Vertical type multi-joint robot

Abstract

The invention relates to a vertical type multi-joint robot. The vertical type multi-joint robot comprises a supporting base, an angle swing arm, a vertical arm, a material taking mechanism for taking or placing workpieces and an adjusting mechanism used for adjusting the direction of the material taking mechanism; the material taking mechanism is fixedly connected with the adjusting mechanism which is connected to the lower end of the vertical arm, and the upper end of the vertical arm is connected with one end of the angle swing arm and keeps vertical all the time; and the other end of the angle swing arm is connected with the supporting base, and the angle swing arm can swing relative to the supporting base within a preset angle scope on one vertical face so as to drive the vertical arm to horizontally move at the positions above a peripheral material taking area and above a peripheral material placing area and further drive the material taking mechanism to reach the peripheral material taking area for material taking and the peripheral material placing area for material placing. By means of the vertical type multi-joint robot, material taking and material placing can be carried out in one vertical face, and space occupied by the robot is reduced; and the vertical arm keeps in the vertical state and horizontally moves, so that a grabbing mechanism is relatively stable and accurate during material taking and material placing.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a vertical multi-joint robot. Background technique [0002] 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. [0003] When assembling parts, especially assembly ...

AI Technical Summary

Problems solved by technology

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, thus limiting the working 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 the stacking of workpieces and facilitate assembly, it is now necessary to stand up the polished workpieces and place them sequentially, but the existing robots cannot meet this demand

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