CN107584483A - Multiaxis transfer robot with pitching oscillating arm function - Google Patents
Multiaxis transfer robot with pitching oscillating arm function Download PDFInfo
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- CN107584483A CN107584483A CN201710997740.0A CN201710997740A CN107584483A CN 107584483 A CN107584483 A CN 107584483A CN 201710997740 A CN201710997740 A CN 201710997740A CN 107584483 A CN107584483 A CN 107584483A
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- transfer robot
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Abstract
A kind of multiaxis transfer robot with pitching oscillating arm function is provided, with the X-axis tracks that the axle of large span three is orthogonal, Y-axis tracks, Z axis tracks, the first rotational structure that installation turns about the Z axis in the horizontal plane positioned at Z axis tracks one end, first rotational structure upper end is rotatablely connected around first pitching joint one end that X-axis is swung up and down, first pitching joint other end rotation connection is around second pitching joint one end that X-axis is swung up and down, and the handle of clamping manipulator is rotatablely connected by the second pitching joint other end, lower portion thereof has the second rotational structure for driving bare terminal end integrally to rotate in the horizontal plane, and by the connected bare terminal end in end of the second rotational structure.The present invention, which realizes traditional transfer robot, can not realize more complicated carrying and the completion of grasping movement, the bionical fine movements such as the extension, pitching, contraction of bare terminal end can be completed on the basis of triaxial coordinate movement, have expanded the applicable scope of transfer robot significantly.
Description
Technical field
The invention belongs to automatic conveying device technical field, and in particular to a kind of multiaxis carrying implement with pitching oscillating arm function
Device people.
Background technology
Under prior art, in large-scale industrial production, the machinery of mechanical handing is completed while manpower Labor-saving high-efficiency can be substituted
In hand design, how to expand the scope of robot work and movement travel, make it to adapt to pinpoint angle of pitch carrying, also
It can realize and be carried compared with the angle of pitch in large span stroke range, it is proposed that following technical scheme.
The content of the invention
Present invention solves the technical problem that：A kind of multiaxis transfer robot with pitching oscillating arm function is provided, passes through three
Axle rectangular co-ordinate track, rotation, effective combination in pitch movement joint, realizing traditional transfer robot can not realize greatly
Span, more complicated carrying and the completion of fine grasping movement, i.e., can be completed on the basis of triaxial coordinate movement bare terminal end extension,
The bionical fine movement such as pitching, contraction, the applicable scope of transfer robot is expanded significantly.
The technical solution adopted by the present invention：Multiaxis transfer robot with pitching oscillating arm function, there is large span X-axis fortune
Dynamic rail road, along the displacement of X-axis tracks and its orthogonal Y-axis tracks in the horizontal plane, along the displacement of Y-axis tracks and its
The orthogonal Z axis tracks in perpendicular, installation turns about the Z axis in the horizontal plane positioned at Z axis tracks one end the
One rotational structure, the first rotational structure upper end rotation connection is around first pitching joint one end that X-axis is swung up and down, and described the
One pitching joint other end rotation connection is and another by the second pitching joint around second pitching joint one end that X-axis is swung up and down
The handle of end rotation connection clamping manipulator, the lower portion thereof have drive bare terminal end integrally to rotate in the horizontal plane second
Rotational structure, and be connected the bare terminal end by the end of second rotational structure.
In above-mentioned technical proposal, to save space, and ensure that the multiaxis transfer robot has enough machinery strong
Degree supports its space structure, and as optimal technical scheme, the large span X-axis tracks both ends are supported by portal frame support frame
Installation.
It is to ensure the space transfer robot on the basis of with larger space working range in above-mentioned technical proposal
Possess excellent structural strength, as optimal technical scheme, the displacement stroke ratio of the X-axis tracks and Y-axis tracks
More than or equal to 2:1；The displacement stroke ratio of the Y-axis tracks and Z axis tracks is equal to 1:1.
It is orthogonal with the slip of X-axis tracks to improve Y-axis tracks by most simple structure in above-mentioned technical proposal
Connection, as optimal technical scheme, for the Y-axis tracks by two pieces using X-axis as symmetry axis, symmetrical X-axis of surrounding moves rail
The double-slider of road slide rail periphery is orthogonal with X-axis tracks to be connected.
In above-mentioned technical proposal, to improve the structural strength connected between Y-axis tracks and double-slider, for the robot
The space support of sufficient intensity is provided, as optimal technical scheme, the connection end of the Y-axis tracks and double-slider one into
Type is formed with the bottom being fixed with one with symmetrical double-slider bottom and strengthens extending connecting plate, is also formed with to be connected with double-slider side and is
Strengthen connecting plate in the side of one.
In above-mentioned technical proposal, the X-axis tracks, Y-axis tracks, Z axis tracks, the first rotational structure,
First pitching joint, the second pitching joint, the second rotational structure and moving for bare terminal end pass through each independent driving respectively
Mechanism is electrically connected with execution with control centre.
The present invention compared with prior art the advantages of：
1st, ground handling and the island angle of pitch are carried and effectively combined by this programme, have expanded traditional transfer robot significantly
Working space, the linear displacement regulation that three axle rectangular co-ordinates are fastened in certain span stroke range can not only be completed, moreover it is possible to
In three axle rectangular coordinate systems regulation movable basis, the rotation of manipulator entirety and bowing for the multiple movable joints of mechanical arm are realized
Face upward regulation；
2nd, the axle rectangular coordinate system of this programme three, the rotation of mechanical arm island, each joint angle of pitch of mechanical arm carry regulation
The combination of action, more complicated carrying and the completion of grasping movement can not be realized by realizing traditional transfer robot, i.e., in three axles
The bionical fine movement such as the extension, pitching, contraction of bare terminal end can be completed on the basis of coordinate movement, has expanded transfer robot significantly
Applicable scope；
3rd, this programme can complete more fine carrying action, can especially complete the transmission of parts workpiece between equipment,
Integrate efficient production, stable operation, save the advantages such as space, be suitable for the operation of narrow space occasion；
4th, this programme has the structural support and space coordinates structure group of high rigidity on the basis of space is saved
Into after being applied to actual production with reference to advanced servo techniques, operation at a high speed, stable being completed, realize workpiece in equipment
Between compared with large span, more fine crawl and transhipment.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present invention；
Fig. 2 is double-slider of the present invention and the attachment structure schematic diagram of Y-axis tracks.
Embodiment
A kind of embodiment of the 1-2 descriptions present invention below in conjunction with the accompanying drawings.
Following embodiment facilitates a better understanding of the present invention, but does not limit the present invention.Electricity is controlled in following embodiments
The realization on road, it is conventional control mode unless otherwise specified.Part used in following embodiments, unless otherwise specified,
To be commercially available.
Multiaxis transfer robot with pitching oscillating arm function, it is (as shown in Figure 1) that there is large span X-axis tracks 2, edge
The displacement of X-axis tracks 2 and its orthogonal Y-axis tracks 4 in the horizontal plane, along the displacement of Y-axis tracks 4 with it vertical
Orthogonal Z axis tracks 6 in plane, the first rotation that installation turns about the Z axis in the horizontal plane positioned at the one end of Z axis tracks 6
Rotation structure 7, the upper end of the first rotational structure 7 rotation connection is around one end of the first pitching joint 8 that X-axis is swung up and down, and described the
Other end rotation connection in one pitching joint 8 is and another by the second pitching joint 9 around one end of the second pitching joint 9 that X-axis is swung up and down
One end is rotatablely connected the handle 101 of clamping manipulator 10, and the bottom of handle 101, which has, drives bare terminal end 103 overall in level
Second rotational structure 102 of rotation in surface, and be connected the bare terminal end 103 by the end of second rotational structure 102.
In above-mentioned technical proposal, to save space, and ensure that the multiaxis transfer robot has enough machinery strong
Degree supports its space structure, and as optimal technical scheme, the both ends of large span X-axis tracks 2 are by portal frame support frame 1
Support installation.As shown in figure 1, the bottom of portal frame support frame 1 has the triangular support configurations for strengthening support.
It is to ensure the space transfer robot on the basis of with larger space working range in above-mentioned technical proposal
Possess excellent structural strength, as optimal technical scheme, the displacement stroke of the X-axis tracks 2 and Y-axis tracks 4
Than more than or equal to 2:1；The displacement stroke ratio of the Y-axis tracks 4 and Z axis tracks 6 is equal to 1:1.
In above-mentioned technical proposal, to improve the slip of Y-axis tracks 4 and X-axis tracks 2 by most simple structure just
Commissure connects, and as optimal technical scheme, the Y-axis tracks 4 by two pieces using X-axis as symmetry axis, move by symmetrical X-axis of surrounding
The double-slider 3 of the slide rail of track 2 periphery is orthogonal with X-axis tracks 2 to be connected.(referring to Fig. 2), the double-slider 3 preferably uses L-type one
Body formed structural member is made.
In above-mentioned technical proposal, to improve the structural strength connected between Y-axis tracks 4 and double-slider 3, for the machine
People provides the space support of sufficient intensity, as optimal technical scheme, (as shown in Figure 2) described Y-axis tracks 4 and double-slider
3 connection end is integrally formed the bottom reinforcement extension connecting plate 401 for being formed with and being fixed with one with the symmetrical bottom of double-slider 3, also makes
There is the side being fixed with one with the side of double-slider 3 to strengthen connecting plate 402.Wherein, except extension connecting plate 401 is strengthened in above-mentioned bottom, side adds
Strong connecting plate 402 is fastened by bolts part with double-slider 3 and fastened outside installation, can be also connected by welding auxiliary realization.
In above-mentioned technical proposal, the X-axis tracks 2, Y-axis tracks 4, the rotation knot of Z axis tracks 6, first
The motion of structure 7, the first pitching joint 8, the second pitching joint 9, the second rotational structure 102 and bare terminal end 103 is respectively by each
Execution is electrically connected with from independent drive mechanism and control centre.
