CN203936917U - A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling - Google Patents
A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling Download PDFInfo
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- CN203936917U CN203936917U CN201420404015.XU CN201420404015U CN203936917U CN 203936917 U CN203936917 U CN 203936917U CN 201420404015 U CN201420404015 U CN 201420404015U CN 203936917 U CN203936917 U CN 203936917U
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Abstract
The utility model discloses a kind of four-degree-of-freedom robot palletizer, for the production of the carrying on line, piling.It is characterized in that this robot palletizer is mainly comprised of bracket institution, weld holder, arm section mechanism and wrist.The basis of bracket institution Shi Gai robot, is comprised of waist servomotor, harmonic wave speed reducing machine, rack leg, waist soleplate, rotation soleplate, and arm section mechanism comprises front large arm, rear large arm and forearm, planar has the translational degree of freedom of two vertical direction; This robot palletizer has the locomitivity of four-degree-of-freedom, can realize carrying and piling at a high speed at grain-production line end, there is handling efficiency high, the feature stably of moving, and combine with sensing technology, realizing automatic decision and whether carry out packet capturing action, is to set up from now on unmanned production line important component part.
Description
Technical field
The utility model relates to a kind of palletizing mechanical for the carrying of bag class, is especially applied to the robot palletizer of grain-production line end.
Background technology
At present, known robot palletizer is two coupling inputs mostly, the Comlex-locus of non-linear output, working space consists of multistage arc, and its operation principle is effort lever, thereby the driving force needing is large, consumed power is large, and especially balance pivot place is stressed very large, generally all needs to add balance weight and alleviates motor burden, its amount of parts is many, complex structure, adjusts difficulty, robot body poor rigidity, cannot realize high-speed motion, and easily break down.Meanwhile, often there is the problem of cabling difficulty in the waist structure of general robot palletizer, and in robot integral body, when waist rotates, the rotation amplitude of waist electric wire cannot be very large.
Utility model content
It is a kind of simple in structure that the utility model provides, and it is convenient to control, lowering and work-saving, robot body good rigidity, the grain robot for carrying and piling that waist wire rotating amplitude is little.
The utility model solves the technical scheme that its technical problem adopts
A connection in series-parallel four-degree-of-freedom grain-production line robot for carrying and piling, comprises that support, arm section mechanism, weld holder, Wrist mechanism, hand grab and the horizontal maintaining body of wrist.
Described support, is comprised of rack leg, rack leg crossbeam, waist soleplate, rotation soleplate, waist servomotor and harmonic wave speed reducing machine; Rack leg fixes on the ground by foundation bolt, waist soleplate, rack leg crossbeam are connected with rack leg by screw, harmonic wave speed reducing machine is arranged on waist soleplate, waist servomotor is connected with rotation soleplate by harmonic wave speed reducing machine, on waist soleplate and waist swivel plate, line card is all installed, the rotation amplitude of restriction waist electric wire.
