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Full-hydraulic-drive five-degree-of-freedom transfer robot

A technology for handling robots and degrees of freedom. It is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools. It can solve the problems of handling robots such as heavy weight, low space utilization, and difficult processing, and achieve high load/weight ratio and space utilization. The effect of high efficiency and low processing cost

Pending Publication Date: 2020-01-21
TAIYUAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The invention aims to solve the technical problems of the existing handling robots, such as heavy weight, low space utilization, difficult processing and high cost

Method used

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Embodiment Construction

[0024] refer to Figure 1 to Figure 9 , a fully hydraulically driven five-degree-of-freedom handling robot of the present invention includes a large arm 1, a small arm 2, a wrist 3, and an end effector 4; it also includes a base 5 and a first hydraulic motor 6, and the base 5 is equipped with There is an oil chamber 5-1 for oil storage, the casing of the first hydraulic motor 6 is fixed on the base 5, and the rotating shaft of the first hydraulic motor 6 passes through the base 5 vertically upwards and connects with the bottom end of the boom 1 Fixed connection; also includes a second hydraulic motor 7, the housing of the second hydraulic motor 7 is fixed at one end of the small arm 2, the rotating shaft of the second hydraulic motor 7 is arranged horizontally and is fixedly connected with the top end of the boom 1; The wrist 3 includes a cylinder 3-1, a third hydraulic motor 3-2, a ball fork universal joint 3-3, a pitching ring 3-4, two connecting ribs 3-5, and a pitching hyd...

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Abstract

The invention relates to the technical field of industrial robots, and specifically relates to a full-hydraulic-drive five-degree-of-freedom transfer robot. The full-hydraulic-drive five-degree-of-freedom transfer robot aims to solve the technical problems that an existing transfer robot is large in dead load, low in space utilization rate, large in machining difficulty and high in cost. Accordingto the technical scheme, a large arm rotates relative to a base through a first hydraulic motor, a small arm rotates relative to the large arm through a second hydraulic motor, a wrist rotates relative to the small arm through a third hydraulic motor, and the wrist is further provided with a pitching hydraulic cylinder and a side-swinging hydraulic cylinder so as to achieve pitching action and side-swinging action; and an oil cavity is formed in the base and connected with all the execution components mentioned above through a hydraulic pump and a servo valve, and all the execution componentsare independently controlled through a hydraulic control pipeline and jointly matched to complete action of the robot.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a fully hydraulically driven five-degree-of-freedom handling robot. Background technique [0002] Handling robot is an industrial robot that replaces humans to complete handling work. It is widely used in industrial manufacturing, warehousing and logistics, ports and terminals, and is one of the most widely used industrial robots today. A handling robot is generally composed of basic components such as a large arm, a small arm, a wrist, and an end effector. At present, mainstream handling robots are generally driven by motors, and the movement of the robot is completed through high-precision reducer transmission and belt transmission. This type of handling robot has the following problems: 1) Because the transmission system usually uses gear transmission and belt transmission, resulting in The transmission chain of the robot is long, the weight is heavy, the space util...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J9/14
CPCB25J18/00B25J9/14
Inventor 汪成文吉鑫浩陈帅张震阳权龙
Owner TAIYUAN UNIV OF TECH
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