of mobile phone structure 11 can be that manipulator brings three different gyrations, can not only so realize
Mechanical hand-motion workpiece realizes revolution transposition, and workpiece can be driven to make the higher lifting of precision and three-dimensional on a large scale
Gyration in space, the processing for carrying out many kinds of work position can be coordinated while travelling workpiece.
Above-described embodiment, simply presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this
The equivalence changes that content described in invention claim is done, it all should be included within scope of the invention as claimed.
Claims (5)
1. a kind of swinging multistation transfer robot, including robot body, move integrally mechanism, main slew gear, machinery
Hand elevating mechanism and multidigit manipulator mechanism, it is characterised in that the bottom of the robot body is arranged on and moves integrally mechanism
On, moving integrally mechanism includes base, overall slide rail and overall screw pair, and the bottom of robot body is arranged on overall slide
On, the bottom of overall slide connects overall slide rail by sliding block, and connects the feed screw nut of overall screw pair, overall screw pair and
Overall slide rail is installed on base, and main slew gear is installed on robot body, and main slew gear includes being arranged on robot
Pivoted loop in main body, robot body are integrally enclosed on robot body in cylinder, pivoted loop, the upper and lower surface of pivoted loop
Thrust ball bearing is provided between robot body, the inner circumferential of pivoted loop is provided with gear ring, and gear ring engages with swiveling gear, rotary teeth
Wheel is arranged on the output shaft of the rotary decelerating motor inside robot body；The periphery installation manipulator lift of pivoted loop
Structure, multidigit manipulator mechanism is installed on manipulating hoist structure, and manipulating hoist structure includes lifting seat, lifting sliding rail, lifting
Screw pair and lift slide, lifting seat are fixedly mounted on pivoted loop, and the lifting sliding rail and liter being vertically arranged are installed on lifting seat
Screw pair drops, and lift slide connects lifting sliding rail by slide, and connects the secondary feed screw nut of elevating screw；Multidigit machinery mobile phone
Structure includes the first hollow rotating platform, the second hollow rotating platform, the 3rd hollow rotating platform and sucking disc type mechanical hand, in first
The stator connection L-shaped frame of empty rotation platform, L-shaped frame is fixed on lift slide, the rotor connection of the first hollow rotating platform the
The stator of two hollow rotating platforms, the rotor of the second hollow rotating platform connect the stator of the 3rd hollow rotating platform, in the 3rd
The rotor connecting sucker formula manipulator of empty rotation platform.
A kind of 2. swinging multistation transfer robot according to claim 1, it is characterised in that：The overall screw pair
One end of screw mandrel the output shaft of overall screw mandrel reducing motor is connected by shaft coupling.
A kind of 3. swinging multistation transfer robot according to claim 1, it is characterised in that：The sucked type machinery
Hand replaces with three-pawl type manipulator.
A kind of 4. swinging multistation transfer robot according to claim 1, it is characterised in that：The overall screw pair
One end of screw mandrel the output shaft of overall screw mandrel reducing motor is connected by shaft coupling.
A kind of 5. swinging multistation transfer robot according to claim 1, it is characterised in that：The elevating screw pair
Screw mandrel one end pass through shaft coupling connect elevating screw reducing motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951918.8A CN107486854A (en) | 2017-10-13 | 2017-10-13 | A kind of swinging multistation transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951918.8A CN107486854A (en) | 2017-10-13 | 2017-10-13 | A kind of swinging multistation transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107486854A true CN107486854A (en) | 2017-12-19 |
Family
ID=60653369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710951918.8A Withdrawn CN107486854A (en) | 2017-10-13 | 2017-10-13 | A kind of swinging multistation transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486854A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082936A (en) * | 2017-12-24 | 2018-05-29 | 大连益盛达智能科技有限公司 | A kind of display module detection of particles transports mobile phone structure |
| CN109252489A (en) * | 2018-11-23 | 2019-01-22 | 国家电网有限公司 | A kind of slope protection draining fast reinforcing of storage station |
| CN112238464A (en) * | 2020-09-28 | 2021-01-19 | 大连益盛达智能科技有限公司 | Improved mechanism of adjustable conveying hand mechanism of detection equipment |
| CN116902112A (en) * | 2023-09-08 | 2023-10-20 | 中电建(西安)港航船舶科技有限公司 | Transfer robot and transfer system |
-
2017
- 2017-10-13 CN CN201710951918.8A patent/CN107486854A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082936A (en) * | 2017-12-24 | 2018-05-29 | 大连益盛达智能科技有限公司 | A kind of display module detection of particles transports mobile phone structure |
| CN109252489A (en) * | 2018-11-23 | 2019-01-22 | 国家电网有限公司 | A kind of slope protection draining fast reinforcing of storage station |
| CN112238464A (en) * | 2020-09-28 | 2021-01-19 | 大连益盛达智能科技有限公司 | Improved mechanism of adjustable conveying hand mechanism of detection equipment |
| CN116902112A (en) * | 2023-09-08 | 2023-10-20 | 中电建(西安)港航船舶科技有限公司 | Transfer robot and transfer system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171219 |