Described arm section mechanism by forearm, front large arm, rear large arm, small rod, horizontal guide rail, horizontal ball-screw, horizontal motor rack, horizontal servo motor, horizontal reductor, horizontal connecting plate, move horizontally plate, level frame, large synchronous pulley, small synchronous pulley, upright guide rail, vertically ball-screw, vertically motor rack, vertically servomotor, vertically reductor, vertically connecting plate, vertically movable plate, vertically frame, axle one form to axle six; Described forearm, front large arm, rear large arm, small rod connect to axle five by axle one, form quadric chain; Described horizontal motor rack, vertical motor rack are arranged on described rotation soleplate by screw, horizontal servo motor is arranged on horizontal motor rack, small synchronous pulley is installed in horizontal servo motor one end, and the large synchronous pulley of installing with horizontal ball-screw one end by Timing Belt is connected, horizontal ball-screw nut is with horizontal connecting plate, horizontal connecting plate and move horizontally plate, move horizontally plate is fixedly connected with by soket head cap screw and alignment pin with level frame, moves horizontally plate and is arranged on horizontal guide rail; Vertically small synchronous pulley is installed in servomotor one end, and the large synchronous pulley of installing by Timing Belt and vertical ball-screw one end is connected, vertically ball-screw nut and vertical connecting plate, vertically connecting plate is fixedly connected with by soket head cap screw and alignment pin with vertical frame with vertically movable plate, vertical movable plate, vertical movable plate is arranged on upright guide rail; Described axle one, one end is fixedly connected on vertical frame by round nut by the screw other end, and forms a revolute pair by one group of taper roll bearing and rear large arm; Described axle two, two ends are connected on two small rods by screw respectively, and form a revolute pair by one group of taper roll bearing and rear large arm; Described axle three, is fixedly connected on rear large arm by screw, and forms a revolute pair by one group of taper roll bearing and forearm; Described axle four, one end is fixedly connected on level frame by round nut by the screw other end, and forms a revolute pair by one group of taper roll bearing and front large arm, by one group of needle bearing and small rod, forms a revolute pair; Described 5 axles, are fixedly connected on set square by screw, and by two groups of taper roll bearings, form each revolute pair respectively with front large arm, forearm; Described axle six, is fixedly connected on forearm by screw, and forms a revolute pair by one group of taper roll bearing and wrist.
Described weld holder, by upright guide rail support, vertically leading screw seat supports, vertically connect square steel, vertically tiltedly steel pipe, horizontal guide rail support, horizontal screw lead seat supports, level connection joint steel pipe, horizontal support leg, brace form; Described upright guide rail supports, and which is provided with guide-track groove and installing hole, for the upright guide rail of hold-down arm portion mechanism; Described vertical leading screw seat supports, which is provided with installing hole, for the leading screw seat at the vertical leading screw two ends of hold-down arm portion mechanism; Described vertical connection square steel, which is provided with screwed hole and pin-and-hole, and for connecting, described upright guide rail supports and vertical leading screw seat supports; Described vertically oblique steel pipe, by being welded to connect, forms very high " mouth " font structure of rigidity with vertical leading screw seat supports; Described horizontal guide rail supports, and which is provided with guide-track groove and installing hole, for the vertical horizontal guide rail of hold-down arm portion mechanism; Described horizontal screw lead seat supports, which is provided with installing hole, for the leading screw seat at the horizontal screw lead two ends of hold-down arm portion mechanism; Described level connection joint steel pipe, two ends respectively with horizontal screw lead seat supports by being welded to connect; Described horizontal stand leg, is connected with horizontal guide rail supporting welding; Described brace is by screw, and vertical connecting guide supporting and horizontal guide rail support, and has improved the rigidity of weld holder integral body; Described horizontal stand leg and upright guide rail support and are provided with screwed hole, by screw, are arranged on described rotation soleplate.Two groups of totally six sensors are housed on weld holder, detection level feed screw nut and the vertically position of feed screw nut respectively, two ends are limit sensors, centre is origin sensor, guarantees initial pose and the suitable exercise scope of robot palletizer.
Described Wrist mechanism is connected on arm and the horizontal maintaining body of wrist, comprises that wrist, hand are grabbed servomotor, hand is grabbed reductor.
Described hand is grabbed and is connected to described wrist lower end, grabs under the driving of servomotor at described hand, and described hand is grabbed can be around ± 180 ° of described wrist rotations.Described hand packet capturing is drawn together packet capturing straight line cylinder, is pressed bag straight line cylinder; Described packet capturing straight line cylinder completes packet capturing action, and described pressure bag cylinder completes presses bag action.
The horizontal maintaining body of described wrist comprises short rod, set square, rod end bearing, long draw, asessory shaft; Described short rod two ends by rod end bearing and little axle, be connected to move horizontally on plate and set square, described long draw two ends are connected in set square and wrist by rod end bearing and asessory shaft; Described set square is arranged on axle five by soket head cap screw.
Robot palletizer of the present utility model has the locomitivity of four-degree-of-freedom, can realize carrying and piling at a high speed at grain-production line end, there is handling efficiency high, the feature stably of moving, and combine with sensing technology, realizing automatic decision and whether carry out packet capturing action, is to set up from now on unmanned production line important component part.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of robot of the present utility model.
Fig. 2 is the axonometric drawing of robot of the present utility model bracket institution.
Fig. 3 is the front view of robot of the present utility model bracket institution.
Fig. 4 is the axonometric drawing of robots arm's portion mechanism of the present utility model.
Fig. 5 is the front view of robots arm's portion mechanism of the present utility model.
Fig. 6 is the axonometric drawing of robot welding frame of the present utility model.
Fig. 7 is the axonometric drawing of robot grapple structure of the present utility model.
Fig. 8 is the side view of robot grapple structure of the present utility model.
Fig. 9 is the axonometric drawing of the horizontal maintaining body of robot wrist of the present utility model.
In figure: I support; II arm section mechanism; III weld holder; The horizontal maintaining body of IV wrist; V wrist; VI hand is grabbed; 1 rack leg; 2 rack leg crossbeams; 3 waist servomotors; 4 waist servomotors; 5 harmonic wave speed reducing machines; 6 rotation soleplates; 7 forearms; 8 axles three; 9 rear large arms; 10 axles five; 11 front large arms; 12 upright guide rails; 13 vertical ball-screws; 14 axles two; 15 small rods; 16 vertical movable plates; 17 vertical framves; 18 axles one; 19 vertical motor racks; 20 horizontal servo motors; 21 horizontal ball-screws; 22 horizontal guide rails; 23 axles four; 246 axles; 25 vertical connecting plates; 26 vertically large belt wheels; 27 vertical Timing Belts; 28 horizontal motor racks; 29 vertical servomotors; 30 horizontal small pulleys; 31 horizontal synchronization bands; The large belt wheel of 32 level; 33 horizontal connecting plates; 34 move horizontally plate; 35 level frames; 36 vertical leading screw seat supports; 37 vertically connect square steel; 38 vertically oblique steel pipes; 39 upright guide rails support; 40 horizontal guide rails support; 41 braces; 42 adjust pad; 43 horizontal support legs; 44 level connection joint steel pipes; 45 horizontal screw lead seat supports; 46 hands are grabbed servomotor; 47 hands are grabbed reductor; 48 wrists; 49 packet capturing straight line cylinders; 50 press bag straight line cylinder; 51 set squares; 52 short rods; 53 rod end bearings; 54 asessory shafts; 55 long draws.
The specific embodiment
Below in conjunction with technical scheme and accompanying drawing, describe the specific embodiment of the present utility model in detail.
As shown in Figure 1, connection in series-parallel four-degree-of-freedom grain-production line robot for carrying and piling of the present utility model grabs VI by bracket I, arm section mechanism II, weld holder III, Wrist mechanism V, hand and the horizontal maintaining body IV of wrist forms, adopt automatically controlled and pneumatic system drive, realize the two-dimensional translation in the plane that robot waist rotates, wrist forms at large forearm, hand is grabbed thorny wrist rotation and packet capturing, pressure contracted affreightment is moving.
As shown in Figure 2,3, bracket I comprises rack leg 1, rack leg crossbeam 2, waist soleplate 4, rotation soleplate 6, waist servomotor 3 and harmonic wave speed reducing machine 5; Waist soleplate 4 is arranged on rack leg 1 by screw, between rack leg 1, by rack leg crossbeam 2, connect, the harmonic wave speed reducing machine 5 being fixedly mounted on waist soleplate 4 is driven by waist servomotor 3, pass motion to rotation soleplate 6, waist servomotor 3 provides a rotational freedom for connected rotation soleplate 6.Drive the rotation of whole robot,
As shown in Figure 4,5, arm structure I I comprise forearm 7, front large arm 11, rear large arm 9, small rod 15, horizontal guide rail 22, horizontal ball-screw 21, horizontal servo motor 20, the large belt wheel 32 of level, horizontal small pulley 30, level band 31, horizontal connecting plate 33, move horizontally plate 34, level frame 35, upright guide rail 12, vertically ball-screw 13, vertically servomotor 29, vertically large belt wheel 26, vertically small pulley, be vertically with 27, vertically connecting plate 25, vertically movable plate 16, vertically frame 17, axle 1, axle 2 14, axle 38, axle 4 23,5 axle 10,6 axles 24; Rear large arm 9 is connected with vertical frame 17 by axle 1, vertical frame 17 and vertically movable plate 16, vertical movable plate 16 are connected by screw with the nut of vertical ball-screw 13 with vertical connecting plate 25, vertical connecting plate 25, vertically drive motors 29 lower end parts are installed vertically large belt wheel 26, and be connected with the small synchronous pulley of vertical ball-screw 13 lower ends by vertical Timing Belt 27, drive vertical leading screw rotation, axle 1 is moved both vertically; Front large arm 11 is connected with level frame 35 by axle 4 23, level frame 35 with move horizontally plate 34, move horizontally plate 34 and be connected by screw with the nut of horizontal ball-screw 21 with horizontal connecting plate 33, horizontal connecting plate 33, the large belt wheel 32 of level is installed at horizontal drive motor 20 shaft extension positions, and be connected with the little Timing Belt of horizontal ball-screw 21 right-hand members by horizontal synchronization band 31, drive horizontal ball-screw 21 rotations, make axle 4 23 do horizontal movement.Forearm 7, front large arm 11, rear large arm 9, small rod 15 connect by axle 2 14, axle 38, axle 4 23,5 axles 10, form parallelogram lindage.
As shown in Figure 6, weld holder III comprise upright guide rail support 39, vertically leading screw seat supports 36, vertically connect square steel 37, vertically tiltedly steel pipe 38, horizontal guide rail support 40, horizontal screw lead seat supports 45, level connection joint steel pipe 43, horizontal support leg 44, brace 41; Upright guide rail support 36, horizontal support leg 44 are connected with rotation soleplate 6 by screw; Vertically leading screw seat supports 36 with is vertically connected square steel 37, vertically connects square steel 37 and upright guide rail support 39 is connected by screw; Vertically oblique steel pipe 38 and vertically leading screw seat supports 36 are by being welded to connect; Horizontal guide rail supports 40, horizontal screw lead seat supports 45 respectively with horizontal support leg 44 by being welded to connect; Level connection joint steel pipe 43 and horizontal screw lead seat supports 45 are by being welded to connect; Brace 41 is by screw, and vertical connecting connects square steel 37 and horizontal guide rail supports 40; Horizontal screw lead seat is arranged in horizontal screw lead seat supports 45, on horizontal ball-screw 21 horizontal screw lead seats; Vertically leading screw seat is arranged in vertical leading screw seat supports 36, and vertically ball-screw 13 is arranged on vertical leading screw seat; Horizontal guide rail 22 is arranged on horizontal guide rail and supports on 40, and upright guide rail 12 is arranged on upright guide rail and supports on 39.
As shown in Figure 7, Figure 8, Wrist mechanism V, hand are grabbed VI and are comprised wrist 48, wrist drive motors 46, wrist reductor 47, packet capturing straight line cylinder 49, press bag straight line cylinder 50; Wrist 48 is fixed on forearm 11 front ends, by wrist drive motors 46, by wrist reductor 47, will rotatablely move and pass to hand and grab, carry out gyration, by two straight line cylinders 49, control the opening and closing that hands are grabbed, realize the crawl of rice bag, by a straight line cylinder 50, press bag action.
As shown in Figure 9, the horizontal maintaining body IV of wrist comprises set square 51, short rod 52, rod end bearing 53, asessory shaft 54, long draw 55.Set square 51 and 5 axles 10 are connected by screw, and short rod 52 is by rod end bearing 53 and auxiliary rod axle 54, and one end is connected with level frame 35, and one end is connected with set square 51; Long draw 55 is by rod end bearing 53 and auxiliary rod axle 54, and one end is connected with wrist 48, and one end is connected with set square 51; By certain size relationship, guarantee wrist level.
Claims (1)
1. a connection in series-parallel four-degree-of-freedom robot for carrying and piling, comprises that support (I), arm section mechanism (II), weld holder (III), wrist (V), hand grab (VI) and the horizontal maintaining body of wrist (IV); It is characterized in that:
Support (I) comprises rack leg (1), rack leg crossbeam (2), waist servomotor (3), waist soleplate (4), harmonic wave speed reducing machine (5) and rotation soleplate (6); Waist servomotor (3) return pulse signal rotates, and by harmonic wave speed reducing machine (5) transferring power, drives waist swivel plate (6) to rotate, and makes manipulator rotate to precalculated position;
Arm section mechanism (II) comprises forearm (7), front large arm (11), rear large arm (9), small rod (15), horizontal guide rail (22), horizontal ball-screw (21), horizontal servo motor (20), the large belt wheel of level (32), horizontal small pulley (30), level band (31), horizontal connecting plate (33), move horizontally plate (34), level frame (35), upright guide rail (12), vertical ball-screw (13), vertical servomotor (29), vertically large belt wheel (26), vertical small pulley, vertically be with (27), vertical connecting plate (25), vertical movable plate (16), vertical frame (17), axle one (18), axle two (14), axle three (8), axle four (23), 5 axles (10) and 6 axles (24), rear large arm (9) is connected with vertical frame (17) by axle one (18), vertical frame (17) and vertically movable plate (16), vertical movable plate (16) are connected by screw with vertical leading screw (13) nut with vertical connecting plate (25), vertical connecting plate (29), vertically drive motors (29) lower end part is installed vertically large belt wheel (26), and be connected with the small synchronous pulley of vertical ball-screw (13) lower end by vertical Timing Belt (27), drive vertical leading screw rotation, axle one (18) is moved both vertically, front large arm (11) is connected with level frame (35) by axle four (23), level frame (35) with move horizontally plate (34), move horizontally plate (34) and horizontal connecting plate (33), horizontal connecting plate (33) is connected by screw with horizontal screw lead (21) nut, the large belt wheel of level (32) is installed at horizontal servo motor (20) shaft extension position, and be connected with the little Timing Belt of horizontal ball-screw (21) right-hand member by horizontal synchronization band (31), drive horizontal ball-screw (21) rotation, make axle four (23) do horizontal movement, make axle four (23) do horizontal movement, forearm (7), front large arm (11), rear large arm (9), small rod (15) connect by axle two (14), axle three (8), axle four (23), 5 axles (10), form parallelogram lindage, it is upper that axle one (18) one end is fixedly connected on vertical frame (17) by the screw other end by round nut, and form a revolute pair by one group of taper roll bearing and rear large arm (9), it is upper that axle two (14) two ends are connected in two small rods (15) by screw respectively, and form a revolute pair by one group of taper roll bearing and rear large arm (9), it is upper that axle three (8) is fixedly connected on rear large arm (9) by screw, and form a revolute pair by one group of taper roll bearing and forearm (7), described axle four (23) one end are fixedly connected on level frame (35) by round nut by the screw other end, and by one group of taper roll bearing and front large arm (11), form a revolute pair, by one group of needle bearing and small rod (15), form a revolute pair, it is upper that 5 axles (10) are fixedly connected on set square (51) by screw, and by 2 groups of taper roll bearings, form each revolute pair respectively with front large arm (11), forearm (7), described 6 axles (24), are fixedly connected on forearm (7) by screw upper, and form a revolute pair by one group of taper roll bearing and wrist (48), described front large arm (11), rear large arm (9) two ends are close mouth shaped steel structure, and centre is Guan Gang, described forearm (7) is close mouth shaped steel structure,
