CN207373169U - A kind of four axis robot devices suitable for high temperature with high dust environment - Google Patents
A kind of four axis robot devices suitable for high temperature with high dust environment Download PDFInfo
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- CN207373169U CN207373169U CN201721470536.5U CN201721470536U CN207373169U CN 207373169 U CN207373169 U CN 207373169U CN 201721470536 U CN201721470536 U CN 201721470536U CN 207373169 U CN207373169 U CN 207373169U
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- sprocket wheel
- large arm
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- forearm
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Abstract
The utility model is related to a kind of four axis robot devices suitable for high temperature with high dust environment, including from bottom to top setting gradually pedestal, revolving bed, large arm, forearm and manipulator；Revolving bed is located on pedestal and the driving rotation of the first motor by being arranged on pedestal, large arm bottom is connected with revolving bed and the second motor by being arranged on revolving bed drives rotation; forearm bottom is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, and manipulator is connected with forearm top and the driving rotation of the 4th motor by being arranged in large arm.This four axis robot device is using chain drive, and to the working environment better tolerance of high temperature with high dust, maintaining is convenient, ensure that the reliability that manipulator works long hours.And tool, there are four degree of freedom, flexible movements, arm exhibition is longer, and operative radius is big, can adjust movement posture according to production requirement, advantageously reduce production cost, reduction in the numbers of seconds improves product quality.
Description
Technical field
The utility model is related to a kind of four axis robot devices suitable for high temperature with high dust environment, more particularly to a kind of use
In the manipulator of the special high temperature with high dust environment of glassware machining production line, belong to manipulator technical field.
Background technology
Glassware production line will be realized puts conveyer belt to carry out in next step by the glassware pickup after the demoulding
The operation of technological process, usually there are two types of method, one kind is manually to carry operation using clamp, and one kind is manipulator automatic transporting
Operation.Since working environment is severe, labor intensity is big, and manual operation efficiency is low, high labor cost, therefore manual operation is only applicable in
Small lot in small processing workshop produces, and is not suitable for enterprise's large size continuous productive process.
It is picked up using manipulator and puts operation, if Authorization Notice No. is the utility model patent institute of CN202781155U
It is disclosed a kind of for transmitting the highly effective and safe robot device of glassware, it is CN103395063A utility models with notification number
A kind of convertible full-automatic mechanical hand suitable for Production Line for Making Pressed Glassware disclosed in patent.Said program has centainly
Deficiency, if the former is influenced by cylinder self character, action impact is big, and velocity of displacement is uncontrollable, and directly affect pickup can
By property, and its there are certain security risks；Otherwise the latter's reversal rate when being operated cannot can throw away vessel very much soon,
This directly affects the work efficiency of manipulator；The two manipulator degrees-of-freedom is few, very flexible, and radius of action is small to limit flowing water
The arrangement of line.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of four axis robots suitable for high temperature with high dust environment
Device.
The technical solution of the utility model is as follows：
A kind of four axis robot devices suitable for high temperature with high dust environment, including from bottom to top setting gradually pedestal, returning
Swivel base, large arm, forearm and manipulator；Revolving bed is located on pedestal and the driving rotation of the first motor by being arranged on pedestal,
Large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom and large arm top
It connects and the driving rotation of the 3rd motor by being arranged on revolving bed, manipulator is connected with forearm top and by being arranged on greatly
The 4th motor driving rotation on arm.
Preferably, the pedestal is a cylinder, and the first motor is installed in cylinder and passes through the first retarder with returning
Swivel base bottom driving connects.
Preferably, the revolving bed upper surface is oppositely arranged there are two riser, and large arm bottom is located between two risers, the
Two motors are mounted on riser one side and pass through the second retarder and are connected with large arm bottom.
Preferably, the 3rd motor is mounted on riser opposite side and passes through the 3rd retarder and be arranged in large arm the
One sprocket wheel is sequentially connected, and is provided with the second sprocket wheel in the forearm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel
It is connected with the second sprocket wheel by chain drive.
Preferably, the center of first sprocket wheel is equipped with outwardly extending first sprocket shaft, and first sprocket shaft one end is run through
It is connected behind large arm bottom with the 3rd retarder, the other end is connected by bearing with large arm bottom.
Preferably, the center of second sprocket wheel is equipped with outwardly extending second sprocket shaft, and the second sprocket shaft runs through forearm
Both ends at the top of large arm with being connected behind bottom, and the second sprocket shaft is fixedly connected with forearm bottom.
Preferably, the 4th motor is mounted in large arm, and the 4th motor is by the 4th retarder and is arranged in large arm
The 3rd sprocket wheel be sequentially connected, forearm bottom and top be respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on
On second sprocket shaft；The center of 5th sprocket wheel is equipped with outwardly extending 3rd sprocket shaft, the both ends of the 3rd sprocket shaft respectively with it is small
Connection and the 3rd sprocket shaft is also fixedly connected with manipulator at the top of arm, between the 3rd sprocket wheel and the 4th sprocket wheel, the 4th sprocket wheel and the
Pass through chain drive respectively between five sprocket wheels.
Preferably, by bearing with being connected at the top of large arm, the 4th sprocket wheel is pacified by bearing at the both ends of second sprocket shaft
On the second sprocket shaft.
Preferably, first sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, the 4th chain
It takes turns as duplex chain wheel.
Preferably, the both ends of the 3rd sprocket shaft are connected by bearing with forearm top.
The beneficial effects of the utility model are：
1. the motor of four axis robot devices install concentratedly pedestal, revolving bed, large arm lower part, reduce manipulator
Center of gravity, alleviate manipulator actuating station weight, reduce the load of driving motor, reduce idle work consumption.
2. four axis robot devices use chain drive, to the working environment better tolerance of high temperature with high dust, safeguard and protect
It is convenient to support, and ensure that the reliability that manipulator works long hours.
3. four axis robot devices tool is there are four degree of freedom, flexible movements, arm exhibition is longer, and operative radius is big, can basis
Production requirement adjusts movement posture, advantageously reduces production cost, and reduction in the numbers of seconds improves product quality, improves production efficiency,
Mitigate labor strength.
It, can be 4. four axis robot apparatus structure of the utility model is simple, reliable operation, operating speed is fast, maintainability is good
Using glassware is picked and placeed in the particular surroundings of high temperature with high dust, the utility model is not limited to glassware life in addition
Production, it may also be used for other high temperature with high dust production environments, which are picked up target object, puts operation, has a wide range of application.
Description of the drawings
Fig. 1 is the overall structure diagram of four axis robot device of the utility model；
Fig. 2 is the internal structure schematic diagram of four axis robot device of the utility model；
Wherein：1st, pedestal；2nd, revolving bed；3rd, large arm；4th, forearm；5th, manipulator；6th, the first motor；7th, the second motor；8、
3rd motor；9th, the 4th motor；10th, the first retarder；11st, the second retarder；12nd, the 3rd retarder；13rd, the 4th retarder；
14th, the first sprocket wheel；15th, chain；16th, the second sprocket wheel；17th, the 3rd sprocket wheel；18th, chain；19th, the 4th sprocket wheel；20th, chain；21st,
Five sprocket wheels；22nd, riser.
Specific embodiment
The utility model is described further by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
As depicted in figs. 1 and 2, the present embodiment provides a kind of four axis robot devices suitable for high temperature with high dust environment,
Including from bottom to top setting gradually pedestal 1, revolving bed 2, large arm 3, forearm 4 and manipulator 5；Revolving bed 2 is located on pedestal 1 and leads to
The the first motor 6 driving rotation being arranged on pedestal 1 is crossed, 3 bottom of large arm is connected with revolving bed 2 and by being arranged on revolving bed 2
On the driving rotation of the second motor 7, be connected at the top of 4 bottom of forearm and large arm 3 and the 3rd motor by being arranged on revolving bed 2
8 driving rotations, manipulator 5 is connected with 4 top of forearm and the driving of the 4th motor 9 by being arranged in large arm 3 rotates.
Wherein, pedestal 1 is a cylinder, and the first motor 6 is installed on cylindrical cavity and is connected with the first retarder 10, the
The output shaft of one speed reducer 10 is directly connected with 2 bottom driving of revolving bed.The power of first motor 6 output passes through the first retarder
Driving revolving bed 2 rotates after 10 decelerations, realizes the waist action of four axis robot of the utility model.
The shape of revolving bed 2 is a cylinder, and in 2 upper surface of revolving bed, there are two riser 22,3 bottom positions of large arm for opposite installation
Between two risers 22, the second motor 7 is mounted on riser one side and passes through the second retarder 11 and is connected with 3 bottom of large arm, the
The output shaft of two retarders 11 is directly rigidly connected with large arm bottom outside, and the second motor 7 is directly driven by the second retarder 11
Dynamic large arm 3 rotates.
3rd motor 8 is mounted on riser opposite side and the drive shaft of the 3rd motor 8 enters through riser, large arm inside large arm
It is sequentially connected with the 3rd retarder 12 being arranged on inside large arm, the 3rd retarder 12 and the first sprocket wheel 14 being arranged in large arm
It is sequentially connected by the first sprocket shaft, the first sprocket wheel 14 is structure as a whole with the first sprocket shaft, and the other end of the first sprocket shaft leads to
Bearing is crossed to be connected with 3 bottom of large arm (large arm bottom is equipped with to install the bearing block of bearing)；The second sprocket wheel is provided in forearm 4
16 and second sprocket wheel 16 be fixedly connected with 4 bottom of forearm, the first sprocket wheel 14 is sequentially connected with the second sprocket wheel 16 by chain 15.
The center of second sprocket wheel 16 is equipped with outwardly extending second sprocket shaft, and the second sprocket shaft runs through two behind 4 bottom of forearm
End connects by bearing at the top of large arm and (corresponding bearing block is equipped at the top of large arm), and the second sprocket shaft is fixed with 4 bottom of forearm
It connects, then the second sprocket shaft can drive forearm 4 to rotate together when rotating, and slow down so as to fulfill passing through the 3rd by the 3rd motor 8
Device 12, the first sprocket wheel 14, chain 15, the second sprocket wheel 16 driving forearm 4 rotate.
4th motor 9 is mounted in large arm 3, as shown in Figure 1, on the outside of large arm.4th motor 9 passes through the 4th retarder
13 are sequentially connected with the 3rd sprocket wheel 17 being arranged in large arm 3, and 4 bottom of forearm and top are respectively arranged with the 4th sprocket wheel 19 and
Five sprocket wheels 21, the 4th sprocket wheel 19 is mounted on by bearing on the second sprocket shaft (will not drive the 4th chain during the rotation of the second sprocket shaft
Wheel 19 rotates)；The center of 5th sprocket wheel 21 is equipped with outwardly extending 3rd sprocket shaft, the both ends of the 3rd sprocket shaft respectively with forearm
4 tops connect by bearing and (corresponding bearing block are equipped at the top of forearm) and the 3rd sprocket shaft is also fixedly connected with manipulator 5, the
It is driven respectively by chain 18,20 between three sprocket wheels 17 and the 4th sprocket wheel 19, between the 4th sprocket wheel 19 and the 5th sprocket wheel 21.
The operation principle of four axis robot device of the present embodiment：
When robot device works, manipulator is closed in the driving lower gripper of source of the gas, clamps glassware, each by controlling
The rotation adjustment gripper pose of a driving motor, manipulator movable glass vessel to designated position, by the way that source of the gas is controlled to unclamp
Clamping jaw puts down glassware.
Embodiment 2：
A kind of method of work of the four axis robot devices suitable for high temperature with high dust environment described in embodiment 1, specifically
The course of work is as follows：
During operation, by starting the first motor 6, the operation of the first motor 6 drives revolving bed 2 bottom of at by the first retarder 10
Rotation on seat 1 is, it can be achieved that 360 degree of rotations of entire robot device；By starting the second motor 7, the operation of the second motor 7 passes through
Second retarder 11 drives large arm to be rotated around the first sprocket shaft；By starting the 3rd motor 8, the operation of the 3rd motor 8 passes through the 3rd
Retarder 12 drives the first sprocket shaft to rotate, and the first sprocket shaft is rotated by the second sprocket shaft of chain-driving, and the second sprocket shaft turns
While dynamic forearm 4 is driven to be rotated around the second sprocket shaft；By starting the 4th motor 9, the operation of the 4th motor 9 is slowed down by the 4th
Device 13 drive the 3rd sprocket wheel 17 rotate, the 3rd sprocket wheel 17 by chain 18 drive the 4th sprocket wheel 19 rotate, the 4th sprocket wheel 19 by
Chain 20 drives the 5th sprocket wheel 21 and the 3rd sprocket shaft to rotate, and while the 3rd sprocket shaft rotates manipulator 5 is driven to rotate.
Manipulator 5 is existing product, is closed in the driving lower gripper of source of the gas.First sprocket wheel 14, the second sprocket wheel 16, the 3rd chain
It is simple chainwheel to take turns the 17, the 5th sprocket wheel 21, and the 4th sprocket wheel 19 is duplex chain wheel, is both connected by chain 18 and the 3rd sprocket wheel 17
It connects, is connected further through chain 20 with the 5th sprocket wheel 21, realize that the power of the 4th motor 9 transfers.
Claims (10)
1. a kind of four axis robot devices suitable for high temperature with high dust environment, which is characterized in that including from bottom to top setting successively
Bottom set seat, revolving bed, large arm, forearm and manipulator；Revolving bed is located on pedestal and the first motor by being arranged on pedestal
Driving rotation, large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom
It is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, manipulator is connected and leads to at the top of forearm
Cross the 4th motor driving rotation being arranged in large arm.
2. it is suitable for four axis robot devices of high temperature with high dust environment as described in claim 1, which is characterized in that the bottom
Seat is a cylinder, and the first motor is installed in cylinder and passes through the first retarder and is connected with revolving bed bottom driving.
3. it is suitable for four axis robot devices of high temperature with high dust environment as described in claim 1, which is characterized in that described time
Swivel base upper surface is oppositely arranged there are two riser, and large arm bottom is located between two risers, and the second motor is mounted on riser one side
And pass through the second retarder and be connected with large arm bottom.
4. it is suitable for four axis robot devices of high temperature with high dust environment as described in claim 1, which is characterized in that described the
The first sprocket wheel that three motors are mounted on riser opposite side and pass through the 3rd retarder and be arranged in large arm is sequentially connected, described small
The second sprocket wheel is provided in arm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel and the second sprocket wheel pass through chain drive
Connection.
5. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 4, which is characterized in that described the
The center of one sprocket wheel be equipped with outwardly extending first sprocket shaft, first sprocket shaft one end run through large arm bottom after with the 3rd retarder
Connection, the other end are connected by bearing with large arm bottom.
6. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 4, which is characterized in that described the
The center of two sprocket wheels is equipped with outwardly extending second sprocket shaft, and both ends at the top of large arm with connecting after the second sprocket shaft runs through forearm bottom
It connects, and the second sprocket shaft is fixedly connected with forearm bottom.
7. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 6, which is characterized in that described the
Four motors are mounted in large arm, and the 4th motor is sequentially connected by the 4th retarder and the 3rd sprocket wheel being arranged in large arm, small
Arm bottom and top are respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on the second sprocket shaft；5th sprocket wheel
Center be equipped with outwardly extending 3rd sprocket shaft, the both ends of the 3rd sprocket shaft at the top of forearm respectively with being connected and the 3rd sprocket shaft
It is also fixedly connected with manipulator, passes through chain respectively between the 3rd sprocket wheel and the 4th sprocket wheel, between the 4th sprocket wheel and the 5th sprocket wheel
Transmission.
8. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 7, which is characterized in that described the
By bearing with being connected at the top of large arm, the 4th sprocket wheel is mounted on by bearing on the second sprocket shaft at the both ends of two sprocket shafts.
9. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 7, which is characterized in that described the
One sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, and the 4th sprocket wheel is duplex chain wheel.
10. it is suitable for four axis robot devices of high temperature with high dust environment as claimed in claim 7, which is characterized in that described
The both ends of 3rd sprocket shaft are by bearing with being connected at the top of forearm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721470536.5U CN207373169U (en) | 2017-11-07 | 2017-11-07 | A kind of four axis robot devices suitable for high temperature with high dust environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721470536.5U CN207373169U (en) | 2017-11-07 | 2017-11-07 | A kind of four axis robot devices suitable for high temperature with high dust environment |
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| Publication Number | Publication Date |
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| CN207373169U true CN207373169U (en) | 2018-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721470536.5U Active CN207373169U (en) | 2017-11-07 | 2017-11-07 | A kind of four axis robot devices suitable for high temperature with high dust environment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
| CN109968390A (en) * | 2019-04-11 | 2019-07-05 | 江苏科技大学 | A kind of robot device that superfluous-drive lacking combines |
| CN111923063A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Zinc alloy slag skimming robot and working method thereof |
-
2017
- 2017-11-07 CN CN201721470536.5U patent/CN207373169U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662200A (en) * | 2017-11-07 | 2018-02-06 | 山东大学 | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application |
| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
| CN109968390A (en) * | 2019-04-11 | 2019-07-05 | 江苏科技大学 | A kind of robot device that superfluous-drive lacking combines |
| CN109968390B (en) * | 2019-04-11 | 2022-03-08 | 江苏科技大学 | Redundancy-underactuated combined manipulator device |
| CN111923063A (en) * | 2020-08-11 | 2020-11-13 | 温州大学 | Zinc alloy slag skimming robot and working method thereof |
| CN111923063B (en) * | 2020-08-11 | 2021-07-16 | 温州大学 | Zinc alloy slag skimming robot and working method thereof |
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