KR20160003443U - A two-way transfer robot with two rods by parallel principle - Google Patents

A two-way transfer robot with two rods by parallel principle Download PDF

Info

Publication number
KR20160003443U
KR20160003443U KR2020160001449U KR20160001449U KR20160003443U KR 20160003443 U KR20160003443 U KR 20160003443U KR 2020160001449 U KR2020160001449 U KR 2020160001449U KR 20160001449 U KR20160001449 U KR 20160001449U KR 20160003443 U KR20160003443 U KR 20160003443U
Authority
KR
South Korea
Prior art keywords
swing arm
rod
plate
screw
connecting rod
Prior art date
Application number
KR2020160001449U
Other languages
Korean (ko)
Other versions
KR200484533Y1 (en
Inventor
판건 루
원룽 거
타오 류
Original Assignee
쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. filed Critical 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디.
Publication of KR20160003443U publication Critical patent/KR20160003443U/en
Application granted granted Critical
Publication of KR200484533Y1 publication Critical patent/KR200484533Y1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a double rod bidirectional transversal robot of a parallel principle, comprising a rotating plate, a rotating plate motor provided on a side surface of the rotating plate, a whole system elevating part provided above the rotating plate, A swing arm and a control lever are hinged to the carriage part, and the swing arm is hinged to the vertical part of the bottom part by the driving of the vertical driving device, The swing arm moves in the horizontal direction by moving the horizontal hinge engagement point of the bottom by the driving of the horizontal driving device, the swing arm is provided at the upper end of the swing arm, and the control lever The swing arm and the hinge-coupling connecting rod portion of the parallelogram in both the front direction and the lateral direction To form. In this utility model, the handle of the transporter robot can always maintain the horizontal position without installing a power mechanism that keeps the horizontal position of the suction cup, so that the cost can be saved and the power resources can be saved.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a double-rod two-way transporter robot,

This utility model relates to the industrial robot technology field, specifically, to a kind of single arm two-way transporter robot based on the principle of parallelism.

In industrialized countries, the industrial robot automation production line plant has already become the development vision of the mainstream robot of automation equipment and the development direction of the future. In the overseas automobile industry, electronic electric industry, and process machinery industry, we have already used the industrial robot automation production line to guarantee the quality and increase the production efficiency, and at the same time, prevented many industrial accidents. The process of using industrial robots close to half a century in many countries around the world proves that the spread of industrial robots is an effective means of realizing automated production, enhancing social production efficiency, and promoting development of business and social productivity. At present, the single arm swing type machine hand on the market has a circular movement path and it is difficult to linearly move the gripper suction plate horizontally, so that a power mechanism is necessary to maintain the level of the gripper suction plate, which causes an increase in manufacturing cost. In addition, since the stability of a single hand is relatively low, shaking easily occurs in the course of the movement of the machine hand, which has a severe effect on the precision of the adjustment of the machine hand, and it is difficult to satisfy the demand of the people for the precision.

Therefore, the inventor of this utility model has come up with a kind of new technology that can solve this problem.

The present utility model aims at providing a single arm two-way transporter robot based on a parallel principle that can reduce driving torque as well as cost.

Technical solutions of the present invention for solving the above technical problems are as follows.

As a kind of double rod bidirectional transfer robot based on the parallel principle,

A rotating plate motor is provided which is used to drive the rotation of the rotating plate in the circumferential direction on the side of the rotating plate, the axis of the rotating plate being perpendicular to the horizontal plane,

A whole system lifting part for driving a vertical lifting or lowering of the suction plate handle of the robot is provided above the rotary plate, a horizontal base plate is fixed to the upper part of the whole system lifting part, Wherein a swing arm and a control lever used for assisting the movement of the swing arm are hingedly coupled to the carriage component, and the swing arm is driven by the driving of the vertical driving device The swing arm moves horizontally around the horizontal connecting point of the bottom by the driving of the horizontal driving device,

Wherein the swing arm and the control lever are both disposed in parallel with each other, and the swing arm is hinged to the upper end of the swing arm, the swing arm is horizontally installed, Wherein one side of the rod sheet is connected to the suction plate handle and the suction plate support rod sheet is hinged to the upper end of the swing arm through a large rod link member and the rotation of the suction plate support rod sheet in the large rod- Direction of the swing arm is perpendicular to the direction of rotation of the swing arm relative to the large rod-link connecting member, and two control levers are provided, the two control levers overlap the projection in the front direction, Each being located on both sides of the swing arm,

Wherein the control lever forms a hinge-link connecting rod structure of the swing arm and the parallelogram in both the front direction and the lateral direction, and one of the suction plate holding rod and the suction plate supporting rod is located between the upper ends of the two control levers The connection is fixedly connected to the load.

