CN103056875A - Large-work-space controllable-mechanism stacker crane - Google Patents

Large-work-space controllable-mechanism stacker crane Download PDF

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Publication number
CN103056875A
CN103056875A CN2012105764883A CN201210576488A CN103056875A CN 103056875 A CN103056875 A CN 103056875A CN 2012105764883 A CN2012105764883 A CN 2012105764883A CN 201210576488 A CN201210576488 A CN 201210576488A CN 103056875 A CN103056875 A CN 103056875A
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CN
China
Prior art keywords
revolute pair
arm
rod
chain
frame
Prior art date
Application number
CN2012105764883A
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Chinese (zh)
Inventor
蔡敢为
张金玲
潘宇晨
高德中
王小纯
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广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN2012105764883A priority Critical patent/CN103056875A/en
Publication of CN103056875A publication Critical patent/CN103056875A/en

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Abstract

The invention relates to a large-work-space controllable-mechanism stacker crane. The stacker crane comprises a large-arm swing branch chain, a mid-arm swing branch chain, a small-arm swing branch chain, a posture keeping branch chain, an end executor and a rack. A robot completes carrying stacking operations with large work space and flexible changeable track output through the combined movement of the large-arm swing branch chain, the mid-arm swing branch chain and the small-arm swing branch chain. Three groups of parallelogram structures of the posture keeping branch chain can guarantee that the end executor keeps a horizontal state constantly in a working process, and all servo motors are mounted on the rack, bars can be made into light bars, the robot moving inertia is small, the dynamic performance is good, and requirements for high-speed and heavy-duty carrying and stacking can be well met. According to the stacker crane, a novel connection rod mechanism is utilized, so that the carrying and stacking work space is large, the connection rod transmission mechanism is simple, stresses on the bars are improved, and the manufacture of large stacker crane is applicable.

Description

A kind of large working space controllable-mechanism type stacking machine
Technical field
The present invention relates to the industrial robot field, particularly a kind of large working space controllable-mechanism type stacking machine.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and three kinds of structure types of joint type.Wherein the joint type robot palletizer progressively becomes the topmost version of robot palletizer because of its mechanism's compactness, flexible movements, the advantage such as floor space is little, working space is large.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be installed in joint, cause that robot arm weight is large, the problems such as poor rigidity, inertia are large, joint error accumulation, the mechanism dynamic poor-performing is difficult to satisfy the requirement of high-speed overload carrying piling.
Summary of the invention
The object of the present invention is to provide a kind of large working space controllable-mechanism type stacking machine, all drive motors all are installed on the frame, the motor that can solve traditional fisher's formula series connection robot palletizer is installed in its hinge place, the problems such as the arm heaviness that causes, poor rigidity, inertia are large, joint error accumulation, robot has better dynamic performance, can better satisfy the requirement of high-speed overload carrying piling.
The present invention achieves the above object by the following technical programs: a kind of large working space controllable-mechanism type stacking machine comprises that large arm swing side chain, middle arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Described frame is installed on the revolving dial, realizes the carrying piling work of whole robot space four mobilities.
Described large arm swing side chain is by large arm, middle arm; forearm and frame form; large arm one end is connected on the frame by the first revolute pair; described middle arm is pole; middle bending part has the second revolute pair; the large arm other end is connected with middle arm by the second revolute pair; described middle arm one end is connected with large arm by the second revolute pair; described forearm is pole; middle bending part has the 3rd revolute pair; the middle arm other end is connected with forearm by the 3rd revolute pair, and described forearm one end is connected with middle arm by the 3rd revolute pair, and the other end is connected with end effector by the 4th revolute pair; described large arm is the first driving lever, by the first driven by servomotor.
Described middle arm swing side chain is comprised of the second driving lever, first connecting rod, middle arm and frame, the second driving lever one end is connected on the frame by the 5th revolute pair, the other end is connected with first connecting rod by the 6th revolute pair, first connecting rod one end is connected with the second driving lever by the 6th revolute pair, the other end is connected with middle arm by the 7th revolute pair, and described the second driving lever is by the second driven by servomotor.
Described forearm swings side chain by the 3rd driving lever, second connecting rod, bracing frame, third connecting rod; forearm and frame form; the 3rd driving lever one end is connected on the frame by the 8th revolute pair; the other end is connected with second connecting rod by the 9th revolute pair; three fraisings are arranged; be connected with second connecting rod by the tenth revolute pair; be connected with third connecting rod by the 11 revolute pair above the support frame as described above; be connected with middle arm by the 12 revolute pair; third connecting rod one end is connected with bracing frame by 11 revolute pairs; the other end is connected with forearm by the 13 revolute pair, and described the 3rd driving lever is by the 3rd driven by servomotor.
Described attitude keeps side chain by the 4th connecting rod, the first attitude retainer, the 5th connecting rod, the second attitude retainer, the 6th connecting rod forms, described the 4th connecting rod one end is connected on the frame by the 14 revolute pair, the other end is connected with the first attitude retainer by the 15 revolute pair, above described the first attitude retainer three fraisings are arranged, be connected with the 4th connecting rod by the 15 revolute pair, be connected with large arm swing side chain by the second revolute pair, be connected with the 5th connecting rod by the 16 revolute pair, described the 5th connecting rod one end is connected with the first attitude retainer by the 16 revolute pair, the other end is connected with the second attitude retainer by the 17 revolute pair, above described the second attitude retainer three fraisings are arranged, be connected with the 5th connecting rod by the 17 revolute pair, be connected with large arm swing side chain by the 3rd revolute pair, be connected with the 6th connecting rod by the 18 revolute pair, described the 6th connecting rod one end is connected with the second attitude retainer by the 18 revolute pair, the other end is connected with end effector by the 19 revolute pair, described the first revolute pair, the second revolute pair, the 14 revolute pair, the 15 revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 16 revolute pair, the 17 revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the 3rd revolute pair, the 4th revolute pair, the 18 revolute pair, the 19 revolute pair forms in the robot course of work and remains parallelogram sturcutre.
Described end effector top is connected with large arm swing side chain by the 4th revolute pair, keep the 6th connecting rod of side chain to be connected by the 19 revolute pair and attitude, the end effector bottom is connected with electromagnetic clamp device by the 20 vertical revolute pair of axis direction.
The first servomotor, the second servomotor, the 3rd servomotor are installed on the described frame.Frame is installed on the revolving dial, realizes the carrying piling work of whole machine National People's Congress working space.
Outstanding advantages of the present invention is:
1, swing the aggregate motion output of side chain by large arm swing side chain, middle arm swing side chain, forearm, can realize the carrying palletizing operation of larger working space, and track is flexible and changeable, robot has the ability of stronger flexibility output;
2, this stacking mechanism driving link type of drive is flexible and changeable, can select driven by servomotor, not only environmental protection, and be easy to realize Long-distance Control, reduce labor strength;
3, all servomotors are installed on the frame, and rod member is made lighter bar, and robot motion's inertia is little, and dynamic performance is good, can better satisfy the requirement of high-speed overload carrying piling.
Description of drawings
Fig. 1 is the overall structure schematic diagram of large working space controllable-mechanism type stacking machine of the present invention.
Fig. 2 is the large arm swing branched structure schematic diagram of large working space controllable-mechanism type stacking machine of the present invention.
Fig. 3 is the middle arm swing branched structure schematic diagram of large working space controllable-mechanism type stacking machine of the present invention.
Fig. 4 is that the forearm of large working space controllable-mechanism type stacking machine of the present invention swings the branched structure schematic diagram.
Fig. 5 is that the attitude of large working space controllable-mechanism type stacking machine of the present invention keeps the branched structure schematic diagram.
Fig. 6 is the end effector structural representation of large working space controllable-mechanism type stacking machine of the present invention.
Fig. 7 is that large working space controllable-mechanism type stacking machine of the present invention is installed in the first working state schematic representation on the revolving dial.
Fig. 8 is that large working space controllable-mechanism type stacking machine of the present invention is installed in the second working state schematic representation on the revolving dial.
Fig. 9 is that large working space controllable-mechanism type stacking machine of the present invention is installed in the third working state schematic representation on the revolving dial.
Figure 10 is that large working space controllable-mechanism type stacking machine of the present invention is installed in the 4th kind of working state schematic representation on the revolving dial.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1,7,8,9 and 10, a kind of large working space controllable-mechanism type stacking machine comprises that large arm swing side chain, middle arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Described frame is installed on the revolving dial, realizes the carrying piling work of whole machine National People's Congress working space.
Contrast Fig. 1,2, described large arm swing side chain is by large arm 2, middle arm 4; forearm 6 and frame 35 form; large arm 2 one ends are connected on the frame 35 by the first revolute pair 1; described middle arm 4 is pole; middle bending part has the second revolute pair 3; large arm 2 other ends are connected with middle arm 4 by the second revolute pair 3; described middle arm 4 one ends are connected with large arm 2 by the second revolute pair 3; described forearm 6 is pole; middle bending part has the 3rd revolute pair 5; middle arm 4 other ends are connected with forearm 6 by the 3rd revolute pair 5; described forearm 6 one ends are connected with middle arm 4 by the 3rd revolute pair 5; other end is connected with end effector 8 by the 4th revolute pair 7, and described large arm 2 is the first driving lever is driven by the first servomotor 37.
Contrast Fig. 1,3, described middle arm swing side chain is comprised of the second driving lever 21, first connecting rod 23, middle arm 4 and frame 35, the second driving lever 21 1 ends are connected on the frame 35 by the 5th revolute pair 20, the other end is connected with first connecting rod 23 by the 6th revolute pair 22, first connecting rod 23 1 ends are connected with the second driving lever 21 by the 6th revolute pair 22, the other end is connected with middle arm 4 by the 7th revolute pair 24, and described the second driving lever 21 is driven by the second servomotor 38.
Contrast Fig. 1,4, described forearm swings side chain by the 3rd driving lever 26, second connecting rod 28, bracing frame 31, third connecting rod 33; forearm 6 and frame 35 form; the 3rd driving lever 26 1 ends are connected on the frame 35 by the 8th revolute pair 25; other end is connected with second connecting rod 28 by the 9th revolute pair 27; three fraisings are arranged; be connected with second connecting rod 28 by the tenth revolute pair 29; be connected with third connecting rod 33 by the 11 revolute pair 32 above the support frame as described above 31; be connected with middle arm 4 by the 12 revolute pair 30; third connecting rod 33 1 ends are connected with bracing frame 31 by 11 revolute pairs 32; other end is connected with forearm 6 by the 13 revolute pair 34, described the 3rd driving lever 26 is driven by the 3rd servomotor 39.
Contrast Fig. 1,2 and 5, described attitude keeps side chain by the 4th connecting rod 18, the first attitude retainer 16, the 5th connecting rod 14, the second attitude retainer 12, the 6th connecting rod 10 forms, described the 4th connecting rod 18 1 ends are connected on the frame 35 by the 14 revolute pair 19, the other end is connected with the first attitude retainer 16 by the 15 revolute pair 17, described the first attitude has three fraisings above keeping 16, be connected with the 4th connecting rod 18 by the 15 revolute pair 17, be connected with large arm swing side chain by the second revolute pair 3, be connected with the 5th connecting rod 14 by the 16 revolute pair 15, described the 5th connecting rod 14 1 ends are connected with the first attitude retainer 16 by the 16 revolute pair 15, the other end is connected with the second attitude retainer 12 by the 17 revolute pair 13, above described the second attitude retainer 12 three fraisings are arranged, be connected with the 5th connecting rod 14 by the 17 revolute pair 13, be connected with large arm swing side chain by the 3rd revolute pair 5, be connected with the 6th connecting rod 10 by the 18 revolute pair 11, described the 6th connecting rod 10 1 ends are connected with the second attitude retainer 12 by the 18 revolute pair 11, the other end is connected with end effector 8 by the 19 revolute pair 9, described the first revolute pair 1, the second revolute pair 3, the 14 revolute pair 19, the 15 revolute pair 17 forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair 3, the 3rd revolute pair 5, the 16 revolute pair 15, the 17 revolute pair 13 forms in the robot course of work and remains parallelogram sturcutre, described the 3rd revolute pair 5, the 4th revolute pair 7, the 18 revolute pair 11, the 19 revolute pair 9 forms in the robot course of work and remains parallelogram sturcutre.
Contrast Fig. 1,2,4,5 and 6, described end effector 8 tops are connected with large arm swing side chain by the 4th revolute pair 7, keep the 6th connecting rod 10 of side chain to be connected by the 19 revolute pair 9 and attitude, end effector 8 bottoms are connected with electromagnetic clamp device by the 20 vertical revolute pair 40 of axis direction.
Contrast Fig. 2,3 and 4 is equipped with the first servomotor 37, the second servomotor 38 and the 3rd servomotor 39 on the described frame 35.Frame is installed on the revolving dial 36, realizes the carrying piling work of whole machine National People's Congress working space.
Contrast Fig. 7,8,9 and 10, the machine man-hour, the aggregate motion output by controlled linkage and four-bar mechanism can realize the carrying palletizing operation that track is flexible and changeable, working space is larger.When end effector 8 moves to the object place, swing the aggregate motion of side chain, attitude maintenance side chain by large arm swing side chain, middle arm swing side chain, forearm, cooperate simultaneously the gyration of revolving dial 36, realize the carrying palletizing operation of robot crawl, carrying, discharging.In the course of the work, attitude keeps three groups of parallelogram sturcutres of side chain can guarantee that end effector 8 remains level.

Claims (1)

1. a large working space controllable-mechanism type stacking machine comprises that large arm swing side chain, middle arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame, it is characterized in that, its structure and connected mode are:
Described large arm swing side chain is by large arm, middle arm; forearm and frame form; large arm one end is connected on the frame by the first revolute pair; described middle arm is pole; middle bending part has the second revolute pair; the large arm other end is connected with middle arm by the second revolute pair; described middle arm one end is connected with large arm by the second revolute pair; described forearm is pole; middle bending part has the 3rd revolute pair, and the middle arm other end is connected with forearm by the 3rd revolute pair, and described forearm one end is connected with middle arm by the 3rd revolute pair; the other end is connected with end effector by the 4th revolute pair; described large arm is the first driving lever, by the first driven by servomotor
Described middle arm swing side chain is comprised of the second driving lever, first connecting rod, middle arm and frame, the second driving lever one end is connected on the frame by the 5th revolute pair, the other end is connected with first connecting rod by the 6th revolute pair, first connecting rod one end is connected with the second driving lever by the 6th revolute pair, the other end is connected with middle arm by the 7th revolute pair, described the second driving lever is by the second driven by servomotor
Described forearm swings side chain by the 3rd driving lever, second connecting rod, bracing frame, third connecting rod; forearm and frame form; the 3rd driving lever one end is connected on the frame by the 8th revolute pair; the other end is connected with second connecting rod by the 9th revolute pair; three fraisings are arranged; be connected with second connecting rod by the tenth revolute pair; be connected with third connecting rod by the 11 revolute pair above the support frame as described above; be connected with middle arm by the 12 revolute pair; third connecting rod one end is connected with bracing frame by 11 revolute pairs; the other end is connected with forearm by the 13 revolute pair; described the 3rd driving lever is by the 3rd driven by servomotor
Described attitude keeps side chain by the 4th connecting rod, the first attitude retainer, the 5th connecting rod, the second attitude retainer, the 6th connecting rod forms, described the 4th connecting rod one end is connected on the frame by the 14 revolute pair, the other end is connected with the first attitude retainer by the 15 revolute pair, above described the first attitude retainer three fraisings are arranged, be connected with the 4th connecting rod by the 15 revolute pair, be connected with large arm swing side chain by the second revolute pair, be connected with the 5th connecting rod by the 16 revolute pair, described the 5th connecting rod one end is connected with the first attitude retainer by the 16 revolute pair, the other end is connected with the second attitude retainer by the 17 revolute pair, above described the second attitude retainer three fraisings are arranged, be connected with the 5th connecting rod by the 17 revolute pair, be connected with large arm swing side chain by the 3rd revolute pair, be connected with the 6th connecting rod by the 18 revolute pair, described the 6th connecting rod one end is connected with the second attitude retainer by the 18 revolute pair, the other end is connected with end effector by the 19 revolute pair, described the first revolute pair, the second revolute pair, the 14 revolute pair, the 15 revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 16 revolute pair, the 17 revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the 3rd revolute pair, the 4th revolute pair, the 18 revolute pair, the 19 revolute pair forms in the robot course of work and remains parallelogram sturcutre
Described end effector top is connected with large arm swing side chain by the 4th revolute pair, keeps the 6th connecting rod of side chain to be connected by the 19 revolute pair and attitude, and the end effector bottom is connected with electromagnetic clamp device by the 20 vertical revolute pair of axis direction,
The first servomotor, the second servomotor, the 3rd servomotor are installed on the described frame.
CN2012105764883A 2012-12-27 2012-12-27 Large-work-space controllable-mechanism stacker crane CN103056875A (en)

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Cited By (18)

* Cited by examiner, † Cited by third party
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CN103662855A (en) * 2014-01-03 2014-03-26 江西省机械科学研究所 Three-degree-of-freedom parallel stacking manipulator
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103722551A (en) * 2013-12-17 2014-04-16 广西大学 Stacking robot with multiple closed-loop subchains
CN103722552A (en) * 2013-12-17 2014-04-16 广西大学 Controllable multi-degree-of-freedom manipulator
CN103737578A (en) * 2013-12-07 2014-04-23 广西大学 Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom
CN103752449A (en) * 2013-12-07 2014-04-30 广西大学 Spray-coating robot with parallel structure
CN103752448A (en) * 2013-12-07 2014-04-30 广西大学 Multi-degree-of-freedom spraying robot
CN104476535A (en) * 2014-12-10 2015-04-01 广西大学 Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism
CN104589301A (en) * 2014-12-17 2015-05-06 广西大学 Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm
CN104608123A (en) * 2015-01-23 2015-05-13 浙江理工大学 Three-axis hybrid-driven mechanical arm
CN104626103A (en) * 2014-12-18 2015-05-20 广西大学 Multi-freedom-degree parallel mechanism type controllable moving palletizing robot
CN104627690A (en) * 2014-12-25 2015-05-20 广西大学 Thirteen-rod controllable stacking mechanism
CN104742124A (en) * 2015-04-08 2015-07-01 苏州荣威工贸有限公司 Double-pole double-shaft double-way parallel track robot
CN105945935A (en) * 2016-06-24 2016-09-21 山东交通学院 Multi-unit linear driving three-range-of-motion loading robot
WO2016155469A1 (en) * 2015-04-02 2016-10-06 苏州神运机器人有限公司 Robot based on parallelogram principle
CN108724213A (en) * 2018-06-13 2018-11-02 哈尔滨工业大学(威海) A kind of Yi Cheng robots
CN109794714A (en) * 2019-03-27 2019-05-24 广西大学 A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom

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Cited By (22)

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Publication number Priority date Publication date Assignee Title
CN103752449A (en) * 2013-12-07 2014-04-30 广西大学 Spray-coating robot with parallel structure
CN103752448A (en) * 2013-12-07 2014-04-30 广西大学 Multi-degree-of-freedom spraying robot
CN103752449B (en) * 2013-12-07 2016-06-15 广西大学 A kind of side by side configuration spray robot
CN103737578A (en) * 2013-12-07 2014-04-23 广西大学 Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103722551A (en) * 2013-12-17 2014-04-16 广西大学 Stacking robot with multiple closed-loop subchains
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103722552A (en) * 2013-12-17 2014-04-16 广西大学 Controllable multi-degree-of-freedom manipulator
CN103662855A (en) * 2014-01-03 2014-03-26 江西省机械科学研究所 Three-degree-of-freedom parallel stacking manipulator
CN104476535A (en) * 2014-12-10 2015-04-01 广西大学 Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism
CN104589301B (en) * 2014-12-17 2016-03-30 广西大学 A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms
CN104589301A (en) * 2014-12-17 2015-05-06 广西大学 Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm
CN104626103A (en) * 2014-12-18 2015-05-20 广西大学 Multi-freedom-degree parallel mechanism type controllable moving palletizing robot
CN104627690A (en) * 2014-12-25 2015-05-20 广西大学 Thirteen-rod controllable stacking mechanism
CN104608123A (en) * 2015-01-23 2015-05-13 浙江理工大学 Three-axis hybrid-driven mechanical arm
WO2016155469A1 (en) * 2015-04-02 2016-10-06 苏州神运机器人有限公司 Robot based on parallelogram principle
RU2663510C2 (en) * 2015-04-02 2018-08-07 Суджоу Шеньян Робот Ко., Лтд Robot made by using the parallelogram principle
CN104742124A (en) * 2015-04-08 2015-07-01 苏州荣威工贸有限公司 Double-pole double-shaft double-way parallel track robot
CN105945935A (en) * 2016-06-24 2016-09-21 山东交通学院 Multi-unit linear driving three-range-of-motion loading robot
CN108724213A (en) * 2018-06-13 2018-11-02 哈尔滨工业大学(威海) A kind of Yi Cheng robots
CN108724213B (en) * 2018-06-13 2021-03-30 哈尔滨工业大学(威海) Transfer robot
CN109794714A (en) * 2019-03-27 2019-05-24 广西大学 A kind of controllable parasitic mechanisms formula welding robot of six degree of freedom

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Application publication date: 20130424