CN204525470U - A kind of double-shaft two-way robot based on parallel principle - Google Patents
A kind of double-shaft two-way robot based on parallel principle Download PDFInfo
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- CN204525470U CN204525470U CN201520208411.XU CN201520208411U CN204525470U CN 204525470 U CN204525470 U CN 204525470U CN 201520208411 U CN201520208411 U CN 201520208411U CN 204525470 U CN204525470 U CN 204525470U
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Abstract
The utility model discloses a kind of double-shaft two-way robot based on parallel principle, by two groups of Swing Arm assembly head and the tail are hinged, and two levers in the first arm and the second arm form the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower.
Description
Technical field
The utility model relates to Industrial Robot Technology field, relates to a kind of double-shaft two-way robot based on parallel principle specifically.
Background technology
In developed country, industrial robot automatic production line complete set of equipments has become main flow robot development prospect and the developing direction in future of automated arm.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line in a large number, to ensure product quality, enhance productivity, avoid a large amount of industrial accidents simultaneously.The use practice of the industrial robot of global many national nearly half a century shows, the universal of industrial robot realizes automated production, improves social production efficiency, the effective means that promotion enterprise and social productive forces develop.At present, single armed swinging mechanical hand on the market, because its mobile alignment is circular arc, handgrip sucker is difficult to the rectilinear movement realizing level, in order to allow handgrip sucker maintenance level, often needing the auxiliary of actuating unit, so also can improve manufacturing cost accordingly.And the stability of single armed is lower, manipulator easily produces and rocks in moving process, has a strong impact on the control accuracy of manipulator, is difficult to the accuracy requirement reaching people.
Therefore, inventor of the present utility model needs a kind of new technology of design badly to improve its problem.
Utility model content
The utility model aims to provide a kind of can minimizing and drives power source can reduce again the double-shaft two-way robot based on parallel principle of cost.
For solving the problems of the technologies described above, the technical solution of the utility model is:
A kind of double-shaft two-way robot based on parallel principle, comprise base, described base is provided with the rotating main shaft of level, the below of described main shaft is provided with stable equilibrium block, when described main shaft does not rotate, the center of gravity of described stable equilibrium block and the plane orthogonal at described main-shaft axis place are in horizontal plane; One end of described main shaft is provided with the spindle servo electric machine driving described main axis, the other end of described main shaft is connected with Swing Arm assembly, described spindle servo electric machine is by driving described main axis and then driving described Swing Arm assembly around the circuit oscillation of described main shaft, and the free end of described Swing Arm assembly is connected with the handgrip for grabbing workpiece; Described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, described first Swing Arm assembly comprises the first arm being hinged on described spindle nose, the side of described first arm is provided with two first control levers of assisting described first arm swing, the bottom-hinged point of described first control lever and the bottom-hinged point of described first arm are positioned on same level line, form the articulated structure of parallelogram between two described first control levers; Described second Swing Arm assembly comprises the second arm and two the second control levers, one end of described second arm and one end away from described main shaft of described first arm hinged, the other end and the described handgrip of described second arm are hinged, two described second control levers are hinged on the end of two described first control levers respectively, and two described second control levers form hinged parallelogram sturcutre; Be provided with the first pushing component between described first arm and described main shaft, described first pushing component rotates to close or away from described work pieces process position direction for driving described first arm; Be provided with the second pushing component between described second arm and described first arm, described second pushing component rotates to described close or away from described work pieces process position direction for driving described second arm.
Further, two described first control levers are symmetricly set on described first arm both sides, and two described second control levers are symmetricly set on described second arm both sides, are articulated and connected between described first Swing Arm assembly and described second Swing Arm assembly by shaft coupling.
Further, the end, one end away from described first arm of described second arm is hinged with the 3rd arm turning set, 3rd arm turning set can be provided with rotating 3rd arm, the end, one end extended to described second control lever side of described 3rd arm is connected with parallel dead plate, and described parallel dead plate is articulated and connected by the end of Hooks coupling universal coupling and described second control lever; One end away from described second control lever of described 3rd arm is passed described 3rd arm turning set and is fixedly connected with described handgrip.
Further, described first pushing component comprises one end and is hinged on described first arm, the other end is hinged on the first arm work push rod on the first slide block, described first slide block is arranged in the guide rail of the first arm work module, and described first slide block does linear reciprocal movement by the first arm work module driven by servomotor along the axis direction of described main shaft.
