CN103121589A - Carrying stacking mechanism - Google Patents

Carrying stacking mechanism Download PDF

Info

Publication number
CN103121589A
CN103121589A CN2012105766696A CN201210576669A CN103121589A CN 103121589 A CN103121589 A CN 103121589A CN 2012105766696 A CN2012105766696 A CN 2012105766696A CN 201210576669 A CN201210576669 A CN 201210576669A CN 103121589 A CN103121589 A CN 103121589A
Authority
CN
China
Prior art keywords
end
connecting rod
hinged
fraising
frame
Prior art date
Application number
CN2012105766696A
Other languages
Chinese (zh)
Inventor
蔡敢为
李小清
潘宇晨
王小纯
Original Assignee
广西大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN2012105766696A priority Critical patent/CN103121589A/en
Publication of CN103121589A publication Critical patent/CN103121589A/en

Links

Abstract

A carrying stacking mechanism comprises a base seat, a rotary machine frame, an arm lifting mechanism, an end effector translation maintaining mechanism and a flange plate, wherein the rotary machine frame is connected on the base seat through a rotary pair, the arm lifting mechanism comprises a parallelogram mechanism, a first driving rod, a first connection rod, a second driving rod and a fourth connection rod, the parallelogram mechanism is composed of a large arm, a small arm, a second connection rod and a third connection rod, all the rod pieces are connected through hinges, the end effector translation maintaining mechanism comprises a parallelogram mechanism I and a parallelogram mechanism II, the parallelogram mechanism I is composed of a large arm, a first auxiliary connecting rod, a triangular auxiliary frame and the rotary machine frame, the parallelogram mechanism II is composed of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and an end effector translation maintaining device, all the rod pieces are connected through hinges, and the flange plate is connected on the end effector translation maintaining device through a rotary pair. The carrying stacking mechanism is simple in structure, is large in work space, is flexible to operate, is controlled through the driving of a servo motor, and can achieve intellectualization and numerical control.

Description

A kind of carrying and piling structure

Technical field

The present invention relates to robot for carrying and piling field, particularly a kind of carrying and piling structure.

Background technology

Raising along with the mechanical automation level, robot palletizer is widely used in the operations such as the obtaining of workpiece in enormous quantities, carrying, piling, de-stacking, packing, is the high-new electronic product that integrates the subjects such as machinery, electronics, information, intellectual technology, computer science.The robot palletizer technology is solving manpower shortage, is improving labor productivity, is reducing production costs, reducing labor strength, is improving the aspect such as production environment and have very large potentiality.Existing robot palletizer mostly is the joint type open chain mechanism, have the advantages such as compact conformation, flexible movements, working space be large, but drive motor is placed on joint of robot, increased the carrying of robot, poor rigidity, inertia is large, error accumulation is large, easily produces and impacts, and makes the robot palletizer bumpy motion, the piling accuracy is low, and be difficult to satisfy at a high speed, heavily loaded, accurate etc. carried the piling requirement.

Summary of the invention

The purpose of this invention is to provide a kind of carrying and piling structure, the employing servomotor is controlled, all motors are installed on frame, the deficiency such as can overcome conventional code stack machine device person joint heaviness, poor rigidity, inertia is large, error accumulation is large, have that controlled, adjustable, function admirable, output are flexible, the dynamo-electric performance that merges, and can be according to actual needs, soft readjustment path of motion realizes that accurately the hand hand is grabbed the location and carrying is moved.

The present invention achieves the above object by the following technical programs:

Described rotary frame is connected on base by the first revolute, is controlled by the first servomotor, realizes rotation at vertical direction by programming.

described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, the 4th connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with second connecting rod one end by the 5th fraising, the second connecting rod other end is hinged with forearm one end by the 6th fraising, the second connecting rod middle-end is hinged with third connecting rod one end by the 7th fraising, the third connecting rod other end is hinged with large arm one end and rotary frame by the 8th fraising, the second driving lever one end is hinged with rotary frame by the 9th fraising, the other end is hinged with the 4th connecting rod one end by the tenth fraising, the 4th connecting rod other end is hinged with large arm middle-end by the 11 fraising, large arm, forearm, second connecting rod, third connecting rod consists of a parallel-crank mechanism, the first driving lever is controlled by the second servomotor, the second driving lever is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane by programming.

described end-effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end-effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 12 fraising, the other end is hinged with triangle auxiliary frame one end by the 13 fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 14 fraising, the second auxiliary connecting rod other end is hinged with end-effector translation retainer one end by the 15 fraising, the end-effector translation retainer other end is hinged with forearm one end by the 16 fraising, two parallelogram mechanisms in series, make end-effector remain translation.

Described flange is connected on end-effector translation retainer by the second revolute, and different end-effectors is installed according to actual needs.

Outstanding advantages of the present invention is:

1, adopt servomotor to control, flexible operation, by programming, the output movement track of regulating mechanism, have flexibility preferably according to actual needs, can accurately realize the various carrying piling actions in working space.

2, adopt two parallelogram mechanisms in series to form end-effector translation maintaining bodies, make end-effector remain translation, can realize reposefully the actions such as the crawl of object and carrying.

3, in power input mechanism, adopt large arm, forearm, second connecting rod, third connecting rod to form a parallel-crank mechanism, make structure more stable, increased its rigidity, improved its load-carrying capacity.

Description of drawings

Fig. 1 is the structural representation of a kind of carrying and piling structure of the present invention.

Fig. 2 is the arm lifting mechanism schematic diagram of a kind of carrying and piling structure of the present invention.

Fig. 3 is the end-effector translation maintaining body schematic diagram of a kind of carrying and piling structure of the present invention.

Fig. 4 is the first work schematic diagram of a kind of carrying and piling structure of the present invention.

Fig. 5 is the second work schematic diagram of a kind of carrying and piling structure of the present invention.

Fig. 6 is the 3rd work schematic diagram of a kind of carrying and piling structure of the present invention.

Fig. 7 is the 4th work schematic diagram of a kind of carrying and piling structure of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing, technical scheme of the present invention is described further.

A kind of carrying and piling structure of the present invention comprises base, rotary frame, arm lifting mechanism, end-effector translation maintaining body, flange.

Contrast Fig. 1, described rotary frame 3 is connected on base 1 by the first revolute 2, is controlled by the first servomotor, realizes rotation at vertical direction by programming.

contrast Fig. 1, Fig. 2, described arm lifting mechanism is by large arm 10, forearm 11, the first driving lever 30, first connecting rod 29, second connecting rod 23, third connecting rod 26, the second driving lever 5, the 4th connecting rod 8 forms, large arm 10 1 ends are hinged with rotary frame 3 by the first fraising 7, the other end is hinged with forearm 11 middle-ends by the second fraising 19, the first driving lever 30 1 ends are hinged with rotary frame 3 by the 3rd fraising 31, the other end is hinged with first connecting rod 29 1 ends by the 4th fraising 32, first connecting rod 29 other ends are hinged with second connecting rod 23 1 ends by the 5th fraising 28, second connecting rod 23 other ends are hinged with forearm 11 1 ends by the 6th fraising 22, second connecting rod 23 middle-ends are hinged with third connecting rod 26 1 ends by the 7th fraising 27, third connecting rod 26 other ends are hinged with large arm 10 1 ends and rotary frame 3 by the first fraising 7, the second driving lever 5 one ends are hinged with rotary frame 3 by the 8th fraising 4, the other end is hinged by the 9th fraising the 6 and the 4th connecting rod 8 one ends, the 4th connecting rod 8 other ends are hinged with large arm 10 middle-ends by the tenth fraising 9, large arm 10, forearm 11, second connecting rod 23, third connecting rod 26 consists of a parallel-crank mechanism, the first driving lever 30 is controlled by the second servomotor, the second driving lever 5 is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane space by programming.

contrast Fig. 1, Fig. 3, described end-effector translation maintaining body comprises by large arm 10, the first auxiliary connecting rod 24, triangle auxiliary frame 20, the parallel-crank mechanism that rotary frame 3 forms and by forearm 11, the second auxiliary connecting rod 17, triangle auxiliary frame 20, the parallel-crank mechanism that end-effector translation retainer 13 forms, the first auxiliary connecting rod 24 1 ends are hinged with rotary frame 3 by the 11 fraising 25, the other end is hinged with triangle auxiliary frame 20 1 ends by the 12 fraising 21, triangle auxiliary frame 20 second ends are hinged with large arm 10 and forearm 11 by the second fraising 19, triangle auxiliary frame 20 the 3rd end is hinged by the 13 fraising the 18 and second auxiliary connecting rod 17, second auxiliary connecting rod 17 other ends are hinged with end-effector translation retainer 13 1 ends by the 14 fraising 16, end-effector translation retainer 13 other ends are hinged with forearm 11 1 ends by the 15 fraising 12, two parallelogram mechanisms in series, make end-effector remain translation.

Contrast Fig. 1, described flange 15 is connected on end-effector translation retainer 13 by the second revolute 14, and different end-effectors is installed according to actual needs, is controlled by the 4th servomotor, realizes rotation at vertical direction by programming.

Contrast Fig. 4, described a kind of carrying and piling structure is at the working state schematic representation of realizing the dead ahead carrying uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.

Contrast Fig. 5, described a kind of carrying and piling structure realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead at a distance under driving.

Contrast Fig. 6, described a kind of carrying and piling structure realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead nearby under driving.

Contrast Fig. 7, described a kind of carrying and piling structure is at the working state schematic representation of realizing dead ahead eminence carrying uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.

Claims (1)

1. a carrying and piling structure, is characterized in that, comprises base, rotary frame, arm lifting mechanism, end-effector translation maintaining body, flange, and its structure and connection mode are:
Described rotary frame is connected on base by the first revolute,
described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, the 4th connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with second connecting rod one end by the 5th fraising, the second connecting rod other end is hinged with forearm one end by the 6th fraising, the second connecting rod middle-end is hinged with third connecting rod one end by the 7th fraising, the third connecting rod other end is hinged with large arm one end and rotary frame by the 8th fraising, the second driving lever one end is hinged with rotary frame by the 9th fraising, the other end is hinged with the 4th connecting rod one end by the tenth fraising, the 4th connecting rod other end is hinged with large arm middle-end by the 11 fraising,
described end-effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end-effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 12 fraising, the other end is hinged with triangle auxiliary frame one end by the 13 fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 14 fraising, the second auxiliary connecting rod other end is hinged with end-effector translation retainer one end by the 15 fraising, the end-effector translation retainer other end is hinged with forearm one end by the 16 fraising,
Described flange is connected on end-effector translation retainer by the second revolute.
CN2012105766696A 2012-12-27 2012-12-27 Carrying stacking mechanism CN103121589A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012105766696A CN103121589A (en) 2012-12-27 2012-12-27 Carrying stacking mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012105766696A CN103121589A (en) 2012-12-27 2012-12-27 Carrying stacking mechanism

Publications (1)

Publication Number Publication Date
CN103121589A true CN103121589A (en) 2013-05-29

Family

ID=48452788

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2012105766696A CN103121589A (en) 2012-12-27 2012-12-27 Carrying stacking mechanism

Country Status (1)

Country Link
CN (1) CN103121589A (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103707291A (en) * 2013-12-17 2014-04-09 广西大学 Multi-degree-of-freedom parallel mechanism type controllable palletizing robot
CN103707288A (en) * 2013-12-17 2014-04-09 广西大学 Multi-degree-of-freedom palletizing 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
CN104096998A (en) * 2014-06-27 2014-10-15 广西大学 Multi-degree of freedom parallel mechanism type spot welding robot
CN104440866A (en) * 2014-12-25 2015-03-25 广西大学 Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair
CN104476535A (en) * 2014-12-10 2015-04-01 广西大学 Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism
CN104493818A (en) * 2014-12-25 2015-04-08 广西大学 Controllable multi-connecting rod stacking robot
CN104552232A (en) * 2014-12-17 2015-04-29 广西大学 Multi-freedom degree controllable mechanism type mobile stacking robot
CN104608111A (en) * 2014-12-25 2015-05-13 广西大学 Four-freedom-degree nine-connecting rod controllable movement operation mechanical arm with movement pair
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm
CN106002938A (en) * 2016-06-12 2016-10-12 广西大学 Linear rotation hybrid drive controllable mechanism type robot
CN106609523A (en) * 2016-11-30 2017-05-03 广西大学 Multi-connecting-rod mechanism driven by double servo motors
CN106759572A (en) * 2016-11-30 2017-05-31 广西大学 One kind drives variable active degree linkage to carry out industrial waste and grabs dress operational method using servomotor
CN107472921A (en) * 2017-07-24 2017-12-15 四川学易通达科技有限公司 Storage palletizing apparatus

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3984009A (en) * 1975-12-24 1976-10-05 General Motors Corporation Article gripper mounting device
EP0035282A2 (en) * 1980-03-05 1981-09-09 Thermwood Corporation Apparatus for programmed control of a robot
US4329111A (en) * 1979-06-19 1982-05-11 Societe Suisse Pour L'industrie Horlogere Management Services Mechanical manipulator
CN102407524A (en) * 2010-09-21 2012-04-11 鸿富锦精密工业(深圳)有限公司 Robot
CN202559403U (en) * 2012-01-12 2012-11-28 广西大学 Controllable mechanism type light-duty loading machine
CN203006510U (en) * 2012-12-27 2013-06-19 广西大学 Transportation stacking mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3984009A (en) * 1975-12-24 1976-10-05 General Motors Corporation Article gripper mounting device
US4329111A (en) * 1979-06-19 1982-05-11 Societe Suisse Pour L'industrie Horlogere Management Services Mechanical manipulator
EP0035282A2 (en) * 1980-03-05 1981-09-09 Thermwood Corporation Apparatus for programmed control of a robot
CN102407524A (en) * 2010-09-21 2012-04-11 鸿富锦精密工业(深圳)有限公司 Robot
CN202559403U (en) * 2012-01-12 2012-11-28 广西大学 Controllable mechanism type light-duty loading machine
CN203006510U (en) * 2012-12-27 2013-06-19 广西大学 Transportation stacking mechanism

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN103707288A (en) * 2013-12-17 2014-04-09 广西大学 Multi-degree-of-freedom palletizing robot
CN103707291A (en) * 2013-12-17 2014-04-09 广西大学 Multi-degree-of-freedom parallel mechanism type controllable palletizing robot
CN104096998A (en) * 2014-06-27 2014-10-15 广西大学 Multi-degree of freedom parallel mechanism type spot welding robot
CN104476535A (en) * 2014-12-10 2015-04-01 广西大学 Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism
CN104552232A (en) * 2014-12-17 2015-04-29 广西大学 Multi-freedom degree controllable mechanism type mobile stacking robot
CN104608111B (en) * 2014-12-25 2016-06-15 广西大学 The controlled mobile manipulator mechanical arm of four-degree-of-freedom nine connecting rod that a kind of Tape movement is secondary
CN104440866A (en) * 2014-12-25 2015-03-25 广西大学 Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair
CN104493818A (en) * 2014-12-25 2015-04-08 广西大学 Controllable multi-connecting rod stacking robot
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN104440866B (en) * 2014-12-25 2016-03-30 广西大学 A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair
CN104608111A (en) * 2014-12-25 2015-05-13 广西大学 Four-freedom-degree nine-connecting rod controllable movement operation mechanical arm with movement pair
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm
CN106002938A (en) * 2016-06-12 2016-10-12 广西大学 Linear rotation hybrid drive controllable mechanism type robot
CN106609523A (en) * 2016-11-30 2017-05-03 广西大学 Multi-connecting-rod mechanism driven by double servo motors
CN106759572A (en) * 2016-11-30 2017-05-31 广西大学 One kind drives variable active degree linkage to carry out industrial waste and grabs dress operational method using servomotor
CN107472921A (en) * 2017-07-24 2017-12-15 四川学易通达科技有限公司 Storage palletizing apparatus

Similar Documents

Publication Publication Date Title
CN103386690B (en) Double-finger double-driving translation clamping type flexible grip and control method
CN103737581B (en) The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled
CN103722552B (en) A kind of controllable multi-degree-of-freedom manipulator
CN203738786U (en) Movement mechanism for robot
CN2902981Y (en) Mechanical handling device of object stacking machine
CN104440866B (en) A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair
CN102602708B (en) Robot palletizer for carrying
CN102825595B (en) Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
CN101700621B (en) Full decoupled three-dimensional moving parallel robot mechanism
CN103328161A (en) Multi-joint arm robot, control method, and control program
CN201721971U (en) Automatic battery taking device
CN102785239B (en) Industrial robot of six-degrees of freedom
CN201505911U (en) Carrying manipulator
CN104096998A (en) Multi-degree of freedom parallel mechanism type spot welding robot
CN202655915U (en) Single drive type two-stage telescopic working table for industrial robot
CN105313107A (en) Rotatable manipulation arm with metamorphic function
CN103722553B (en) A kind of controlled welding robot of multiple freedom parallel mechanism formula
CN104908056A (en) Three-finger mechanical gripper with variable structure
CN105459095A (en) Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN103433918A (en) Series-parallel industrial robot with five degrees of freedom
CN103101049B (en) Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain
CN102642204B (en) Alternating-current servo direct drive type series-parallel composite robot
CN202542490U (en) Transporting and stacking robot
CN103009384A (en) Controllable stacking robot
CN104044134A (en) Multi-freedom-degree controlled parallel robot

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20130529

C02 Deemed withdrawal of patent application after publication (patent law 2001)