CN205187376U - Heavy load pile up neatly machine people - Google Patents
Heavy load pile up neatly machine people Download PDFInfo
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- CN205187376U CN205187376U CN201521007301.3U CN201521007301U CN205187376U CN 205187376 U CN205187376 U CN 205187376U CN 201521007301 U CN201521007301 U CN 201521007301U CN 205187376 U CN205187376 U CN 205187376U
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Abstract
The utility model relates to a heavy load pile up neatly machine people, including the robot and tongs, the robot include base and arm subassembly, arm subassembly and base between be provided with the shoulder subassembly, the arm subassembly terminal with the tongs be connected, arm subassembly and tongs between be provided with the wrist subassembly, the arm subassembly include big arm, elbow and forearm, the elbow connect in big arm and forearm between, big arm with the shoulder subassembly be connected, the forearm with the wrist subassembly be connected, the tongs include the fixed bolster with set up in the fixed bolster on the sucking disc. The heavy load pile up neatly machine people of this kind of structure is adopted, artifical transport pile up neatly can be replaced, if at glass industry, the board that carries out the extra -large -size snatchs the back pile up neatly, can also apply to removing of large -scale panel such as steel sheet and send and the pile up neatly, improves work efficiency greatly, and the material resources of using manpower sparingly have more extensive range of application.
Description
Technical field
The utility model relates to Industrial Robot Technology field, particularly relates to robot palletizer technical field, specifically refers to a kind of heavily loaded robot palletizer.
Background technology
Robot palletizer replaces manpower transport piling, can increase substantially production efficiency, ensures stability, reduces labour intensity, can prevent serious accident, be widely used in glass handling piling, steel plate carrying piling, the level of sheet material or vertically carry piling.Sheet material conveyor line uses extensively.But, four traditional shaft industrial robots due to brachium limited, carry limited, and large arm slewing area restriction, the carrying piling of large-sized sheet material cannot be completed; And with the robot of six axles or more, not only cost is higher, and end can load-carrying capacity lower, there is potential safety hazard.Under safety, economic, practical, failure-free prerequisite, robot is in the past difficult to the carrying requirement of satisfied present large-sized sheet material.
Utility model content
The purpose of this utility model is the shortcoming overcoming above-mentioned prior art, provide a kind of can realize having heavily loaded piling ability, can the template material of the huge size of piling, the crawl palletizing operation completed on conveyor line, there is the heavily loaded robot palletizer of broader applications scope.
To achieve these goals, heavily loaded robot palletizer of the present utility model has following formation:
This heavily loaded robot palletizer, its principal feature is, described robot comprises robot body and handgrip, described robot body comprises pedestal and arm assembly, Shoulder components is provided with between described arm assembly and pedestal, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
Preferably, described robot body also comprises pedestal mounting plate, and described pedestal is mounted on described pedestal mounting plate.
Preferably, described Shoulder components comprises shoulder joint motor and shoulder joint retarder, and described shoulder joint motor is connected to the starting end of described arm assembly by described shoulder joint retarder.
Preferably, described wrist assembly comprises wrist, end flange, end retarder and end motor, the end of described arm assembly is connected with described handgrip with end flange by described wrist, and described end motor is connected with described wrist by described end retarder.
Preferably, described arm assembly comprises large arm, ancon and forearm, and described ancon is connected between described large arm and forearm, and described large arm is connected with described Shoulder components, and described forearm is connected with described wrist assembly.
More preferably, described ancon comprises elbow joint retarder and elbow joint motor, and described elbow joint motor is connected to described forearm by described elbow joint retarder.
More preferably, described robot also comprises balancing device, and described balancing device is arranged at the side of described large arm and described balancing device is relative with described Shoulder components.
More preferably, described large arm is also provided with large arm limiting stopper, described forearm is also provided with forearm limiting stopper.
Preferably, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
Have employed the heavily loaded robot palletizer in this utility model, a dead lift piling can be replaced, as at glass industry, carry out superhuge plate and capture rear piling, conveyance and the piling of the large-scale sheet material such as steel plate can also be applied to, greatly increase work efficiency, use manpower and material resources sparingly, there is field of application widely.
