CN110091357A - Four axis robot palletizer of heavy load - Google Patents
Four axis robot palletizer of heavy load Download PDFInfo
- Publication number
- CN110091357A CN110091357A CN201910464405.3A CN201910464405A CN110091357A CN 110091357 A CN110091357 A CN 110091357A CN 201910464405 A CN201910464405 A CN 201910464405A CN 110091357 A CN110091357 A CN 110091357A
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- Prior art keywords
- axis
- large arm
- pull rod
- forearm
- connect
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- 210000000245 forearm Anatomy 0.000 claims abstract description 25
- 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 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 229910001018 Cast iron Inorganic materials 0.000 claims description 4
- 239000004411 aluminium Substances 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 239000006260 foam Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004080 punching Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- 102000008579 Transposases Human genes 0.000 description 8
- 108010020764 Transposases Proteins 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four axis robot palletizers of heavy load comprising: an axis pedestal；Two axis swivel bases, around the axle center of an axis pedestal is counterclockwise or circle rotation clockwise；Large arm counterclockwise or rotates clockwise predetermined angle around two axis swivel bases, and wire-passing tube is arranged in the external of large arm；First pull rod is set on two axis swivel bases；Forearm counterclockwise or rotates clockwise predetermined angle at the top of the large arm；Four axis counterclockwise or rotate clockwise predetermined angle at the top of the forearm；Tripod, the first corner are set to the top of large arm；Second pull rod, one end are connect with the first pull rod, the second corner connection of the other end and tripod；The third corner of third pull rod, one end and tripod connects, the other end and four axis connections.The two axis swivel bases of this case, large arm, the direction of rotation of forearm and four axis are different, expand the actuating range of industrial robot, in addition, can not only make mechanism simplifying using Servo motor drive control, but also control precision can be improved.
Description
Technical field
The invention belongs to four axis robot palletizers of robotic technology field more particularly to a kind of heavy load.
Background technique
Currently, telescopic arm common hydraulic driving mode in engineering machinery, the structure type of telescopic oil cylinder and pulley installation,
Multi-stage telescopic arms are fitted together, change height or length by the stretching and contraction of telescopic arm, to change engineering machine
The working radius of tool.The advantages of which is that compact-sized, stable action, impact resistance, vibration resistance, explosion-proof are good, disadvantage first is that
The Hydraulic Elements of use require have the higher accuracy of manufacture and sealing performance, and otherwise oil leak will pollute environment；Disadvantage is second is that flexible
Contact or mated condition of the arm in telescopic process between sliding block and telescopic arm surface are poor, seriously affect the flexible operation of telescopic arm
Stationarity, cause telescopic arm to generate trembling in flexible operation, shake and excessive lateral bias placement, kinematic accuracy is poor.
In addition, there are also a kind of telescopic arms to use pneumatic actuation mode, change height by the stretching and contraction of telescopic arm
Or length, advantage are that gas source is convenient, are swift in motion, structure is simple, cost is lower, easy to maintenance.The disadvantage is that being difficult to carry out speed
Control, impact is big, and air pressure can not be too high, therefore load capacity is lower, and operation stability is poor, and therefore, existing hydraulic-driven is flexible
Arm and pneumatic actuation telescopic arm are only suitable for the not high place of required precision.
With the development of modern science and technology, in today that industrial production increasingly modernizes, the use of industrial robot becomes
It obtains more more and more universal.However the actuating range of industrial robot is limited, only expands the actuating range of industrial robot, ability
It is enough to be competent at large-scale high-precision automatic operation completely.
Summary of the invention
The main purpose of the present invention is to provide a kind of four axis robot palletizers of heavy load, to solve existing industrial robot
The limited technical problem of actuating range.
To achieve the above object, the present invention provides a kind of four axis robot palletizers of heavy load comprising:
One axis pedestal；
Two axis swivel bases are set on an axis pedestal, two axis swivel bases around the axle center of an axis pedestal counterclockwise or clockwise circle
Zhou Xuanzhuan；
Large arm is set to a side of two axis swivel bases, and large arm is counterclockwise around two axis swivel bases or rotates clockwise preset angle
Wire-passing tube is arranged in degree, the external of large arm；
First pull rod is set to the other side of two axis swivel bases；
Forearm is set to the top side of large arm, and forearm is counterclockwise at the top of large arm or rotates clockwise predetermined angle；
Four axis are set to the top of forearm, and four axis are counterclockwise at the top of forearm or rotate clockwise predetermined angle；
Tripod, the first corner are set to the top other side of large arm；
Second pull rod, one end are connect with the first pull rod, the second corner connection of the other end and tripod；
The third corner of third pull rod, one end and tripod connects, the other end and four axis connections.
As a further improvement of the present invention, two axis swivel bases include swivel base ontology, and the bottom of swivel base ontology is equipped with first and subtracts
Fast machine, the first speed reducer are connect with an axis pedestal, and the first speed reducer is equipped with first motor, close on first motor equipped with the first mistake
The top side of spool mounting portion, swivel base ontology is equipped with the second speed reducer, and the second speed reducer is connect with large arm, the second speed reducer
The top other side is equipped with the second motor.
As a further improvement of the present invention, large arm includes big arm body and wire-passing tube, and the bottom of big arm body is equipped with the
One interconnecting piece, first connecting portion are connect with the second speed reducer, and the top of big arm body is equipped with second connecting portion, second connecting portion one
Side is connect with forearm, and the other side is connect with tripod, and multiple spool mounting assemblies, wire-passing tube one end and first are equipped with outside large arm
The connection of wire-passing tube mounting portion, and run through multiple spool mounting assemblies.
As a further improvement of the present invention, an axis pedestal, two axis swivel bases, the first pull rod, the second pull rod, third pull rod and
Tripod is lost foam cast iron texture part.
As a further improvement of the present invention, large arm, forearm and four axis are punching block cast aluminium texture part.
It as a further improvement of the present invention, further include electronic box cabinet and detent box, electronic box cabinet and an axis pedestal bottom
Portion's connection, detent box is set on electronic box cabinet, detent box for monitoring overload status information, and according to overload status information into
Row control processing.
Compared with prior art, the direction of rotation of two axis swivel bases of the invention, large arm, forearm and four axis is different, expands
The actuating range of industrial robot, alternative people is engaged in the work in the adverse circumstances such as dangerous, harmful, toxic, complete instead of people
At heavy, the dull duplication of labour, both raised labour productivity, and also guaranteed product quality.In addition, industrial robot master of the invention
It is used to carry, stacking, de-stacking, the industries such as loading and unloading and assembly.Further, the present invention uses servo motor driving side
Formula can not only make mechanism simplifying, but also control precision can be improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of one embodiment of four axis robot palletizer of heavy load of the present invention；
Fig. 2 is the decomposition texture schematic diagram of one embodiment of four axis robot palletizer of heavy load of the present invention；
Fig. 3 is the structural schematic diagram of one embodiment of two axis swivel bases in four axis robot palletizer of heavy load of the present invention；
Fig. 4 is the structural schematic diagram of one embodiment of large arm in four axis robot palletizer of heavy load of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used to limit the present invention.
Fig. 1-Fig. 4 illustrates one embodiment of four axis robot palletizer of heavy load of the present invention.In the present embodiment, as schemed
Shown in 1 and Fig. 2, the four axis robot palletizer of heavy load include an axis pedestal 10, two axis transposase 11s 1, large arm 12, the first pull rod 13,
Forearm 14, four axis 15, tripod 16, the second pull rod 17 and third pull rod 18.
Further, as shown in Figure 1, two axis transposase 11s 1 are set on an axis pedestal 10, two axis transposase 11s 1 are around an axis pedestal
10 axle center is counterclockwise or circle rotation clockwise；Specifically, as shown in figure 3, two axis transposase 11s 1 include swivel base ontology 110, turn
The bottom of seat ontology 110 is equipped with the first speed reducer 111, and the first speed reducer 111 is connect with an axis pedestal 10, the first speed reducer 111
It is equipped with first motor 112, closes on first motor 112 equipped with the first wire-passing tube mounting portion 113, the top one of swivel base ontology 110
Side is equipped with the second speed reducer 114, and the second speed reducer 114 connect with large arm 12, and the top other side of the second speed reducer 114 is equipped with the
Two motors 115.
Further, as shown in Figure 1, large arm 12 is set to a side of two axis transposase 11s 1, large arm 12 is around two axis transposase 11s 1
Counterclockwise or predetermined angle is rotated clockwise, wire-passing tube is arranged in the external of large arm 12；Specifically, as shown in figure 4, large arm 12 includes
The bottom of big arm body 120 and wire-passing tube, big arm body 120 is equipped with first connecting portion 121, and first connecting portion 121 subtracts with second
Fast machine 114 connects, and the top of big arm body 120 is equipped with second connecting portion 122, and 122 side of second connecting portion is connect with forearm 14,
The other side is connect with tripod 16, and multiple spool mounting assemblies 123, wire-passing tube one end and the first wire-passing tube are equipped with outside large arm 12
Mounting portion 113 connects, and runs through multiple spool mounting assemblies 123.
Further, as depicted in figs. 1 and 2, the first pull rod 13 is set to the other side of two axis transposase 11s 1.Forearm 14 is set
It is placed in the top side of large arm 12, forearm 14 is counterclockwise around 12 top of large arm or rotates clockwise predetermined angle.The setting of four axis 15
In the top of forearm 14, four axis 15 are counterclockwise around 14 top of forearm or rotate clockwise predetermined angle.16 first corner of tripod
It is set to the top other side of large arm 12.Second pull rod, 17 one end is connect with the first pull rod 13, and the of the other end and tripod 16
The connection of two corners.
Third pull rod 18, one end are connect with the third corner of tripod 16, and the other end is connect with four axis 15.
The two axis swivel bases of the present embodiment, large arm, the direction of rotation of forearm and four axis are different, expand industrial robot
Actuating range, alternative people are engaged in the work in the adverse circumstances such as dangerous, harmful, toxic, complete heavy, dull repetition instead of people
Labour, both raised labour productivity, and also guaranteed product quality.In addition, industrial robot of the invention is mainly used for carrying, code
The industries such as pile, de-stacking, loading and unloading and assembly.Further, the present invention uses Servo motor drive control, can both make mechanism
Simplify, and control precision can be improved.
Further, an axis pedestal 10, two axis transposase 11s 1, the first pull rod 13, the second pull rod 17, third pull rod 18 and triangle
Frame 16 is lost foam cast iron texture part.
An axis pedestal, two axis swivel bases, the first pull rod, the second pull rod, third pull rod and tripod setting in the present embodiment
For lost foam cast iron texture part, the rigid of industrial robot ensure that.
Further, large arm 12, forearm 14 and four axis 15 are punching block cast aluminium texture part.
Large arm, forearm and four axis in the present embodiment are set as punching block cast aluminium texture part, and it is whole both to have alleviated industrial robot
Body weight also improves the operational flexibility of industrial robot.
Further, four axis robot palletizer of heavy load of the invention further includes electronic box cabinet and detent box, electronic box cabinet
Connect with 10 bottom of an axis pedestal, detent box is set on electronic box cabinet, detent box for monitoring overload status information, and according to
Overload status information carries out control processing.
The present embodiment is carried out at control by detent box real-time monitoring overload status information according to overload status information
Reason, therefore, the present embodiment prevent motor internal contracting brake to fail or safety accident caused by power supply is closed etc. suddenly, to improve machine
The usage safety performance of device people.
The specific embodiment of invention is described in detail above, but it is only used as example, the present invention is not intended to limit
With specific embodiments described above.For a person skilled in the art, any equivalent modifications that the invention is carried out
Or substitute also all among scope of the invention, therefore, the made equalization in the case where not departing from the spirit and principles in the present invention range
Transformation and modification, improvement etc., all should be contained within the scope of the invention.
Claims (6)
1. a kind of four axis robot palletizer of heavy load, characterized in that it comprises:
One axis pedestal；
Two axis swivel bases are set on the axis pedestal, the two axis swivel base around the axle center of the axis pedestal counterclockwise or
Circle rotation clockwise；
Large arm, is set to a side of the two axis swivel base, and the large arm is revolved counterclockwise or clockwise around the two axis swivel base
Turn predetermined angle, wire-passing tube is arranged in the external of the large arm；
First pull rod is set to the other side of the two axis swivel base；
Forearm, is set to the top side of the large arm, and the forearm counterclockwise or rotates clockwise at the top of the large arm
Predetermined angle；
Four axis, are set to the top of the forearm, and four axis counterclockwise or rotates clockwise default at the top of the forearm
Angle；
Tripod, the first corner are set to the top other side of the large arm；
Second pull rod, one end are connect with first pull rod, and the other end is connect with the second corner of the tripod；
Third pull rod, one end are connect with the third corner of the tripod, the other end and four axis connection.
2. four axis robot palletizer of heavy load according to claim 1, which is characterized in that the two axis swivel base includes swivel base
Ontology, the bottom of the swivel base ontology are equipped with the first speed reducer, and first speed reducer is connect with the axis pedestal, and described the
One speed reducer is equipped with first motor, closes on the first motor equipped with the first wire-passing tube mounting portion, the top of the swivel base ontology
Portion side is equipped with the second speed reducer, and second speed reducer is connect with the large arm, the top other side of second speed reducer
Equipped with the second motor.
3. four axis robot palletizer of heavy load according to claim 2, which is characterized in that the large arm includes big arm body
And wire-passing tube, the bottom of the big arm body are equipped with first connecting portion, the first connecting portion is connect with second speed reducer,
The top of the big arm body is equipped with second connecting portion, and the second connecting portion side is connect with the forearm, the other side and institute
Tripod connection is stated, is equipped with multiple spool mounting assemblies, described wire-passing tube one end and first wire-passing tube outside the large arm
Mounting portion connection, and run through the multiple spool mounting assembly.
4. four axis robot palletizer of heavy load according to claim 1, which is characterized in that the axis pedestal, described two
Axis swivel base, first pull rod, second pull rod, the third pull rod and the tripod are lost foam cast iron texture
Part.
5. four axis robot palletizer of heavy load according to claim 1, which is characterized in that the large arm, the forearm and
Four axis is punching block cast aluminium texture part.
6. four axis robot palletizer of heavy load according to claim 1, which is characterized in that it further includes electronic box cabinet and system
Dynamic box, the electronic box cabinet are connect with the axis base bottom, and the detent box is set on the electronic box cabinet, the system
Dynamic box carries out control processing according to the overload status information for monitoring overload status information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464405.3A CN110091357A (en) | 2019-05-30 | 2019-05-30 | Four axis robot palletizer of heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464405.3A CN110091357A (en) | 2019-05-30 | 2019-05-30 | Four axis robot palletizer of heavy load |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110091357A true CN110091357A (en) | 2019-08-06 |
Family
ID=67449666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910464405.3A Pending CN110091357A (en) | 2019-05-30 | 2019-05-30 | Four axis robot palletizer of heavy load |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110091357A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN109352629A (en) * | 2018-11-16 | 2019-02-19 | 广州启帆工业机器人有限公司 | Industrial robot |
| CN210100051U (en) * | 2019-05-30 | 2020-02-21 | 广东伯朗特智能装备股份有限公司 | Heavy load four-axis pile up neatly machine people |
-
2019
- 2019-05-30 CN CN201910464405.3A patent/CN110091357A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN109352629A (en) * | 2018-11-16 | 2019-02-19 | 广州启帆工业机器人有限公司 | Industrial robot |
| CN210100051U (en) * | 2019-05-30 | 2020-02-21 | 广东伯朗特智能装备股份有限公司 | Heavy load four-axis pile up neatly machine people |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 523000 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Applicant after: Bronte robotics, Inc. Address before: 523000 Guangdong city of Dongguan province Dalang Zhen Sha Bu Cun Sha Fu Road No. 83 Applicant before: GUANGDONG BOLANGTE INTELLIGENT EQUIPMENT Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190806 |