CN213859338U

CN213859338U - Large-tonnage moves and carries robot

Info

Publication number: CN213859338U
Application number: CN202021449359.4U
Authority: CN
Inventors: 黄路明; 陈晓利; 顾懂懂; 刘学林; 代宏
Original assignee: Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
Current assignee: Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-08-03
Anticipated expiration: 2030-07-21

Abstract

The utility model provides a large-tonnage moves and carries robot, a serial communication port, it includes that primary shaft subassembly (1), second shaft subassembly (2), third shaft subassembly (3), fourth shaft subassembly (4), fifth shaft subassembly (5), sixth shaft subassembly (6), end snatch subassembly (7), primary shaft subassembly (1) removes main part (11) and bears base (16) including bearing, secondary shaft subassembly (2) include slewing bearing (21), third shaft subassembly (3) fourth shaft subassembly (4) are including bearing the main part, fifth shaft subassembly (5) are including first rotating assembly (52), sixth shaft subassembly (6) are including second rotating assembly (62), terminal snatch subassembly (7) can be fixed in above-mentioned second rotating assembly (62) with unloading. The utility model discloses accurate positioning, convenient operation can raise the efficiency, can realize snatching of jumbo size, heavy weight work piece, can change automatically and press from both sides and grab subassembly, the robot is fixed more convenient.

Description

Large-tonnage moves and carries robot

Technical Field

The utility model relates to a move and carry the robot field, in particular to large-tonnage moves and carries the robot field.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.

However, the existing industrial robot and flexible multi-axis robot cannot meet the grabbing of large-size and large-tonnage workpieces due to small arm extension and small load weight.

Disclosure of Invention

In order to solve the technical problem, the utility model provides a large-tonnage moves and carries robot, a serial communication port, it includes that primary shaft subassembly 1, secondary shaft subassembly 2, third shaft subassembly 3, fourth shaft subassembly 4, fifth shaft subassembly 5, sixth shaft subassembly 6, end snatch subassembly 7, primary shaft subassembly 1 is including bearing removal main part 11 and bearing base 16, and bearing base 16 is used for bearing the whole robot that moves of carrying, bears removal main part 11 and installs in bearing base 16 according to the mode that can remove along bearing base 16 long side direction, secondary shaft subassembly 2 includes slewing bearing 21, slewing bearing 21 is fixed in above-mentioned bearing removal main part 11 according to the mode that can rotate on bearing removal main part 11 plane, third shaft subassembly 3 includes first bearing main part 31, and first bearing main part 31 is fixed in slewing bearing 21, fourth shaft subassembly 4 includes balancing weight 42, A second bearing body 43 and a third four-component connecting member 44, the third four-component connecting member 44 is movably mounted to the first bearing body 31 along the longitudinal direction of the first bearing body 31, the weight block 42 is fixed to one end of the second bearing body 43, the second bearing body 43 is movably mounted to the third four-component connecting member 44 along the longitudinal direction of the second bearing body 43, the fifth shaft component 5 includes a first rotating component 52, the first rotating component 52 is rotatably fixed to the other end of the second bearing body 43 opposite to the weight block 42, the rotating shaft of the first rotating component 52 is perpendicular to the second bearing body 43, the sixth shaft component 6 includes a second rotating component 62, the second rotating component 62 is rotatably fixed to the first rotating component 52, the rotation axis of the second rotating member 62 is perpendicular to the rotation axis of the first rotating member 52, and the terminal gripping member 7 is detachably fixed to the second rotating member 62.

In an embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, it still include along bear the fixed subassembly 8 in ground that the base 16 side was arranged, the fixed subassembly 8 in ground includes ground fixed plate 81, support adjusting screw 82, nut 83, set screw 84, ground fixed plate 81 is placed subaerial, support adjusting screw 82 through threaded fixation in bear base 16 and top joint in ground fixed plate 81, nut 83 locks support adjusting screw 82 is in bearing base 16, set screw 84 is fixed in through ground fixed plate 81 screw hole and supports adjusting screw 82.

In one embodiment, the large-tonnage transferring robot of the present invention is further characterized in that the first shaft assembly 1 further includes a workpiece detecting system 14, and the workpiece detecting system 14 is fixed on the bearing moving body 11.

In one embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, work piece detecting system 14 for with first bear main part 31 parallel arrangement's rectangular component, install a plurality of probes in the both sides of this component, with the detection terminal snatchs the condition of snatching of subassembly 7.

In one embodiment, the large-tonnage transfer robot of the present invention is further characterized in that the terminal gripping assembly 7 includes a gripping opening distance adjusting mechanism 71, a gripping and clamping mechanism 72, and a gripping and clamping mechanism 73.

In an embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, primary shaft subassembly 1 still includes first servo motor speed reducer subassembly 13, first rack and pinion mechanism 12 and first slider rail mechanism 15 are fixed in bear base 16, first servo motor speed reducer subassembly 13 is fixed in and bears the weight of above moving main part 11, first servo motor speed reducer subassembly 13 with first rack and pinion mechanism 12 and the cooperation of first slider rail mechanism 15 for the realization bears the weight of moving main part 11 along the removal of the primary shaft that bears the long side direction of base 16.

In an embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, second shaft subassembly 2 still includes second servo motor speed reducer subassembly 22, second servo motor speed reducer subassembly 22 is fixed in and bears the weight of removal main part 11, second servo motor speed reducer subassembly 22 is used for realizing bearing the weight of the rotation of the second shaft on the plane of removal main part 11 with slewing bearing 21 cooperation.

In an embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, third axle subassembly 3 still includes second slider guide rail mechanism 32, servo motor lift subassembly 33, second slider guide rail mechanism 32 with servo motor lift subassembly 33 is fixed in first bearing main body 31, servo motor lift subassembly 33 with second slider guide rail mechanism 32 cooperation is used for realizing the third four group spare connecting elements 44 along the removal of the first third axle that bears the long side direction of main body 31.

In one embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, fourth shaft subassembly 4 still includes third slider guide rail mechanism 41 and second gear rack mechanism 45, third four subassemblies connecting elements 44 includes servo motor lift subassembly, servo motor lift subassembly with third slider guide rail mechanism 41 with second gear rack mechanism 45 cooperation is used for realizing along the removal of the fourth shaft of the long limit direction of second bearing body 43.

In an embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, fifth axle subassembly 5 still includes third servo motor speed reducer subassembly 51, third servo motor speed reducer subassembly 51 is fixed in the second bears the weight of the main part 43 other end relative with above-mentioned balancing weight 42, third servo motor speed reducer subassembly 51 with first rotating assembly 52 cooperation is used for first rotating assembly 52 realizes rotating.

In one embodiment, the utility model discloses a large-tonnage moves and carries robot's characteristics still lie in, sixth axle subassembly 6 still includes fourth servo motor speed reducer subassembly 61, fourth servo motor speed reducer subassembly 61 is fixed in first rotating assembly 52, and fourth servo motor speed reducer subassembly 61 provides power for second rotating assembly 62, fourth servo motor speed reducer subassembly 61 with second rotating assembly 62 cooperates and is used for realizing the rotation.

Compared with the prior art, the utility model discloses following beneficial effect has:

(1) and (3) accurate positioning: the servo motor is used for controlling the starting and stopping of the freedom degrees of each shaft, and the stopping position can be accurately controlled.

(2) The operation is convenient: the robot is provided with an automatic detection system, can identify workpieces, and easily realizes the automatic grabbing function of the robot.

(3) The efficiency can be improved: the automatic detection system and the program of the robot workpiece can automatically control each shaft joint of the robot, the intervention of operators is not needed in the process, and the automatic operation greatly improves the working efficiency.

(4) Can realize the grabbing of the large-size and heavy-weight workpieces: each shaft joint of the large-tonnage transfer robot is large in size, and the grabbing of large-size and heavy-weight workpieces can be met.

(5) The clamping and grabbing component can be automatically replaced: the robot can automatically replace the tail end grabbing component to realize the grabbing function of different workpieces.

(6) The robot is more convenient to fix: by adopting the ground fixing component structure, the robot can be fixed on the ground more simply, and the workload of operators is reduced.

Drawings

FIG. 1 is a front view of a large tonnage transfer robot of the present invention;

fig. 2 is a back front view of the large-tonnage transfer robot of the present invention.

Fig. 3 is an enlarged cross-sectional view of the large-tonnage transfer robot after the ground fixing assembly 8 is installed.

Description of reference numerals:

1: a first shaft assembly; 2: a second shaft assembly; 3: a third shaft assembly; 4: a fourth shaft assembly; 5: a fifth shaft assembly; 6: a sixth shaft assembly; 7: a terminal grabbing component; 8: a ground securing assembly; 11: carrying the moving body; 12: a first rack and pinion mechanism; 13: a first servo motor reducer assembly; 14: a workpiece detection system; 15: a first slider rail mechanism; 16: a load bearing base; 21: a slewing bearing; 22: a second servo motor reducer assembly; 31: a first load bearing body; 32: a second slider rail mechanism; 33: a third servo motor hoist assembly; 41: a third slider rail mechanism; 42: a balancing weight; 43: a second load bearing body; 44: a third four-component connecting member; 45: a second rack and pinion mechanism; 51: a servo motor reducer assembly; 52: a first rotating assembly; 61: a fourth servo motor reducer assembly; 62: a second rotating assembly; 71: a clamping and grabbing opening distance adjusting mechanism; 72: a gripping and clamping mechanism; 73: clamping and grabbing; 81: a ground fixing plate; 82: supporting the adjusting screw; 83: a nut; 84: and fixing the screw.

Detailed Description

The utility model provides a large-tonnage moves and carries robot, it is right below to combine the figure the utility model discloses a concrete implementation carries out further detailed description.

The utility model discloses a large-tonnage moves structure and each essential element that moves robot is as follows:

fig. 1 is a front view of the large-tonnage transfer robot of the present invention, and fig. 2 is a back view of the large-tonnage transfer robot of the present invention. As shown in fig. 1 and 2, on the whole, the utility model discloses a large-tonnage moves and carries robot includes first axle subassembly 1, second axle subassembly 2, third axle subassembly 3, fourth axle subassembly 4, fifth axle subassembly 5, sixth axle subassembly 6, terminal subassembly 7, the fixed subassembly 8 in ground of snatching.

In one embodiment, the first shaft assembly 1 includes a bearing moving body 11, a first rack and pinion mechanism 12, a first servo motor reducer assembly 13, a workpiece detection system 14, a first slider rail mechanism 15, and a bearing base 16. The first rack and pinion mechanism 12 and the first slider rail mechanism 15 are fixed to a carrying base 16. The first servomotor reducer assembly 13 and the workpiece detection system 14 are fixed to the movable body 11. The first servo motor reducer assembly 13 is matched with the first rack-and-pinion mechanism 12 and the first slider guide rail mechanism 15, and is used for realizing the movement of the bearing moving body 11 along the first axis in the long side direction of the bearing base 16. The carrying base 16 is used for carrying the entire transfer robot.

In one embodiment, the second shaft assembly 2 includes a slewing bearing 21 and a second servomotor reducer assembly 22. The slewing bearing 21 and the second servomotor reducer assembly 22 are fixed to the supporting and moving body 11. The second servomotor reducer assembly 22 cooperates with the slewing bearing 21 for effecting rotation of the second shaft in the plane of the carrying mobile body 11. The second servo motor reducer assembly 22 drives the slewing bearing 21 to provide power for the rotation of the second shaft.

In one embodiment, the third shaft assembly 3 includes a first carrier body 31, a second slider rail mechanism 32, and a servo motor elevator assembly 33. The second slider rail mechanism 32 and the servo motor lifter assembly 33 are fixed to the first bearing body 31. The first carrier body 31 is fixed to the upper surface of the slewing bearing 21. The servomotor lift assembly 33 cooperates with the second slider rail mechanism 32 for effecting movement of the third four-assembly connecting member 44 along a third axis in the longitudinal direction of the first carrier body 31. In one embodiment, the workpiece detection system 14 is an elongated member disposed parallel to the first carrier body 31, and a plurality of probes are mounted on two sides of the elongated member to detect the grasping condition of the end grasping assembly 7.

In one embodiment, the fourth shaft assembly 4 includes a third slider rail mechanism 41, a weight 42, a second carrier body 43, a third four-assembly connecting member 44, and a second gear rack mechanism 45. The third slider rail mechanism 41 and the second rack and pinion mechanism 45 are fixed to the second carrier body 43. The weight block 42 is fixed to one end of the second bearing body 43. The third four-component connecting member 44 is fixed to the first carrier body 31. In a preferred embodiment, the third four-assembly connecting member 44 comprises a servo motor elevator assembly. The servo motor lifter assembly cooperates with the third slider rail mechanism 41 and the second gear rack mechanism 45 to realize movement of the fourth axis along the long side direction of the second carrier body 43.

In one embodiment, the fifth shaft assembly 5 is mounted to the other end of the second bearing body 43 opposite to the weight block 42. The fifth shaft assembly 5 comprises a third servo motor reducer assembly 51 and a first rotary assembly 52. The third servomotor reducer unit 51 and the first rotating unit 52 are fixed to the other end of the second carrier body 43 opposite to the weight block 42. The third servo motor reducer assembly 51 provides power for the first rotating assembly 52, so that the third servo motor reducer assembly 51 is matched with the first rotating assembly 52 to enable the first rotating assembly 52 to rotate in a fifth axis, and a rotating shaft of the first rotating assembly 52 is perpendicular to the second bearing body 43.

In one embodiment, the sixth shaft assembly 6 includes a fourth servomotor reducer assembly 61 and a second rotating assembly 62. The fourth servomotor reducer assembly 61 and the second rotating assembly 62 are fixed to the first rotating assembly 52. The rotation axis of the second rotating component 62 is perpendicular to the rotation axis of the first rotating component 52. The fourth servo motor reducer assembly 61 provides power to the second rotating assembly 62, and therefore the fourth servo motor reducer assembly 61 and the second rotating assembly 62 are matched to achieve rotation of the sixth shaft.

In one embodiment, tip gripping assembly 7 includes a grip opening distance adjustment mechanism 71, a grip gripping mechanism 72, and a grip 73. The end gripping member 7 is detachably fixed to the second rotating member 62, and the end gripping member 7 can be replaced as appropriate according to the specific situation. The collet 73 is fixed to the collet opening distance adjustment mechanism 71. The gripper opening distance adjusting mechanism 71 can flexibly adjust the distance between the grippers 73 according to the size of the workpiece, thereby realizing optimal gripping. The grip opening distance adjusting mechanism 71 is fixed to the grip clamping mechanism 72. The pinch grip clamping mechanism 72 provides power for the pinch grip 73 to perform a clamping function.

Fig. 3 is an enlarged cross-sectional view of the large-tonnage transfer robot after the ground fixing assembly 8 is installed. As shown in fig. 3, in one embodiment, the ground fixing assembly 8 includes a ground fixing plate 81, a support adjusting screw 82, a nut 83, and a fixing screw 84. The ground fixing plate 81 is placed on the ground, the supporting and adjusting screw 82 is fixed on the bearing base 16 through threads, the requirement of adjustment is met through propping up the ground fixing plate 81, and finally the bearing base 16 is locked through the nut 83 to prevent loosening. Here, the fastening to the load base 16 may include foot portions protruding to both sides as shown in fig. 1 and 2. The fixing screw 84 is fixed to the support adjusting screw 82 through a threaded hole of the ground fixing plate 81 to prevent the carrying base 16 from moving. The floor fixing assembly 8 thus performs not only the function of fixing the support base 16 to the floor but also the function of leveling the support base 16. Through so, can make overall structure more firm, make overall structure's the ability that adapts to various ground stronger moreover.

The working principle of the utility model is as follows:

the utility model discloses a bear in the first axle subassembly and remove 11 removal drive second axle subassembly 2 and remove the removal that realizes a degree of freedom. The rotation of the slewing bearing 21 in the second shaft assembly 2 drives the third shaft assembly to rotate to realize the rotation with one degree of freedom. The rotation of the servo motor elevator assembly 33 in the third shaft assembly 3 drives the fourth shaft assembly 4 to move so as to realize the movement of one degree of freedom. The third four-component connecting member 44 in the fourth shaft component 4 drives the second bearing main body 43 to move, and the second bearing main body 43 moves to drive the fifth shaft component 5 to move with one degree of freedom. The first rotating assembly 52 in the fifth shaft assembly 5 rotates to drive the sixth shaft assembly 6 to rotate so as to realize rotation with one degree of freedom. The second rotating component 62 in the sixth shaft component 6 rotates to drive the end grabbing component 7 to rotate so as to realize rotation with one degree of freedom. Therefore, the large-tonnage transfer robot can realize the grabbing function of workpieces placed at any position in the working range space area through 6 degrees of freedom.

It should be noted that the foregoing is only illustrative and illustrative of the present invention, and that any simple modifications and equivalent substitutions, which are obvious to those skilled in the art, are intended to fall within the scope of the present invention.

Claims

1. A large-tonnage transfer robot is characterized by comprising a first shaft component (1), a second shaft component (2), a third shaft component (3), a fourth shaft component (4), a fifth shaft component (5), a sixth shaft component (6) and a tail end grabbing component (7),

the first shaft assembly (1) comprises a bearing moving main body (11) and a bearing base (16), the bearing base (16) is used for bearing the whole transfer robot, the bearing moving main body (11) is arranged on the bearing base (16) in a mode of moving along the long side direction of the bearing base (16),

the second shaft component (2) comprises a rotary support (21), the rotary support (21) is fixed on the bearing moving body (11) in a mode of rotating on the plane of the bearing moving body (11),

the third shaft assembly (3) comprises a first bearing body (31), the first bearing body (31) is fixed on the slewing bearing (21),

the fourth shaft component (4) comprises a balancing weight (42), a second bearing main body (43) and a third four-component connecting member (44), the third four-component connecting member (44) is arranged on the first bearing main body (31) in a mode of moving along the long side direction of the first bearing main body (31), the balancing weight (42) is fixed at one end of the second bearing main body (43), the second bearing main body (43) is arranged on the third four-component connecting member (44) in a mode of moving along the long side direction of the second bearing main body (43),

the fifth shaft assembly (5) comprises a first rotating assembly (52), the first rotating assembly (52) is rotatably fixed at the other end of the second bearing body (43) opposite to the balancing weight (42), the rotating shaft of the first rotating assembly (52) is perpendicular to the second bearing body (43),

the sixth shaft assembly (6) includes a second rotating assembly (62), the second rotating assembly (62) is rotatably fixed to the first rotating assembly (52), the rotational axis of the second rotating assembly (62) is perpendicular to the rotational axis of the first rotating assembly (52),

the end gripping member (7) is detachably fixed to the second rotating member (62).

2. The large-tonnage transfer robot as claimed in claim 1, further comprising a ground fixing component (8) disposed along a side of the load-bearing base (16), wherein the ground fixing component (8) comprises a ground fixing plate (81), a support adjusting screw (82), a nut (83), and a fixing screw (84), the ground fixing plate (81) is disposed on the ground, the support adjusting screw (82) is fixed to the load-bearing base (16) by a screw thread and abuts against the ground fixing plate (81), the nut (83) locks the support adjusting screw (82) to the load-bearing base (16), and the fixing screw (84) is fixed to the support adjusting screw (82) by a screw hole of the ground fixing plate (81).

3. A large tonnage transfer robot as defined in claim 1, wherein said first shaft assembly (1) further comprises a workpiece detection system (14), said workpiece detection system (14) is fixed on the carrying moving body (11), said workpiece detection system (14) is a long member disposed in parallel with said first carrying body (31), and a plurality of probes are mounted on both sides of the member to detect the gripping condition of said end gripping assembly (7).

4. A large tonnage transfer robot as defined in claim 1, wherein said end gripper assembly (7) comprises a gripper opening distance adjusting mechanism (71), a gripper gripping mechanism (72), and a gripper (73).

5. The large-tonnage transfer robot as claimed in claim 1, wherein said first shaft assembly (1) further comprises a first servo motor reducer assembly (13), a first rack-and-pinion mechanism (12) and a first slider guide mechanism (15), said first rack-and-pinion mechanism (12) and said first slider guide mechanism (15) are fixed to said carrying base (16), said first servo motor reducer assembly (13) is fixed to said carrying moving body (11), said first servo motor reducer assembly (13) is engaged with said first rack-and-pinion mechanism (12) and said first slider guide mechanism (15) for moving said carrying moving body (11) along the first shaft in the long side direction of said carrying base (16).

6. A large tonnage transfer robot as defined in claim 1, wherein said second shaft assembly (2) further comprises a second servomotor reducer assembly (22) and a second servomotor reducer assembly (22), said second servomotor reducer assembly (22) and said second servomotor reducer assembly (22) being fixed to said load bearing moving body (11), said second servomotor reducer assembly (22) and said second servomotor reducer assembly (22) being engaged with said slewing bearing (21) for rotation of the second shaft in the plane of said load bearing moving body (11).

7. A large tonnage transfer robot as defined in claim 1, wherein said third axis assembly (3) further comprises a second slide guide mechanism (32) and a servo motor elevator assembly (33), said second slide guide mechanism (32) and said servo motor elevator assembly (33) being fixed to the first carrying body (31), said servo motor elevator assembly (33) cooperating with said second slide guide mechanism (32) for enabling the movement of the third four assembly connecting member (44) along the third axis of the long side direction of the first carrying body (31).

8. A large tonnage transfer robot according to claim 1, characterized in that said fourth axis assembly (4) further comprises a third slider rail mechanism (41) and a second rack and pinion mechanism (45), said third four assembly connection member (44) comprises a servo motor elevator assembly cooperating with said third slider rail mechanism (41) and said second rack and pinion mechanism (45) for enabling a fourth axis movement along the long side direction of said second carrier body (43).

9. The large-tonnage transfer robot as claimed in claim 1, wherein said fifth axis assembly (5) further comprises a third servomotor reducer assembly (51), said third servomotor reducer assembly (51) being fixed to the other end of said second carrying body (43) opposite to said counterweight (42), said third servomotor reducer assembly (51) being engaged with said first rotating assembly (52) for rotation of said first rotating assembly (52).

10. A large tonnage transfer robot as defined in claim 1, wherein said sixth shaft assembly (6) further comprises a fourth servo motor reducer assembly (61), said fourth servo motor reducer assembly (61) being fixed to said first rotating assembly (52), said fourth servo motor reducer assembly (61) powering said second rotating assembly (62), said fourth servo motor reducer assembly (61) being engaged with said second rotating assembly (62) for rotation.