Further, a small rod-shaped linking member is hinged to the tops of the two control levers, a shaft coupling is rotatably installed in the central axis of the small rod-shaped linking member, the shaft coupling extends to one side of the swinging arm, And the free ends of the two shaft couplings are connected through a three-axis connecting rod, and both the suction plate supporting rod sheet and the shaft coupling are fixedly connected to the three-axis connecting rod.

Further, in the lateral direction, the two control levers are symmetrically installed on both sides of the swing arm.

Further, the transverse driving device includes a main motor fixed to the bottom plate, a speed reducer is connected to an output end of the main motor, and a driving gear used for power output on the speed reducer is engaged with a driven gear set and installed on the main shaft Wherein the main shaft is rotatably installed on the bottom plate through a bearing, and one of the main shaft is hinged to a bottom of the swing arm, and the engagement structure of the main shaft and the swing arm is configured such that, when the main shaft rotates, And is suitable for propelling a transverse reciprocating motion of the arm, and furthermore, a longitudinal driving device is suitable for propelling the vertical reciprocating motion of the swing arm.

Further, a balance is further fixedly connected to the lower side of the main shaft, and when the swing arm is perpendicular to the horizontal plane, the center of the counterbalance is located at the lowest position.

Further, the main shaft is supported by the bottom plate through a side wall plate and a front wall plate provided in parallel, and a bottom of the side wall plate and the front wall plate is fixed to the bottom plate, and the bearings used for supporting the main shaft A side wall plate and the front wall plate, and is disposed between the side wall plate and the front wall plate.

Further, the vertical drive mechanism includes an accessory drive device installed above the main shaft, and an ejecting end of the accessory drive device is hinged to the accessory connecting rod support sheet, and the connection Wherein the rod supporting sheet is slidably fitted to the fitting mechanism linear rod module, the fitting mechanism connecting rod is hinged to the fitting mechanism connecting rod supporting sheet, the other of the fitting mechanism connecting rods is coupled to the swing arm, The hinge coupling point of the rod and the swing arm is higher than the hinge coupling point of the access mechanism connecting rod support sheet and the access mechanism connecting rod in the vertical direction.

Further, the access mechanism linear module is a linear rail, and a connecting rod support sheet of the access mechanism is provided in the orbit slot of the linear rail.

Further, the entire system elevating part includes a lift motor fixed to the ground, a drive screw is connected to the output shaft coaxial shaft, the axis of the drive screw is installed perpendicular to the horizontal plane, And a direction changing screw extending in the horizontal direction is connected to the direction changing device and the direction changing device is adapted to drive the rotation of the elevating screw of the driving screw, A drive block for engaging with a screw thread in a rotational direction corresponding to each of the two threads in the opposite direction of the lift screw is installed in the center of the axial direction, The lifting device according to claim 1, Wherein the lower ends of the two lifters located below the lifting screw are hinged to the upper surface of the rotating plate so that the four lifters are arranged in an "X" shape, The two drive blocks are driven to move away from each other when the screw rotates in a forward direction and the two drive blocks are driven to approach each other when the lift screw rotates in the opposite direction.

Further, the lower end of the control lever is hinged to the carriage component, and the hinge connection point at the lower end of the control lever is positioned on a horizontal line that is the same as the hinge connection point of the lower end of the swing arm.

The present utility model includes at least the following advantageous effects due to the adoption of the above-mentioned technical solution.

The double rod two-way transporter robot based on the parallel principle according to the present utility model has a parallelogram structure when it moves vertically and horizontally by the coupling between the swing arm and the control lever, It is not necessary to separately install a power rotating mechanism that keeps the gripped suction plate horizontal and saves power resources and reduces the driving torque effectively by providing a counterweight at the bottom of the main shaft, To save money and energy.