Accompanying drawing explanation
Fig. 1 is the utility model heavy duty robot palletizer planar structure schematic diagram;
Fig. 2 is the utility model heavy duty robot palletizer three-dimensional structure schematic diagram;
Fig. 3 is the schematic diagram capturing attitude under the utility model heavy duty robot palletizer level;
Fig. 4 is the schematic diagram that the utility model heavy duty robot palletizer vertically piles up attitude.
Reference numeral:
1 pedestal mounting plate
2 shoulder joint retarders
3 shoulder joint motors
4 pedestals
5 large arm
6 elbow joint retarders
7 elbow joint motors
8 forearms
9 wrist joint motors
10 wrist joint retarders
11 end flange
12 end retarders
13 wrists
14 end motors
15 forearm limiting stoppers
16 balancing devices
17 large arm limiting stoppers
Detailed description of the invention
In order to more clearly describe technology contents of the present utility model, conduct further description below in conjunction with specific embodiment.
To achieve these goals, this heavily loaded robot palletizer comprises robot body and handgrip, described robot body comprises pedestal 4 and arm assembly, Shoulder components is provided with between described arm assembly and pedestal 4, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
In one preferably embodiment, described robot body also comprises pedestal mounting plate 1, and described pedestal 4 to be mounted on described pedestal mounting plate 1.
In one preferably embodiment, described Shoulder components comprises shoulder joint motor 3 and shoulder joint retarder 2, and described shoulder joint motor 3 is connected to the starting end of described arm assembly by described shoulder joint retarder 2.
In one preferably embodiment, described wrist assembly comprises wrist 13, end flange 11, end retarder 12 and end motor 14, the end of described arm assembly is connected with described handgrip with end flange 11 by described wrist 13, and described end motor 14 is connected with described wrist 13 by described end retarder 12.
In one preferably embodiment, described arm assembly comprises large arm 5, ancon and forearm 8, described ancon is connected between described large arm 5 and forearm 8, and described large arm 5 is connected with described Shoulder components, and described forearm 8 is connected with described wrist assembly.
In a kind of better embodiment, described ancon comprises elbow joint retarder 6 and elbow joint motor 7, and described elbow joint motor 7 is connected to described forearm by described elbow joint retarder 6.
In a kind of better embodiment, described robot also comprises balancing device 16, and described balancing device 16 is arranged at the side of described large arm 5 and described balancing device 16 is relative with described Shoulder components.
In a kind of better embodiment, described large arm 5 is also provided with large arm limiting stopper 17, described forearm 8 is also provided with forearm limiting stopper 15.
In one preferably embodiment, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
As shown in figures 1-4, according to the one heavy duty piling industrial robot that the utility model provides, described structure comprises pedestal 4, large arm 5, forearm 8, wrist 13, shoulder joint motor 3, elbow joint motor 7, wrist joint motor 9, end motor 14, shoulder joint retarder 2, elbow joint retarder 6, wrist joint retarder 10, end retarder 12, end flange 11, balancing device 16 and sucker gripper.
Wherein, described pedestal 4, large arm 5, forearm 8, wrist 13, shoulder joint motor 3, elbow joint motor 7, wrist joint motor 9, end motor 14, shoulder joint retarder 2, elbow joint retarder 6, wrist joint retarder 10, end retarder 12 and end flange 11 form the body of heavily loaded robot palletizer, for the Motor execution of heavily loaded robot palletizer.
Described balancing device 16 is for providing balancing moment for large arm 5, when large arm 5 bears load torque, balancing device 16 provides the balancing moment reverse with load torque for large arm 5, it is characterized in that, balancing moment can be provided in the rotary work space of positive and negative 90 to reduce the load of shoulder joint retarder 2 and shoulder joint motor 3 for large arm 5, extend the service life of shoulder joint retarder 2 and shoulder joint motor 3.
Described sucker gripper adopts special matrix form distribution sucker to capture structure, the piling occasion of load more than 500 kilograms of sheet materials can be captured by actv., ensure that the large-scale overweight sheet material in crawl process is firmly captured by firm, and scuffing is not caused to plate surface.
