CN206663255U - A kind of robot palletizer - Google Patents
A kind of robot palletizer Download PDFInfo
- Publication number
- CN206663255U CN206663255U CN201720244760.6U CN201720244760U CN206663255U CN 206663255 U CN206663255 U CN 206663255U CN 201720244760 U CN201720244760 U CN 201720244760U CN 206663255 U CN206663255 U CN 206663255U
- Authority
- CN
- China
- Prior art keywords
- rotary joint
- reductor
- servomotor
- rotating seat
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000000203 mixture Substances 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 6
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 37
- 229910052757 nitrogen Inorganic materials 0.000 claims description 19
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 4
- 239000010962 carbon steel Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 claims 1
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of robot palletizer, including a pedestal, and it is installed on the first rotary joint on the pedestal, second rotary joint, four joint vertical mechanisms of the 3rd rotary joint and the 4th rotary joint composition, connected between second rotary joint and the 3rd rotary joint by the first parallelogram linkage, connected between 3rd rotary joint and the 4th rotary joint by the second parallelogram linkage, also include being used for balancing whole mechanical arm and disappear from first reused and molality group and disappear molality group for balancing the second of the deadweight of end mechanical arm, second rotary joint is arranged on the first parallelogram linkage, 4th rotary joint is arranged on the second parallelogram linkage.The molality group of the present utility model that disappears balances the deadweight of mechanical arm in itself, and the reductor that all joints use is the cycloidal planetary gear speed reducer of high accuracy and high rigidity, therefore substantially increases the weight capacity of robot palletizer.
Description
Technical field
A kind of industrial robot is the utility model is related to, particularly a kind of robot palletizer.
Background technology
The application of industrial robot is more and more wider, and robot palletizer arises at the historic moment, and has protrusion above carrying application
Advantage, current robot palletizer structure bulky, the motor and reductor used is all very big, can be carried heavier
Object.
The content of the invention
Technical problem to be solved in the utility model is to provide one kind using nitrogen spring as the molality group that disappears, and improves
Bearing capacity, mechanical arm are welded using ordinary carbon steel pipe, reduce manufacturing cost, are slowed down using the cycloidal-pin wheel of high rigidity
Machine, improve service life and reliability.
The utility model is achieved through the following technical solutions：A kind of robot palletizer, it is characterised in that：Including one
Pedestal, and the first rotary joint, the second rotary joint, the 3rd rotary joint and the 4th rotation that are installed on the pedestal are closed
Four joint vertical mechanisms of composition are saved, pass through the first parallelogram connection-rod machine between the second rotary joint and the 3rd rotary joint
Structure connects, and is connected between the 3rd rotary joint and the 4th rotary joint by the second parallelogram linkage, in addition to
Disappear from first reused for balancing whole mechanical arm and molality group and disappear molality for balancing the second of the deadweight of end mechanical arm
Group, the second rotary joint are arranged on the first parallelogram linkage, its mounting seat and pedestal keeping parallelism, the 4th rotation
Joint is arranged on the second parallelogram linkage, rotary end surface and pedestal keeping parallelism.
As preferable technical scheme, first rotary joint is by pedestal, the first servomotor, the first deceleration unit
Into；Second rotary joint is made up of the second servomotor, the second reductor, the first rotating seat；3rd rotary joint is watched by the 3rd
Take motor, the 3rd reductor, the second rotating seat composition；4th rotary joint is by the 4th servomotor, the 4th reductor, the 3rd rotation
Swivel base forms；First parallel-crank mechanism is made up of the first rotating seat, the first master arm, the first pull bar, the second rotating seat；The
Two parallel-crank mechanisms are made up of the second rotating seat, the second pull bar, the second master arm, the 3rd rotating seat；First disappears molality group
It is made up of the first rotating seat, the first nitrogen spring, the first pull bar；Second disappear molality group by the second rotating seat, the second nitrogen spring,
Second driving lever forms.
As preferable technical scheme, the described first molality group and second that disappears disappears molality group using nitrogen spring, and
One the first nitrogen spring for disappearing molality group is arranged between the first rotating seat and the first pull bar；Second the second nitrogen for disappearing molality group
Spring is arranged between the second rotating seat and the second master arm, and the first rotating seat is arranged on the first reductor, the first servo electricity
Machine drives the first reductor to rotate, and the second servomotor drives the second reductor to rotate, the 3rd servomotor
The 3rd reductor is driven to rotate.
As preferable technical scheme, second servomotor, the absolute type servo that the 3rd servomotor is strap brake
Motor, the first servomotor, the 4th servomotor are the absolute type servomotor of not strap brake, and each reductor is using high accuracy height
Rigid cycloidal planetary gear speed reducer.
As preferable technical scheme, first reductor, the second reductor, the 3rd reductor, the 4th reductor are equal
For the cycloidal planetary gear speed reducer of high rigidity, the joint where it need not configure base bearing.
As preferable technical scheme, mechanical arm is welded using common carbon steel and does baking finish process, elegant in appearance, cost
Low, intensity is high.
The beneficial effects of the utility model are：The utility model employs the molality group that disappears, and improves bearing capacity, and mechanical arm makes
With carbon steel pipe plastic-spraying, manufacturing cost is reduced, employs cycloidal planetary gear speed reducer, installation need not simply configure base bearing, improve
Service life and reliability.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is structural representation of the present utility model
Fig. 2 is structure front view of the present utility model
In figure：1st, pedestal, the 2, first servomotor, the 3, first reductor, the 4, second servomotor, the 5, second reductor,
6th, the first nitrogen spring, the 7, first pull bar, the 8, second nitrogen spring, the 9, first rotating seat, the 10, first master arm, the 11, second rotation
Swivel base, the 12, the 3rd servomotor, the 13, the 3rd reductor, the 14, second pull bar, the 15, second master arm, the 16, the 4th servomotor,
17th, the 3rd rotating seat, the 18, the 4th reductor, the 101, first rotary joint, the 102, second rotary joint, 103, first disappears molality
Group, the 104, first parallel-crank mechanism, 105, second disappears molality group, the 106, the 3rd rotary joint, the 107, second parallel four side
Shape mechanism, 108 the 4th rotary joints.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically chatting
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
As shown in Figure 1 and Figure 2, the first rotary joint 101 is made up of pedestal 1, the first servomotor 2, the first reductor 3；The
Two rotary joints 102 are made up of the second servomotor 4, the second reductor 5, the first rotating seat 9；3rd rotary joint 106 is by
Three servomotors 12, the 3rd reductor 13, the second rotating seat 11 form；4th rotary joint 108 is by the 4th servomotor 16,
Four reductors 18, the 3rd rotating seat 17 form；The mechanism of first parallelogram 104 by the first rotating seat 9, the first master arm 10,
First pull bar 7, the second rotating seat 11 form；Second parallel-crank mechanism 107 is by the second rotating seat 9, the second pull bar 14, second
Master arm 15, the 3rd rotating seat 17 form；First disappears molality group 103 by the first rotating seat 9, the first nitrogen spring 6, the first pull bar
7 compositions；The second molality group 105 that disappears is made up of the second rotating seat 11, the second nitrogen spring 8, the second driving lever 15.
Further say, as shown in Figure 1 and Figure 2, when the first servomotor 2 rotates, the first reductor 3 can also be done accordingly
Rotation, and the first rotating seat 9 is arranged on the first reductor 3, therefore whole mechanical arm can rotate；When the second servo
When motor 4 rotates, the second reductor 5 can also do corresponding rotation, in the presence of the first parallel-crank mechanism 104, second
Rotating seat 11 and the posture keeping parallelism of pedestal 1；When the 3rd servomotor 12 rotates, the 3rd reductor 13 can also do corresponding rotation
Turn, in the presence of the second parallel-crank mechanism 107, the 3rd rotating seat 17 and the posture keeping parallelism of the second rotating seat 11；Cause
This, the motion of the 3rd rotating seat 17 all the time with the keeping parallelism of pedestal 1.Assuming that pedestal 1 is horizontal, then no matter the stacking machine
How device people moves, and its 3rd rotating seat 17 is horizontal all the time.
Further say, as shown in Figure 1 and Figure 2, the first nitrogen spring 6 be arranged on the first rotating seat 9 and the first pull bar 7 it
Between, when the first master arm 10 down moves, when the first pull bar 7 also correspondingly down moves, then the first nitrogen spring 6 compression carries
, can be with balance portion torque for opposing torque；Similarly, the second nitrogen spring 8 is arranged on the second rotating seat 11 and the second master arm
Between 15, when the first driving lever down moves, then the second nitrogen spring 8 compression provides opposing torque, can also balance portion
Torque.
It is described above, only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited to
In this, any change or replacement expected without creative work, should all cover within the scope of protection of the utility model.
Therefore, the scope of protection of the utility model should be determined by the scope of protection defined in the claims.
