CN212402658U - Parallel robot - Google Patents

Abstract

The utility model discloses a novel two parallel robot relates to a adobe and transports, transport robot device, is applicable to material translation transport. The structure of the device comprises a base, a translation driver, a translation swing arm, a lifting swing arm, a telescopic power cylinder, a carrier, an attitude keeping link mechanism and the like. One end of the translation swing arm is hinged to the base through a translation driver, the other end of the translation swing arm is hinged to one end of the lifting swing arm, the other end of the lifting swing arm is hinged to the carrier, one end of the telescopic power cylinder is hinged to the base, the other end of the telescopic power cylinder is hinged to the lifting swing arm, one end of the posture keeping link mechanism is hinged to the base, and the other end of the posture keeping link mechanism is hinged to the carrier. The utility model has the advantages of simple structure, strong load capacity and low manufacturing cost, and can be widely applied to the translation and carrying work of various materials.

Description

Parallel robot

Technical Field

The utility model relates to a robot field especially relates to a adobe is transported, is carried robot device.

Background

In an automatic production line, a robot is often used for material translation and transportation, particularly for green brick translation and transportation used in a tile mechanical production line, and the transportation is different from stacking, does not need complex stacking types and too large stacking heights, but needs relatively high frequency and stability.

Common robots have truss type and tandem multi-joint arm type, wherein the truss type robot has the defects of large volume, complex structure, low speed and poor positioning precision; and the serial multi-joint arm type robot is mostly a four-axis or six-axis robot, and has high cost, small load capacity and difficult popularization and application in many occasions.

Disclosure of Invention

In order to overcome the defects, the invention aims to provide a translational transfer robot which has a simple structure and strong loading capacity, is low in manufacturing cost and can be widely applied to translational transfer of various materials.

The parallel robot comprises a base, a translation driver, a translation swing arm, a lifting swing arm, a telescopic power cylinder, a carrier, a posture maintaining link mechanism and the like. One end of the translation swing arm is hinged to the base through a translation driver and can swing back and forth under the driving of the translation driver; the other end of the translation swing arm is hinged with one end of the lifting swing arm, and the other end of the lifting swing arm is hinged with a carrier for mounting an end effector (such as a robot gripper); one end of the telescopic power cylinder is hinged on the base, the other end of the telescopic power cylinder is hinged on the lifting swing arm, and the lifting swing arm can be pushed and pulled to swing up and down through the stretching of the power cylinder; the posture maintaining link mechanism is formed by connecting and hinging two connecting rods and a reversing hinged plate in series, one end of the mechanism is hinged on the base, the other end of the mechanism is hinged on the carrier, and the reversing hinged plate is hinged at the hinged joint of the translation swing arm and the lifting swing arm to ensure that the two connecting rods are respectively kept parallel to the two swing arms to form two parallel four-link mechanisms.

During operation, the translation driver drives the translation swing arm to swing towards the position direction of a workpiece, so that the lifting swing arm and the attached carrier are driven to move to the position above a station, the telescopic power cylinder pushes and pulls the lifting swing arm to drive the carrier to lift to a height suitable for working, and the robot gripper installed on the carrier performs workpiece grabbing work. After the workpiece is grabbed, the telescopic power cylinder pulls the lifting swing arm to lift again, the carrier and the workpiece are lifted along with the lifting swing arm, the translation driver drives the translation swing arm to drive the lifting swing arm and the carrier, and the actions are repeated to another station again to complete translation carrying work. In the operation process, the posture maintaining connecting rod ensures that the postures of the carrier of the robot and the attached robot gripper are always kept the same, so that the gripper can grip and put down workpieces conveniently.

The robot with the structure has a simple structure, and because the translation swing arm is hung upside down on the base, when the gravity centers of the workpiece and the robot swing right and left under the base, most of the gravity of the load is directly transmitted to the base by the swing arm to bear, the needed swing driving force is extremely small, and compared with a serial multi-joint robot, the same power can drive a larger load; due to the adoption of the swing arm structure, the running speed of the robot can be far higher than that of a truss type robot. The robot has simple structure, two main power shafts are arranged on the base in parallel, and the control is easier, so the manufacturing cost of the robot is much lower than that of a multi-shaft serial joint robot, and the robot is suitable for robot application occasions requiring large load and low cost.

Furthermore, the translation driver in the above technical scheme may be a servo motor with a speed reducer, and the servo motor directly drives the translation swing arm connected to the output flange of the speed reducer to swing after being decelerated by the speed reducer; the upper end of the translation swing arm can also be directly hinged on the base, and the translation driver is arranged outside the swing arm and drives the swing arm to swing through the crank-link mechanism.

The telescopic power cylinder can be any one of an electric push-pull cylinder, a hydraulic cylinder or an air cylinder, and can also be a combination of any two. When the electric push-pull cylinder is used, the servo motor is matched, so that the precision and the stability of the equipment during operation can be effectively improved; when the hydraulic cylinder is used, larger load force can be provided.

The carrier of the invention can be also provided with a horizontal rotation positioning device to form a robot wrist part, so that the robot can not only carry in a translation way, but also have more use functions.

In conclusion, the invention has the advantages of simple structure, strong load capacity, low manufacturing cost and high application and popularization values.