The fixed form of described heavily loaded robot palletizer, adopt unique mounting means, the structure knowledge of the aspect such as architecture, mechanics, adopt tempering bolt to be arranged on by robot on pedestal mounting plate 1, pedestal mounting plate 1 is arranged on base plate, finally base plate is arranged on ground, and build with cement mixing soil and be integrated, ensure that robot is fixed on ground securely, reduce the application force of great bearing capacity to body, effectively ensure the robot life-span.
In Grasp Modes, the mode that this structure is grabbed under adopting captures, and namely captures from the below in sheet material sports level face.
In the present embodiment, the heavily loaded robot palletizer that the utility model provides, comprises robot body, balancing device 16 and sucker gripper;
Described robot body is for generation of the executive agent action of piling, and corresponding pose adjustment is carried out in the locus according to piling object.Described shoulder joint motor 3 adopts socket head cap screw group to be installed on the shoulder joint motor flange face of pedestal 4, and shoulder joint retarder 2 adopts socket head cap screw group to be installed on pedestal shoulder joint retarder attachment face.The output face of described shoulder joint retarder adopts socket head cap screw group to be connected with large arm shoulder joint attachment face, and the power of shoulder joint motor will be passed to large arm shoulder joint attachment face by shoulder joint retarder, rotate to drive large arm.Described elbow joint retarder 6 adopts socket head cap screw group to be installed on large arm elbow joint retarder attachment face.Described forearm elbow joint retarder attachment face adopts socket head cap screw group to be connected with elbow joint retarder input face, described elbow joint motor 7 adopts socket head cap screw group to be installed on forearm elbow joint motor flange attachment face, the power of elbow joint motor 7 will be passed to forearm elbow joint by elbow joint retarder 6, rotate to drive forearm.Described wrist joint retarder 10 adopts socket head cap screw group to be installed on forearm facies articularis carpea, described wrist adopts socket head cap screw to be installed in the output face of wrist joint retarder, and the power of wrist joint motor 9 will be reached the wrist joint attachment face of wrist 13 by wrist joint retarder 10.End motor 14 adopts socket head cap screw to be installed on wrist end motor flange face, and end retarder 12 adopts socket head cap screw group to be installed on wrist retarder attachment face, and end flange adopts socket head cap screw to be installed in the output face of end retarder.
Described balancing device 16 is adopted splined mode and is connected with described robot ' s arm shoulder joint end face.Described balancing device 16, for balancing the load torque of a part of described robot shoulder joint, provides balancing moment reciprocal with robot shoulder joint load torque.
Described sucker gripper adopts socket head cap screw group to be installed on described robot end's flange attachment face; for to the absorption of piling object with pile up; be specially and adopt the lower mode captured that especially big heavy glass is firmly captured and piled up, the product design of upper surface coated glass can be protected especially.
This robot forms primarily of robot body, sucker gripper and balancing device.
Robot major part comprises: pedestal mounting plate 1, shoulder joint retarder 2, shoulder joint motor 3, pedestal 4, large arm 5, elbow joint retarder 6, elbow joint motor 7, forearm 8, wrist joint motor 9, wrist joint retarder 10, end flange 11, end retarder 12, wrist 13, end motor 14, forearm limiting stopper 15, balancing device 16, large arm limiting stopper 17.
Array mode is: pedestal mounting plate 1 adopts and is bolted to substrate, and base plate is integrated by tempering bolt and pouring concrete; Base portion is made up of four joint motors, and each joint motor controls a retarder, and close internode and adopt the arm of force to connect, all limited location block on the arm of force, carries out position limitation.
Main shaft forms: shoulder joint retarder 2 is contained on shoulder joint motor 3, and then integral installation is on pedestal 4; Shoulder joint retarder 2 is connected with large arm 5, and balancing device 16 is used for controlling the balance of the arm of force 5.
In like manner,
Elbow joint retarder 6, elbow joint motor 7 and forearm 8 form two axles;
Wrist joint motor 9, wrist joint retarder 10 form three axles;
End flange 11, end retarder 12 and end motor 14 form four axles.
Handle component comprises: Suction cup assembly, fixed support etc.