1 is a front view of a double rod bidirectional transfer robot according to the parallel principle of the present invention.
Fig. 2 is a side view of a double rod bidirectional transfer robot according to the parallel principle of the present invention.
Fig. 3 is a top plan view of the upper portion of the swing arm of the utility model shown in FIG.
Fig. 4 is a cross-sectional view in the KK direction of Fig. 3;
5 is an explanatory diagram of a parallel principle formed by the control lever and the swing arm of the present invention.

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

As shown in Figs. 1 to 5, in order to comply with the structure explanatory diagram of a kind of double rod bidirectional transfer robot according to the parallel principle of the present utility model, the black arrow in the drawing indicates the rotation direction of the corresponding part And a rotary plate motor 30 is installed on the side surface of the rotary plate 28 for driving the rotary plate 28 to rotate in the circumferential direction on the side of the rotary plate 28, The rotary plate motor 30 can rotate the rotary plate 28 in the forward and reverse directions 360 degrees,

The entire system elevating part 27 used for driving the vertical rising or falling of the suction plate knob 33 of the robot is provided above the rotary plate 28, A carriage part 25 used to support the suction plate knob 33 is installed on one side of the bottom plate 3 and a swing arm 15 is attached to the carriage part 25. [ And a control lever 21 used for assisting the movement of the swing arm 15 are hinged to each other and the swing arm 15 is hinged through an input shaft 23 and the control lever 21 The swing arm 15 is hinged to the fixed shaft 22, and the swing arm 15 moves vertically around the longitudinal hinge point of the bottom by driving the vertical driving device. The swing arm 15 drives the horizontal driving device And moves horizontally around the horizontal hinge joining point of the bottom portion, The cross-coupled to the axial axis of the hinged point with the horizontal hinged point to form a 90 degree,

The swing arm 15 and the control lever 21 are both extended and parallel to each other and the suction plate support rod sheet 17 is hinged to the upper end of the swing arm 15 and the suction plate support rod sheet 17 And the suction plate supporting rod sheet 17 is horizontally installed and one of the swing arm 15 and the suction plate support rod sheet 17 remote from the swing arm 15 is connected to the suction plate handle 33, Wherein the suction plate support rod sheet 17 is hinged to the upper end of the swing arm 15 via a large rod link member 16 and the suction plate support rod sheet 17 is hinged The rotation direction of the large rod link member 16 is perpendicular to the direction in which the large rod link member 16 rotates around the swing arm 15 and the direction of rotation of the suction plate support rod sheet 17 in the large rod link member 16 (16) engages with the swing arm (15) Two control levers 21 are provided, and the two control levers 21 are configured so that projections overlap in the front direction (see FIG. 1), and the projections in the lateral direction are respectively (See FIG. 2) of the swing arm 15,

The lower end of the control lever 21 is fixed to the carriage component 25 and the hinge connection point of the lower end of the control lever 21 and the hinge connection point of the lower end of the swing arm 15 are located on the same horizontal line, The lever 21 forms a parallelogram-shaped hinge-link connecting rod structure with the swing arm 15 both in the front direction and in the lateral direction, and the one of the suction plate grip 33 and the suction plate support rod sheet 17 And is fixedly connected to a connecting rod between the upper ends of the two control levers 21. [ When the combination of the swing arm and the control lever of this embodiment is moved longitudinally (the left-right direction of movement in Fig. 2 is the vertical direction) and when the horizontal movement is made (in the lateral direction of Fig. 1), the parallelogram- It is possible to keep the article held on the gripper suction plate at all times by the action, and it is not necessary to separately provide a power rotation mechanism for maintaining the horizontal position of the gripping suction plate, so that the cost can be saved and the power source can be saved.

In this embodiment, a small rod-shaped connecting member 20 is coupled to the upper ends of the two control levers 21 and a shaft coupling 19 is provided at the center of the small rod- And the shaft coupling 19 extends to one side of the swing arm 15 and is parallel to the suction plate supporting rod seat 17 and has a free end of the two shaft couplings 19 (Located between the swing arm and the control lever) is connected via a three-axis connecting rod 18 and both the suction plate supporting rod seat 17 and the shaft coupling 19 are connected to the three- And is fixedly connected.

