CN103722551A - Stacking robot with multiple closed-loop subchains - Google Patents
Stacking robot with multiple closed-loop subchains Download PDFInfo
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- CN103722551A CN103722551A CN201310692300.6A CN201310692300A CN103722551A CN 103722551 A CN103722551 A CN 103722551A CN 201310692300 A CN201310692300 A CN 201310692300A CN 103722551 A CN103722551 A CN 103722551A
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Abstract
具有多个闭环子链的码垛机器人，包括多个并联机构闭环执行机构子链和一个串联的执行机构主链。所述的机构闭环子链可控制主链连杆在四杆机构闭环子链所在平面内运动，多个并联连杆子链和机身的运动可实现动平台的空间运动。本发明通过四个闭环子链和机身的合成运动实现控制，通过多个连杆与机身的连接，从而实现末端执行器的空间运动，末端执行器运动惯量小，动力学性能好，可靠性高，机构具有结构紧凑，控制简单的优点，杆件能做成轻杆，并且机构的工作空间大，使机构重心后移，保持机构平衡，能作用于更多的场合。
A palletizing robot with multiple closed-loop sub-chains, including multiple parallel mechanism closed-loop actuator sub-chains and a serial actuator main chain. The closed-loop sub-chain of the mechanism can control the movement of the connecting rod of the main chain in the plane where the closed-loop sub-chain of the four-bar mechanism is located, and the movement of multiple parallel-connected sub-chains and the fuselage can realize the spatial movement of the moving platform. The present invention realizes the control through the composite motion of four closed-loop sub-chains and the fuselage, and realizes the spatial movement of the end effector through the connection of multiple connecting rods and the fuselage. The end effector has small motion inertia, good dynamic performance and reliability. High performance, the mechanism has the advantages of compact structure and simple control. The rod can be made into a light rod, and the working space of the mechanism is large, so that the center of gravity of the mechanism can be moved back, and the balance of the mechanism can be maintained, which can be used in more occasions.
Description
Technical field
The present invention relates to robot field, particularly there is the robot palletizer of multiple closed loop subchains.
Background technology
Traditional serial machine people has the advantages such as simple in structure, cost is low, working space is large, and serial machine people rigidity is low comparatively speaking, can not be applied at a high speed the occasion of large carrying; Parallel robot and traditional serial machine people compare, have without accumulated error, precision compared with high, compact conformation, the feature such as bearing capacity is large, rigidity is high and end effector inertia is little, drive unit can be placed on fixed platform or approach the position of fixed platform, motion parts is lightweight like this, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering the existing manipulator with local closed chain as MOTOMAN-K10 do not solve industrial robot exist problem, and the general parallel institution of the Performance Ratio of the parallel robot of the closed loop subchain that contains symmetrical mechanism formula is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and aspect product quality and stability, is improving a lot.Adopt the manipulator of circular cylindrical coordinate type and joint coordinates type effectively and efficiently to tail house, to control, and this mechanism structure good rigidity, machine driving precision are high, working space is large, machine driving loss is little, without accumulated error, can export larger power, have and have good control function.This robot containing parallel closed loop subchain adopts indirect type of drive, can also effectively reduce the needed moment of driving joint.
Summary of the invention
The object of the present invention is to provide the robot palletizer with multiple closed loop subchains, solve traditional serial machine people large about required moment, the low and little shortcoming of working space of rigidity.
The present invention achieves the above object by the following technical programs: have the robot palletizer of multiple closed loop subchains, its structure and connected mode are:
Described executing agency chain is by fuselage 2, first connecting rod 3, second connecting rod 5, third connecting rod 21, the 4th connecting rod 19, the 5th connecting rod 18, the 6th connecting rod 16, seven-link assembly 29, the 8th connecting rod 7, the 9th connecting rod 15, the tenth connecting rod 11, the 11 connecting rod 12, the 12 connecting rod 23, the 13 connecting rod 24, the 14 connecting rod 26, end effector 28 and frame 1 are formed by connecting, fuselage 2 first links 30 are connected in frame 1 by the first revolute pair 30, fuselage 1 drives by the first revolute pair 30, the first revolute pair 30 drives by motor, 1 second link of fuselage 31 is connected with first connecting rod 3 one end by the second revolute pair 31, first connecting rod 3 drives by the second revolute pair 31, first connecting rod 3 other ends are connected with second connecting rod 5 first links 4 by the 3rd revolute pair 4, 5 second links of second connecting rod 4 are connected with third connecting rod 21 one end by the 4th revolute pair 4, third connecting rod 21 other ends are connected with the 4th connecting rod 19 first links 20 by the 5th revolute pair 20, the 4th 19 second, connecting rod link 37 is connected with the 5th connecting rod 18 one end by the 6th revolute pair 37, the 5th connecting rod 18 other ends are connected with the 6th connecting rod 16 one end by the 7th revolute pair 17, the 6th connecting rod 16 other ends are connected by the 5th link 34 of the 8th revolute pair 34 and seven-link assembly 29 and the 9th connecting rod 15 first links 34, the 3rd link 22 of seven-link assembly 29 is connected by the 3rd link 19 of the 9th revolute pair 22 and the 4th connecting rod 19, 29 second links 30 of seven-link assembly are connected by the 3rd link 30 of the tenth revolute pair 30 and fuselage 2, seven-link assembly 29 first links 8 are connected by the 3rd link 8 of the 11 revolute pair 8 and second connecting rod 5, the 4th link of seven-link assembly 29 33 by the 12 revolute pair 33 with the 87 first be connected 33 connections, the 8th 7 second, connecting rod link 33 is connected with the tenth connecting rod 11 by the 13 revolute pair 9, the tenth connecting rod 11 other ends are connected by 15 second links 13 of the 14 revolute pair 13 and the 9th connecting rod, the 8th the 3rd, connecting rod 7 link 10 is connected with the 11 connecting rod 12 by the 15 revolute pair 10, the 11 connecting rod 12 other ends are connected by the 3rd link 14 of the 16 revolute pair 14 and the 9th connecting rod 15, the 9th the 4th, connecting rod 15 link 35 is connected with the 12 connecting rod 23 one end by being rigidly connected, the 12 connecting rod 23 other ends are connected with the 13 connecting rod 24 one end by the 17 revolute pair 36, the 12 connecting rod 23 drives by the 17 revolute pair 36, the 17 revolute pair 36 drives by motor, the 13 connecting rod 24 other ends are connected with the 14 connecting rod 26 one end by the 18 revolute pair 25, the 13 connecting rod 24 rotates 25 secondary drivings by the 18, the 18 revolute pair 25 drives by motor, the 14 connecting rod 26 other ends are connected with end effector 28 by the 19 revolute pair 27, end effector 28 drives by the 19 revolute pair 27, the 19 revolute pair 27 drives by motor,
Described the first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair and the 16 revolute pair rotation are parallel to each other.
Outstanding advantages of the present invention is:
1, by two parallel closed loop subchains, improved the rigidity of robot mechanism, and the design of closed loop subchain mechanism type improves the working space of robot greatly, can avoid the dead-centre position of mechanism, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, compared with the industrial robot that is mounted in each joint with traditional motor, the motor of the robot that mechanism connects by two parallel closed loop subchains is mounted on four-bar mechanism joint, by the kinematic pair on four-bar mechanism, drive closed loop chain movement, thereby indirectly drive tail end connecting rod, make mobility and the activity space of end effector larger, can reduce active moment;
3, compare with robot mechanism of the same type, under equal-wattage, work is more;
4, motor be arranged on the 5th connecting rod after, reduced the center of gravity of whole mechanism, and can installation power larger motor is in mechanism, and end effector can be adapted in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
5, robot mechanism endways actuator by mechanism type control, can make precision higher;
6, between mechanism type mechanism and end execution, with a with gemel connecting rod and end effector, be connected, make actuator flexibility ratio higher, working space is larger than robot in the past, and with gemel connecting rod is made lighter bar, can make whole mechanism power performance better and be easy to control, can make end effector among a small circle, rotate 360 degree round angles, make mechanism can be applicable to more occasions;
7, in two parallel closed loop subchains, rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
8, the micromatic setting in mechanism is with traditional with compared with the manipulator of local closed chain, center of gravity concentrates on micromatic setting, and balance of mechanism is good, can make robot mechanism bear larger force and moment;
9, six-freedom degree makes mechanism can be applied to more occasions;
Accompanying drawing explanation
Fig. 1 is the first structural representation of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 2 is the airframe structure schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 3 is the second connecting rod schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 4 is the seven-link assembly schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 5 is the 8th connecting rod schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 6 is the 9th connecting rod schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 7 is the 13 connecting rod schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 8 is the 14 connecting rod schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Fig. 9 is that the mechanism of the robot palletizer with multiple closed loop subchains of the present invention connects intention.
Figure 10 is the first work schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
Figure 11 is the second work schematic diagram of the robot palletizer with multiple closed loop subchains of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, have the robot palletizer of multiple closed loop subchains, its structure and connected mode are:
Described executing agency chain is by fuselage 2, first connecting rod 3, second connecting rod 5, third connecting rod 21, the 4th connecting rod 19, the 5th connecting rod 18, the 6th connecting rod 16, seven-link assembly 29, the 8th connecting rod 7, the 9th connecting rod 15, the tenth connecting rod 11, the 11 connecting rod 12, the 12 connecting rod 23, the 13 connecting rod 24, the 14 connecting rod 26, end effector 28 and frame 1 are formed by connecting, fuselage 2 first links 30 are connected in frame 1 by the first revolute pair 30, fuselage 1 drives by the first revolute pair 30, the first revolute pair 30 drives by motor, 1 second link of fuselage 31 is connected with first connecting rod 3 one end by the second revolute pair 31, first connecting rod 3 drives by the second revolute pair 31, first connecting rod 3 other ends are connected with second connecting rod 5 first links 4 by the 3rd revolute pair 4, 5 second links of second connecting rod 4 are connected with third connecting rod 21 one end by the 4th revolute pair 4, third connecting rod 21 other ends are connected with the 4th connecting rod 19 first links 20 by the 5th revolute pair 20, the 4th 19 second, connecting rod link 37 is connected with the 5th connecting rod 18 one end by the 6th revolute pair 37, the 5th connecting rod 18 other ends are connected with the 6th connecting rod 16 one end by the 7th revolute pair 17, the 6th connecting rod 16 other ends are connected by the 5th link 34 of the 8th revolute pair 34 and seven-link assembly 29 and the 9th connecting rod 15 first links 34, the 3rd link 22 of seven-link assembly 29 is connected by the 3rd link 19 of the 9th revolute pair 22 and the 4th connecting rod 19, 29 second links 30 of seven-link assembly are connected by the 3rd link 30 of the tenth revolute pair 30 and fuselage 2, seven-link assembly 29 first links 8 are connected by the 3rd link 8 of the 11 revolute pair 8 and second connecting rod 5, the 4th link of seven-link assembly 29 33 by the 12 revolute pair 33 with the 87 first be connected 33 connections, the 8th 7 second, connecting rod link 33 is connected with the tenth connecting rod 11 by the 13 revolute pair 9, the tenth connecting rod 11 other ends are connected by 15 second links 13 of the 14 revolute pair 13 and the 9th connecting rod, the 8th the 3rd, connecting rod 7 link 10 is connected with the 11 connecting rod 12 by the 15 revolute pair 10, the 11 connecting rod 12 other ends are connected by the 3rd link 14 of the 16 revolute pair 14 and the 9th connecting rod 15, the 9th the 4th, connecting rod 15 link 35 is connected with the 12 connecting rod 23 one end by being rigidly connected, the 12 connecting rod 23 other ends are connected with the 13 connecting rod 24 one end by the 17 revolute pair 36, the 12 connecting rod 23 drives by the 17 revolute pair 36, the 17 revolute pair 36 drives by motor, the 13 connecting rod 24 other ends are connected with the 14 connecting rod 26 one end by the 18 revolute pair 25, the 13 connecting rod 24 rotates 25 secondary drivings by the 18, the 18 revolute pair 25 drives by motor, the 14 connecting rod 26 other ends are connected with end effector 28 by the 19 revolute pair 27, end effector 28 drives by the 19 revolute pair 27, the 19 revolute pair 27 drives by motor,
Described the first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair and the 16 revolute pair rotation are parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, fuselage and first connecting rod motion planar can realize the spatial movement of end effector.
Claims (1)
1. have the robot palletizer of multiple closed loop subchains, its structure and connected mode are:
Described executing agency chain is by fuselage, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod, the 13 connecting rod, the 14 connecting rod, end effector and frame are formed by connecting, first link of fuselage is connected in frame by the first revolute pair, fuselage drives by the first revolute pair, the first revolute pair drives by motor, second link of fuselage is connected with first connecting rod one end by the second revolute pair, first connecting rod drives by the second revolute pair, the first connecting rod other end is connected by the 3rd first link of revolute pair and second connecting rod, second link of second connecting rod is connected with third connecting rod one end by the 4th revolute pair, the third connecting rod other end is connected with the 4th first link of connecting rod by the 5th revolute pair, the 4th second, connecting rod link is connected with the 5th connecting rod one end by the 6th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod one end by the 7th revolute pair, the 6th connecting rod other end is connected by the 5th link of the 8th revolute pair and seven-link assembly and the 9th first link of connecting rod, the 3rd link of seven-link assembly is connected by the 3rd link of the 9th revolute pair and the 4th connecting rod, second link of seven-link assembly is connected by the 3rd link of the tenth revolute pair and fuselage, first link of seven-link assembly is connected by the 3rd link of the 11 revolute pair and second connecting rod, the 4th link of seven-link assembly is connected with the 8th first link of connecting rod by the 12 revolute pair, the 8th second, connecting rod link is connected with the tenth connecting rod by the 13 revolute pair, the tenth connecting rod other end is connected by second link of the 14 revolute pair and the 9th connecting rod, the 8th the 3rd, connecting rod link is connected with the 11 connecting rod by the 15 revolute pair, the 11 connecting rod other end is connected by the 3rd link of the 16 revolute pair and the 9th connecting rod, the 9th the 4th, connecting rod link is connected with the 12 connecting rod 11 one end by being rigidly connected, the 12 connecting rod other end is connected with the 13 connecting rod one end by the 17 revolute pair, the 12 connecting rod drives by the 17 revolute pair, the 17 revolute pair drives by motor, the 13 connecting rod other end is connected with the 14 connecting rod one end by the 18 revolute pair, the 13 connecting rod drives by the 18 revolute pair, the 18 revolute pair drives by motor, the 14 connecting rod other end is connected with end effector by the 19 revolute pair, end effector drives by the 19 revolute pair, the 19 revolute pair drives by motor,
Described the first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair and the 16 revolute pair rotation are parallel to each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310692300.6A CN103722551A (en) | 2013-12-17 | 2013-12-17 | Stacking robot with multiple closed-loop subchains |
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| CN201310692300.6A CN103722551A (en) | 2013-12-17 | 2013-12-17 | Stacking robot with multiple closed-loop subchains |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526676A (en) * | 2014-12-18 | 2015-04-22 | 广西大学 | Wheel type mobile robot palletizer with multiple closed-loop sub chains |
| CN104552245A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Wheeled mobile welding robot with plurality of closed-loop sub-chains |
| CN104626103A (en) * | 2014-12-18 | 2015-05-20 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable moving palletizing robot |
| CN107825397A (en) * | 2017-12-05 | 2018-03-23 | 长沙展朔轩兴信息科技有限公司 | A kind of big working space automobile robot palletizer |
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| US4329111A (en) * | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| CN202163920U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Controllable mechanism type stacking robot mechanism |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103056875A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Large-work-space controllable-mechanism stacker crane |
| CN203003890U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type palletizing robot |
-
2013
- 2013-12-17 CN CN201310692300.6A patent/CN103722551A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4329111A (en) * | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| CN202163920U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Controllable mechanism type stacking robot mechanism |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103056875A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Large-work-space controllable-mechanism stacker crane |
| CN203003890U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type palletizing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552245A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Wheeled mobile welding robot with plurality of closed-loop sub-chains |
| CN104526676A (en) * | 2014-12-18 | 2015-04-22 | 广西大学 | Wheel type mobile robot palletizer with multiple closed-loop sub chains |
| CN104626103A (en) * | 2014-12-18 | 2015-05-20 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable moving palletizing robot |
| CN107825397A (en) * | 2017-12-05 | 2018-03-23 | 长沙展朔轩兴信息科技有限公司 | A kind of big working space automobile robot palletizer |
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Application publication date: 20140416 |