CN106113020A - A vertical multi-joint robot - Google Patents

Abstract

The invention discloses a vertical multi-joint robot which comprises a supporting seat, an angle swing arm, a vertical arm, a material taking mechanism for taking or placing a workpiece and an adjusting mechanism for adjusting the orientation of the material taking mechanism, wherein the material taking mechanism is fixedly connected with the adjusting mechanism; another tip and the supporting seat of angle swing arm are connected, and the angle swing arm can be relatively the supporting seat and in the predetermined angle within range swing of same vertical face to the drive erects the arm translation motion and gets the top in the peripheral top of material district and the top in peripheral blowing district, and then drives the feeding agencies and reachs the peripheral district of getting to get the material and carry out the blowing in peripheral blowing district. The invention can take and discharge materials on the same vertical surface, thus reducing the occupied space of the robot; the vertical arm keeps a vertical state and moves in a translation mode, so that the grabbing mechanism is stable and accurate when materials are taken and placed.

Description

A vertical multi-joint robot

technical field

The invention relates to the technical field of robots, in particular to a vertical multi-joint robot.

Background technique

In developed countries, the complete set of industrial robot automation production line equipment has become the mainstream robot development prospect and future development direction of automation equipment. Foreign automobile industry, electronic appliances industry, construction machinery and other industries have widely used industrial robot automated production lines to ensure product quality, improve production efficiency, and avoid a large number of industrial accidents. The use of industrial robots in many countries in the world for nearly half a century shows that the popularization of industrial robots is an effective means to realize automated production, improve social production efficiency, and promote the development of enterprise and social productivity.

When assembling parts, especially assembly line processing, it is necessary to move or change the position of workpieces on different stations or on the assembly line. For example, in polishing machine processing, it is necessary to grab the workpiece to be polished on the assembly line to the polishing machine. Or it is necessary to grab the polished workpiece to the container. When performing this operation, there are generally two types of robots used in the prior art, one is set outside the polishing machine, and the mechanical arm is bent and extended to the inside of the polishing machine to grab the workpiece, but the mechanical arm of this robot It is relatively long, and in the process of entering and exiting the polishing machine, due to the bending and arching of the mechanical arm, it occupies a relatively large longitudinal space, and the robot is set outside the polishing machine, and the overall space is very large; the other is set in the polishing machine. Inside the machine, the robot is placed between the polishing station (feeding area) and the container (discharging area), and the retrieving and discharging can be realized on both sides of the robot by setting a horizontal arm. However, due to The mechanical arm needs to rotate in the horizontal direction, that is, the material acquisition part is set at one end of the horizontal rotary arm, and then the horizontal rotary arm takes the other end of the horizontal rotary arm as the fulcrum, and the horizontal rotary arm itself is used as the radius to rotate within a certain range to retrieve materials And unloading, the sweeping range of the horizontal arm is a sector on the horizontal plane. Therefore, the space occupied in the horizontal direction is relatively large, which limits the number of polishing stations of a polishing machine, thereby limiting the work efficiency. In addition, the existing robot is not stable enough when taking and unloading materials, and it is not accurate enough to grab and put down the workpiece; when the polishing machine polishes the workpiece, the workpiece is generally placed horizontally, and when the polished workpiece is taken out, in order to To avoid stacking of workpieces and facilitate assembly, it is now necessary to stand up polished workpieces and place them sequentially, but existing robots cannot meet this requirement.

Contents of the invention

In view of the above-mentioned technical problems in the prior art, the present invention provides a vertical multi-joint robot with a compact and flexible overall structure, which can reduce the occupied space, is relatively stable and accurate in picking up workpieces and putting them down, and can pick up and unload materials from different angles. .

To achieve the above object, the present invention provides the following technical solutions:

A vertical multi-joint robot is provided, which includes a support base, an angular swing arm, a vertical arm, a retrieving mechanism for picking up or placing workpieces, and an adjustment mechanism for adjusting the direction of the retrieving mechanism. The retrieving mechanism and the described The adjustment mechanism is fixedly connected, the adjustment mechanism is connected to the lower end of the vertical arm, the upper end of the vertical arm is connected to one end of the angle swing arm, and the vertical arm is always kept vertical; the angle The other end of the swing arm is connected to the support seat, and the angular swing arm can swing relative to the support seat within a preset angle range on the same vertical plane, so as to drive the vertical arm to move in translation above the peripheral picking area And the top of the peripheral discharging area, and then drive the reclaiming mechanism to reach the peripheral retrieving area for retrieving and reach the peripheral discharging area for discharging.

Wherein, the material fetching mechanism is a sucker sucked by vacuum.

Wherein, the suction cup includes four suction nozzles distributed in a rectangle or the suction cup includes five suction nozzles, four of which are distributed in a rectangle, and the other suction nozzle is located at the center of the rectangle.

Wherein, the adjustment mechanism is a turntable, and the turntable is rotatably connected to the lower end of the upright arm for turning over the suction cup.

Wherein, when the suction cup is located in the peripheral fetching area, the orientation of the suction cup is vertically downward, and when the suction cup is located in the peripheral discharge area, the orientation of the suction cup is horizontally forward.

Wherein, a recess is provided on the side of the lower end of the upright arm, and the turntable is disposed in the recess.

Wherein, the vertical multi-joint robot also includes a guide rail, the support seat is slidably connected above the guide rail and can be fixed at a preset position, and the upper end of the angular swing arm swings back and forth on the preset angle range. on both sides of the guide rail.

Wherein, the vertical articulated robot also includes a guide rail and a rotating arm, the support seat is slidably connected under the guide rail and can be fixed at a preset position, and the distance between one end of the rotating arm and the angular swing arm is One end of the support base is rotatably connected, the other end of the rotating arm is connected to the upper end of the upright arm, and the rotating direction of the rotating arm is consistent with or opposite to the swinging direction of the angular swing arm.

Wherein, the guide rail is erected above the peripheral equipment through a bracket, and the bracket is fixedly connected with the peripheral equipment.

Beneficial effects of the present invention:

A vertical multi-joint robot of the present invention, when in use, the robot of the present invention is installed in the peripheral use equipment, and the angular swing arm swings around the joint with the support base, thereby driving the vertical vertical arm to move at the same vertical Surface translation reciprocating movement, and at the same time realize the rising and falling action, and then drive the reclaiming mechanism to reciprocate on the same vertical surface between the outer reclaiming area and the outer unloading area to reclaim and unload the material, and through the adjustment mechanism can Pick up the workpiece from different angles and place the workpiece at different angles. Compared with the prior art, the overall structure of the present invention is relatively compact and flexible, and can take and discharge materials on the same vertical plane, reducing the space occupied by the robot in the horizontal and vertical directions, and leaving more operating space for peripheral equipment , which greatly improves the work efficiency; the vertical arm is always kept vertical and moves in translation, which makes the grabbing mechanism more stable and accurate when taking and discharging materials.

Description of drawings

FIG. 1 is a schematic structural diagram of a vertical multi-joint robot in Embodiment 1 when it is installed in a peripheral device.

FIG. 2 is a schematic structural diagram of a vertical articulated robot in the first working state in Embodiment 1. FIG.

FIG. 3 is a schematic structural diagram of a vertical articulated robot in a second working state in Embodiment 1. FIG.

FIG. 4 is a schematic structural diagram of a vertical articulated robot in Embodiment 2 when it is installed in a peripheral device.

FIG. 5 is a schematic structural diagram of a vertical multi-joint robot in Embodiment 2. FIG.

Fig. 6 is a schematic structural diagram of a vertical articulated robot in the first working state in Embodiment 2.

Fig. 7 is a schematic structural diagram of a vertical articulated robot in the second working state in Embodiment 2.

FIG. 8 is a schematic structural diagram of a vertical articulated robot in the third working state in Embodiment 2. FIG.

Reference signs:

Figures 1 to 3 include:

Guide rail 1, bracket 2, support seat 3, angle swing arm 4, rotating arm 5, vertical arm 6, turntable 7, suction cup 8;

Peripheral equipment 9 , material fetching area 10 , material discharging area 11 , control device 12 , workpiece 13 .

Figures 4 to 8 include:

Guide rail 14; Support seat 15; Angle swing arm 16; Vertical arm 17; Turntable 18; Suction cup 19;

Peripheral equipment 20 , retrieving area 21 , unloading area 22 ; control device 23 ; workpiece 24 .

detailed description

The present invention will be described in detail below in conjunction with specific embodiments and accompanying drawings.

Example 1

A kind of vertical multi-joint robot of this embodiment, as shown in Figure 1 to 3, guide rail 1, support base 3, angular swing arm 4, rotating arm 5, vertical arm 6, turntable 7 and sucker 8, guide rail 1 passes through bracket 2 erected above the peripheral use equipment 9, the bracket 2 is fixedly connected with the peripheral use equipment 9, the support base 3 is slidably connected under the guide rail 1 and can be fixed at a preset position, and the upper end of the angle swing arm 4 is connected with the support base 3 , the angle swing arm 4 can swing around the connection with the support base 3 within a preset angle range on the same vertical plane, the upper end of the rotation arm 5 is rotatably connected with the lower end of the angle swing arm 4, and the lower end of the rotation arm 5 The upper end of the vertical arm 6 is connected with the upper end of the vertical arm 6. The rotating direction of the rotating arm 5 is consistent with the swinging direction of the angle swing arm 4 or oppositely used to control the rise and fall of the vertical arm 6. The vertical arm 6 is always kept vertical, and the turntable 7 can be rotated. The lower end connected to the vertical arm 6 is used to turn the suction cup 8 over, and the suction cup 8 is fixedly connected to the turntable 7 for sucking or placing the workpiece 13 . Wherein, when the suction cup 8 is located in the peripheral retrieving area 10, the orientation of the suction cup 8 is vertically downward, and when the suction cup 8 is located in the peripheral discharge area 11, the orientation of the suction cup 8 is horizontally forward. The suction cup 8 is a vacuum suction cup 8, and the suction cup 8 includes five suction nozzles, four of which are distributed in a rectangular shape, and one suction nozzle is located in the center of the rectangle, and the suction force is uniform.

During use, the swing speed and the swing angle of the angular swing arm 4 are set by the peripheral control device 12, and data such as time and angle of the turntable 7 are set, as shown in Figure 3, the robot of the present embodiment is installed to the periphery by the bracket 2 Using the top of the equipment 9 (which can be a polishing machine or other processing center), the angle swing arm 4 swings around the connection with the support base 3, thereby driving the vertical arm 6, which is always kept vertical, to and fro on the same vertical plane for retrieving zone 10 and discharge zone 11, and at the same time realize the up and down movement through the rotating arm 5, and then drive the suction cup 8 to move back and forth between the take-up zone 10 and the discharge zone 11 on the same vertical plane.

Specifically, when retrieving, the position is as shown in Figure 2, the suction cup 8 sucks the horizontally placed workpiece 13 vertically downward, and the corner swing arm 4 swings counterclockwise around the joint with the support seat 3 after retrieving, so as to drive it to always keep vertical The vertical arm 6 on the same vertical plane moves to the upper right. After reaching the appropriate position, the angle swing arm 4 rotates clockwise, and the rotating arm 5 rotates at the same time to drive the vertical arm 6 to move downward. The position is as shown in Figure 3. The workpiece 13 is stood up and placed in the discharge area 11. Compared with the prior art, the overall structure of the vertical multi-joint robot in this embodiment is more compact and flexible, and it can take and discharge materials on the same vertical plane, reducing the horizontally rotating mechanical arms of traditional robots, thus reducing the number of robots. Occupying space in both horizontal and vertical directions greatly improves work efficiency. The suction cup 8 can be rotated by the rotating disk 7, and can absorb the horizontally placed workpiece 13 in the horizontal direction. When the workpiece 13 is put down, the suction cup 8 can be rotated to put the workpiece 13 upright. Moreover, the hoisting layout is adopted, which is more convenient to take materials and optimizes the overall use of space, and because the rotating arm 5 is set, the suction cup 8 will not interfere with the various joints of the robot when grabbing products of different sizes. The robot can thus be used for gripping workpieces 13 of different sizes. The upright arm 6 keeps a vertical state all the time, and it moves in translation, so that the suction cup 8 is relatively stable and accurate when taking and discharging materials.

Example 2

A kind of vertical multi-joint robot of this embodiment, as shown in Fig. 4 to Fig. 8, differs from the embodiment mainly in that the guide rail 14 of this embodiment has no support, but is directly installed on the pick-up area 21 and the place between the material areas 22, and the support seat 15 is installed above the guide rail 14, and the shapes of each joint are also different. Concrete structure comprises guide rail 14, support seat 15, angle swing arm 16, vertical arm 17, turntable 18 and suction cup 19, and support seat 15 is slidably connected with guide rail 14 and can be fixed at preset position, angle swing arm 16 lower ends and support Seat 15 is hinged and connects the rear side of support seat 15, and the upper end of angle swing arm 16 swings back and forth in the both sides of guide rail 14 in the preset angle range and vertical direction, and the upper end of upright arm 17 and angle swing arm 16 The front side of the upper end of the upright arm 17 is always kept vertical, and the left side of the lower end of the upright arm 17 is provided with a depression, and the rotating disc 18 is rotatably connected in the depression for turning the suction cup 19 over. The suction cup 19 is The vacuum chuck 19 includes four suction nozzles distributed in a rectangular shape, and the suction cup 19 is fixedly connected with the turntable 18 for sucking and placing the workpiece 24 .

During use, the swing speed and the swing angle of the angular swing arm 16 are set by the peripheral control device 23, and data such as the time and angle of the turntable 18 rotation are set, as shown in Figure 4, Figure 5 and Figure 6, the robot of the present embodiment Installed between the feeding area 21 and the feeding area 22 in the peripheral equipment 20 (which can be a polishing machine or other processing center), the angle swing arm 16 swings around the hinge with the support base 15, and moves back and forth on the support base 15 on both sides, so as to drive the vertical vertical arm 17 to go back and forth on both sides of the support seat 15 on the same vertical plane and realize the up and down action at the same time, and then drive the sucker 19 to move back and forth on the same vertical plane in the reclaiming area 21 and between the discharge area 22.

More specifically, as shown in Figure 6, when the angle swing arm 16 is turned to the vertical position, the turntable 18 drives the suction cup 19 towards the vertical downward, and then the suction cup 19 moves to the left side of the guide rail 14 driven by the angle swing arm 16, and the suction cup When the 19 moves to the left side, it approaches the pick-up area 21 downwards, and then drives the sucker 19 to suck the workpiece 24, as shown in Figure 7; after sucking the workpiece 24, the angle swing arm 16 rotates in the opposite direction. During the vertical position, the turntable 18 drives the suction cup 19 to rotate towards the horizontal front, and then the suction cup 19 moves to the right side of the guide rail 14 under the drive of the angle swing arm 16, and the suction cup 19 moves downwards to the discharge area 22 while moving to the right, and then Drive the sucker 19 to stop the suction and release the workpiece 24, and then the workpiece 24 can be stood up and placed, as shown in Figure 8. The above-mentioned actions are repeated in a cycle.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention, although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand , the technical solution of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims (9)

1. A vertical multi-joint robot, characterized in that: it comprises a support base, an angle swing arm, an upright arm, a retrieving mechanism for picking up or placing workpieces and an adjustment mechanism for adjusting the orientation of the retrieving mechanism, The feeding mechanism is fixedly connected with the adjustment mechanism, the adjustment mechanism is connected to the lower end of the vertical arm, the upper end of the vertical arm is connected to one end of the angular swing arm, and the vertical arm is always kept vertical straight; the other end of the angular swing arm is connected to the support seat, and the angular swing arm can swing relative to the support seat within a preset angle range on the same vertical plane to drive the vertical arm to move in translation around the periphery The top of the retrieving area and the top of the peripheral discharging area, and then drive the reclaiming mechanism to reach the peripheral retrieving area for retrieving and reach the peripheral discharging area for discharging. 2. A vertical multi-joint robot according to claim 1, characterized in that: said retrieving mechanism is a suction cup sucked by vacuum. 3. A vertical articulated robot according to claim 2, characterized in that: the suction cup includes four suction nozzles distributed in a rectangle or the suction cup includes five suction nozzles, of which four suction nozzles are distributed in a rectangle , the other nozzle is at the center of the rectangle. 4 . The vertical multi-joint robot according to claim 2 , wherein the adjustment mechanism is a turntable, and the turntable is rotatably connected to the lower end of the vertical arm for turning the suction cup over. 5. A vertical multi-joint robot according to claim 4, characterized in that: when the suction cup is located in the peripheral reclaiming area, the orientation of the suction cup is vertically downward, and when the suction cup is located in the peripheral discharge area zone, the direction of the suction cup is horizontally forward. 6. A vertical multi-joint robot according to claim 1 or 5, characterized in that: a recess is provided on the side of the lower end of the upright arm, and the turntable is disposed in the recess. 7. A vertical articulated robot according to claim 1 or 5, characterized in that: the vertical articulated robot also includes a guide rail, and the support seat is slidably connected above the guide rail and can be preset The position is fixed, and the upper end of the angle swing arm swings back and forth on both sides of the guide rail within a preset angle range. 8. A vertical articulated robot according to claim 1 or 5, characterized in that: the vertical articulated robot also includes a guide rail and a rotating arm, and the support seat is slidably connected under the guide rail and can Fixed at a preset position, one end of the rotating arm is rotatably connected to an end of the angular swing arm away from the support base, the other end of the rotating arm is connected to the upper end of the vertical arm, the The rotating direction of the rotating arm is consistent with or opposite to the swinging direction of the angular swing arm. 9 . The vertical multi-joint robot according to claim 8 , wherein the guide rail is erected above the peripheral equipment through a bracket, and the bracket is fixedly connected with the peripheral equipment. 10 .