Effectively combined it can be seen that this programme carries ground handling and the island angle of pitch, expanded traditional conveying robot significantly
The working space of people, the linear displacement regulation that three axle rectangular co-ordinates are fastened in certain span stroke range can not only be completed, also
It can be adjusted in three axle rectangular coordinate systems in movable basis, realize the overall rotation of manipulator and the multiple movable joints of mechanical arm
Pitch regulation；Secondly, the axle rectangular coordinate system of this programme three, the rotation of mechanical arm island, each joint angle of pitch of mechanical arm are removed
The combination of regulation action is transported, more complicated carrying and the completion of grasping movement can not be realized by realizing traditional transfer robot, i.e.,
The bionical fine movements such as the extension, pitching, contraction of bare terminal end can be completed on the basis of triaxial coordinate movement, have expanded carrying significantly
The applicable scope of robot；Furthermore this programme can complete more fine carrying action, can especially complete between equipment zero
The transmission of part workpiece, integrate efficient production, stable operation, save the advantages such as space, be suitable for the work of narrow space occasion
Industry；Finally, this programme has the structural support and space coordinates structure composition of high rigidity on the basis of space is saved,
After being applied to actual production with reference to advanced servo techniques, operation at a high speed, stable can be completed, realize workpiece in equipment room compared with
Large span, more fine crawl and transhipment.
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 (6)
1. the multiaxis transfer robot with pitching oscillating arm function, it is characterised in that：With large span X-axis tracks (2), edge
(2) displacement of X-axis tracks and its orthogonal Y-axis tracks (4) in the horizontal plane, along (4) displacement of Y-axis tracks and its
The orthogonal Z axis tracks (6) in perpendicular, positioned at Z axis tracks (6) one end, installation turns about the z axis in the horizontal plane
Dynamic the first rotational structure (7), the first rotational structure (7) upper end rotation connection are closed around the first pitching that X-axis is swung up and down
(8) one end is saved, the first pitching joint (8) other end rotation connection is around the second pitching joint (9) one that X-axis is swung up and down
Hold, and the handle (101) of clamping manipulator (10) is rotatablely connected by second pitching joint (9) other end, under the handle (101)
Portion has the second rotational structure (102) for driving bare terminal end (103) integrally to rotate in the horizontal plane, and is tied by the described second rotation
The end of structure (102) is connected the bare terminal end (103).
It is 2. according to claim 1, it is characterised in that：Large span X-axis tracks (2) both ends are supported by portal frame
Frame (1) support installation.
3. the multiaxis transfer robot according to claim 1 with pitching oscillating arm function, it is characterised in that：The X-axis
The displacement stroke ratio of tracks (2) and Y-axis tracks (4) is more than or equal to 2:1；The Y-axis tracks (4) are transported with Z axis
The displacement stroke ratio in dynamic rail road (6) is equal to 1:1.
4. the multiaxis transfer robot according to claim 1 with pitching oscillating arm function, it is characterised in that：The Y-axis
Tracks (4), using X-axis as symmetry axis, symmetrically surround the double-slider (3) and X of X-axis tracks (2) slide rail periphery by two pieces
Axle tracks (2) are orthogonal to be connected.
5. the multiaxis transfer robot according to claim 4 with pitching oscillating arm function, it is characterised in that：The Y-axis
Tracks (4) and the connection end of double-slider (3) are integrally formed the bottom for being formed with and being fixed with one with symmetrical double-slider (3) bottom
End is strengthened extending connecting plate (401), is also formed with the side being fixed with one with double-slider (3) side and strengthens connecting plate (402).
6. the multiaxis transfer robot with pitching oscillating arm function according to claim 1 or 2 or 3 or 4 or 5, its feature
It is：The X-axis tracks (2), Y-axis tracks (4), Z axis tracks (6), the first rotational structure (7), first bow
The motion of joint (8), the second pitching joint (9), the second rotational structure (102) and bare terminal end (103) is faced upward respectively by respective
Independent drive mechanism is electrically connected with execution with control centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997740.0A CN107584483A (en) | 2017-10-24 | 2017-10-24 | Multiaxis transfer robot with pitching oscillating arm function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997740.0A CN107584483A (en) | 2017-10-24 | 2017-10-24 | Multiaxis transfer robot with pitching oscillating arm function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107584483A true CN107584483A (en) | 2018-01-16 |
Family
ID=61043350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710997740.0A Withdrawn CN107584483A (en) | 2017-10-24 | 2017-10-24 | Multiaxis transfer robot with pitching oscillating arm function |
Country Status (1)
| Country | Link |
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| CN (1) | CN107584483A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109482538A (en) * | 2018-12-10 | 2019-03-19 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Wafer washing and brushing device |
| CN114227103A (en) * | 2021-12-14 | 2022-03-25 | 山东中车同力达智能装备有限公司 | Flexible welding production line for small parts in railway wagon |
-
2017
- 2017-10-24 CN CN201710997740.0A patent/CN107584483A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109482538A (en) * | 2018-12-10 | 2019-03-19 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Wafer washing and brushing device |
| CN114227103A (en) * | 2021-12-14 | 2022-03-25 | 山东中车同力达智能装备有限公司 | Flexible welding production line for small parts in railway wagon |
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Application publication date: 20180116 |