CN111185910A - Industry heavily carries four-axis pile up neatly machine people - Google Patents
Industry heavily carries four-axis pile up neatly machine people Download PDFInfo
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- CN111185910A CN111185910A CN202010043675.XA CN202010043675A CN111185910A CN 111185910 A CN111185910 A CN 111185910A CN 202010043675 A CN202010043675 A CN 202010043675A CN 111185910 A CN111185910 A CN 111185910A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 27
- 229910001141 Ductile iron Inorganic materials 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 5
- 210000000245 forearm Anatomy 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention relates to the technical field of industrial robots, in particular to an industrial heavy-load four-axis stacking robot, which comprises: a base disposed at the bottommost portion; the rotary seat is placed above the base and rotates; the large arm is connected to the upper front part of the rotary seat, rotates at a certain angle and rotates back and forth along with the rotary seat, and a spring cylinder balance load device is connected to the left rear end of the large arm to balance torque; the small arm is connected to the upper front part of the big arm to rotate at a certain angle and moves along with the big arm; the four-axis body is connected in front of the small arm in a supporting way and moves along with the small arm; the tripod is supported and installed on the left side of the large arm and can rotate around the large arm; the lower end of the first pull rod is connected to the left side of the rotary seat, and the upper end of the first pull rod is connected to the right side of the tripod; and the front end of the second pull rod is connected to the upper end of the four-axis body, and the rear end of the second pull rod is connected with the left side of the tripod. The invention has the advantages of large arm spread, high response speed and high efficiency.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial heavy-load four-axis stacking robot.
Background
The palletizing robot is a mature product in industry, and the application scenes and cases of the palletizing robot are not exhaustive. However, the industrial robot industry in China starts late, the technical support is relatively not perfect, and particularly in the field of large heavy-load robots, the industrial robot industry in China is basically monopolized by the foreign industrial robot industries such as ABB, Anchuan, KUKA and Sonaceae. In order to promote the development of the domestic robot industry, the country also supports the great effort without going out the good-standing policy. Some defects of heavy-duty four-axis stacking robot in the market at present, such as: insufficient rigidity, low precision, limited bearing, difficult disassembly and assembly, poor safety, low reliability and the like. Based on the current situations, the heavy-load palletizing robot needs to be developed necessarily, and the aim of filling the blank of the market of the industrial heavy-load palletizing robot in China is fulfilled.
Disclosure of Invention
The invention aims to provide an industrial heavy-duty four-axis stacking robot with sufficient rigidity, high precision, high strength and rigidity, convenience in disassembly and assembly, good safety, high reliability and the like, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an industrial heavy-duty four-axis palletizing robot, comprising:
a base disposed at the bottommost portion;
the rotary seat is placed above the base to rotate and is in driving connection with the base;
the large arm is connected to the upper front part of the rotary seat, rotates at a certain angle and rotates back and forth along with the rotary seat, and meanwhile, the left rear end of the large arm is connected with a spring cylinder balanced load device to balance torque;
the small arm is connected to the upper front part of the big arm to rotate at a certain angle and moves along with the big arm;
the three-axis transmission mechanism is arranged on the rotary seat and used for controlling the rotation of the small arm;
the upper part of the balance connecting rod is connected with the rear end of the small arm, the lower part of the balance connecting rod is connected with the tail end of the balance load connecting rod, and the front end of the balance load connecting rod is fixedly connected with the three-axis transmission mechanism on the rotary seat;
the four-axis body is connected in front of the small arm in a supporting way and moves along with the small arm;
the tripod is supported and installed on the left side of the large arm and can rotate around the large arm;
the lower end of the first pull rod is connected to the left side of the rotary seat, and the upper end of the first pull rod is connected to the right side of the tripod;
and the front end of the second pull rod is connected to the upper end of the four-axis body, and the rear end of the second pull rod is connected with the left side of the tripod.
Furthermore, the base is in transitional connection with the rotary seat through an RV speed reducer, and the RV speed reducer is driven to rotate by a shaft servo motor.
Further, the swivel mount comprises a swivel mount body and a two-axis transmission mechanism installed on the swivel mount body, and the swivel mount body and the large arm are in transition connection through the two-axis transmission mechanism.
Further, two drive mechanism include servo motor one and RV speed reducer two, wherein: the first servo motor and the second RV speed reducer are driven, the second RV speed reducer is installed on the rotary seat body and is used for driving the bottom of the large arm to enable the large arm to rotate at a certain angle, and an axle split seal of an axle servo motor is installed in the rotary seat.
Furthermore, two sides of the middle part of the spring cylinder balance load device are supported and connected on the swivel base body.
Furthermore, the balanced load connecting rod comprises a balanced load connecting rod body, a bearing is arranged on the right side of the front end of the balanced load connecting rod body and connected with a large arm, the balanced load connecting rod is used for ensuring that the two-axis transmission mechanism does not influence the three-axis transmission mechanism when rotating, and in addition, the tail end of the balanced load connecting rod body is fixedly connected with a mechanical counterweight load.
Furthermore, a servo motor II is arranged at the tail end of the four-axis body, and a RV speed reducer III connected with the servo motor II is driven by the servo motor II to rotate back and forth.
Furthermore, the large arm, the rear end of the small arm, the balance connecting rod and the balance load connecting rod are connected to form a parallelogram structure; the front end of the small arm, the four-axis body, the front end of the tripod and the second pull rod are connected to form a parallelogram structure; the rotation seat, the large arm, the first pull rod and the rear end of the tripod are connected to form a parallelogram structure.
Furthermore, still include the circuit of bellows parcel, this circuit loops through the inside of four-axis body, forearm, big arm, swivel mount, base from last to down, goes out by the base, links to each other with external power supply switch board.
Furthermore, the whole machine mechanical body of the robot is made of high-strength nodular cast iron.
Compared with the prior art, the invention has the beneficial effects that:
the industrial heavy-load four-axis stacking robot can replace manpower to carry and stack heavy loads, can effectively prevent safety accidents, and greatly improves production efficiency. Still improved some defects of heavy load four-axis pile up neatly machine people on the market at present by a wide margin simultaneously, for example: insufficient rigidity, low precision, limited bearing, difficult disassembly and assembly, poor safety, low reliability and the like.
The industrial heavy-duty four-axis stacking robot has the advantages of large arm spread, high response speed and high efficiency. Particularly, the large load capacity of the device can meet the requirements of scene operations such as carrying, stacking, loading and unloading, and the like freely.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is an overall exploded view of the present invention.
FIG. 3 is a schematic view of a base structure according to the present invention.
FIG. 4 is an exploded view of the transposable structure of the present invention.
FIG. 5 is a schematic cross-sectional view of a two-axis transmission mechanism according to the present invention.
FIG. 6 is a schematic view of the structure and cross-section of the boom of the present invention.
Fig. 7 is a structural view and a schematic sectional view of the forearm according to the present invention.
FIG. 8 is a schematic diagram of a four-axis body structure according to the present invention.
FIG. 9 is a vertical schematic view of the four-axis body structure of the present invention.
FIG. 10 is a schematic view of the balance link structure of the present invention.
FIG. 11 is an exploded view of the balanced load linkage of the present invention.
FIG. 12 is a schematic view of a drawbar according to the present invention.
Fig. 13 is a schematic view of the tripod structure of the present invention.
FIG. 14 is a schematic view of a second structure of the drawbar according to the present invention.
In the figure: 1-base, 2-swivel base, 21-swivel base body, 22-two-shaft transmission mechanism, 221-servo motor I, 222-RV reducer II, 23-spring cylinder balance load device, 24-three-shaft transmission mechanism, 25-one shaft split seal, 26-one shaft servo motor, 3-big arm, 4-small arm, 5-four-shaft body, 51-installation servo motor II, 52-RV reducer III, 6-balance load connecting rod, 61-bearing, 7-balance connecting rod, 71-balance load connecting rod body, 72-mechanical balance load, 8-pull rod I, 9-tripod, 10-pull rod II and 11-RV reducer I.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper/lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed/sleeved," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-14, the present invention provides a technical solution:
an industrial heavy-duty four-shaft palletizing robot is shown in figures 1 and 1, wherein a base 1 is positioned at the bottommost part of the robot and plays a role in fixedly supporting the whole robot; the rotary seat 2 is placed above the base 1 to rotate, the base 1 and the rotary seat 2 are in transitional connection through an RV speed reducer I11, and the RV speed reducer is driven to rotate by a shaft servo motor 26; the big arm 3 is connected to the upper front of the rotating base 2 to rotate at a certain angle and rotates back and forth along with the rotating base 2, wherein the rotating base body 21 and the big arm 3 are in transitional connection through a two-axis transmission mechanism 22, the two-axis transmission mechanism 22 comprises a servo motor I220 and an RV reducer II 221, as shown in fig. 4 and 5, the left rear end of the big arm 3 is connected with a spring cylinder balance load device 23 to balance torque, wherein two sides of the middle part of the spring cylinder balance load device 23 are supported and connected to the rotating base body 21, as shown in fig. 4; the small arm 4 is connected with the upper front part of the large arm 3 to rotate at a certain angle and moves together with the large arm 3, the rotation of the small arm 4 is controlled by the three-axis transmission mechanism 24 arranged on the rotary seat 2, wherein the connection mode for controlling the rotation of the small arm 4 is that the upper part of the balance connecting rod 7 is connected with the rear end of the small arm 4, the lower part is connected with the tail end of the balance load connecting rod 6, the front end of the balance load connecting rod 6 is fixedly connected with the three-axis transmission mechanism 24 on the rotary seat 2, and the right side of the front end of the balance load connecting rod 6 is provided with a bearing 61 which is connected with the large arm 3, thereby ensuring that the two-axis transmission mechanism 22 does not influence the three-axis transmission mechanism 24 when rotating, as shown in figures 2 and 4, and in addition, the tail end of the balance load connecting rod 6 is; the four-axis body 5 is connected in front of the small arm 4 in a supporting mode and moves along with the small arm 4, and the tail end of the four-axis body 5 can drive the RV reducer three 52 through the servo motor two 51 to rotate back and forth; the tripod 9 is supported and installed on the left side of the large arm 3 and can rotate around the large arm 3; the lower end of a first pull rod 8 is connected to the left side of the rotary seat 2, and the upper end of the first pull rod is connected to the right side of a tripod 9; the front end of the second pull rod 10 is connected with the upper end of the four-axis body 5, and the rear end of the second pull rod is connected with the left side of the tripod 9; the connection modes not described in detail are all bearing connections. In addition, as shown in fig. 1, the connecting mechanism of the whole machine forms three parallelogram structures: one is a parallelogram structure of a big arm 3, the rear end of a small arm 4, a balance connecting rod 7 and a balance load connecting rod 6; one is a parallelogram structure with the front end of the small arm 4, the four-axis body 5, the front end of the tripod 9 and the pull rod II 10; one is a parallelogram structure of the rotary seat 2, the big arm 3, the first pull rod 8 and the rear end of the tripod 9.
The invention relates to a body structure design of an industrial heavy-duty four-shaft palletizing robot, which is characterized in that the whole structure is shown in figure 1, and an appearance exploded view is shown in figure 2; the invention is a complete machine structure obtained by an optimization design idea of combining statics finite element analysis and dynamic rigid-flexible coupling analysis of a robot body structure based on ANSYS software; criss-cross reinforcing ribs are added in the robot workpiece to improve the strength and rigidity of the robot workpiece; the design scheme of adding a forklift carrying position (B in figure 2) on the robot base 1; and meanwhile, the body separating type structure design is convenient for the robot to disassemble, assemble and maintain.
Specifically, the structure is as follows: as shown in fig. 6-9, the internal and external structural shapes and the key connecting parts of each component body are all designed by criss-cross reinforcing rib structures, so that the mechanical properties such as strength, rigidity and fatigue life of the component are improved, the wall thickness is correspondingly reduced, the weight of the whole machine is reduced, and the economic cost is saved. In addition, the whole machine is in a dynamic streamline design, so that lines are smoother and more flexible, and the appearance is more concise and attractive.
The main component functions are as follows:
① mechanical counterweight load, wherein the mechanical counterweight load 72 is fixedly connected to the balanced load connecting rod body 71, and mainly plays a role in balancing the third shaft moment, so that the load rate and fatigue wear of a three-shaft servo motor (not shown, the same motor as the two-shaft servo motor and the two-shaft servo motor) and a speed reducer are reduced, the service lives of the servo motor and the speed reducer are prolonged, and the stability of the whole machine is improved;
② spring cylinder balance load device, the spring cylinder balance load device 23 is mounted on the swivel mount body 21 and connected with the big arm 3. it is different from the mechanical balance load, mainly depends on the deformation energy stored by the inner cylindrical helical compression spring to balance the second axle moment, but also aims at reducing the load rate and fatigue wear of the two-axle servo motor (i.e. servo motor one 221) and the reducer (RV reducer two 222), prolonging the service life of the servo motor and the reducer, thus improving the stability of the whole machine.
The wiring path is shown in fig. 1, and the whole circuit adopts the internal wiring wrapped by the corrugated pipe. The circuit loops through the four-axis body 5, the forearm 4, the big arm 3, the swivel mount 2, the inside of base 1 from top to bottom, is gone out by base 1, links to each other with external power supply switch board. The special corrugated pipe fixing seats (the corrugated pipe fixing seat of the large arm 3 is a part A in figure 2, and the small arm 4 is not shown) are arranged in the small arm 4 and the large arm 3 to fix the corrugated pipe, so that the wire is prevented from rubbing with the inner wall of the cavity, and the purpose of protecting the wire is achieved.
The material is as follows: in order to ensure the strength and rigidity of the machine, the mechanical body of the whole machine is made of high-strength nodular cast iron.
The industrial heavy-duty four-axis stacking robot is driven by a full servo motor, is high in response speed and precision, realizes large-range actions in a compact structure, and is flexible and accurate in movement. Has the following advantages:
1. the rigidity of the whole machine is high, and the structural design of the parts is more reasonable: all workpieces are optimized based on ANSYS finite element statics analysis and dynamics rigid-flexible coupling analysis, the strength and rigidity of the parts are effectively improved, and the weight of the whole machine is greatly reduced. For example, a plurality of transverse and longitudinal staggered reinforcing ribs are added in the large arm 3, the small arm 4 and the like, so that the wall thickness is reduced on the basis of meeting the design requirements, and the cost is correspondingly reduced to a certain extent;
2. the streamline design, the whole appearance is beautiful, elegant and simple, and the whole structure is compact;
3. the spring cylinder balance load device 23 is combined with a mechanical counterweight (load), so that the loss and the load rate of the servo motor and the speed reducer are reduced: the second shaft of the robot is additionally provided with a spring cylinder structure on the basis of the transmission of a traditional servo motor and a speed reducer, so that the load of the second shaft is balanced, and the load of the servo motor and the speed reducer is reduced;
4. the second shaft and the third shaft adopt a separable design, so that the dismounting and the maintenance are convenient and easy: actually the problem that many robot producers are the most headache is the problem of robot after-sale maintenance, because the ageing wearing and tearing problem of some machine part self life-span, a lot of robots just need maintain using a period of time, but the maintenance can only be realized to the complete machine dismouting that needs when a lot of robots maintain, this manpower and materials that have just wasted greatly. According to the invention, the internal structure of the body is greatly simplified, and the second shaft and the third shaft on the swivel mount 2 can be directly and integrally dismounted, so that the second shaft and the third shaft can be directly replaced during after-sale maintenance and dismounting, and quick response is realized;
5. the split type design about the primary shaft adopts, and spatial layout is more reasonable compact, and the dismouting is easy and conveniently observes a grease and speed reducer installation operational aspect. The structural design of the first shaft changes the traditional inverted or upright integral design, but adopts a split design with an upper structural formula and a lower structural formula, so that the situation that the speed reducer is installed in place or inclined and the grease of the speed reducer can be observed when the speed reducer and the gear disc are assembled;
6. the design of fork truck position has been increased on base 1, makes things convenient for the machine transport: the forklift is arranged on the base, so that the load of the one-shaft servo motor 26 and the speed reducer (the servo motor one 221) is reduced, and the gravity center is moved downwards, so that the whole machine is more stable in operation. Meanwhile, the motion range of other shafts cannot be interfered, and large-range action is realized;
7. high efficiency and wide application range: the arm spread is large, the response speed is high, and the efficiency is high. Particularly, the large load capacity of the device can meet the requirements of scene operations such as carrying, stacking, loading and unloading, and the like freely.
In the present invention, the first axis is a combination of an axis servo motor 26, an axis reducer (servo motor one 221), the base 1 and the swivel base body 21; the two-shaft transmission mechanism is part of the second shaft; the transmission mechanism of the third shaft is identical to the transmission mechanism 22 of the second shaft, and the third shaft comprises: the combination of the three-axis transmission 24, the balanced load link 6, the balanced link 7 and the forearm 4.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an industry heavily carries four-axis pile up neatly machine people which characterized in that includes:
a base (1) disposed at the bottommost portion;
the rotary seat (2) is placed above the base (1) to rotate and is in driving connection with the base (1);
the large arm (3) is connected to the upper front part of the rotary seat (2) to rotate at a certain angle and rotates back and forth along with the rotary seat (2), and meanwhile, the left rear end of the large arm (3) is connected with a spring cylinder balancing load device (23) to balance torque;
the small arm (4) is connected to the upper front part of the large arm (3) to rotate at a certain angle and moves together with the large arm (3);
the three-axis transmission mechanism (24) is arranged on the rotary seat (2) and is used for controlling the rotation of the small arm (4);
the upper part of the balance connecting rod (7) is connected with the rear end of the small arm (4), the lower part of the balance connecting rod is connected with the tail end of the balance load connecting rod (6), and the front end of the balance load connecting rod (6) is fixedly connected with the three-axis transmission mechanism (24) on the rotary seat (2);
the four-axis body (5) is connected in front of the small arm (4) in a supporting way and moves along with the small arm (4);
the tripod (9) is supported and installed on the left side of the large arm (3) and can rotate around the large arm (3);
the lower end of the first pull rod (8) is connected to the left side of the rotating seat (2), and the upper end of the first pull rod is connected to the right side of the tripod (9);
and the front end of the pull rod II (10) is connected to the upper end of the four-axis body (5), and the rear end of the pull rod II is connected with the left side of the tripod (9).
2. The industrial heavy-duty four-axis palletizing robot as claimed in claim 1, wherein the base (1) and the rotating base (2) are in transitional connection through a RV reducer I (11), and the RV reducer I (11) is driven to rotate by a shaft servo motor (26).
3. The industrial heavy-duty four-axis palletizer robot as claimed in claim 1, wherein the swivel base (2) comprises a swivel base body (21) and a two-axis transmission mechanism (22) installed on the swivel base body (21), the swivel base body (21) and the large arm (3) are in transition connection through the two-axis transmission mechanism (22), and a one-axis split seal (25) of a one-axis servo motor (26) is installed in the swivel base (2).
