CN103009384A - Controllable stacking robot - Google Patents

Controllable stacking robot Download PDF

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CN103009384A
CN103009384A CN2012105765462A CN201210576546A CN103009384A CN 103009384 A CN103009384 A CN 103009384A CN 2012105765462 A CN2012105765462 A CN 2012105765462A CN 201210576546 A CN201210576546 A CN 201210576546A CN 103009384 A CN103009384 A CN 103009384A
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pair
branch chain
rotating pair
connecting rod
frame
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蔡敢为
张金玲
潘宇晨
高德中
王小纯
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Guangxi University
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Guangxi University
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Abstract

本发明涉及一种可控码垛机器人，包括大臂摆动支链、小臂摆动支链、姿态保持支链、末端执行器以及机架。机器人通过大臂摆动支链、小臂摆动支链的组合运动完成空间、灵活多变轨迹输出的搬运码垛工作。在工作过程中，姿态保持支链的两组平行四边形结构能保证末端执行器始终保持水平状态，且所有伺服电机均安装在机架上，杆件都能做成轻杆，机器人运动惯量小，动力学性能好，能较好满足高速搬运码垛的要求。本发明采用新的连杆机构，不仅连杆传动机构简单，改善了各杆受力，更加适用于制造大型码垛机。

Figure 201210576546

The invention relates to a controllable palletizing robot, which comprises a large arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, an end effector and a frame. The robot completes the transportation and palletizing work of space, flexible and variable trajectory output through the combined movement of the swing branch chain of the big arm and the swing branch chain of the small arm. During the working process, the two sets of parallelogram structures of the posture maintaining branch chain can ensure that the end effector is always kept in a horizontal state, and all servo motors are installed on the frame, and the rods can be made into light rods, so the robot has a small moment of inertia. The dynamic performance is good, which can better meet the requirements of high-speed handling and palletizing. The invention adopts a new connecting rod mechanism, which not only has a simple connecting rod transmission mechanism, but also improves the stress of each rod, and is more suitable for manufacturing large-scale palletizers.

Figure 201210576546

Description

一种可控码垛机器人A controllable palletizing robot

技术领域technical field

本发明涉及工业机器人领域，特别是一种可控码垛机器人。The invention relates to the field of industrial robots, in particular to a controllable palletizing robot.

背景技术Background technique

码垛机器人广泛应用于机床上下料、冲压机自动化生产线、自动装配流水线、搬运码垛、集装箱等的自动搬运作业当中。现有的码垛机器人主要有直角坐标型、圆柱坐标型以及关节型三种结构类型。其中关节型码垛机器人因其机构紧凑、动作灵活、占地面积小、工作空间大等优点，已逐步成为码垛机器人最主要的结构形式。但这类传统开链式串联结构的码垛机器人的驱动电机都需要安装在关节处，导致机器人手臂重量大、刚性差、惯量大、关节误差累积等问题，机构动力学性能较差，难以满足高速搬运码垛的要求。Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of such traditional palletizing robots with an open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumulation of joint errors. The dynamic performance of the mechanism is poor, and it is difficult to meet High-speed palletizing requirements.

发明内容Contents of the invention

本发明的目的在于提供一种可控码垛机器人，所有驱动电机都安装在机架上，能解决传统开链式串联码垛机器人的电机安装在其铰链处，导致的手臂笨重、刚性差、惯量大、关节误差累积等问题，机器人具有较好动力学性能，能较好满足高速重载搬运码垛的要求。The object of the present invention is to provide a controllable palletizing robot, all driving motors are installed on the frame, which can solve the problem of heavy arms, poor rigidity, Due to problems such as large inertia and accumulation of joint errors, the robot has better dynamic performance and can better meet the requirements of high-speed heavy-load handling and palletizing.

本发明通过以下技术方案达到上述目的：包括大臂摆动支链、小臂摆动支链、姿态保持支链、末端执行器以及机架。机器人通过大臂摆动支链、小臂摆动支链的组合运动完成空间、灵活多变轨迹输出的搬运码垛工作。The present invention achieves the above-mentioned object through the following technical proposals: it includes a large arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, an end effector and a frame. The robot completes the transportation and palletizing work of space, flexible and variable track output through the combined movement of the swing branch chain of the big arm and the swing branch chain of the small arm.

所述大臂摆动支链由大臂、小臂、末端执行器以及机架连接而成，大臂一端通过第一转动副连接到机架上，另一端通过第二转动副与小臂连接，所述小臂一端通过第二转动副与大臂连接，另一端通过第三转动副与末端执行器连接，所述大臂为第一主动杆，由第一伺服电机驱动。The boom swing branch chain is connected by a boom, a small arm, an end effector and a frame. One end of the boom is connected to the frame through a first rotating pair, and the other end is connected to the small arm through a second rotating pair. One end of the small arm is connected to the boom through the second swivel pair, and the other end is connected to the end effector through the third swivel pair. The boom is a first active lever driven by a first servo motor.

所述小臂摆动支链由第二主动杆、第一连杆、小臂、末端执行器以及机架组成，第二主动杆一端通过第四转动副连接到机架上，另一端通过第五转动副与第一连杆连接，所述第一连杆一端通过第五转动副与第二主动杆连接，另一端通过第六转动副与小臂连接，所述小臂为折杆，中间弯折部分有第六转动副，小臂一端通过第六转副与第一连杆连接，小臂另一端通过第三转动副与末端执行器连接，所述第二主动杆由第二伺服电机驱动。The forearm swing branch chain is composed of the second active rod, the first connecting rod, the forearm, the end effector and the frame. One end of the second active rod is connected to the frame through the fourth rotating pair, and the other end is connected through the fifth rotating pair. The rotating pair is connected to the first connecting rod, one end of the first connecting rod is connected to the second active rod through the fifth rotating pair, and the other end is connected to the small arm through the sixth rotating pair, the small arm is a folding rod, and the middle is bent The folding part has a sixth rotating pair, one end of the forearm is connected to the first connecting rod through the sixth rotating pair, and the other end of the forearm is connected to the end effector through the third rotating pair, and the second active rod is driven by the second servo motor .

所述姿态保持支链由第二连杆、支撑杆、第三连杆连接而成，所述第二连杆一端通过第七转动副连接到机架上，另一端通过第八转动副与支撑杆连接，所述支撑杆一端通过第八转动副与第二、三连杆连接，通过第二转动副与大臂摆动支链连接，所述第三连杆一端通过第八转动副与支撑杆、第二连杆连接，另一端通过第九转动副与末端执行器连接，所述第一转动副、第二转动副、第七转动副、第八转动副在机器人工作过程中组成并始终保持平行四边形结构，所述第二转动副、第三转动副、第八转动副、第九转动副在机器人工作过程中组成并始终保持平行四边形结构。The posture maintaining branch chain is connected by the second connecting rod, the support rod and the third connecting rod. One end of the second connecting rod is connected to the frame through the seventh rotating pair, and the other end is connected to the support through the eighth rotating pair. One end of the supporting rod is connected with the second and third connecting rods through the eighth rotating pair, and is connected with the swing branch chain of the boom through the second rotating pair, and one end of the third connecting rod is connected with the supporting rod through the eighth rotating pair , the second connecting rod, and the other end is connected to the end effector through the ninth revolving pair, the first revolving pair, the second revolving pair, the seventh revolving pair, and the eighth revolving pair are formed and maintained during the working process of the robot Parallelogram structure, the second rotation pair, the third rotation pair, the eighth rotation pair, and the ninth rotation pair are formed during the working process of the robot and always maintain a parallelogram structure.

所述末端执行器上部通过第三转动副与大臂摆动支链连接，通过第九转动副与姿态保持支链的第三连杆连接，末端执行器下部通过轴线方向竖直的第十转动副与电磁夹紧装置连接。The upper part of the end effector is connected to the boom swing branch chain through the third rotating pair, and is connected to the third connecting rod of the posture maintaining branch chain through the ninth rotating pair, and the lower part of the end effector is connected to the tenth rotating pair vertically in the axial direction. Connect with electromagnetic clamping device.

所述机架上安装有第一伺服电机、第二伺服电机。机架安装在回转平台上，实现整个机器人空间搬运码垛工作。A first servo motor and a second servo motor are installed on the frame. The frame is installed on the rotary platform to realize the palletizing work in the entire robot space.

本发明的突出优点在于：The outstanding advantages of the present invention are:

1、通过大臂摆动支链、臂摆动支链的组合运动输出，能实现空间的搬运码垛作业，且轨迹灵活多变，机器人具有较强柔性化输出的能力；1. Through the combined motion output of the boom swing branch chain and the arm swing branch chain, the space handling and palletizing operations can be realized, and the trajectory is flexible and changeable, and the robot has a strong ability of flexible output;

2、此码垛机构主动件驱动方式灵活多变，可选用伺服电机驱动，不仅环保，而且易于实现远程控制，降低工人劳动强度；2. The driving mode of the active parts of this palletizing mechanism is flexible and changeable. It can be driven by a servo motor, which is not only environmentally friendly, but also easy to realize remote control and reduce the labor intensity of workers;

3、所有伺服电机均安装在机架上，杆件做成轻杆，机器人运动惯量小，动力学性能好，能较好满足高速搬运码垛的要求。3. All servo motors are installed on the frame, and the rods are made of light rods. The robot has a small moment of inertia and good dynamic performance, which can better meet the requirements of high-speed handling and palletizing.

附图说明Description of drawings

图1为本发明所述可控码垛机器人的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the controllable palletizing robot of the present invention.

图2为本发明所述可控码垛机器人的大臂摆动支链结构示意图。Fig. 2 is a schematic structural diagram of the arm swing branch chain of the controllable palletizing robot according to the present invention.

图3为本发明所述可控码垛机器人的小臂摆动支链结构示意图。Fig. 3 is a schematic structural diagram of the arm swing branch chain of the controllable palletizing robot according to the present invention.

图4为本发明所述可控码垛机器人的姿态保持支链结构示意图。Fig. 4 is a schematic diagram of the posture-maintaining branch chain structure of the controllable palletizing robot according to the present invention.

图5为本发明所述可控码垛机器人的末端执行器结构示意图。Fig. 5 is a schematic structural view of the end effector of the controllable palletizing robot of the present invention.

图6为本发明所述可控码垛机器人安装在回转平台上的第一种工作状态示意图。Fig. 6 is a schematic diagram of the first working state of the controllable palletizing robot of the present invention installed on the rotary platform.

图7为本发明所述可控码垛机器人安装在回转平台上的第二种工作状态示意图。Fig. 7 is a schematic diagram of the second working state of the controllable palletizing robot of the present invention installed on the rotary platform.

图8为本发明所述可控码垛机器人安装在回转平台上的第三种工作状态示意图。Fig. 8 is a schematic diagram of the third working state of the controllable palletizing robot of the present invention installed on the rotary platform.

图9为本发明所述可控码垛机器人安装在回转平台上的第四种工作状态示意图。Fig. 9 is a schematic diagram of the fourth working state of the controllable palletizing robot of the present invention installed on the rotary platform.

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作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

对照图1、6、7、8和9，一种可控码垛机器人，包括大臂摆动支链、小臂摆动支链、姿态保持支链、末端执行器以及机架。所述机架安装在回转平台上，实现整个机器人空间搬运码垛工作。Referring to Figures 1, 6, 7, 8 and 9, a controllable palletizing robot includes a large arm swing branch chain, a small arm swing branch chain, an attitude maintaining branch chain, an end effector and a frame. The frame is installed on the rotary platform to realize the handling and palletizing work in the entire robot space.

对照图1、2，所述大臂摆动支链由大臂4、小臂7、末端执行器20以及机架2连接而成，大臂4一端通过第一转动副3连接到机架2上，另一端通过第二转动副5与小臂7连接，所述小臂7一端通过第二转动副5与大臂4连接，另一端通过第三转动副8与末端执行器20连接，所述大臂7为第一主动杆，由第一伺服电机21驱动。Referring to Figures 1 and 2, the boom swing branch chain is formed by connecting the boom 4, the small arm 7, the end effector 20 and the frame 2, and one end of the boom 4 is connected to the frame 2 through the first rotating pair 3 , the other end is connected to the small arm 7 through the second rotating pair 5, one end of the small arm 7 is connected to the boom 4 through the second rotating pair 5, and the other end is connected to the end effector 20 through the third rotating pair 8, the The boom 7 is a first active rod driven by a first servo motor 21 .

对照图1、3，所述小臂摆动支链由第二主动杆16、第一连杆17、小臂7、末端执行器20以及机架2组成，第二主动杆16一端通过第四转动副15连接到机架2上，另一端通过第五转动副17与第一连杆18连接，所述第一连杆18一端通过第五转动副17与第二主动杆16连接，另一端通过第六转动副6与小臂7连接，所述小臂为折杆，中间弯折部分有第六转动副6，小臂7一端通过第六转动副6与第一连杆18连接，小臂7另一端通过第三转动副8与末端执行器20连接，所述第二主动杆由第二伺服电机22驱动。1 and 3, the forearm swing branch chain is composed of the second active rod 16, the first connecting rod 17, the forearm 7, the end effector 20 and the frame 2, and one end of the second active rod 16 is rotated by the fourth The pair 15 is connected to the frame 2, and the other end is connected with the first connecting rod 18 through the fifth rotating pair 17, one end of the first connecting rod 18 is connected with the second active rod 16 through the fifth rotating pair 17, and the other end is connected through the fifth rotating pair 17. The sixth rotating pair 6 is connected with the small arm 7, and the small arm is a folding rod, and the middle bending part has the sixth rotating pair 6, and one end of the small arm 7 is connected with the first connecting rod 18 through the sixth rotating pair 6, and the small arm The other end of the 7 is connected to the end effector 20 through the third rotary pair 8, and the second active rod is driven by the second servo motor 22.

对照图1、4，所述姿态保持支链由第二连杆13、支撑杆12、第三连杆10连接而成，所述第二连杆13一端通过第七转动副14连接到机架2上，另一端通过第八转动副11与支撑杆12连接，所述支撑杆12一端通过第八转动副11与第二、三连杆13、10连接，通过第二转动副5与大臂摆动支链连接，所述第三连杆10一端通过第八转动副11与支撑杆12、第二连杆13连接，另一端通过第十转动副9与末端执行器20连接，所述第一转动副3、第二转动副5、第七转动副14、第八转动副11在机器人工作过程中组成并始终保持平行四边形结构，所述第二转动副5、第三转动副8、第八转动副11、第九转动副10在机器人工作过程中组成并始终保持平行四边形结构。1 and 4, the posture maintaining branch chain is formed by connecting the second connecting rod 13, the support rod 12, and the third connecting rod 10, and one end of the second connecting rod 13 is connected to the frame through the seventh rotating pair 14 2, the other end is connected to the support rod 12 through the eighth rotating pair 11, one end of the supporting rod 12 is connected to the second and third connecting rods 13, 10 through the eighth rotating pair 11, and connected to the boom through the second rotating pair 5 Swing branch chain connection, one end of the third connecting rod 10 is connected to the support rod 12 and the second connecting rod 13 through the eighth rotating pair 11, and the other end is connected to the end effector 20 through the tenth rotating pair 9, the first The rotating pair 3, the second rotating pair 5, the seventh rotating pair 14, and the eighth rotating pair 11 form and maintain a parallelogram structure during the working process of the robot. The second rotating pair 5, the third rotating pair 8, the eighth rotating pair The revolving pair 11 and the ninth revolving pair 10 form and maintain a parallelogram structure during the working process of the robot.

对照图1、2、4和5，所述末端执行器20下部通过第三转动副8与大臂摆动支链的小臂7连接，通过第九转动副9与姿态保持支链的第三连杆10连接，末端执行器20下部通过轴线方向竖直的第十转动副与电磁夹紧装置连接。1, 2, 4 and 5, the lower part of the end effector 20 is connected to the forearm 7 of the boom swing branch chain through the third rotating pair 8, and connected to the third link of the posture maintaining branch chain through the ninth rotating pair 9. The rod 10 is connected, and the lower part of the end effector 20 is connected with the electromagnetic clamping device through the tenth rotating pair vertical in the axial direction.

对照图2和3，所述机架2上安装有第一伺服电机21、第二伺服电机22。机架2安装在回转平台1上，实现整个机器人空间搬运码垛工作。Referring to FIGS. 2 and 3 , the frame 2 is equipped with a first servo motor 21 and a second servo motor 22 . The frame 2 is installed on the rotary platform 1 to realize the handling and palletizing work in the entire robot space.

对照图6、7、8和9，机器人工作时，通过两杆机构和四杆机构的组合运动输出，能实现轨迹灵活多变搬运码垛作业。当末端执行器20运动到物件处时，通过大臂摆动支链、小臂摆动支链、姿态保持支链的组合运动，同时配合回转平台1的回转运动，实现机器人抓取、搬运、卸料的搬运码垛作业。在工作过程中，姿态保持支链的两组平行四边形结构能保证末端执行器20始终保持水平状态。Referring to Figures 6, 7, 8 and 9, when the robot is working, through the combined motion output of the two-bar mechanism and the four-bar mechanism, it can realize the flexible and changeable trajectory handling and palletizing operations. When the end effector 20 moves to the object, through the combined movement of the arm swing branch chain, the forearm swing branch chain, and the posture maintaining branch chain, and at the same time cooperate with the rotary motion of the rotary platform 1, the robot grabs, carries, and unloads materials. handling and palletizing operations. During the working process, the two sets of parallelogram structures of the posture maintaining branch chain can ensure that the end effector 20 is always kept in a horizontal state.

Claims (1)

1.一种可控码垛机器人，包括大臂摆动支链支链、小臂摆动支链、姿态保持支链、末端执行器以及机架，其特征在于，其结构和连接方式为：1. A controllable palletizing robot, comprising a large arm swing branch chain branch chain, a forearm swing branch chain branch chain, a posture maintaining branch chain, an end effector and a frame, characterized in that its structure and connection mode are: 所述大臂摆动支链由大臂、小臂、末端执行器以及机架连接而成，大臂一端通过第一转动副连接到机架上，另一端通过第二转动副与小臂连接，所述小臂一端通过第二转动副与大臂连接，另一端通过第三转动副与末端执行器连接，所述大臂为第一主动杆，由第一伺服电机驱动，The boom swing branch chain is connected by a boom, a small arm, an end effector and a frame. One end of the boom is connected to the frame through a first rotating pair, and the other end is connected to the small arm through a second rotating pair. One end of the small arm is connected to the boom through the second swivel pair, and the other end is connected to the end effector through the third swivel pair. The boom is a first active lever driven by a first servo motor. 所述小臂摆动支链由第二主动杆、第一连杆、小臂、末端执行器以及机架组成，第二主动杆一端通过第四转动副连接到机架上，另一端通过第五转动副与第一连杆连接，所述第一连杆一端通过第五转动副与第二主动杆连接，另一端通过第六转动副与小臂连接，所述小臂为折杆，中间弯折部分有第六转动副，小臂一端通过第六转动副与第一连杆连接，小臂另一端通过第三转动副与末端执行器连接，所述第二主动杆由第二伺服电机驱动，The forearm swing branch chain is composed of the second active rod, the first connecting rod, the forearm, the end effector and the frame. One end of the second active rod is connected to the frame through the fourth rotating pair, and the other end is connected through the fifth rotating pair. The rotating pair is connected to the first connecting rod, one end of the first connecting rod is connected to the second active rod through the fifth rotating pair, and the other end is connected to the small arm through the sixth rotating pair, the small arm is a folding rod, and the middle is bent The folding part has a sixth rotating pair, one end of the arm is connected to the first connecting rod through the sixth rotating pair, and the other end of the arm is connected to the end effector through the third rotating pair, and the second active lever is driven by the second servo motor , 所述姿态保持支链由第二连杆、支撑杆、第三连杆连接而成，所述第二连杆一端通过第七转动副连接到机架上，另一端通过第八转动副与支撑杆连接，所述支撑杆一端通过第八转动副与第二、三连杆连接，通过第二转动副与大臂摆动支链连接，所述第三连杆一端通过第八转动副与支撑杆、第二连杆连接，另一端通过第九转动副与末端执行器连接，所述第一转动副、第二转动副、第七转动副、第八转动副在机器人工作过程中组成并始终保持平行四边形结构，所述第二转动副、第三转动副、第八转动副、第九转动副在机器人工作过程中组成并始终保持平行四边形结构，The posture maintaining branch chain is connected by the second connecting rod, the support rod and the third connecting rod. One end of the second connecting rod is connected to the frame through the seventh rotating pair, and the other end is connected to the support through the eighth rotating pair. One end of the supporting rod is connected with the second and third connecting rods through the eighth rotating pair, and is connected with the swing branch chain of the boom through the second rotating pair, and one end of the third connecting rod is connected with the supporting rod through the eighth rotating pair , the second connecting rod, and the other end is connected to the end effector through the ninth revolving pair, the first revolving pair, the second revolving pair, the seventh revolving pair, and the eighth revolving pair are formed and maintained during the working process of the robot Parallelogram structure, the second revolving pair, the third revolving pair, the eighth revolving pair, and the ninth revolving pair are formed during the working process of the robot and always maintain a parallelogram structure, 所述末端执行器上部通过第三转动副与大臂摆动支链连接，通过第九转动副与姿态保持支链的第三连杆连接，末端执行器下部通过轴线方向竖直的第十转动副与电磁夹紧装置连接，The upper part of the end effector is connected to the boom swing branch chain through the third rotating pair, and is connected to the third connecting rod of the posture maintaining branch chain through the ninth rotating pair, and the lower part of the end effector is connected to the tenth rotating pair vertically in the axial direction. Connected with electromagnetic clamping device, 所述机架上安装有第一伺服电机、第二伺服电机。A first servo motor and a second servo motor are installed on the frame.
CN2012105765462A 2012-12-27 2012-12-27 Controllable stacking robot Pending CN103009384A (en)

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