Claims (6)
- A kind of 1. robot palletizer, it is characterised in that：Including a pedestal, and be installed on the pedestal the first rotary joint, Second rotary joint, the 3rd rotary joint and the 4th rotary joint composition four joint vertical mechanisms, the second rotary joint with Connected between 3rd rotary joint by the first parallelogram linkage, the 3rd rotary joint and the 4th rotary joint it Between connected by the second parallelogram linkage, include being used for balancing whole mechanical arm and disappear molality group from the first of reuse And disappear molality group for balancing the second of the deadweight of end mechanical arm, the second rotary joint is arranged on the first parallelogram connection-rod In mechanism, its mounting seat and pedestal keeping parallelism, the 4th rotary joint are arranged on the second parallelogram linkage, rotation End face and pedestal keeping parallelism.
- 2. robot palletizer as claimed in claim 1, it is characterised in that：First rotary joint is by pedestal, the first servo Motor, the first reductor composition；Second rotary joint is made up of the second servomotor, the second reductor, the first rotating seat；3rd Rotary joint is made up of the 3rd servomotor, the 3rd reductor, the second rotating seat；4th rotary joint by the 4th servomotor, 4th reductor, the 3rd rotating seat composition；First parallel-crank mechanism by the first rotating seat, the first master arm, the first pull bar, Second rotating seat forms；Second parallel-crank mechanism is by the second rotating seat, the second pull bar, the second master arm, the 3rd rotating seat Composition；The first molality group that disappears is made up of the first rotating seat, the first nitrogen spring, the first pull bar；Second disappears molality group by the second rotation Swivel base, the second nitrogen spring, the second driving lever composition.
- 3. robot palletizer as claimed in claim 2, it is characterised in that：Described first disappears molality group and the second molality group that disappears is adopted It is nitrogen spring, the first the first nitrogen spring for disappearing molality group is arranged between the first rotating seat and the first pull bar；Second Second nitrogen spring of the molality group that disappears is arranged between the second rotating seat and the second master arm, and the first rotating seat subtracts installed in first On fast machine, the first servomotor drives the first reductor to rotate, and the second servomotor drives the second reductor to rotate Motion, the 3rd servomotor drive the 3rd reductor to rotate.
- 4. robot palletizer as claimed in claim 2, it is characterised in that：Second servomotor, the 3rd servomotor are Absolute type servomotor, the first servomotor, the absolute type servomotor that the 4th servomotor is not strap brake of strap brake, respectively Reductor uses the cycloidal planetary gear speed reducer of high-precision high rigidity.
- 5. robot palletizer as claimed in claim 2, it is characterised in that：First reductor, the second reductor, the 3rd subtract Fast machine, the 4th reductor are the cycloidal planetary gear speed reducer of high rigidity, and the joint where it need not configure base bearing.
- 6. robot palletizer as claimed in claim 1, it is characterised in that：Mechanical arm is welded using common carbon steel and does baking vanish Technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720244760.6U CN206663255U (en) | 2017-03-13 | 2017-03-13 | A kind of robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720244760.6U CN206663255U (en) | 2017-03-13 | 2017-03-13 | A kind of robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206663255U true CN206663255U (en) | 2017-11-24 |
Family
ID=60376563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720244760.6U Expired - Fee Related CN206663255U (en) | 2017-03-13 | 2017-03-13 | A kind of robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206663255U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015802A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航***工程研究所 | Integrated waist disk applied to robot palletizer |
| CN108032292A (en) * | 2017-12-07 | 2018-05-15 | 上海宇航***工程研究所 | Four shaft industrial robot of modularization type spectrum formula |
| CN108274114A (en) * | 2018-01-25 | 2018-07-13 | 苏州小男孩智能科技有限公司 | Laser ablation telecentricity stabilizing mechanism |
| CN111155771A (en) * | 2020-01-07 | 2020-05-15 | 广东博智林机器人有限公司 | Rotary conveying mechanism and brick laying robot |
-
2017
- 2017-03-13 CN CN201720244760.6U patent/CN206663255U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015802A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航***工程研究所 | Integrated waist disk applied to robot palletizer |
| CN108032292A (en) * | 2017-12-07 | 2018-05-15 | 上海宇航***工程研究所 | Four shaft industrial robot of modularization type spectrum formula |
| CN108274114A (en) * | 2018-01-25 | 2018-07-13 | 苏州小男孩智能科技有限公司 | Laser ablation telecentricity stabilizing mechanism |
| CN111155771A (en) * | 2020-01-07 | 2020-05-15 | 广东博智林机器人有限公司 | Rotary conveying mechanism and brick laying robot |
| CN111155771B (en) * | 2020-01-07 | 2022-07-08 | 广东博智林机器人有限公司 | Brick laying robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |