A column-type transfer four-axis robot

Abstract

A column-type transfer four-axis robot includes a support frame, with a hollow column rotatably mounted on top of the support frame. The column has a lifting slider connected to a horizontal large arm, and a small arm rotatably connected to the end of the large arm away from the lifting slider. The small arm has a clamping flange. An extension rod extending towards the large arm is located above the column, with a lifting sprocket at the end of the extension rod away from the column. A tension spring energy storage device is housed within the hollow cavity of the column, and a drive sprocket is positioned directly above it. One end of a lifting chain is fixed to the large arm, and the other end passes over the lifting sprocket and the drive sprocket before being fixed to the top of the tension spring energy storage device. Unlike existing handling equipment, this robot uses an integrated column design, assembling all the necessary structures for basic functions, resulting in a simpler overall structure, easier maintenance, and the ability to perform essential functions at minimal cost.

Description

Technical Field

[0001] This invention relates to the field of multi-axis transfer robot technology, specifically a column-type four-axis transfer robot. Background Technology

[0002] Current linkage-type four-axis robots are manufactured with high precision, but are also costly, require high power, and have poor energy efficiency, making them wasteful for simple handling tasks. Existing column-type handling robots are mostly three-axis, complex to manufacture, and also relatively expensive, requiring real-time maintenance during use. For applications requiring low cost and simple tasks, the high power requirements still exist and cannot meet the needs of existing low-cost handling equipment. Summary of the Invention

[0003] To address the problems of overly complex and costly structures in conventional multi-axis robots used for material handling, this invention provides a column-type transfer four-axis robot.

[0004] The technical solution of this invention is as follows: A column-type transfer four-axis robot includes a support frame, on the top of which a vertical column is connected via a horizontal turntable base. The column has a hollow, one-piece molded structure. The column includes an arc-shaped portion, a rectangular portion, and a tapering section located between the two, and the perimeter of the arc-shaped portion and the rectangular portion are respectively not less than 1 / 3 of the total perimeter of the column cross-section; The column is equipped with a lifting slider that moves up and down in a vertical direction. The lifting slider is connected to a horizontal large support arm, and a small support arm is rotatably connected to the end of the large support arm away from the lifting slider. The rotation axis of the small support arm is vertically set, and a clamp flange is set below the end away from the large support arm. The rotation axis of the clamp flange is also vertically set. An extension rod extending toward the large support arm is provided above the column, and a lifting sprocket is provided at the end of the extension rod away from the column. The hollow cavity of the column is equipped with a tension spring energy storage device, and a drive sprocket is located directly above it. One end of a lifting chain is fixed to the large support arm, and the other end passes around the lifting sprocket and the drive sprocket and is fixed to the top of the tension spring energy storage device.

[0005] Unlike existing handling equipment, it adopts an integrated column design, which installs all the necessary structures for basic functions, resulting in a simpler overall structure that is easy to maintain. For handling operations with specific needs, it can provide all the required functions at the lowest cost, while also being easy to repair.

[0006] To ensure that the lifting chain can be lifted steadily, the column is equipped with a pressure wheel on the side of the drive sprocket close to the lifting sprocket. The distance between the pressure wheel and the drive sprocket is adjustable, and both are in constant contact with the lifting chain.

[0007] The specific structure of the above-mentioned column is as follows: the column includes an arc-shaped part and a rectangular part, a tension spring energy storage device is installed in the arc-shaped part, and the lifting slider is sleeved on the rectangular part.

[0008] The lifting slider is installed by means of a rolling bearing between the lifting slider and the column.

[0009] The above-mentioned small arm rotation setting method is as follows: the end of the small arm is sleeved on the end of the large arm, and the small arm rotary motor is fixed in position on the large arm. The output shaft of the small arm rotary motor is vertically set and passes through the large arm and the small arm, and is connected to the small arm.

[0010] The method for achieving the rotation setting of the clamp flange is as follows: a clamp rotary motor is provided at the end of the small support arm away from the large support arm, and the output shaft of the clamp rotary motor is vertical and passes through the small support arm and is connected to the clamp flange.

[0011] To ensure the lifting effect, the lifting chain is vertically downward connected to the main arm after engaging with the lifting sprocket.

[0012] The specific arrangement of the aforementioned pressure sprocket is such that the pressure sprocket is always located on the path of the straight line connecting the lifting sprocket and the driving sprocket.

[0013] The above-mentioned tension spring energy storage device is configured such that the tension spring energy storage device is in a stretched energy storage state when the lifting slider is in any position.

[0014] To facilitate processing and reduce costs, a retaining element is inserted at the contraction section.

[0015] The beneficial effects of this invention are as follows: This invention is a column-type transfer four-axis robot. By designing the column as hollow and integrated, a guide rail structure can be manufactured at the lowest cost. Based on this, a large support arm and a small support arm structure are set up, and a sprocket and chain drive are used. During this process, the lifting drive force can be balanced by a tension spring energy storage device. The design with fewer structural parts facilitates maintenance. This results in a simple structure that is easy to manufacture, control and equip, low power consumption, energy saving and stable and efficient operation, and requires no special maintenance for handling or stacking robots. Attached Figure Description

[0016] The solutions and advantages of this application will become clear to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of a structure according to an embodiment of the present invention; Figure 2 This is a schematic cross-sectional view of a column according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the large and small support arms according to an embodiment of the present invention; Figure 4 This is a schematic cross-sectional view of the column structure according to another embodiment of the present invention; Figure 5 for Figure 4 A schematic diagram of the retainer structure.

[0018] The components represented by the various reference numerals in the diagram are: 1. Support frame; 2. Turntable base; 3. Column; 31. Arc-shaped section; 32. Rectangular section; 4. Main support arm; 5. Small support arm; 6. Clamp flange; 7. Lifting chain; 8. Lifting sprocket; 9. Pressure sprocket; 10. Drive sprocket; 11. Tension spring energy accumulator; 12. Lifting slider; 13. Rolling bearing; 14. Arm rotary motor; 15. Clamp rotary motor. Detailed Implementation

[0019] Example 1 like Figure 1 The illustrated column-type transfer four-axis robot includes a support 1, which is placed on a reference plane. A vertical column 3 is connected to the top of the support 1 via a horizontal turntable base 2. The turntable base 2 can be an existing rotary platform. After being fixed to the support 1, it can drive the column 3 to rotate along a vertical axis to adjust its direction. Regardless of the rotation, the column 3 remains vertical. It should be noted that the column 3 is hollow. To facilitate processing and reduce costs, the column 3 is a one-piece molded structure and is manufactured using an extrusion molding process. This ensures the integrated strength and facilitates mass production. The column 3 is made of high-quality carbon structural steel or low-alloy steel, and the extrusion molding process is preferably a hot extrusion molding process.

[0020] Based on the aforementioned column 3, in order to realize the function of moving and adjusting along its length, the column 3 is provided with a lifting slider 12 that moves vertically upwards and downwards, and as shown in the figure... Figure 2As shown, the lifting slider 12 is installed by means of a rolling bearing 13 between the lifting slider 12 and the column 3, and the rolling bearings 13 are arranged symmetrically. Each rolling bearing 13 has a corresponding rolling bearing 13 on the opposite side. The rolling bearings 13 on the opposite side can improve the smoothness and maintain the stability of the lifting slider 12 during its up and down movement. Specifically, the column 3 is a column with a uniform cross-section, and its cross-section includes an arc-shaped part 31, a rectangular part 32, and a contraction section located between the two. By pre-setting the contraction section, the support is improved by multiple horizontally and vertically arranged vertical surfaces. The support strength is provided by the following: the arc-shaped part 31 is C-shaped, the opening spacing is smaller than the diameter of the arc-shaped part 31, and the two parallel sides extending from the opening constitute the contraction section. The two parallel sides intersect with the opening at the center of one long side of the rectangular part 32 to form a closed integral part. The length of the long side of the rectangular part 32 is greater than the diameter of the arc-shaped part 31. In this embodiment, the proportion of the arc-shaped part 31 to the total perimeter of the cross-section of the column 3 is not less than 1 / 3, and the proportion of the rectangular part 32 to the total perimeter of the cross-section of the column 3 is not less than 1 / 3, so as to ensure sufficient support strength while providing space for connecting other components. In the aforementioned enclosed integral component, the rectangular portion 32 has a structure with two protruding ends, which facilitates the installation of rolling bearings 13 along the outer side of the rectangular portion 32. In this embodiment, three rolling bearings 13 are arranged circumferentially on the single-sided protruding structure and are connected to each contact surface to achieve the lifting and lowering of the auxiliary lifting slider 12. One of these three rolling bearings 13 is located on the short side of the rectangular portion 32, and the other two are located on the long sides of both sides of the rectangular portion 32. Thus, a total of six rolling bearings 13 are arranged on the two-sided protruding structure and are symmetrically distributed. The lifting slider 12 has a stable C-shaped structure around the rectangular portion 32.

[0021] It should be noted that the outer side of the rectangular portion 32 of the column 3 mentioned above, which is an extruded part, can be used directly as a guide rail, or it can be machined or coated with materials to obtain a guide rail structure with improved performance. As a preferred embodiment, in order to improve the smoothness of operation and enhance the quietness, the surface of the rectangular portion 32 can be roughened first, and then polytetrafluoroethylene can be coated on its surface using a cold rolling process and heated to form a guide rail structure with a smooth surface. If the integrated column 3 experiences micro-deformation or similar problems after long-term operation, it can be remade by heating and removing the guide rail structure to ensure that a smooth guide rail surface can be obtained again.

[0022] In addition, Figure 4 , Figure 5In another embodiment of the present invention shown, a retainer 16 is also illustrated. This retainer 16 is also designed for the long-term safe use of the innovative integrated hollow structure column 3, addressing the risks associated with overload conditions. Specifically, the retainer 16 is a structure in which two clamping blocks 161 are connected by several stress plates 162. The thickness of the clamping blocks 161 is greater than the wall thickness of the column 3 or its strength is higher than that of the column material. The bending (under inward compressive force) and tearing (under outward tensile force) deformation thresholds of the stress plates 162 are higher than the compressive strength threshold of the column 3 but lower than the tearing threshold of the column 3. Thus, in the face of... Under heavy impact, the presence of retainer 16 enhances the column 3's resistance to top deformation. Even under overload, stress plate 162 will preferentially deform, thus preventing more serious problems such as end tearing of the column 3. Both clamping blocks 161 are equipped with fixing seats, and optical fibers are installed between the fixing seats. One end of the optical fiber is connected to a light source, and the other end is connected to an optical fiber detector. When the spacing between clamping blocks 161 changes, it indicates that deformation has occurred. Based on this, the device can preset a threshold. When the threshold exceeds the range, an alarm is triggered and the machine is stopped. In this invention, retainer 16 is an optional component, and its configuration is selected based on the robot's operating conditions.

[0023] After ensuring that the lifting slider 12 can complete the lifting operation, further steps are taken, such as... Figure 3 As shown, the lifting slider 12 is connected to a horizontal large support arm 4. The large support arm 4 can move synchronously with the lifting slider 12 and change its height position. Based on this, a small support arm 5 is rotatably connected to the end of the large support arm 4 away from the lifting slider 12. The rotation axis of the small support arm 5 is vertically set, that is, the small support arm 5 can rotate independently and change the position of its end. It has both lifting and lowering functions and can also rotate and adjust its position on the horizontal plane. The small support arm 5 is rotated in such a way that the end of the small support arm 5 is sleeved on the end of the large support arm 4. The large support arm 4 is equipped with a small arm rotary motor 14 with a fixed position. The output shaft of the small arm rotary motor 14 is vertically set and passes through the large support arm 4 and the small support arm 5, and is connected to the small support arm 5. When the small arm rotary motor 14 rotates, it can drive the small support arm 5 to rotate relative to the end of the large support arm 4 and change the position of its end.

[0024] Finally, a clamping flange 6 is provided below the end of the small support arm 5 furthest from the large support arm 4. The rotation shaft of the clamping flange 6 is also vertically oriented. The structure of the clamping flange 6 will not be described in detail. It is used to connect the clamping equipment, and its rotation can be adjusted to a fixed angle to adapt to various working conditions. The clamping flange 6 is rotated by providing a clamping rotary motor 15 at the end of the small support arm 5 furthest from the large support arm 4. The output shaft of the clamping rotary motor 15 is vertical and passes through the small support arm 5 before connecting to the clamping flange 6. This method is simple, direct, and convenient for later maintenance.

[0025] After completing the above structural design, in order to drive and realize the lifting operation, the specific setting is as follows: an extension rod extending towards the large support arm 4 is provided above the column 3, and a lifting sprocket 8 is provided at the end of the extension rod away from the column 3, and the lifting sprocket 8 can rotate. Furthermore, a tension spring energy storage device 11 is installed inside the hollow cavity of the column 3, and a drive sprocket 10 is installed directly above it. After the lifting chain 7 is installed, one end of it is fixed to the large support arm 4, and the other end passes around the lifting sprocket 8 and the drive sprocket 10 and is fixed to the top of the tension spring energy storage device 11. It should be noted that the lifting chain 7 and the sprocket are both engaged. Therefore, after the drive motor is connected to the drive sprocket 10 and rotates, the lifting chain 7 can drive the large support arm 4 to complete the lifting and lowering synchronously. Moreover, the tension spring energy storage device 11 is set in such a way that it is in a stretched energy storage state when the lifting slider 12 is in any position, so as to assist in the lifting operation during the lifting of the large support arm 4. During the descent of the large support arm 4, the tension spring energy storage device 11 can also be stretched and store elastic potential energy, so that the assisting effect is better when it is lifted.

[0026] In the above structure, in order to ensure that the lifting chain 7 can be lifted steadily, the column 3 is provided with a pressure wheel 9 on the side of the drive sprocket 10 near the lifting sprocket 8. The pressure wheel 9 can make the number of teeth of the lifting chain 7 engaging with the sprocket more, thereby ensuring a stable lifting effect and preventing chain derailment. Moreover, the distance between the pressure wheel 9 and the drive sprocket 10 can be adjusted, and both are in real-time contact and engagement with the lifting chain 7.

[0027] It should be noted that in the above structure, a tension spring energy storage device 11 is provided inside the arc-shaped part 31, and the lifting slider 12 is sleeved on the rectangular part 32 to avoid being affected by external structures and to ensure normal expansion and contraction in the cavity.

[0028] Therefore, to ensure the lifting effect, the lifting chain 7 is vertically downward connected to the large support arm 4 after engaging with the lifting sprocket 8. Furthermore, the pressure sprocket 9 is specifically positioned such that it is always located on the path of the straight line connecting the lifting sprocket 8 and the drive sprocket 10. This ensures the pressure sprocket 9 effectively engages with the lifting chain 7.

[0029] The above structure can achieve this. Unlike existing handling equipment, it adopts an integrated column 3 design. After all the basic functional structures are installed, the overall structure is relatively simple and easy to maintain. For handling operations with specific needs, it can have all the required functions at the lowest cost, and also has the characteristics of convenient maintenance.

Claims

1. A column-type transfer four-axis robot, characterized in that, Includes a support frame, on which a vertical column is connected via a horizontal turntable base, the column being a hollow, one-piece molded structure; The cross-section of the column includes an arc-shaped portion, a rectangular portion, and a contracted section located between the two, and the perimeter of the arc-shaped portion and the rectangular portion are respectively not less than 1 / 3 of the total perimeter of the column cross-section; The column is equipped with a lifting slider that moves up and down in a vertical direction. The lifting slider is connected to a horizontal large support arm, and a small support arm is rotatably connected to the end of the large support arm away from the lifting slider. The rotation axis of the small support arm is vertically set, and a clamp flange is set below the end away from the large support arm. The rotation axis of the clamp flange is also vertically set. An extension rod extending toward the large support arm is provided above the column, and a lifting sprocket is provided at the end of the extension rod away from the column. The hollow cavity of the column is equipped with a tension spring energy storage device, and a drive sprocket is located directly above it. One end of a lifting chain is fixed to the large support arm, and the other end passes around the lifting sprocket and the drive sprocket and is fixed to the top of the tension spring energy storage device.

2. The column-type transfer four-axis robot according to claim 1, characterized in that, The column has a pressure wheel on the side of the drive sprocket near the lifting sprocket. The distance between the pressure wheel and the drive sprocket is adjustable, and both are in constant contact with the lifting chain.

3. The column-type transfer four-axis robot according to claim 1, characterized in that, A tension spring energy storage device is installed inside the arc-shaped part, and the lifting slider is sleeved on the rectangular part.

4. A column-type transfer four-axis robot according to claim 1, characterized in that, A rolling bearing is provided between the lifting slider and the column.

5. A column-type transfer four-axis robot according to claim 1, characterized in that, The end of the small arm is sleeved on the end of the large arm, and the large arm has a fixed position for the small arm rotary motor. The output shaft of the small arm rotary motor is vertically arranged and passes through the large arm and the small arm, and is connected to the small arm.

6. A column-type transfer four-axis robot according to claim 1, characterized in that, The end of the small support arm away from the large support arm is equipped with a clamp rotary motor, and the output shaft of the clamp rotary motor is vertical and passes through the small support arm and is connected to the clamp flange.

7. A column-type transfer four-axis robot according to claim 1, characterized in that, After engaging with the lifting sprocket, the lifting chain connects vertically downwards to the main support arm.

8. A column-type transfer four-axis robot according to claim 2, characterized in that, The pressure sprocket is always located on the path of the straight line connecting the lifting sprocket and the drive sprocket.

9. A column-type transfer four-axis robot according to claim 1, characterized in that, The tension spring energy storage device is in a stretched energy storage state when the lifting slider is in any position.

10. A column-type transfer four-axis robot according to any one of claims 1-9, characterized in that, A retainer is inserted at the contraction section.

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