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

Abstract

The invention relates to a large working space controllable mechanism type palletizer, which comprises a large arm swing branch chain, a middle 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 handling and palletizing work with a large working space and flexible and variable track output through the combined movement of the large arm swing branch chain, the middle arm swing branch chain, and the small arm swing branch chain. During the working process, the three sets of parallelogram structures of the attitude 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 that the robot has a small moment of inertia. The dynamic performance is good, which can better meet the requirements of high-speed and heavy-duty handling and palletizing. The invention adopts a new connecting rod mechanism, which not only makes the working space for handling and palletizing larger, but also has a simple connecting rod transmission mechanism, improves the stress of each rod, and is more suitable for manufacturing large-scale palletizers.

Description

A Palletizer with Large Working Space and Controllable Mechanism

technical field

The invention relates to the field of industrial robots, in particular to a large working space controllable mechanism palletizer.

Background technique

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 Requirements for high-speed and heavy-duty handling and palletizing.

Contents of the invention

The object of the present invention is to provide a large working space controllable mechanism type palletizer, all driving motors are installed on the frame, which can solve the problem that the motor of the traditional open-chain serial palletizing robot is installed at its hinge, which causes the arm For problems such as bulkiness, poor rigidity, 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.

The present invention achieves the above object through the following technical solutions: a large working space controllable mechanism type palletizer, including a large arm swing branch chain, a middle arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, and an end effector and racks. The frame is installed on the rotary platform, so as to realize the handling and stacking work of four degrees of activity in the entire robot space.

The swing branch chain of the big arm is composed of a big arm, a middle arm, a small arm and a frame, one end of the big arm is connected to the frame through a first rotating pair, the middle arm is a folding rod, and the middle bending part has a second A swivel pair, the other end of the big arm is connected to the middle arm through the second swivel pair, one end of the middle arm is connected to the big arm through the second swivel pair, the small arm is a folding rod, and the middle bending part has a third swivel pair, The other end of the middle arm is connected to the small arm through the third rotating pair, one end of the small arm is connected to the middle arm through the third rotating pair, and the other end is connected to the end effector through the fourth rotating pair. The rod is driven by a first servo motor.

The swing branch chain of the middle arm is composed of the second active rod, the first connecting rod, the middle arm and the frame. One end of the second active rod is connected to the frame through the fifth rotating pair, and the other end is connected to the sixth rotating pair through the sixth rotating pair. One connecting rod is connected, one end of the first connecting rod is connected with the second active lever through the sixth rotating pair, and the other end is connected with the middle arm through the seventh rotating pair, and the second active rod is driven by the second servo motor.

The swing branch chain of the small arm is composed of a third active rod, a second connecting rod, a support frame, a third connecting rod, a small arm and a frame, one end of the third active rod is connected to the frame through the eighth rotating pair, and the other One end is connected to the second connecting rod through the ninth rotating pair. There are three reaming holes on the support frame. It is connected to the second connecting rod through the tenth rotating pair, connected to the third connecting rod through the eleventh rotating pair, and connected to the third connecting rod through the The twelfth revolving pair is connected to the middle arm, one end of the third connecting rod is connected to the support frame through the eleventh revolving pair, and the other end is connected to the forearm through the thirteenth revolving pair, and the third active rod is driven by the third servo motor.

The posture maintaining branch chain is composed of the fourth connecting rod, the first posture maintaining frame, the fifth connecting rod, the second posture maintaining frame and the sixth connecting rod. One end of the fourth connecting rod is connected to the On the frame, the other end is connected to the first attitude holder through the fifteenth turning pair, and there are three reamed holes on the first attitude keeping frame, which are connected to the fourth connecting rod through the fifteenth turning pair, and through the second turning The pair is connected with the boom swing branch chain, and connected with the fifth connecting rod through the sixteenth rotating pair, one end of the fifth connecting rod is connected with the first posture holder through the sixteenth rotating pair, and the other end is connected through the seventeenth rotating The pair is connected with the second attitude holder, and there are three reaming holes on the second attitude holder. It is connected with the fifth connecting rod through the seventeenth rotation pair, connected with the swing branch chain of the big arm through the third rotation pair, and connected with the swing branch chain through the third rotation pair. The eighteenth rotating pair is connected to the sixth connecting rod, one end of the sixth connecting rod is connected to the second attitude holder through the eighteenth rotating pair, and the other end is connected to the end effector through the nineteenth rotating pair, the first The revolving pair, the second revolving pair, the fourteenth revolving pair, and the fifteenth revolving pair form a parallelogram structure during the working process of the robot, and the second revolving pair, the third revolving pair, the sixteenth revolving pair, The seventeenth revolving pair forms and maintains a parallelogram structure during the working process of the robot. The third revolving pair, the fourth revolving pair, the eighteenth revolving pair, and the nineteenth revolving pair form and maintain a parallelogram structure.

The upper part of the end effector is connected with the boom swing branch chain through the fourth rotating pair, and is connected with the sixth connecting rod of the posture maintaining branch chain through the nineteenth rotating pair, and the lower part of the end effector is connected with the 20th connecting rod vertically in the axial direction. The revolving pair is connected with an electromagnetic clamping device.

A first servo motor, a second servo motor and a third servo motor are installed on the frame. The frame is installed on the rotary platform to realize the handling and palletizing work of the large working space of the entire robot.

The outstanding advantages of the present invention are:

1. Through the combined motion output of the large arm swing branch chain, the middle arm swing branch chain, and the forearm swing branch chain, it can realize the handling and palletizing operations in a large working space, and the trajectory is flexible and changeable, and the robot has a strong flexible output Ability;

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. 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 and heavy-duty handling and palletizing.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the palletizer with a large working space and a controllable mechanism according to the present invention.

Fig. 2 is a schematic diagram of the boom swing branch chain structure of the large working space controllable mechanism palletizer according to the present invention.

Fig. 3 is a schematic diagram of the structure of the middle arm swing branch chain of the large working space controllable mechanism palletizer according to the present invention.

Fig. 4 is a schematic diagram of the structure of the forearm swing branch chain of the large working space controllable mechanism palletizer of the present invention.

Fig. 5 is a schematic diagram of the attitude-maintaining branch chain of the palletizer with a large working space and a controllable mechanism according to the present invention.

Fig. 6 is a schematic structural view of the end effector of the large working space controllable mechanism palletizer of the present invention.

Fig. 7 is a schematic diagram of the first working state of the large working space controllable mechanism palletizer of the present invention installed on the rotary platform.

Fig. 8 is a schematic diagram of the second working state of the large working space controllable mechanism palletizer installed on the rotary platform according to the present invention.

Fig. 9 is a schematic diagram of the third working state of the large working space controllable mechanism palletizer of the present invention installed on the rotary platform.

Fig. 10 is a schematic diagram of the fourth working state of the large working space controllable mechanism palletizer of the present invention installed on the rotary platform.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Figures 1, 7, 8, 9 and 10, a palletizer with a large working space and a controllable mechanism, including a large arm swing branch chain, a middle arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, and a terminal Actuators and racks. The frame is installed on the rotary platform to realize the handling and palletizing work in the large working space of the entire robot.

1 and 2, the boom swing branch chain is composed of boom 2, middle arm 4, small arm 6 and frame 35, and one end of boom 2 is connected to the frame 35 through the first rotating pair 1. The middle arm 4 is a folding rod, and the middle bending part has a second rotating pair 3. The other end of the big arm 2 is connected to the middle arm 4 through the second rotating pair 3, and one end of the middle arm 4 is connected to the big arm through the second rotating pair 3. 2 connection, the small arm 6 is a folding rod, the middle bending part has a third rotating pair 5, the other end of the middle arm 4 is connected to the small arm 6 through the third rotating pair 5, and one end of the small arm 6 is rotated through the third The pair 5 is connected to the middle arm 4 , and the other end is connected to the end effector 8 through the fourth rotating pair 7 , and the boom 2 is a first active lever driven by a first servo motor 37 .

1 and 3, the middle arm swing branch chain is composed of the second active rod 21, the first connecting rod 23, the middle arm 4 and the frame 35, and one end of the second active rod 21 is connected to the machine through the fifth rotating pair 20. On the frame 35, the other end is connected with the first connecting rod 23 through the sixth rotating pair 22, one end of the first connecting rod 23 is connected with the second active rod 21 through the sixth rotating pair 22, and the other end is connected with the middle rod 23 through the seventh rotating pair 24. The arm 4 is connected, and the second active rod 21 is driven by a second servo motor 38 .

With reference to Fig. 1, 4, described forearm swing branch chain is made up of the 3rd active rod 26, the second connecting rod 28, support frame 31, the 3rd connecting rod 33, forearm 6 and frame 35, the 3rd active rod 26 One end is connected to the frame 35 through the eighth rotating pair 25, and the other end is connected to the second connecting rod 28 through the ninth rotating pair 27. There are three reaming holes on the support frame 31, and the tenth rotating pair 29 is connected to the second connecting rod. The connecting rod 28 is connected to the third connecting rod 33 through the eleventh rotating pair 32, connected to the middle arm 4 through the twelfth rotating pair 30, and one end of the third connecting rod 33 is connected to the support frame 31 through the eleventh rotating pair 32 , and the other end is connected with the small arm 6 through the thirteenth rotating pair 34 , and the third active rod 26 is driven by the third servo motor 39 .

With reference to Fig. 1, 2 and 5, described posture keeps branch chain and is made up of the 4th connecting rod 18, the first posture holder 16, the 5th connecting rod 14, the second posture holder 12, the 6th connecting rod 10, described One end of the fourth connecting rod 18 is connected to the frame 35 through the fourteenth revolving pair 19, and the other end is connected to the first attitude holder 16 through the fifteenth revolving pair 17. There are three hinges on the first attitude holder 16. The hole is connected with the fourth connecting rod 18 through the fifteenth rotating pair 17, connected with the boom swing branch chain through the second rotating pair 3, connected with the fifth connecting rod 14 through the sixteenth rotating pair 15, and the fifth One end of the connecting rod 14 is connected to the first posture holder 16 through the sixteenth rotating pair 15, and the other end is connected to the second posture holder 12 through the seventeenth rotating pair 13. There are three hinges on the second posture holder 12. The hole is connected with the fifth connecting rod 14 through the seventeenth rotating pair 13, connected with the boom swing branch chain through the third rotating pair 5, connected with the sixth connecting rod 10 through the eighteenth rotating pair 11, and the sixth One end of the connecting rod 10 is connected to the second posture holder 12 through the eighteenth rotating pair 11, and the other end is connected to the end effector 8 through the nineteenth rotating pair 9. The first rotating pair 1, the second rotating pair 3, The fourteenth revolving pair 19 and the fifteenth revolving pair 17 form and maintain a parallelogram structure during the working process of the robot. The second revolving pair 3, the third revolving pair 5, the sixteenth revolving pair 15, the seventeenth revolving The rotating pair 13 forms and maintains a parallelogram structure during the working process of the robot, and the third rotating pair 5, the fourth rotating pair 7, the eighteenth rotating pair 11, and the nineteenth rotating pair 9 are formed and formed during the working process of the robot. Always maintain a parallelogram structure.

Referring to Figures 1, 2, 4, 5 and 6, the upper part of the end effector 8 is connected to the boom swing branch chain through the fourth rotating pair 7, and is connected to the sixth connecting rod of the posture maintaining branch chain through the nineteenth rotating pair 9 10 connection, the lower part of the end effector 8 is connected with the electromagnetic clamping device through the twentieth rotating pair 40 vertical in the axial direction.

Referring to FIGS. 2 , 3 and 4 , a first servo motor 37 , a second servo motor 38 and a third servo motor 39 are mounted on the frame 35 . The frame is installed on the rotary platform 36 to realize the handling and stacking work of the large working space of the whole robot.

Referring to Figures 7, 8, 9 and 10, when the robot is working, through the combined motion output of the controllable linkage mechanism and the four-bar mechanism, it can realize the handling and palletizing operations with flexible and changeable trajectories and a large working space. When the end effector 8 moves to the object, through the combined movement of the large arm swing branch chain, the middle arm swing branch chain, the small arm swing branch chain, and the posture maintaining branch chain, and at the same time cooperate with the rotary motion of the rotary platform 36, the robot grasps the object. Handling and palletizing operations of picking, handling and unloading. During the working process, the three groups of parallelogram structures of the posture maintaining branch chain can ensure that the end effector 8 is always kept in a horizontal state.

Claims (1)

1. A large working space controllable mechanism type palletizer, comprising a large arm swing branch chain, a middle arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, an end effector and a frame, characterized in that, Its structure and connection method are: The swing branch chain of the big arm is composed of a big arm, a middle arm, a small arm and a frame, one end of the big arm is connected to the frame through a first rotating pair, the middle arm is a folding rod, and the middle bending part has a second A swivel pair, the other end of the big arm is connected to the middle arm through the second swivel pair, one end of the middle arm is connected to the big arm through the second swivel pair, the small arm is a folding rod, and the middle bending part has a third swivel pair, The other end of the middle arm is connected to the small arm through the third rotating pair, one end of the small arm is connected to the middle arm through the third rotating pair, and the other end is connected to the end effector through the fourth rotating pair. rod, driven by the first servo motor, The swing branch chain of the middle arm is composed of the second active rod, the first connecting rod, the middle arm and the frame. One end of the second active rod is connected to the frame through the fifth rotating pair, and the other end is connected to the sixth rotating pair through the sixth rotating pair. One connecting rod is connected, one end of the first connecting rod is connected to the second active lever through the sixth rotating pair, and the other end is connected to the middle arm through the seventh rotating pair, the second active rod is driven by the second servo motor, The swing branch chain of the small arm is composed of a third active rod, a second connecting rod, a support frame, a third connecting rod, a small arm and a frame, one end of the third active rod is connected to the frame through the eighth rotating pair, and the other One end is connected to the second connecting rod through the ninth rotating pair. There are three reaming holes on the support frame. It is connected to the second connecting rod through the tenth rotating pair, connected to the third connecting rod through the eleventh rotating pair, and connected to the third connecting rod through the The twelfth revolving pair is connected to the middle arm, one end of the third connecting rod is connected to the support frame through the eleventh revolving pair, and the other end is connected to the forearm through the thirteenth revolving pair, the third active rod is driven by the third servo motor, The posture maintaining branch chain is composed of the fourth connecting rod, the first posture maintaining frame, the fifth connecting rod, the second posture maintaining frame and the sixth connecting rod. One end of the fourth connecting rod is connected to the On the frame, the other end is connected to the first attitude holder through the fifteenth turning pair, and there are three reamed holes on the first attitude keeping frame, which are connected to the fourth connecting rod through the fifteenth turning pair, and through the second turning The pair is connected with the boom swing branch chain, and connected with the fifth connecting rod through the sixteenth rotating pair, one end of the fifth connecting rod is connected with the first posture holder through the sixteenth rotating pair, and the other end is connected through the seventeenth rotating The pair is connected with the second attitude holder, and there are three reaming holes on the second attitude holder. It is connected with the fifth connecting rod through the seventeenth rotation pair, connected with the swing branch chain of the big arm through the third rotation pair, and connected with the swing branch chain through the third rotation pair. The eighteenth rotating pair is connected to the sixth connecting rod, one end of the sixth connecting rod is connected to the second attitude holder through the eighteenth rotating pair, and the other end is connected to the end effector through the nineteenth rotating pair, the first The revolving pair, the second revolving pair, the fourteenth revolving pair, and the fifteenth revolving pair form a parallelogram structure during the working process of the robot, and the second revolving pair, the third revolving pair, the sixteenth revolving pair, The seventeenth revolving pair forms and maintains a parallelogram structure during the working process of the robot. The third revolving pair, the fourth revolving pair, the eighteenth revolving pair, and the nineteenth revolving pair form and maintain a parallelogram structure, The upper part of the end effector is connected with the boom swing branch chain through the fourth rotating pair, and is connected with the sixth connecting rod of the posture maintaining branch chain through the nineteenth rotating pair, and the lower part of the end effector is connected with the 20th connecting rod vertically in the axial direction. The rotating pair is connected with the electromagnetic clamping device, A first servo motor, a second servo motor and a third servo motor are installed on the frame.

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