The transverse drive unit includes a main motor 2 fixed to the bottom plate 3 and a speed reducer 5 connected to an output end of the main motor 2, The driving gear 4 used for power output is engaged with a driven gear 7 fitted to the main shaft 8 and fixed to the main shaft 8 via a bearing so as to be rotatable, One of the main spindles 8 is hinged to the bottom of the swing arm 15. The coupling structure of the main spindle 8 and the swing arm 15 is such that when the main shaft 8 rotates, The vertical drive device is suitable for driving the vertical reciprocating motion of the swing arm 15 and the vertical drive device is suitable for driving the vertical reciprocating motion of the swing arm 15 And the hinge-engagement surface of the swing arm 15 form a plane in the vertical direction, and the vertical plane is a swing arm 15, Moved in the lateral direction (Fig movement in the lateral direction of the 1), on the other hand, the swing arm 15 is to be moved in the longitudinal direction (Fig. If the movement direction and form a vertical in Fig. 1).

In the present embodiment, when the counterweight 1 is fixedly connected to the lower portion of the main shaft 8 and the swing arm 15 is perpendicular to the horizontal plane, the center of the counterweight 1 Wherein the counterweight is matched according to the weight sum of the swing arm and the parallel system, the shaft coupling and the swing arm rotation mechanism, the handle coupling mechanism of the shaft coupling end, and the industrial product to be caught, The weight of counterweight is 18kg ~ 27kg. When the swing arm is moved vertically, the balance is rotated in accordance with the rotation of the additional main shaft, so that the center of the counterbalance is elevated and a torsion, which is opposite to the main shaft rotation direction, is applied to the main shaft by the gravity action of the counter weight, , Which is 3/5 of the second axis torque of a general six-axis robot, thus reducing costs and saving energy.

In the present embodiment, the main shaft 8 is supported by the bottom plate 3 via the side wall plate 6 and the front wall plate 26 provided in parallel, and the bottom of the side wall plate 6 and the front wall plate 26 A bearing 24 fixed to the bottom plate 3 and used for supporting the main shaft 8 is fixed to the side wall plate 6 and the front wall plate 26 respectively and the counterweight 1 And is provided between the side wall plate 6 and the front wall plate 26 to ensure the operational stability of the main shaft 8.

In the present embodiment, the longitudinal drive mechanism includes an access mechanism driving device 9 provided above the main shaft 8, and the access mechanism driving device 9 is a servo motor hydraulic cylinder The servo motor is fixed to the access mechanism motor seat 10 and the ejecting end of the access mechanism driving device 9 is connected to the access mechanism connecting rod support sheet 12 And the inlet and outlet connecting rod supporting sheet 12 is slidably fitted to the inlet and outlet linear module 11 and the inlet and outlet connecting rod 13 is hinged to the inlet and outlet connecting rod support sheet 12, And the other of the access mechanism connecting rod 13 is coupled to the swing arm 15 through the swing arm support seat 14 and the hinge of the access mechanism connection rod 13 and the hinge When the coupling point is in the vertical direction, Causes the 12 and the access mechanism hinged higher than that allowed connection mechanism 13 of the connecting rod loads effectively drives the swing arm 15.

In the present embodiment, the linear module reciprocates by 230 mm in stroke by the drive of a servo motor, and the swing arm has a longitudinal movement angle of 42 degrees (see the dotted line portion on the left side of FIG. 1) And the vertical movement angle of the arm is 65 degrees (see the dotted line on both sides of FIG. 2).

In this embodiment, the access mechanism linear module 11 is a linear rail, and the access mechanism connecting rod support sheet 12 is provided in the orbit slot of the linear rail.

The driving system of the present invention is not limited to the above embodiment. The driving system of the present invention is not limited to the above embodiment, And a direction changer 31 for engaging with the screw of the driving screw 34 is installed on the driving screw 34. The direction changer 31 extends in the horizontal direction The elevating screw 29 is connected and the direction changing device 31 is suitable for driving the elevating screw 29 of the driving screw 34 to rotate. In other words, when the elevating motor rotates, the shaft rotation of the driving screw is driven and the direction changing unit is moved in the up or down direction on the one hand when the driving screw rotates and on the other hand, Drive rotation. A drive block (35) which is opposite to the screw rotation direction on both sides in the axial center of the elevating screw (29) and engages with a thread in the rotational direction corresponding to each of the two threads in the opposite direction of the elevating screw (29) A lifter 36 is hinged to the upper and lower ends of the drive block 35 and the upper ends of the two lifters 36 positioned above the lifting screw 29 are coupled to the lower surface And the lower ends of the two lifters 36 positioned below the elevating screw 29 are hinged to the upper end surface of the rotary plate 28 and the four lifters are arranged in an "X" shape. When the elevating screw 29 rotates in the forward direction, the two drive blocks 35 are driven to move away from each other. When the elevating screw 29 rotates in the opposite direction, 1, when the two drive blocks 35 are brought close to each other and the entire height of the robot is in a descending state and the two drive blocks 35 are apart from each other, the total height of the robot And the lift height is determined according to the specific working condition.

Although one embodiment of the present invention has been described in detail above, the description is only a preferred embodiment of the present invention and should not be construed as being limited to the scope of the present invention. All equivalent changes made by the scope of application of this utility model should be within the scope of the right of this utility model application.

1. Counterweight
2. Main motor
3. Base plate
4. Drive gear
5. Reducer
6. Side wall plate
7. driven gear
8. Spindle
9. Accessory drive
10. Accessory Motor Sheet
11. Accessory Linear Module
12. Connecting device access rod support seat
13. Accessory connecting rod
14. Swing arm support seat
15. Swing arm
16. Large load-bearing fittings
17. Suction plate support rod sheet
18. 3-axis connection rod
19. Shaft coupling
20. Small rod joint
21. Control lever
22. Fixed axis
23. Access shaft
24. Bearing
25. Carriage parts
26. Front panel
27. Full system lift parts
28. Spindle plate
29. Lifting screw
30. Spindle Motor
31. Direction converter
32. Lift Motor
33. The suction cup handle
34. Drive screw
35. Drive block
36. Lifters

Claims (10)

In a double-rod bidirectional transversal robot of the parallel principle,
A rotating plate motor is provided which is used to drive the rotation of the rotating plate in the circumferential direction on the side of the rotating plate, the axis of the rotating plate being perpendicular to the horizontal plane,
A whole system lifting part for driving a vertical lifting or lowering of the suction plate handle of the robot is provided above the rotary plate, a horizontal base plate is fixed to the upper part of the whole system lifting part, Wherein a swing arm and a control lever used for assisting the movement of the swing arm are hingedly coupled to the carriage component, and the swing arm is driven by the driving of the vertical driving device The swing arm moves horizontally around the horizontal connecting point of the bottom by the driving of the horizontal driving device,
Wherein the swing arm and the control lever are both disposed in parallel with each other, and the swing arm is hinged to the upper end of the swing arm, the swing arm is horizontally installed, Wherein one side of the rod sheet is connected to the suction plate handle and the suction plate support rod sheet is hinged to the upper end of the swing arm through a large rod link member and the rotation of the suction plate support rod sheet in the large rod- Direction of the swing arm is perpendicular to the direction of rotation of the swing arm relative to the large rod-link connecting member, and two control levers are provided, the two control levers overlap the projection in the front direction, Each being located on both sides of the swing arm,
Wherein the control lever forms a hinge-link connecting rod structure of the swing arm and the parallelogram in both the front direction and the lateral direction, and one of the suction plate holding rod and the suction plate supporting rod is located between the upper ends of the two control levers A kind of double rod two-way transporter robot based on a parallel principle that includes fixed connection to a connecting rod. The method according to claim 1,
Wherein a small rod-shaped connecting member is hingedly coupled to the upper ends of the two control levers, a shaft coupling is rotatably installed in an axial center of the small rod-shaped connecting member, the shaft coupling extends to one side of the swing arm, And the free ends of the two shaft couplings are connected through a three-axis connecting rod, and both the suction plate supporting rod sheet and the shaft coupling are fixedly connected to the three-axis connecting rod. Double-rod two-way transporter robot based on parallel principle. 3. The method of claim 2,
Wherein the two control levers are symmetrically installed on both sides of the swing arm in the lateral direction. The method according to claim 1,
Wherein the drive gear used for power output on the speed reducer is engaged with a driven gear set and installed on the main shaft, Wherein the main shaft is hinged to the bottom of the swing arm and the coupling structure of the main shaft and the swing arm is such that when the main shaft rotates, And wherein the longitudinal drive is adapted to propel the vertical reciprocating motion of the swing arm. ≪ RTI ID = 0.0 > [0002] < / RTI > 5. The method of claim 4,
Wherein the center of the counterweight is located at the lowest position when the swing arm is perpendicular to the horizontal plane, and the center of the counterweight is located at the lowest position when the swing arm is perpendicular to the horizontal plane. 6. The method of claim 5,
Wherein the spindle is supported by the bottom plate through a side wall plate and a front wall plate provided parallel to each other, and a bottom portion of the side wall plate and the front wall plate is fixed to the bottom plate, and the bearings used for supporting the main spindle, And a double rod bi-directional transfer robot fixed on the front wall plate, the double rod double row directional robot being disposed between the side wall plate and the front wall plate. 7. The method according to any one of claims 1 to 6,
Wherein the output shaft of the drive mechanism driving device is hinged to an access mechanism connecting rod supporting seat, and the connecting rod supporting sheet of the access mechanism is connected to the access mechanism And the other end of the fitting mechanism connecting rod is coupled to the swing arm and the other end of the fitting mechanism connecting rod and the swing arm is slidably fitted to the linear module, And the hinge coupling point is higher than the hinge coupling points of the access mechanism connecting rod support sheet and the access mechanism connecting rod in the vertical direction. 8. The method of claim 7,
Wherein the access mechanism linear module is a linear rail, and a connecting rod support sheet of the access mechanism is provided in a raceway of the linear rail. 9. The method of claim 8,
Wherein the entire system elevating part includes a lift motor fixed to the ground, a drive screw is connected to the output shaft coaxial shaft, the axis of the drive screw is installed perpendicularly to the horizontal plane, And a direction changing screw extending in the horizontal direction is connected to the direction changing device and the direction changing device is suitable for driving the rotation of the elevating screw of the driving screw,
A drive block for engaging with a screw thread in a rotational direction corresponding to each of the two screw threads in the opposite direction of the up-and-down screw is provided, and the upper and lower ends And a lower end of the two lifters located below the lifting screw is coupled to a lower surface of the lower plate of the lifting screw, So that the four lifters are arranged in an "X" shape,
Wherein the two drive blocks are moved away from each other when the ascending screw rotates in the forward direction and the two drive blocks are driven so as to be close to each other when the ascending screw rotates in the opposite direction Double-rod two-way transporter robot. The method according to claim 1,
Wherein a lower end of the control lever is hinged to the carriage component and a hinge connection point at a lower end of the control lever is positioned on a horizontal line equal to a hinge connection point of the lower end of the swing arm. robot.
KR2020160001449U 2015-03-28 2016-03-17 A two-way transfer robot with two rods by parallel principle KR200484533Y1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201520181200.1U CN204508205U (en) 2015-03-28 2015-03-28 A kind of two-way transfer robot of two bars based on parallel principle
CN201520181200.1 2015-03-28

Publications (2)

Publication Number Publication Date
KR20160003443U true KR20160003443U (en) 2016-10-06
KR200484533Y1 KR200484533Y1 (en) 2017-09-18

Family

ID=53706199

Family Applications (1)

Application Number Title Priority Date Filing Date
KR2020160001449U KR200484533Y1 (en) 2015-03-28 2016-03-17 A two-way transfer robot with two rods by parallel principle

Country Status (2)

Country Link
KR (1) KR200484533Y1 (en)
CN (1) CN204508205U (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107866805A (en) * 2017-11-20 2018-04-03 李万奎 Light wallboard mounting machine device people
CN108311939A (en) * 2018-03-23 2018-07-24 昆明理工大学 A kind of mechanical processing workpiece holding transfer device
CN108528561A (en) * 2018-04-27 2018-09-14 王承辉 The simple agricultural manipulator three dimensions walking mechanism of terrestrial path
CN109158499A (en) * 2018-09-12 2019-01-08 昆山巨航智能化设备有限公司 A kind of handling device for stamping line
CN109502249A (en) * 2018-12-07 2019-03-22 东莞市东鸿自动化科技有限公司 A kind of connecting mechanism for rotating and move material device
CN109514720A (en) * 2018-12-14 2019-03-26 佛山市南海鑫隆机工机械有限公司 One kind dividing mould blank taking device
CN109877800A (en) * 2019-04-10 2019-06-14 合肥工业大学 A kind of service robot for transport
CN110340876A (en) * 2019-08-13 2019-10-18 唐山市德丰机械设备有限公司 A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot
CN110385702A (en) * 2019-07-23 2019-10-29 唐山学院 Door beam type metallurgical saw automatic turning machinery hand
CN110480620A (en) * 2019-09-17 2019-11-22 洛阳戴梦特智能装备制造有限公司 A kind of transfer robot of mechanical pressing refractory brick
CN111477450A (en) * 2020-05-18 2020-07-31 沅江市金莫特电子有限公司 Transformer preparation system
CN111571575A (en) * 2020-05-30 2020-08-25 晋江市阳光汽车配件有限公司 Long-rod thread rolling and feeding single-arm double-manipulator
CN114715661A (en) * 2022-03-08 2022-07-08 黄河交通学院 Logistics conveying device for logistics transportation
CN116255541A (en) * 2023-05-15 2023-06-13 安徽农业大学 Corn planting plant disease and insect pest detection equipment and detection method thereof
CN116884764A (en) * 2023-08-11 2023-10-13 珠海科丰电子有限公司 Magnetic ring threading machine
CN117444944A (en) * 2023-12-26 2024-01-26 江苏骠马智能工业设计研究有限公司 Door structure of mechanical arm driving operation robot for power distribution cabinet

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104709713B (en) * 2015-03-28 2016-11-16 苏州荣威工贸有限公司 A kind of two-way transfer robot of double-rod based on parallel principle
CN110159626B (en) * 2019-07-08 2024-03-15 中铁宝桥集团有限公司 Rail position adjusting device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030086463A (en) * 2003-09-08 2003-11-10 주식회사 뉴엔지니어링 Air balancer of double link type
KR20070042892A (en) * 2005-10-19 2007-04-24 세이코 엡슨 가부시키가이샤 Parallel link mechanism and industrial robot
WO2016084685A1 (en) * 2014-11-28 2016-06-02 Ntn株式会社 Work apparatus using parallel link mechanism

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20030086463A (en) * 2003-09-08 2003-11-10 주식회사 뉴엔지니어링 Air balancer of double link type
KR20070042892A (en) * 2005-10-19 2007-04-24 세이코 엡슨 가부시키가이샤 Parallel link mechanism and industrial robot
WO2016084685A1 (en) * 2014-11-28 2016-06-02 Ntn株式会社 Work apparatus using parallel link mechanism

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107866805A (en) * 2017-11-20 2018-04-03 李万奎 Light wallboard mounting machine device people
CN108311939A (en) * 2018-03-23 2018-07-24 昆明理工大学 A kind of mechanical processing workpiece holding transfer device
CN108528561A (en) * 2018-04-27 2018-09-14 王承辉 The simple agricultural manipulator three dimensions walking mechanism of terrestrial path
CN109158499A (en) * 2018-09-12 2019-01-08 昆山巨航智能化设备有限公司 A kind of handling device for stamping line
CN109158499B (en) * 2018-09-12 2023-08-18 昆山巨航智能化设备有限公司 Handling device for stamping production line
CN109502249A (en) * 2018-12-07 2019-03-22 东莞市东鸿自动化科技有限公司 A kind of connecting mechanism for rotating and move material device
CN109502249B (en) * 2018-12-07 2024-05-10 东莞市东鸿自动化科技有限公司 Rotary connecting mechanism and material moving device
CN109514720A (en) * 2018-12-14 2019-03-26 佛山市南海鑫隆机工机械有限公司 One kind dividing mould blank taking device
CN109514720B (en) * 2018-12-14 2024-04-02 佛山市南海鑫隆机工机械有限公司 Divide mould to get base device
CN109877800A (en) * 2019-04-10 2019-06-14 合肥工业大学 A kind of service robot for transport
CN109877800B (en) * 2019-04-10 2024-02-13 合肥工业大学 Service robot for transportation
CN110385702A (en) * 2019-07-23 2019-10-29 唐山学院 Door beam type metallurgical saw automatic turning machinery hand
CN110385702B (en) * 2019-07-23 2024-01-26 唐山学院 Door beam type metallurgical saw blade automatic overturning manipulator
CN110340876A (en) * 2019-08-13 2019-10-18 唐山市德丰机械设备有限公司 A kind of coal gangues automation selection parallel flexible Three Degree Of Freedom robot
CN110480620A (en) * 2019-09-17 2019-11-22 洛阳戴梦特智能装备制造有限公司 A kind of transfer robot of mechanical pressing refractory brick
CN111477450A (en) * 2020-05-18 2020-07-31 沅江市金莫特电子有限公司 Transformer preparation system
CN111571575A (en) * 2020-05-30 2020-08-25 晋江市阳光汽车配件有限公司 Long-rod thread rolling and feeding single-arm double-manipulator
CN111571575B (en) * 2020-05-30 2024-05-24 晋江市阳光汽车配件有限公司 Single-arm double-manipulator for long rod thread rolling feeding
CN114715661A (en) * 2022-03-08 2022-07-08 黄河交通学院 Logistics conveying device for logistics transportation
CN116255541B (en) * 2023-05-15 2023-08-11 安徽农业大学 Corn planting plant disease and insect pest detection equipment and detection method thereof
CN116255541A (en) * 2023-05-15 2023-06-13 安徽农业大学 Corn planting plant disease and insect pest detection equipment and detection method thereof
CN116884764B (en) * 2023-08-11 2024-02-27 珠海科丰电子有限公司 Magnetic ring threading machine
CN116884764A (en) * 2023-08-11 2023-10-13 珠海科丰电子有限公司 Magnetic ring threading machine
CN117444944A (en) * 2023-12-26 2024-01-26 江苏骠马智能工业设计研究有限公司 Door structure of mechanical arm driving operation robot for power distribution cabinet
CN117444944B (en) * 2023-12-26 2024-03-12 江苏骠马智能工业设计研究有限公司 Door structure of mechanical arm driving operation robot for power distribution cabinet

Also Published As

Publication number Publication date
CN204508205U (en) 2015-07-29
KR200484533Y1 (en) 2017-09-18

Similar Documents

Publication Publication Date Title
KR200484533Y1 (en) A two-way transfer robot with two rods by parallel principle
CN103978477B (en) A kind of articulated robot
WO2016155469A1 (en) Robot based on parallelogram principle
CN103192378B (en) Palletizing mechanical people
CN203993881U (en) A kind of novel five degree of freedom manipulator
CN104709713B (en) A kind of two-way transfer robot of double-rod based on parallel principle
CN205415630U (en) Bottled water transfer robot
CN204525460U (en) A kind of two-way transfer robot of three bars based on parallel principle
CN206357221U (en) A kind of workshop transfer robot
CN109748089B (en) Inverted truss robot
CN210025280U (en) Double-arm transfer robot
CN108161922B (en) Feeding cam manipulator
CN104908035A (en) Long arm industrial mechanical arm
CN105522568A (en) Seven-shaft robot with transverse moving mechanism
CN205734892U (en) A kind of logistic sorting machine device robot mechanism based on series-parallel connection
CN206383134U (en) A kind of wu-zhi-shan pig
CN208614783U (en) A kind of multi-functional carrying robot device
CN103934824A (en) Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot
CN104723361B (en) Two-way parallelogram articulated system on a kind of transfer robot
CN204800642U (en) Long arm industrial machinery hand
CN104647357A (en) Four-degree-of-freedom stepper motor driving joint-type manipulator
CN204505298U (en) A kind of transfer robot upper rotary bascule
CN204525456U (en) A kind of single armed transfer robot
CN204566159U (en) Two-way parallelogram articulated system on a kind of transfer robot
CN208276906U (en) A kind of heavy four axis robot palletizer

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
REGI Registration of establishment