The mode of operation of the heavily loaded robot palletizer that the utility model provides, particular content is as follows:
A working cycle comprises: standby, capture, carrying and piling Four processes.
Standby: robot after the power-up, moves to the downside of sheet material moving surface, and sucker plane and moving surface horizontal parallel, as the position of Fig. 2, wait for that sheet material arrives crawl position.
Capture: after sheet material arrives robot gripper crawl position, by ambient light electric induction signal, robot enters stage of gripping, robot motion is to sucker and web contact place, and after sucker is drawn, each axle of robot links, sheet material is captured the carrier departing from moving surface, complete crawl;
Carrying: namely enter the carrying stage after having captured, the path of motion along programming is moved by robot accordingly, sheet material is transported to the position of needs, as shown in Figure 3;
Piling: after arrival assigned address, stopping is drawn by the sucker on handgrip, is discharged on the carrying object of assigned address by sheet material, and then turns back to crawl position, carry out standby.
Have employed the heavily loaded robot palletizer in this utility model, a dead lift piling can be replaced, as at glass industry, carry out superhuge plate and capture rear piling, conveyance and the piling of the large-scale sheet material such as steel plate can also be applied to, greatly increase work efficiency, use manpower and material resources sparingly, there is field of application widely.
In this description, the utility model is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from spirit and scope of the present utility model.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1. a heavily loaded robot palletizer, it is characterized in that, described robot comprises robot body and handgrip, described robot body comprises pedestal and arm assembly, Shoulder components is provided with between described arm assembly and pedestal, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
2. heavily loaded robot palletizer according to claim 1, is characterized in that, described robot body also comprises pedestal mounting plate, and described pedestal is mounted on described pedestal mounting plate.
3. heavily loaded robot palletizer according to claim 1, is characterized in that, described Shoulder components comprises shoulder joint motor and shoulder joint retarder, and described shoulder joint motor is connected to the starting end of described arm assembly by described shoulder joint retarder.
4. heavily loaded robot palletizer according to claim 1, it is characterized in that, described wrist assembly comprises wrist, end flange, end retarder and end motor, the end of described arm assembly is connected with described handgrip with end flange by described wrist, and described end motor is connected with described wrist by described end retarder.
5. heavily loaded robot palletizer according to claim 1, it is characterized in that, described arm assembly comprises large arm, ancon and forearm, described ancon is connected between described large arm and forearm, described large arm is connected with described Shoulder components, and described forearm is connected with described wrist assembly.
6. heavily loaded robot palletizer according to claim 5, is characterized in that, described ancon comprises elbow joint retarder and elbow joint motor, and described elbow joint motor is connected to described forearm by described elbow joint retarder.
7. heavily loaded robot palletizer according to claim 5, is characterized in that, described robot also comprises balancing device, and described balancing device is arranged at the side of described large arm and described balancing device is relative with described Shoulder components.
8. heavily loaded robot palletizer according to claim 5, is characterized in that, described large arm is also provided with large arm limiting stopper, and described forearm is also provided with forearm limiting stopper.
9. heavily loaded robot palletizer according to claim 1, is characterized in that, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007301.3U CN205187376U (en) | 2015-12-07 | 2015-12-07 | Heavy load pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007301.3U CN205187376U (en) | 2015-12-07 | 2015-12-07 | Heavy load pile up neatly machine people |
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| Publication Number | Publication Date |
|---|---|
| CN205187376U true CN205187376U (en) | 2016-04-27 |
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| CN201521007301.3U Active CN205187376U (en) | 2015-12-07 | 2015-12-07 | Heavy load pile up neatly machine people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105293085A (en) * | 2015-12-07 | 2016-02-03 | 中建材凯盛机器人（上海）有限公司 | Heavy-load robot palletizer |
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2015
- 2015-12-07 CN CN201521007301.3U patent/CN205187376U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105293085A (en) * | 2015-12-07 | 2016-02-03 | 中建材凯盛机器人（上海）有限公司 | Heavy-load robot palletizer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Heavy-load robot palletizer Effective date of registration: 20200416 Granted publication date: 20160427 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Company Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210603 Granted publication date: 20160427 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Co. Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |