CN102275743A - Metamorphic mechanism type stacking robot mechanism - Google Patents
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Abstract
一种变胞机构式码垛机器人机构，包括机架、可控电机、连架杆、手臂杆、三角形连杆构件和弧形限位块，所述可控电机固连在机架上，连架杆由可控电机驱动，三角形连杆构件包括第一边杆、第二边杆和第三边杆，手臂杆末端为输出端，工作时，通过第一光滑圆柱铰链处的弧形限位块限位，使三角形连杆构件的第二边杆与手臂杆的第一光滑圆柱铰链与第二光滑圆柱铰链间部分重叠，实现两自由度与单自由度机构间转变，既有可控、可调、输出柔性性能，又有多功能阶段变化、多拓扑结构变化和多自由度变化的特征，适应不同任务、场合和工作对象。
A metamorphic mechanism type palletizing robot mechanism, including a frame, a controllable motor, a connecting frame rod, an arm rod, a triangular connecting rod member and an arc-shaped limit block, the controllable motor is fixedly connected to the frame, and the The frame rod is driven by a controllable motor. The triangular connecting rod member includes the first side rod, the second side rod and the third side rod. The end of the arm rod is the output end. Block limit, so that the second side bar of the triangular link member and the first smooth cylindrical hinge and the second smooth cylindrical hinge of the arm bar partially overlap, so as to realize the transition between two degrees of freedom and one degree of freedom mechanism, which is both controllable and Adjustable, output flexible performance, and the characteristics of multi-functional stage change, multi-topological structure change and multi-degree-of-freedom change, adapt to different tasks, occasions and work objects.
Description
技术领域 technical field
本发明涉及机器人设计领域，特别是一种变胞机构式码垛机器人机构。The invention relates to the field of robot design, in particular to a metamorphic mechanism type palletizing robot mechanism.
背景技术 Background technique
随着机械自动化水平的提高，码垛机器人以其在机械结构、适用范围、灵活性、成本以及维护等方面的优势使其应用渐为广泛，并成为一种发展趋势，广泛应用于食品、电子、机械、医药等自动化生产企业。现有的码垛机器人机构为固定自由度机构，运动空间有限，不能根据功能需求或环境变化改变其工作空间。With the improvement of the level of mechanical automation, palletizing robots are widely used due to their advantages in mechanical structure, scope of application, flexibility, cost and maintenance, and have become a development trend. They are widely used in food, electronics, etc. , machinery, medicine and other automated production enterprises. The existing palletizing robot mechanism is a fixed-degree-of-freedom mechanism with limited movement space, and its working space cannot be changed according to functional requirements or environmental changes.
变胞机构是近年来学者提出的重要概念，是可变自由度或可变构件数目的新型机构，这类机构除了具有类似可展式机构的高度可缩和可展性外，还可改变拓扑图并导致变自由度，具有多功能阶段变化、多拓扑结构变化、多自由度变化等特征，可以根据功能需求或环境等的变化，适应不同任务，灵活应用于不同场合。Metamorphic mechanism is an important concept proposed by scholars in recent years. It is a new type of mechanism with variable degrees of freedom or variable number of components. In addition to being highly scalable and expandable like expandable mechanisms, this type of mechanism can also change topology. Graph and lead to variable degrees of freedom, with the characteristics of multi-functional stage changes, multi-topology changes, and multi-degree-of-freedom changes. It can adapt to different tasks and flexibly apply to different occasions according to changes in functional requirements or environments.
将变胞机构应用于码垛机器人设计，将产生一类新型的变胞机构式码垛机器人机构，使码垛机器人更大发挥其功能。Applying the metamorphic mechanism to the design of palletizing robots will produce a new type of metamorphic mechanism-type palletizing robot mechanism, which will enable the palletizing robot to play its function to a greater extent.
发明内容 Contents of the invention
本发明的目的是提供一种变胞机构式码垛机器人机构，它能克服现有码垛机器人机构的不足，可以根据功能需求或环境等的变化，在运动中改变构态，进行自我重组或重构，使码垛机器人适应不同任务，灵活应用于不同场合。The purpose of the present invention is to provide a metamorphic mechanism type palletizing robot mechanism, which can overcome the deficiencies of the existing palletizing robot mechanism, and can change the configuration during motion according to functional requirements or changes in the environment, and carry out self-reorganization or Reconfiguration makes the palletizing robot adapt to different tasks and flexibly apply to different occasions.
本发明通过以下技术方案达到上述目的：The present invention achieves the above object through the following technical solutions:
一种变胞机构式码垛机器人机构，由机架、电机、连架杆、手臂杆、三角形连杆构件和弧形限位块构成，所述电机为可控电机，由第一可控电机和第二可控电机组成，可控电机固连在机架上，连架杆包括第一连架杆和第二连架杆，手臂杆为弯杆，三角形连杆构件包括第一边杆、第二边杆和第三边杆，第一连架杆一端固连在第一可控电机的转轴上，另一端通过第一铰链与手臂杆相连，第一光滑圆柱铰链处同时铰接弧形限位块，所述第二连架杆一端固连在第二可控电机的转轴上，另一端通过第三光滑圆柱铰链与三角形连杆构件第一边杆一端相连，三角形连杆构件第一边杆另一端通过第二光滑圆柱铰链与手臂杆的中间弯折部分铰连。所述手臂杆末端处铰孔为变胞机构式码垛机器人机构的输出端。所述第一连架杆和第二连架杆尺寸相同，分别由第一可控电机和第二可控电机驱动，通过编程实现码垛机器人手臂末端在工作空间内装卸和搬运动作的输出。A metamorphic mechanism type palletizing robot mechanism, which is composed of a frame, a motor, a connecting rod, an arm rod, a triangular connecting rod member and an arc-shaped limit block, the motor is a controllable motor, and the first controllable motor Composed of the second controllable motor, the controllable motor is fixedly connected to the frame, the connecting frame rod includes the first connecting frame rod and the second connecting frame rod, the arm rod is a curved rod, and the triangular connecting rod member includes the first side rod, The second side rod and the third side rod, one end of the first link rod is fixedly connected to the rotating shaft of the first controllable motor, the other end is connected with the arm rod through the first hinge, and the first smooth cylindrical hinge is hinged at the same time. One end of the second connecting frame rod is fixedly connected to the rotating shaft of the second controllable motor, and the other end is connected to one end of the first side rod of the triangular connecting rod member through the third smooth cylindrical hinge, and the first side of the triangular connecting rod member The other end of the rod is hinged with the middle bending part of the arm rod through the second smooth cylindrical hinge. The reamed hole at the end of the arm rod is the output end of the metamorphic mechanism type palletizing robot mechanism. The first connecting rod and the second connecting rod have the same size, are respectively driven by the first controllable motor and the second controllable motor, and realize the output of loading, unloading and moving actions of the end of the palletizing robot arm in the working space through programming.
所述第一铰链至第二铰链处的长度与所述三角形连杆构件第二边杆长度相等，所述第三边杆长度等于两可控电机间距离。The length from the first hinge to the second hinge is equal to the length of the second side bar of the triangular link member, and the length of the third side bar is equal to the distance between the two controllable motors.
工作时，通过第一铰链处弧形限位块限位，使三角形连杆构件第二边杆与所述手臂杆第一铰链与第二铰链间部分重叠，此时变胞机构式码垛机器人机构为单自由度平行四边形机构，三角形连杆构件第二边杆与所述手臂杆第一铰链与第二铰链间部分分开时，此时变胞机构式码垛机器人机构为两自由度可控连杆机构。实现单自由度与两自由度机构间转变，使码垛机器人机构既具有可控机构可控、可调、输出柔性性能，又具有变胞机构多功能阶段变化、多拓扑结构变化、多自由度变化等特征，使码垛机机器人适应不同任务，灵活应用于不同场合和不同的工作对象。When working, the arc-shaped limit block at the first hinge is used to limit the position, so that the second side bar of the triangular connecting rod member and the first hinge and the second hinge of the arm bar partially overlap. At this time, the metamorphic mechanism type palletizing robot The mechanism is a single-degree-of-freedom parallelogram mechanism. When the second side bar of the triangular connecting rod member is partially separated from the first hinge and the second hinge of the arm bar, the metamorphic mechanism-type palletizing robot mechanism is controllable with two degrees of freedom. Linkage. Realize the transformation between single-degree-of-freedom and two-degree-of-freedom mechanisms, so that the palletizing robot mechanism not only has the controllable, adjustable, and output flexible performance of the controllable mechanism, but also has multi-functional stage changes, multi-topology changes, and multiple degrees of freedom. Changes and other features enable the palletizer robot to adapt to different tasks and flexibly apply to different occasions and different work objects.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、码垛机器人机构在工作工程中，可实现机构单自由度与两自由度转变，为变自由度变胞机构，具有多功能阶段变化、多拓扑结构变化、多自由度变化特征，使码垛机机器人适应不同任务，灵活应用于不同场合和不同的工作对象，机构两自由度时，可实现变胞机构式码垛机器人机构输出端精确定位，单自由度时，可有效实现搬运动作。1. In the work engineering, the palletizing robot mechanism can realize the transformation of single degree of freedom and two degrees of freedom. It is a variable degree of freedom metamorphic mechanism, which has the characteristics of multi-functional stage change, multi-topological structure change, and multi-degree-of-freedom change. Palletizer robots adapt to different tasks and are flexibly applied to different occasions and different work objects. When the mechanism has two degrees of freedom, it can realize the precise positioning of the output end of the metamorphic mechanism-type palletizing robot mechanism. When it is single-degree of freedom, it can effectively realize the moving action.
2、由于采用闭链可控连杆机构，所有电机都安装在机架上，有效降低手臂重量，提高码垛机器人工作效率。2. Due to the closed-chain controllable linkage mechanism, all motors are installed on the frame, which effectively reduces the weight of the arm and improves the working efficiency of the palletizing robot.
3、两可控电机通过编程可实现码垛机器人机构在工作空间内任意码垛动作的输出。3. The two controllable motors can realize the output of any palletizing action in the working space of the palletizing robot mechanism through programming.
附图说明 Description of drawings
图1为本发明所述的变胞机构式码垛机器人机构的结构示意图。Fig. 1 is a structural schematic diagram of the metamorphic mechanism type palletizing robot mechanism of the present invention.
图2为本发明所述的变胞机构式码垛机器人机构两自由度时的结构状态图。Fig. 2 is a structural state diagram of the metamorphic mechanism type palletizing robot mechanism in two degrees of freedom according to the present invention.
图3为本发明所述的变胞机构式码垛机器人机构单自由度时的结构状态图。Fig. 3 is a structural state view of the metamorphic mechanism type palletizing robot in the single degree of freedom mechanism according to the present invention.
具体实施方式 Detailed ways
下面结合附图及实施例对本发明的技术方案进行清楚、完整地描述，显然，实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，均属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Apparently, the embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
对照图1，所述一种变胞机构式码垛机器人机构，包括机架、电机、连架杆、手臂杆、三角形连杆构件和弧形限位块，Referring to Figure 1, the metamorphic mechanism type palletizing robot mechanism includes a frame, a motor, a connecting rod, an arm rod, a triangular connecting rod member and an arc-shaped limit block,
所述电机为可控电机，由第一可控电机2和第二可控电机14组成，可控电机固连在机架1上。The motor is a controllable motor, which is composed of a first
所述连架杆由第一连架杆3、第二连架杆12组成，所述手臂杆由弯杆6组成，所述三角形连杆构件包括第一边杆8、第二边杆9和第三边杆10，所述第一连架杆3一端固连在可控电机2转轴上，另一端通过第一光滑圆柱铰链4与弯杆6一端相连，第一光滑圆柱铰链4处同时铰接弧形限位块5，所述第二连架杆12一端固连在第二可控电机13转轴上，另一端通过第三光滑圆柱铰链11与三角形连杆构件第一边杆8一端相连，第一边杆8另一端通过第二光滑圆柱铰链7与弯杆6中间弯折部分铰连，所述弯杆6末端处铰孔14为变胞机构式码垛机器人机构的输出端。Described connecting frame rod is made up of first connecting
所述第一连架杆3、第二连架杆12尺寸相同，分别由第一可控电机2和第二可控电机14驱动，通过编程精确实现变胞机构式码垛机器人机构输出端在工作空间内码垛动作。The first connecting
所述第一光滑圆柱铰链4至第二光滑圆柱铰链7尺寸与所述三角形连杆构件第二边杆尺寸相等，所述第三边杆10长度等于第一可控电机2与第二可控电机13间距离，码垛机器人机构工作过程中，通过第一光滑圆柱铰链4处的弧形限位块5限位，使三角形连杆构件第二边杆9与所述手臂杆第一光滑圆柱铰链4与第二光滑圆柱铰链7间部分重叠，此变胞机构式码垛机器人机构为单自由度平行四边形机构，三角形连杆构件第二边杆9与所述手臂杆第一光滑圆柱铰链4与第二光滑圆柱铰链7间部分分开时，此变胞机构式码垛机器人机构为两自由度可控连杆机构。The size of the first smooth cylindrical hinge 4 to the second smooth cylindrical hinge 7 is equal to the size of the second side rod of the triangular connecting rod member, and the length of the
变胞机构式码垛机器人机构在工作时，通过第一光滑圆柱铰链4处的弧形限位块5限位，使三角形连杆构件第二边杆9与所述手臂杆第一光滑圆柱铰链4与第二光滑圆柱铰链7间部分重叠，实现两自由度与单自由度机构间转变，使码垛机器人机构既具有可控机构可控、可调、输出柔性性能，又具有变胞机构多功能阶段变化、多拓扑结构变化、多自由度变化等特征，使码垛机机器人适应不同任务，灵活应用于不同场合和不同的工作对象。When the metamorphic mechanism type palletizing robot mechanism is working, it is limited by the arc-shaped limit block 5 at the first smooth cylindrical hinge 4, so that the
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