Drawings

Fig. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a schematic front view of another structure of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Embodiment 1.

Fig. 1 is a preferred embodiment of the present invention, which discloses: a novel parallel robot comprises a base (10), a translation driver (20) consisting of a servo motor and a speed reducer, a translation swing arm (30), a lifting swing arm (50), a carrier (60) taking a servo electric push-pull cylinder (40) as a telescopic power cylinder and used for mounting robot grippers, and a posture keeping link mechanism (70).

The upper end of the translation swing arm (30) is hinged and inversely hung on the base (10) through a translation driver (20) and can swing back and forth under the driving of the translation driver (20), the lower end of the translation swing arm (30) is hinged with one end of the lifting swing arm (50), and the other end of the lifting swing arm (50) is hinged with a carrier (60) for mounting a robot gripper; one end of the servo electric push-pull cylinder (40) is hinged on the base (10), the other end of the servo electric push-pull cylinder is hinged on the lifting swing arm (50), and the lifting swing arm (50) can be pushed and pulled to swing up and down through the stretching of the servo electric push-pull cylinder (40). The posture maintaining link mechanism (70) is formed by sequentially connecting and hinging two connecting rods (71) and (72) and a reversing hinged plate (73) in series, the reversing hinged plate (73) is hinged at the hinged joints of the translation swing arm (30) and the lifting swing arm (50), two ends of one connecting rod (71) are respectively hinged with the base (10) and the reversing hinged plate (73), two ends of the other connecting rod (72) are respectively hinged with the reversing hinged plate (73) and the carrier (60), the two connecting rods (71) and (72) are respectively kept parallel with the two swing arms (30) and (50) to form two parallel four-bar mechanisms, and the posture maintaining link mechanism (70) ensures that the carrier (60) keeps the relative angle with the base unchanged no matter the two swing arms are at any angle, namely ensures that the robot hand grip can move in a plane space along with the swing arms but the posture is unchanged.

During operation, the translation driver drives the translation swing arm to swing towards the position of a workpiece along the horizontal direction, so that the lifting swing arm and the attached carrier are driven to move to the position above a station, the servo electric push-pull cylinder pushes and pulls the lifting swing arm to drive the carrier to lift to a height suitable for working, and a robot gripper arranged on the carrier performs workpiece grabbing work. After the workpiece is grabbed, the telescopic power cylinder pulls the lifting swing arm to lift again, the carrier and the workpiece are lifted along with the lifting swing arm, the translation driver drives the translation swing arm to drive the lifting swing arm and the carrier, and the actions are repeated to another station again to complete translation carrying work. In the operation process, the posture maintaining connecting rod ensures that the postures of the carrier of the robot and the attached robot gripper relative to the ground are always kept the same, so that the gripper can conveniently grip and put down a workpiece.

The robot with the two driving shaft structures has simple structure, two power shafts are installed on the base in parallel, and the control is easier, so the manufacturing cost of the robot is much lower than that of a multi-shaft serial joint robot, and the robot is suitable for robot application occasions requiring large load and low cost.

Embodiment 2.

Fig. 2 shows a further preferred embodiment of the present invention, which is similar to the first embodiment, except that the translation swing arm (30) is directly hinged to the base (10), and the translation driver (20) is disposed outside the swing arm, and the translation swing arm (30) is driven to swing by a crank (21) and link (22) mechanism; the other difference is that the electro-hydraulic composite cylinder (80) is used as a telescopic power cylinder to push and pull the lifting swing arm (50) to swing up and down, so that the robot can have larger load lifting capacity.

The parallel robot of this application can have a lot of application ranges, for example the sintered brick tile trade, at tunnel kiln setting scene, carries out the short distance with the wet base that cuts and forwards, for the pile up neatly work of next time makes the preparation of marshalling cloth base in advance, improves the production efficiency of whole production line. On the spot of portable tunnel cave, the parallel robot of this application can place, snatch the wet base that the cutting is good on the endless belt, because the structure of this application, whole frame is slightly little, and can effectively improve and grab base quantity, improves the production efficiency of whole strip production line.

Therefore, the invention has high use and popularization value.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (3)

1. The utility model provides a parallel robot, which comprises a base, the translation driver, the translation swing arm, the lift swing arm, flexible power cylinder, the carrier, gesture holding link mechanism, the one end of translation swing arm is passed through the articulated setting on the base of translation driver, the other end of translation swing arm and the one end of lift swing arm are together articulated, the other end of lift swing arm articulates there is the carrier, flexible power cylinder one end articulates on the base, the other end articulates on the lift swing arm, gesture holding link mechanism comprises two connecting rods and the articulated slab of switching-over series connection are articulated, gesture holding link mechanism's one end articulates on the base, the other end articulates on the carrier, the articulated joint department at translation swing arm and lift swing arm is articulated to.

2. The parallel robot of claim 1, wherein: the translation swing arm is directly hinged on the base, and the translation driver is arranged outside the swing arm and drives the swing arm to swing through the crank connecting rod mechanism.

3. The parallel robot of claim 1, wherein: the telescopic power cylinder is any one of an electric push-pull cylinder, a hydraulic cylinder or an air cylinder, or the combination of any two of the electric push-pull cylinder, the hydraulic cylinder and the air cylinder.

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