Further, described second pushing component comprises one end and is hinged on described second arm, the other end is hinged on the second arm work push rod on the second slide block, described second slide block is arranged in the guide rail of the second arm work module, and described second slide block does linear reciprocal movement by the second arm work module driven by servomotor along the axis direction of described second arm.
Further, described main shaft is by two wall-panels supports be vertically set on described base, and two described wallboard parallel interval are arranged, and described stable equilibrium block is arranged on the centre of two described wallboards.
Further, the axis of described first arm work push rod, the described axis of the second arm work push rod and the axis of described main shaft are all positioned at same plane.
Further, be provided with main shaft decelerator between described spindle servo electric machine and described main shaft, described spindle servo electric machine and described main shaft decelerator are all fixed therein on a described wallboard.
Adopt technique scheme, the utility model at least comprises following beneficial effect:
Double-shaft two-way robot based on parallel principle described in the utility model, by two groups of Swing Arm assembly head and the tail are hinged, and two levers in the first arm and the second arm form the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower.
Accompanying drawing explanation
Fig. 1 is the front view of the double-shaft two-way robot based on parallel principle described in the utility model;
Fig. 2 is the side view of the double-shaft two-way robot based on parallel principle described in the utility model;
Fig. 3 is the front view of Swing Arm assembly of the present utility model;
Fig. 4 is the side view of Swing Arm assembly of the present utility model;
Fig. 5 is that the master of the utility model Swing Arm assembly when being sent in equipment by workpiece looks state diagram;
Fig. 6 is the side-looking state diagram of the utility model Swing Arm assembly when being sent in equipment by workpiece;
Fig. 7 is that the master of the utility model Swing Arm assembly when being shifted out in equipment by workpiece looks state diagram.
Wherein: 1. base, 2. stable equilibrium block, 3. main shaft, 4. the first arm work module, 5. spindle servo electric machine, 6. main shaft decelerator, 7. the first slide block, 8. the first arm work module servomotor, 9. shaft coupling, 10. the first arm work push rod, 11. handgrip couplings, 12. handgrips, 13. Hooks coupling universal couplings, 14. parallel dead plates, 15. the 3rd arms, 16. the 3rd arm turning sets, 17. turning set couplings, 18. second control levers, 19. second arms, 21. first control levers, 22. first arms, 23. second arm work push rods, 24. second slide blocks, 25. second arm work modules, 26. second arm work module servomotors, 27. wallboards, 28. supporting components.
Detailed description of the invention
Further illustrate the utility model below in conjunction with drawings and Examples, in figure, the direction of arrow is the rotation direction of corresponding component.
As shown in Figures 1 to 7, for meeting a kind of double-shaft two-way robot based on parallel principle of the present utility model, it comprises base 1, described base 1 is provided with the rotating main shaft 3 of level, the below of described main shaft 3 is provided with stable equilibrium block 2, when described main shaft 3 does not rotate, the center of gravity of described stable equilibrium block 2 and the plane orthogonal at described main shaft 3 axis place are in horizontal plane, the weight of fixed block balance weight 2 according to Swing Arm assembly and handgrip, workpiece weight summation coupling, weight is between 18kg-27kg; Once Swing Arm assembly swings at the left and right directions of Fig. 4, stable equilibrium block all can rotate with the rotation of main shaft, and then the center of gravity of stable equilibrium block is raised, under the Action of Gravity Field of stable equilibrium block, a torsion contrary with main axis direction can be applied to main shaft, and then reduce driving torque to reduce driving power, be 3/5 of conventional six-joint robot second axle moment of torsion, thus reduce cost and save energy consumption.
One end of described main shaft 3 is provided with the spindle servo electric machine 5 driving described main shaft 3 to rotate, the other end of described main shaft 3 is connected with Swing Arm assembly, described spindle servo electric machine 5 rotates by driving described main shaft 3 and then drives described Swing Arm assembly around the circuit oscillation of described main shaft 3, and the free end of described Swing Arm assembly is connected with the handgrip 12 for grabbing workpiece; Described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, described first Swing Arm assembly comprises the first arm 22 being hinged on described main shaft 3 end, the side of described first arm 22 is provided with two first control levers 21 of assisting described first arm 22 to swing, the bottom-hinged point of described first control lever 21 and the bottom-hinged point of described first arm 22 are positioned on same level line, this setup had both been convenient to install, and being also convenient to guarantee grabs chirokinesthetic stationary performance simultaneously.Described control lever 21 is hinged on base 1 by supporting component 28, forms the articulated structure of parallelogram, see tetra-pin joints of B1, C1, C, the B in Fig. 4 between two described first control levers 21; Described second Swing Arm assembly comprises the second arm 19 and two the second control levers 18, one end of described second arm 19 and one end away from described main shaft 3 of described first arm 22 hinged, the other end and the described handgrip 12 of described second arm 19 are hinged, two described second control levers 18 are hinged on the end of two described first control levers 21 respectively, two described second control levers 18 form hinged parallelogram sturcutre, see tetra-pin joints of A1, B1, B, the A in Fig. 4; Be provided with the first pushing component between described first arm 22 and described main shaft 3, described first pushing component rotates to close or away from described work pieces process position direction for driving described first arm 22; Be provided with the second pushing component between described second arm 19 and described first arm 22, described second pushing component rotates to described close or away from described work pieces process position direction for driving described second arm 19.The double-shaft two-way robot based on parallel principle described in the present embodiment, by two groups of Swing Arm assembly head and the tail are hinged, and two levers in the first arm and the second arm form the articulated structure of parallelogram, and then ensure that robot can ensure that in running the workpiece that handgrip captures is in level all the time, improve the stability that workpiece is taken, and without the need to arranging the special Power Drive Unit for driving workpiece level as conventional machines people, therefore, it is possible to economize energy, and overall structure is simple, cost is lower.
In the present embodiment, two described first control levers 21 are symmetricly set on described first arm 22 both sides, two described second control levers 18 are symmetricly set on described second arm 19 both sides, are articulated and connected between described first Swing Arm assembly and described second Swing Arm assembly by shaft coupling 9.
In the present embodiment, the end, one end away from described first arm 22 of described second arm 19 is hinged with the 3rd arm turning set 16 by turning set connector 17,3rd arm turning set 16 can be provided with rotating 3rd arm 15, the end, one end extended to described second control lever 18 side of described 3rd arm 15 is connected with parallel dead plate 14, and described parallel dead plate 14 is articulated and connected by the end of Hooks coupling universal coupling 13 with described second control lever 18; One end away from described second control lever 18 of described 3rd arm 15 is passed described 3rd arm turning set 16 and is fixedly connected with described handgrip 12, is connected between described handgrip 12 with described second control lever 18 by handgrip coupling 11.
In the present embodiment, described first pushing component comprises one end and is hinged on described first arm 22, the other end is hinged on the first arm work push rod 10 on the first slide block 7, described first slide block 7 is arranged in the guide rail of the first arm work module 4, described first slide block 7 drives the axis direction along described main shaft 3 to do linear reciprocal movement by the first arm work module servomotor 8, namely to left side or the right side motion of Fig. 5.
In the present embodiment, described second pushing component comprises one end and is hinged on described second arm 19, the other end is hinged on the second arm work push rod 23 on the second slide block 24, described second slide block 24 is arranged in the guide rail of the second arm work module 25, described second slide block 24 drives the axis direction along described second arm 19 to do linear reciprocal movement by the second arm work module servomotor 26, namely to left side or the right side motion of Fig. 5.
In the present embodiment, described main shaft 3 is supported by two wallboards 27 be vertically set on described base 1, and two described wallboard 27 parallel interval are arranged, and described stable equilibrium block 2 is arranged on the centre of two described wallboards 27.
In the present embodiment, the axis of described first arm work push rod 10, the described axis of the second arm work push rod 23 and the axis of described main shaft 3 are all positioned at same plane, and this setup is convenient to ensure to workbench conveying or from stability during workbench taking-up workpiece and accuracy.
In the present embodiment, for the ease of controlling the rotating speed of described main shaft 3, increase the driving torsion of main shaft 3, be provided with main shaft decelerator 6 between described spindle servo electric machine 5 and described main shaft 3, described spindle servo electric machine 5 and described main shaft decelerator 6 are all fixed therein on a described wallboard 27.
Above an embodiment of the present utility model has been described in detail, but described content is only the preferred embodiment that the utility model is created, and can not be considered to for limiting practical range of the present utility model.All any equivalent variations done according to the utility model application range, all should still be within patent covering scope of the present utility model.
Claims (8)
1. the double-shaft two-way robot based on parallel principle, it is characterized in that, comprise base, described base is provided with the rotating main shaft of level, the below of described main shaft is provided with stable equilibrium block, when described main shaft does not rotate, the center of gravity of described stable equilibrium block and the plane orthogonal at described main-shaft axis place are in horizontal plane; One end of described main shaft is provided with the spindle servo electric machine driving described main axis, the other end of described main shaft is connected with Swing Arm assembly, described spindle servo electric machine is by driving described main axis and then driving described Swing Arm assembly around the circuit oscillation of described main shaft, and the free end of described Swing Arm assembly is connected with the handgrip for grabbing workpiece; Described Swing Arm assembly comprises be hinged the first Swing Arm assembly together and the second Swing Arm assembly, described first Swing Arm assembly comprises the first arm being hinged on described spindle nose, the side of described first arm is provided with two first control levers of assisting described first arm swing, the bottom-hinged point of described first control lever and the bottom-hinged point of described first arm are positioned on same level line, form the articulated structure of parallelogram between two described first control levers; Described second Swing Arm assembly comprises the second arm and two the second control levers, one end of described second arm and one end away from described main shaft of described first arm hinged, the other end and the described handgrip of described second arm are hinged, two described second control levers are hinged on the end of two described first control levers respectively, and two described second control levers form hinged parallelogram sturcutre; Be provided with the first pushing component between described first arm and described main shaft, described first pushing component rotates to close or away from described work pieces process position direction for driving described first arm; Be provided with the second pushing component between described second arm and described first arm, described second pushing component rotates to described close or away from described work pieces process position direction for driving described second arm.
2. as claimed in claim 1 based on the double-shaft two-way robot of parallel principle, it is characterized in that: two described first control levers are symmetricly set on described first arm both sides, two described second control levers are symmetricly set on described second arm both sides, are articulated and connected between described first Swing Arm assembly and described second Swing Arm assembly by shaft coupling.
3. as claimed in claim 2 based on the double-shaft two-way robot of parallel principle, it is characterized in that: the end, one end away from described first arm of described second arm is hinged with the 3rd arm turning set, 3rd arm turning set can be provided with rotating 3rd arm, the end, one end extended to described second control lever side of described 3rd arm is connected with parallel dead plate, and described parallel dead plate is articulated and connected by the end of Hooks coupling universal coupling and described second control lever; One end away from described second control lever of described 3rd arm is passed described 3rd arm turning set and is fixedly connected with described handgrip.
4. as claimed in claim 3 based on the double-shaft two-way robot of parallel principle, it is characterized in that: described first pushing component comprises one end and is hinged on described first arm, the other end is hinged on the first arm work push rod on the first slide block, described first slide block is arranged in the guide rail of the first arm work module, and described first slide block does linear reciprocal movement by the first arm work module driven by servomotor along the axis direction of described main shaft.
5. as claimed in claim 4 based on the double-shaft two-way robot of parallel principle, it is characterized in that: described second pushing component comprises one end and is hinged on described second arm, the other end is hinged on the second arm work push rod on the second slide block, described second slide block is arranged in the guide rail of the second arm work module, and described second slide block does linear reciprocal movement by the second arm work module driven by servomotor along the axis direction of described second arm.
6. as claimed in claim 5 based on the double-shaft two-way robot of parallel principle, it is characterized in that: described main shaft is by two wall-panels supports be vertically set on described base, two described wallboard parallel interval are arranged, and described stable equilibrium block is arranged on the centre of two described wallboards.
7., as claimed in claim 6 based on the double-shaft two-way robot of parallel principle, it is characterized in that: the axis of described first arm work push rod, the described axis of the second arm work push rod and the axis of described main shaft are all positioned at same plane.
8. as claimed in claim 7 based on the double-shaft two-way robot of parallel principle, it is characterized in that: be provided with main shaft decelerator between described spindle servo electric machine and described main shaft, described spindle servo electric machine and described main shaft decelerator are all fixed therein on a described wallboard.
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| CN201520208411.XU CN204525470U (en) | 2015-04-08 | 2015-04-08 | A kind of double-shaft two-way robot based on parallel principle |
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| CN201520208411.XU CN204525470U (en) | 2015-04-08 | 2015-04-08 | A kind of double-shaft two-way robot based on parallel principle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090347A (en) * | 2015-08-31 | 2015-11-25 | 苏州神运机器人有限公司 | Damp balancing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090347A (en) * | 2015-08-31 | 2015-11-25 | 苏州神运机器人有限公司 | Damp balancing device |
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