4. The industrial heavy-duty four-axis palletizer robot according to claim 3, wherein the two-axis transmission mechanism (22) comprises a first servo motor (221) and a second RV reducer (222), wherein: the servo motor I (221) and the RV reducer II (222) are driven, and the RV reducer II (222) is installed on the swivel base body (21) and used for driving the bottom of the large arm (3) to enable the large arm (3) to rotate at a certain angle.
5. The industrial heavy-duty four-axis palletizer robot according to claim 3 or 4, wherein the spring cylinder balance load device (23) is supported and connected to the swivel base body (21) at two sides of the middle part.
6. The industrial heavy-duty four-axis palletizer robot according to claim 3, wherein the balanced load connecting rod (6) comprises a balanced load connecting rod body (71), a bearing (61) is arranged at the right side of the front end of the balanced load connecting rod body (71) and is connected with the large arm (3) for ensuring that the two-axis transmission mechanism (22) has no influence on the three-axis transmission mechanism (24) when rotating, and a mechanical counterweight load (72) is fixedly connected at the tail end of the balanced load connecting rod body (71).
7. The industrial heavy-duty four-axis palletizer robot as claimed in claim 1, wherein a second servo motor (51) is mounted at the tail end of the four-axis body (5), and a third RV reducer (52) connected with the second servo motor (51) is driven by the second servo motor to rotate back and forth.
8. Industrial four-axis palletizer robot for heavy loads according to claim 1, characterized in that the connection of the large arm (3), the rear end of the small arm (4), the balancing connecting rod (7) and the balancing load connecting rod (6) constitutes a parallelogram structure; the front end of the small arm (4), the four-axis body (5), the front end of the tripod (9) and the second pull rod (10) are connected to form a parallelogram structure; the rotation seat (2), the big arm (3), the first pull rod (8) and the rear end of the tripod (9) are connected to form a parallelogram structure.
9. The industrial heavy-duty four-axis palletizing robot as claimed in claim 1, further comprising a corrugated pipe-wrapped line, wherein the line sequentially passes through the interiors of the four-axis body (5), the small arm (4), the large arm (3), the swivel base (2) and the base (1) from top to bottom, is discharged from the base (1), and is connected with an external power supply control cabinet.
10. The industrial heavy-duty four-axis palletizing robot as claimed in claim 1, wherein a complete machine body of the robot is made of high-strength nodular cast iron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010043675.XA CN111185910A (en) | 2020-01-15 | 2020-01-15 | Industry heavily carries four-axis pile up neatly machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010043675.XA CN111185910A (en) | 2020-01-15 | 2020-01-15 | Industry heavily carries four-axis pile up neatly machine people |
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| CN111185910A true CN111185910A (en) | 2020-05-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN112549068A (en) * | 2020-12-03 | 2021-03-26 | 伯朗特机器人股份有限公司 | Rotating joint and robot |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
| CN113071914A (en) * | 2021-03-31 | 2021-07-06 | 王富霞 | Workshop welding seal wire carrying and finished product tension detection equipment |
| CN114179129A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
| CN114750185A (en) * | 2022-05-23 | 2022-07-15 | 蚌埠学院 | Spraying robot for fetching workpieces from portal frame |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN112549068A (en) * | 2020-12-03 | 2021-03-26 | 伯朗特机器人股份有限公司 | Rotating joint and robot |
| CN112549068B (en) * | 2020-12-03 | 2022-04-01 | 伯朗特机器人股份有限公司 | Rotating joint and robot |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
| CN113071914A (en) * | 2021-03-31 | 2021-07-06 | 王富霞 | Workshop welding seal wire carrying and finished product tension detection equipment |
| CN114179129A (en) * | 2021-12-30 | 2022-03-15 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
| CN114179129B (en) * | 2021-12-30 | 2024-03-22 | 伯朗特机器人股份有限公司 | Method for setting auxiliary supporting device of robot |
| CN114750185A (en) * | 2022-05-23 | 2022-07-15 | 蚌埠学院 | Spraying robot for fetching workpieces from portal frame |
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