Weld holder (III) comprise upright guide rail support (39), vertically leading screw seat supports (36), vertically connect square steel (37), vertically tiltedly steel pipe (38), horizontal guide rail support (40), horizontal screw lead seat supports (45), level connection joint steel pipe (43), horizontal support leg (44), brace (41); Upright guide rail supports (36), horizontal support leg (44) is connected with rotation soleplate (6) by screw; Vertically leading screw seat supports (36) with is vertically connected square steel (37), vertically connects square steel (37) and upright guide rail support (39) is connected by screw; Vertically oblique steel pipe (38) and vertically leading screw seat supports (36) are by being welded to connect; Horizontal guide rail support (40), horizontal screw lead seat supports (45) respectively with horizontal support leg (44) by being welded to connect; Level connection joint steel pipe (43) and horizontal screw lead seat supports (45) are by being welded to connect; Brace (41) is by screw, and vertical connecting connects square steel (37) and horizontal guide rail supports (40); It is upper that horizontal screw lead seat is arranged on horizontal screw lead seat supports (45), on horizontal ball-screw (21) horizontal screw lead seat; Vertically leading screw seat is arranged on vertical leading screw seat supports (36) above, and vertically ball-screw (13) is arranged on vertical leading screw seat; Horizontal guide rail (22) is arranged on horizontal guide rail and supports (40) above, and upright guide rail (12) is arranged on upright guide rail and supports on (39); Whole weld holder has very high rigidity, and stability is fine;
Wrist (V) comprises wrist (48), wrist drive motors (46) and wrist reductor (47);
Hand is grabbed (VI) and is comprised packet capturing straight line cylinder (49) and press bag straight line cylinder (50); Packet capturing straight line cylinder (49) completes packet capturing action, and described pressure bag cylinder (50) completes presses bag action;
The horizontal maintaining body of wrist (IV) comprises short rod (52), set square (51), rod end bearing (53), long draw (55) and asessory shaft (54); Described short rod (42) two ends are connected on level frame (35) by rod end bearing (43) and asessory shaft (44) and set square (51) is upper, described long draw (55) two ends are connected in set square (51) and wrist (48) by rod end bearing (53) and asessory shaft (54); Described set square (51) is arranged on 5 axles (10) by soket head cap screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420404015.XU CN203936917U (en) | 2014-07-21 | 2014-07-21 | A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420404015.XU CN203936917U (en) | 2014-07-21 | 2014-07-21 | A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203936917U true CN203936917U (en) | 2014-11-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420404015.XU Withdrawn - After Issue CN203936917U (en) | 2014-07-21 | 2014-07-21 | A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling |
Country Status (1)
| Country | Link |
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| CN (1) | CN203936917U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149088A (en) * | 2014-07-21 | 2014-11-19 | 大连创奇科技有限公司 | Series-parallel four-degree-of-freedom transferring and stacking robot |
| CN104555410A (en) * | 2015-01-09 | 2015-04-29 | 博戈橡胶金属（上海）有限公司 | Automatic discharge mechanism |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
-
2014
- 2014-07-21 CN CN201420404015.XU patent/CN203936917U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149088A (en) * | 2014-07-21 | 2014-11-19 | 大连创奇科技有限公司 | Series-parallel four-degree-of-freedom transferring and stacking robot |
| CN104149088B (en) * | 2014-07-21 | 2016-01-06 | 大连创奇科技有限公司 | A kind of connection in series-parallel four-degree-of-freedom robot for carrying and piling |
| CN104555410A (en) * | 2015-01-09 | 2015-04-29 | 博戈橡胶金属（上海）有限公司 | Automatic discharge mechanism |
| CN106002985A (en) * | 2016-07-26 | 2016-10-12 | 青岛北洋天青数联智能股份有限公司 | Carrying and stacking servo mechanical arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141112 Effective date of abandoning: 20160106 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |