CN204505298U - A kind of transfer robot upper rotary bascule - Google Patents

Abstract

The utility model discloses a kind of transfer robot upper rotary bascule, comprise base plate, mair motor, master, decelerator, driving gear, driven gear, the below of one end of main shaft and the bottom-hinged main shaft of mechanical arm is fixedly connected with balancing weight, and mechanical arm is in extreme lower position perpendicular to the center of gravity of balancing weight during horizontal plane.Its counterweight is according to mechanical arm and top handgrip coupling mechanism thereof and grabbing workpiece weight summation coupling, once mechanical arm swings in the vertical, balancing weight all can rotate with the rotation of main shaft, and then the center of gravity of balancing weight is raised, under the Action of Gravity Field of balancing weight, a torsion contrary with main axis direction can be applied to main shaft, and then reduce driving torque to reduce driving power, be 3/5 of conventional six-joint robot second axle moment of torsion, thus reduce cost and save energy consumption.

Description

An upper slewing balance device for a handling robot

technical field

The utility model relates to the technical field of industrial robots, in particular to a rotary balance device for a transport 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.

Industrial robots are usually installed in the workshops of manufacturing plants, and their bases are fixed to the ground. Therefore, usually the first joint of a multi-joint industrial robot is the base that supports the weight of the whole machine and the rotary joint that is connected to the mechanical arm. There are also called waist rotary joints. Here we call it a rotary balance device. The rotary balance device commonly used in modern industrial robots has an integrated structure. It uses a reducer with a main bearing with sufficient load-carrying capacity, such as a hollow RV reducer. On the output panel of the coaxially mounted hollow reducer. The main bearing of the reducer bears all the overturning bending moment and axial force of the whole machine, including static and dynamic. The main bearing of the reducer required by the rotary balance device of this structure can provide higher supporting accuracy, but the reducer is expensive and not suitable for industrial applications. Therefore, for some robots with large load capacity, a balance device (such as a counterweight, a spring balance structure, a cylinder balance structure, etc.) will be provided on the mechanical arm. However, some mechanical arms have complex structures, and their balancing devices are relatively heavy and occupy a large space; installation is difficult and requires repeated debugging.

Therefore, the inventor of the utility model urgently needs to conceive a new technology to improve its problem.

Utility model content

The utility model aims to provide a rotary balance device on a transport robot that can reduce the driving torque and cost.

For solving the problems of the technologies described above, the technical solution of the utility model is:

An upper rotary balance device for a handling robot, comprising a base plate and a main motor fixed on the base plate, the output end of the main motor is connected with a reducer, and the drive gear on the reducer for power output is connected with the set The driven gear on the main shaft is meshed, and the main shaft is rotatably fixed on the base plate through a bearing. One end of the main shaft is hinged to the bottom of the mechanical arm, and the hinged structure of the main shaft and the mechanical arm is suitable for the When the main shaft rotates, the mechanical arm is pushed to swing back and forth laterally; a counterweight is fixedly connected to the bottom of the main shaft, and the center of gravity of the counterweight is at the lowest position when the mechanical arm is perpendicular to the horizontal plane.

Preferably, the main shaft is supported on the bottom plate by parallel side wall panels and front wall panels, and the bottoms of the side wall panels and the front wall panels are fixed on the bottom plate for supporting the main shaft The bearings are respectively fixed on the side wall panels and the front wall panels, and the counterweight is arranged between the side wall panels and the front wall panels.

Preferably, the mechanical arm is connected to the output end of the main shaft through an in-out shaft.

Preferably, the hinged structure of the main shaft and the mechanical arm is suitable for a longitudinal driving device to drive the mechanical arm to reciprocate in the longitudinal direction, and the longitudinal driving device includes an entry and exit mechanism drive mechanism arranged above the main shaft, and the entry and exit The ejection end of the mechanism driving mechanism is linked with the link support of the entry and exit mechanism. The link support of the entry and exit mechanism is slidably arranged on the linear module of the entry and exit mechanism. The link support of the entry and exit mechanism is hinged with the link of the entry and exit mechanism. The other end of the connecting rod of the in-and-out mechanism is hinged on the mechanical arm, and the hinge point of the connecting rod of the in-and-out mechanism and the mechanical arm is higher than the connecting rod support of the in-and-out mechanism in the vertical direction and the The hinge point of the linkage of the mechanism.

Preferably, the linear module of the entry and exit mechanism is a linear guide rail, and the connecting rod support of the entry and exit mechanism is arranged in a track groove of the linear guide rail.

Preferably, the counterweight is semi-cylindrical.

Preferably, the weight of the counterweight is between 18kg-27kg.

Preferably, the main motor is a servo motor.

Preferably, the drive mechanism of the entry and exit mechanism is one of a servo motor, an oil cylinder, and an air cylinder.

By adopting the above-mentioned technical scheme, the utility model at least includes the following beneficial effects:

The upper rotary balance device of the handling robot described in the utility model is fixedly connected with a counterweight below the main shaft, and the center of gravity of the counterweight is at the lowest position when the mechanical arm is perpendicular to the horizontal plane. The counterweight is matched according to the total weight of the manipulator and its upper gripper coupling mechanism and the grasped workpiece. Once the manipulator swings in the longitudinal direction, the counterweight will rotate with the rotation of the main shaft, thereby raising the center of gravity of the counterweight. , under the gravity of the counterweight, a torque opposite to the rotation direction of the main shaft will be applied to the main shaft, thereby reducing the driving torque to reduce the driving power, which is 3/5 of the torque of the second axis of the conventional six-axis robot, thereby reducing the cost and Save energy.

Description of drawings

Fig. 1 is the front view of the rotary balance device on the handling robot in one embodiment;

Fig. 2 is a side view of the rotary balance device on the handling robot described in Fig. 1;

Fig. 3 is a front view of the slewing balance device on the handling robot in one embodiment.

Among them: 1. Counterweight, 2. Main motor, 3. Bottom plate, 4. Drive gear, 5. Reducer, 6. Side wall plate, 7. Driven gear, 8. Main shaft, 9. Drive mechanism of entry and exit mechanism, 10. Motor seat of the entry and exit mechanism, 11. Linear module of the entry and exit mechanism, 12. Connecting rod support of the entry and exit mechanism, 13. Connecting rod of the entry and exit mechanism, 15. Mechanical arm, 23. Entry and exit shaft, 24. Bearing, 26. Front wall panel .

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Fig. 1 to Fig. 2, in accordance with the utility model, an upper rotary balance device for a handling robot includes a base plate 3 and a main motor 2 fixed on the base plate 3, the output end of the main motor 2 is connected with Reducer 5, the driving gear 4 used for power output on the reducer 5 meshes with the driven gear 7 sleeved on the main shaft 8, and the main shaft 8 is rotatably fixed on the bottom plate 3 through a bearing 24, One end of the main shaft 8 is hinged with the bottom of the mechanical arm 15, and the hinge structure between the main shaft 8 and the mechanical arm 15 is suitable for pushing the mechanical arm 15 to swing laterally when the main shaft 8 rotates; A counterweight 1 is fixedly connected below, and the center of gravity of the counterweight 1 is at the lowest position when the mechanical arm 15 is perpendicular to the horizontal plane. Its counterweight is to match according to mechanical arm 15 and its upper gripper coupling mechanism and the total weight of grabbing workpieces. Once the mechanical arm 15 swings in the longitudinal direction, the counterweight 1 will rotate with the rotation of the main shaft 8, and then the center of gravity of the counterweight 1 will be raised. The torque of the main shaft 8 in the opposite direction reduces the driving torque to reduce the driving power, which is 3/5 of the torque of the second axis of the conventional six-axis robot, thereby reducing the cost and saving energy consumption. Because there is no need to arrange a counterweight device on the mechanical arm 15, the installation cost is correspondingly reduced.

Preferably, the main shaft 8 is supported on the bottom plate 3 by the side wall panels 6 and the front wall panels 26 arranged in parallel, and the bottoms of the side wall panels 6 and the front wall panels 26 are fixed on the bottom panel 3 , the bearings 24 for supporting the main shaft 8 are respectively fixed on the side wall panels 6 and the front wall panels 26, and the counterweight 1 is arranged on the side wall panels 6 and the front wall panels 26 Between, and then ensure the stability of the main shaft 8 work.

Preferably, the mechanical arm 15 is connected to the output end of the main shaft 8 through an in-out shaft 23 .

In another preferred embodiment, as shown in FIG. 3 , a longitudinal drive device is also included, and the hinged structure between the main shaft 8 and the mechanical arm 15 is suitable for the longitudinal drive device to drive the mechanical arm 15 to reciprocate in the longitudinal direction. The longitudinal driving device includes an in-out mechanism drive mechanism 9 arranged above the main shaft 8, the in-out mechanism drive mechanism 9 is fixed on the in-out mechanism motor base 10, and the ejection end of the in-out mechanism drive mechanism 9 is connected with the in-out mechanism. The rod support 12 is linked, and the connecting rod support 12 of the entry and exit mechanism is slidably arranged on the linear module 11 of the entry and exit mechanism. The other end of 13 is hinged on the described mechanical arm 15, and the articulation point of described entry and exit mechanism connecting rod 13 and described mechanical arm 15 is higher than described entry and exit mechanism link support 12 and described entry and exit mechanism on vertical direction. The hinge point of the connecting rod 13 ensures that the connecting rod 13 of the in-and-out mechanism can effectively push the swing arm.

Preferably, the linear module 11 of the entry and exit mechanism is a linear guide rail, and the connecting rod support 12 of the entry and exit mechanism is arranged in a track groove of the linear guide rail.

The side wall panels 6 and the front wall panels 26 are recessed inwardly to form an accommodating space, and the counterweight 1 is arranged in the accommodating space. Preferably, the counterweight 1 is semi-cylindrical.

Preferably, the weight of the counterweight 1 is between 18kg-27kg.

Preferably, the main motor 2 is a servo motor.

Preferably, the drive mechanism 9 of the entry and exit mechanism is one of a servo motor, an oil cylinder, and an air cylinder.

In the upper rotary balance device of the transfer robot described in this embodiment, a counterweight 1 is fixedly connected below the main shaft 8, and the center of gravity of the counterweight 1 is at the lowest position when the mechanical arm 15 is perpendicular to the horizontal plane. Its counterweight is matched according to the total weight of the mechanical arm 15 and its upper gripper coupling mechanism and the grasped workpiece. Once the mechanical arm 15 swings in the longitudinal direction, the counterweight 1 will rotate with the rotation of the main shaft 8, and then the counterweight 1 will rotate with the rotation of the main shaft 8. The center of gravity of 1 rises, and under the action of gravity of the counterweight 1, a torsion force opposite to the rotation direction of the main shaft 8 will be applied to the main shaft 8, thereby reducing the driving torque to reduce the driving power, which is the torque of the second axis of a conventional six-axis robot. 3/5, thereby reducing the cost and saving energy consumption.

An embodiment of the utility model has been described in detail above, but the content described is only a preferred embodiment created by the utility model, and cannot be considered as limiting the implementation scope of the utility model. Any equivalent changes made according to the application scope of the utility model should still be within the scope of the patent of the utility model.

Claims (9)

1. a transfer robot upper rotary bascule, it is characterized in that: comprise base plate and be fixed on the mair motor on described base plate, the output of described mair motor is connected with decelerator, the driving gear for Power output on described decelerator engages with the driven gear be set on main shaft, described main shaft is rotatably fixed on described base plate by bearing, one end of described main shaft and the bottom-hinged of mechanical arm, promote described mechanical arm transverse reciprocating and swing when the articulated structure of described main shaft and described mechanical arm is suitable for described main axis; The below of described main shaft is fixedly connected with balancing weight, and described mechanical arm is in extreme lower position perpendicular to the center of gravity of balancing weight described during horizontal plane.

2. transfer robot upper rotary bascule as claimed in claim 1, it is characterized in that: described main shaft is supported on described base plate by the framed side wallboard that be arranged in parallel and front wallboard, the bottom of described framed side wallboard and described front wallboard is fixed on described base plate, bearing for supporting described main shaft is separately fixed at described framed side wallboard and described front wallboard, and described balancing weight is arranged between described framed side wallboard and described front wallboard.

3. transfer robot upper rotary bascule as claimed in claim 1, is characterized in that: described mechanical arm is connected with the output of described main shaft by turnover axle.

4. transfer robot upper rotary bascule as claimed in claim 1, it is characterized in that: the articulated structure of described main shaft and described mechanical arm is suitable for longitudinal driving device and drives described mechanical arm at longitudinal reciprocally swinging, described longitudinal driving device comprises the inlet/outlet mechanism driving mechanism be arranged on above described main shaft, the end that ejects of described inlet/outlet mechanism driving mechanism links with inlet/outlet mechanism connecting rod support, described inlet/outlet mechanism connecting rod support is slidably arranged on the linear module of inlet/outlet mechanism, described inlet/outlet mechanism connecting rod support is hinged with inlet/outlet mechanism connecting rod, the other end of described inlet/outlet mechanism connecting rod is hinged on described mechanical arm, the pin joint in the vertical direction of described inlet/outlet mechanism connecting rod and described mechanical arm is higher than the pin joint of described inlet/outlet mechanism connecting rod support and described inlet/outlet mechanism connecting rod.

5. transfer robot upper rotary bascule as claimed in claim 4, it is characterized in that: the linear module of described inlet/outlet mechanism is linear guides, described inlet/outlet mechanism connecting rod support is arranged in the rail groove of described linear guides.

6. the transfer robot upper rotary bascule as described in as arbitrary in claim 1-5, is characterized in that: described balancing weight is semi-cylindrical.

7. transfer robot upper rotary bascule as claimed in claim 1, is characterized in that: described balancing weight weight is between 18kg-27kg.

8. transfer robot upper rotary bascule as claimed in claim 1, is characterized in that: described mair motor is servomotor.

9. the transfer robot upper rotary bascule as described in claim 4 or 5, is characterized in that: described inlet/outlet mechanism driving mechanism is the one in servomotor, oil cylinder, cylinder.