CN-121990495-A - Heavy type moves and carries robot and flexible production line

CN121990495ACN 121990495 ACN121990495 ACN 121990495ACN-121990495-A

Abstract

The application relates to a heavy transfer robot and a flexible production line, wherein the heavy transfer robot comprises a base, an R0 shaft rotating part, an R1 shaft rotating part, a lifting part, an R2 shaft rotating part and fork arms, wherein the R0 shaft rotating part is arranged on the base, the R1 shaft rotating part is arranged on the R0 shaft rotating part, the lifting part is arranged on the R1 shaft rotating part, the R2 shaft rotating part is arranged on the lifting part, the fork arms are arranged on the R2 shaft rotating part and are used for carrying heavy goods, the R0 shaft rotating part can drive the R1 shaft rotating part to rotate 360 degrees, the R1 shaft rotating part can drive the lifting part to rotate 360 degrees, the lifting part can drive the R2 shaft rotating part to lift, and the R2 shaft rotating part can drive the fork arms to rotate. According to the application, the second motor speed reducer can drive the second support frame to rotate 360 degrees, and the second support frame drives the main arm to rotate, so that the main arm and the first support frame are positioned on the same side, and at the moment, the carrying distance is the smallest, the occupied area can be reduced, and the space utilization rate is improved.

Inventors

LI XINYU
WEI ZHENNAN
GAO ZHAOLOU
YANG KANG

Assignees

无锡高格机器人技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260323

Claims (10)

1. A heavy transfer robot, comprising: A base (100); an R0 axis rotation unit (200) provided on the base (100); an R1 axis rotation unit (300) provided on the R0 axis rotation unit (200); A lifting part (400) arranged on the R1 shaft rotating part (300); An R2 shaft rotation unit (500) provided on the lifting unit (400); A fork arm (600) which is arranged on the R2 shaft rotating part (500) and is used for carrying heavy goods; Wherein, R0 axle rotary part (200) can drive R1 axle rotary part (300) and rotate 360, and R1 axle rotary part (300) can drive elevating part (400) and rotate 360, and elevating part (400) can drive R2 axle rotary part (500) and go up and down, and R2 axle rotary part (500) can drive yoke (600) and rotate.
2. The heavy transfer robot of claim 1, wherein the R0 shaft rotating part (200) comprises a first slewing bearing (201), a first supporting frame (202), a first motor speed reducer (203) and a first gear (204), an outer ring of the first slewing bearing (201) is fixedly connected with the base (100), the first supporting frame (202) is fixedly connected with an inner ring of the first slewing bearing (201), the first motor speed reducer (203) is mounted on the first supporting frame (202), the first gear (204) is mounted on an output shaft of the first motor speed reducer (203), a first circular tooth surface is arranged on an outer ring of the first slewing bearing (201), and the first gear (204) is meshed with the first circular tooth surface.
3. The heavy transfer robot of claim 2, wherein the R1 shaft rotating part (300) comprises a second slewing bearing (301), a second supporting frame (302), a second motor speed reducer (303) and a second gear (304), an outer ring of the second slewing bearing (301) is fixedly connected with the first supporting frame (202), the second supporting frame (302) is fixedly connected with an inner ring of the second slewing bearing (301), the second motor speed reducer (303) is arranged on the second supporting frame (302), the second gear (304) is arranged on an output shaft of the second motor speed reducer (303), a second circular tooth surface is arranged on an outer ring of the second slewing bearing (301), and the second gear (304) is meshed with the second circular tooth surface.
4. The heavy transfer robot of claim 3, wherein the lifting part (400) comprises a main upright post (401), a third motor speed reducer (402), a screw rod (403), a screw rod nut seat (404), a hanging plate (405), a main arm (406), a guide rail (407), a sliding block (408) and a connecting block (409), the main upright post (401) is fixed on the second supporting frame (302), the third motor speed reducer (402) is installed on the second supporting frame (302), one end of the screw rod (403) is fixedly connected with an output shaft of the third motor speed reducer (402), the other end of the screw rod (403) is rotatably connected with the main upright post (401) through a rotating shaft, a screw rod nut seat (404) is sleeved on the screw rod (403), a guide rail (407) which is arranged in parallel with the screw rod (403) is arranged on the main upright post (401), the sliding block (408) is arranged in a matched mode, one side, close to the screw rod (403), of the hanging plate (405) is fixedly connected with the main arm (409), and the connecting block (405) is fixedly connected with the hanging plate (405).
5. The heavy transfer robot according to claim 4, wherein the R2 shaft rotating portion (500) comprises a third slewing bearing (501), a third supporting frame (502), a fourth motor speed reducer (503), a fourth supporting frame (504) and a third gear (505), the third supporting frame (502) is fixed on the main arm (406), an inner ring of the third slewing bearing (501) is fixedly connected with the third supporting frame (502), the fourth motor speed reducer (503) is mounted on the third supporting frame (502), the third gear (505) is mounted on an output shaft of the fourth motor speed reducer (503), the fourth supporting frame (504) is fixedly connected with an outer ring of the third slewing bearing (501), the outer ring of the third slewing bearing (501) is provided with a third circular tooth surface, and the third gear (505) is meshed with the third circular tooth surface.
6. A flexible production line, comprising: -a processing device (700) for processing heavy goods; a heavy duty transfer robot according to any one of claims 1 to 5, provided on a side of processing equipment (700), for handling heavy duty goods; And a plurality of shelves (800) provided outside the heavy load transfer robot and configured to store heavy goods.
7. A flexible line as claimed in claim 6, wherein the projection of the axis of the machining device (700) on the ground does not pass through the projection of the rotation center of the R0 axis rotation (200) on the ground.
8. A flexible line as claimed in claim 6, wherein the projection of the axis of the machining device (700) on the ground passes through the projection of the centre of rotation of the R0 axis rotation (200) on the ground.
9. A flexible line as claimed in claim 6, wherein the projection of the axis of the pallet (800) on the ground passes through the projection of the centre of rotation of the R0 axis rotation (200) on the ground.
10. A flexible production line as claimed in claim 6, wherein the projection of the axis of the shelves (800) on the ground does not pass through the projection of the rotation center of the R0 axis rotation part (200) on the ground, and the shelves (800) are arranged in an L shape.

Description

Heavy type moves and carries robot and flexible production line Technical Field The application relates to the technical field of heavy duty, in particular to a heavy duty transfer robot and a flexible production line. Background The transfer robot is mainly used for carrying articles, in a production line, heavy goods are carried from a goods shelf to processing equipment by the transfer robot, and after the processing equipment finishes processing the heavy goods, the transfer robot carries the heavy goods from the processing equipment to the goods shelf. The existing transfer robot is mainly provided with two rotating shafts, one rotating shaft is arranged at the bottom and can rotate the whole transfer robot, the other rotating shaft is arranged at the carrying assembly and can drive the carrying assembly to rotate, the axis of the processing equipment needs to pass through the axis of the rotating shaft at the bottom of the transfer robot, the axes of the plurality of shelves also need to pass through the axis of the rotating shaft at the bottom of the transfer robot, the occupied space of the whole flexible production line is large, and the arrangement of the plurality of shelves wastes large space at the corners of the field. There may be a transfer robot having three rotation shafts, but the rotation shaft in the middle thereof cannot realize 360 ° rotation, so that the minimum length of the swing arm is too large, and heavy load cargo handling in a small space cannot be realized. Therefore, we propose a heavy transfer robot and a flexible production line. Disclosure of Invention The inventor aims at the defects in the prior art, and provides a heavy transfer robot and a flexible production line, so that a second motor speed reducer can drive a second support frame to rotate 360 degrees, and the second support frame drives a main arm to rotate, so that the main arm and a first support frame are positioned on the same side, the carrying distance is the smallest, the occupied area can be reduced, and the space utilization rate is improved. The technical scheme adopted by the application is as follows: a heavy duty transfer robot comprising: A base; an R0 shaft rotating part arranged on the base; an R1 axis rotating part arranged on the R0 axis rotating part; A lifting part arranged on the R1 shaft rotating part; an R2 shaft rotating part arranged on the lifting part; The fork arm is arranged on the R2 shaft rotating part and is used for carrying heavy goods; Wherein, R0 axle rotation part can drive R1 axle rotation part and rotate 360, and R1 axle rotation part can drive lifting unit and rotate 360, and lifting unit can drive R2 axle rotation part and go up and down, and R2 axle rotation part can drive the yoke and rotate. It is further characterized by: The R0 shaft rotating part comprises a first slewing bearing, a first supporting frame, a first motor speed reducer and a first gear, wherein an outer ring of the first slewing bearing is fixedly connected with the base, the first supporting frame is fixedly connected with an inner ring of the first slewing bearing, the first motor speed reducer is arranged on the first supporting frame, the first gear is arranged on an output shaft of the first motor speed reducer, a first circular tooth surface is arranged on an outer ring of the first slewing bearing, and the first gear is meshed with the first circular tooth surface. The R1 shaft rotating part comprises a second slewing bearing, a second supporting frame, a second motor speed reducer and a second gear, wherein an outer ring of the second slewing bearing is fixedly connected with the first supporting frame, the second supporting frame is fixedly connected with an inner ring of the second slewing bearing, the second motor speed reducer is arranged on the second supporting frame, the second gear is arranged on an output shaft of the second motor speed reducer, a second circular tooth surface is arranged on an outer ring of the second slewing bearing, and the second gear is meshed with the second circular tooth surface. The lifting part comprises a main upright post, a third motor speed reducer, a screw rod nut seat, a hanging plate, a main arm, a guide rail, a sliding block and a connecting block, wherein the main upright post is fixed on a second support frame, the third motor speed reducer is installed on the second support frame, one end of the screw rod is fixedly connected with an output shaft of the third motor speed reducer, the other end of the screw rod is rotationally connected with the main upright post through a rotating shaft, the screw rod is sleeved with the screw rod nut seat, the guide rail parallel to the screw rod is arranged on the main upright post, the sliding block is arranged on the guide rail in a matched manner, the hanging plate is fixedly connected with the sliding block, the connecting block is arranged on one side of the hanging plate close to the screw rod, the screw ro