CN104401749A - Mechanical linkage stacking arm - Google Patents
Mechanical linkage stacking arm Download PDFInfo
- Publication number
- CN104401749A CN104401749A CN201410588736.5A CN201410588736A CN104401749A CN 104401749 A CN104401749 A CN 104401749A CN 201410588736 A CN201410588736 A CN 201410588736A CN 104401749 A CN104401749 A CN 104401749A
- Authority
- CN
- China
- Prior art keywords
- articulated
- large arm
- point
- push rod
- forearm
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mechanical linkage stacking arm. The mechanical linkage stacking arm comprises a machine frame, a large arm, a small arm, a large arm pushing rod, a small arm pushing rod, a wrist port, a front connecting rod, a rear connecting rod and a balance plate, wherein the large arm, the small arm, the front connecting rod and the rear connecting rod are hinged to the machine frame, the balance plate and the wrist port to form two parallelogram connecting rod structures (ABPO and BDRQ) which keep the posture of the wrist port unchanged all the time; the large arm pushing rod is hinged to the machine frame and the large arm; the small arm pushing rod is hinged to the machine frame and the small arm. Regardless of individual motion of the large arm pushing rod or the small arm pushing rod, the wrist port swings around only a certain axis; only when the large arm pushing rod and the small arm pushing rod are linked, the resultant movement of the wrist port along the direction including the direction of gravity can be realized. Therefore, better power energy distribution can be realized, and the characteristics of higher structural stiffness, dynamic performance and the like are obtained. Moreover, structural parameters can be simplified by virtue of the modular design of the large arm pushing rod and the small arm pushing rod.
Description
Technical field
The present invention relates to a kind of robot arm device of field of mechanical technique, particularly relate to a kind of interlock stacker mechanical arm.
Background technology
At present, the various special purpose machinery of the many employings of automation of industry production field or mechanical arm realize carrying and the pile of material, to improve operating efficiency and overall production.According to the difference of the kind condition of manufacturing line and the volume weight of material etc., these equipment come in every shape.For special purpose machinery, mechanical arm due to floor area little, structure is simple, and flexible operation, can realize the advantages such as flexible job, obtains general application in the carrying of material and pile field.More representational as universal joint type industrial machine mechanical arm in the version of mechanical arm, or SCARA shape plane coordinates mechanical arm etc.According to the complexity of operation, usually carrying and heap code function namely can be realized with 2-5 degree of freedom.But comparatively simple and palletizing operations that accuracy requirement is not bery high for some, use universal joint type mechanical arm to there is the waste of function and cost to a certain extent.On the other hand, universal function definition is applied can not well mate with some piling.Therefore adopt the method for designing falling degree of freedom, with the requirement of satisfied production and cost more.
Chinese patent ZL200520020980.8 proposes a kind of robot palletizer of four-bar linkage structure, it by installing vertical line guide rail and vertical ball screw pair and horizontal linear guide rail and horizontal ball screw assembly, in frame, driver train is connected with ball screw assembly, vertical ball screw pair and horizontal ball screw assembly, connect arm mechanism by rotating shaft, achieve horizontal drive mechanism load carrying point is only moved in the horizontal direction and vertical driving mechanism make load carrying point only in the vertical direction movement without coupled linear motion and decoupling zero function.Meanwhile, the wrist attitude that it also utilizes the wrist attitude-adjusting system of two parallelogram to achieve robot remains unchanged.But when current calculating equipment and software for calculation high development, the mobile decoupling of two degree of freedom has not possessed the outstanding advantage simplifying control and program.More importantly, load carrying point only has vertical driving mechanism to bear along moving of gravity direction, and this must need to select larger power, larger power/moment of torsion etc., in cost and maintenance, all form certain impact.
Summary of the invention
The object of the invention is to, a kind of interlock stacker mechanical arm is newly provided, technical matters to be solved makes it by the teamwork of two straight-line motion pairs, obtain the two dimensional motion of mechanical arm in gravity direction plane, achieve the common acting of driver train, adopt modular design method simultaneously, reduce part kind and maintenance cost.
The object of the invention to solve the technical problems realizes by the following technical solutions.The one interlock stacker mechanical arm proposed according to the present invention, it comprises: frame, large arm, forearm, large arm push rod, forearm push rod, wrist interface, front rod, rear linking rod and balance plate; Wherein, one end of described large arm is articulated with the A point in described frame, and the other end of described large arm and described forearm are articulated with B point; One end of described large arm push rod is articulated with the F point in described frame, and the other end of described large arm push rod and described large arm are articulated with E point; One end of described forearm and one end of described forearm push rod are articulated with C point, and the other end and the described wrist interface of described forearm are articulated with D point; The other end of described forearm push rod is articulated with the G point in described frame; One end of described rear linking rod is articulated with the O point in described frame, and the other end of described rear linking rod and described balance plate are articulated with P point; One end of described front rod and described balance plate are articulated with Q point, and the other end and the described wrist interface of described front rod are articulated with R point; Described balance plate also with described large arm and described forearm point articulated at B together with; Between described large arm, described forearm, described front rod, described rear linking rod and described balance plate, equal with the distance between BP 2 in the distance geometrically between AO 2, distance between AB 2 is equal with the distance between OP 2, distance between BQ 2 is equal with the distance between DR 2, distance between BD 2 is equal with the distance between QR 2, is formed thus and ensures that described wrist interface remains ABPO and BDRQ two parallelogram connection-rod structures that attitude is constant.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid interlock stacker mechanical arm, also comprises: base, base gyro black assembly and wrist gyro black assembly; Wherein, described base gyro black assembly connects described frame and described base; Described wrist interface is fixed on described wrist gyro black assembly, and the other end of described forearm is articulated with D point with described wrist gyro black assembly, and the other end of described front rod is articulated with R point with described wrist gyro black assembly.
Aforesaid interlock stacker mechanical arm, wherein said large arm push rod and described forearm push rod are electric pushrod or Electrohydraulic push rod.
Aforesaid interlock stacker mechanical arm, wherein said large arm push rod and described forearm push rod link and make described wrist Interface realization along the resultant movement comprising gravity direction, and described large arm push rod realizes modular design with the same argument structure of described forearm push rod.
The present invention compared with prior art has obvious advantage and beneficial effect.By technique scheme, the present invention's stacker mechanical arm that links at least has following advantages and beneficial effect: compared with prior art, interlock stacker mechanical arm of the present invention achieves better power capacity and distributes, and obtains the characteristics such as the better rigidity of structure, better dynamic property.In addition, to be simplified the structure parameter by modular design, the aspects such as workinprocess cost, maintainability, reliability all have certain practical value.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of specification sheets, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is that the present invention links the structural representation of stacker mechanical arm one preferred embodiment.
Fig. 2 be the present invention link stacker mechanical arm single movement large arm push rod time wrist interface actions schematic diagram.
Fig. 3 be the present invention link stacker mechanical arm single movement forearm push rod time wrist interface actions schematic diagram.
1: base 2: base gyro black assembly
3: frame 4: large arm
5: rear linking rod 6: front rod
7: forearm 8: wrist gyro black assembly
9: wrist interface 10: forearm push rod
11: large arm push rod 12: balance plate
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to its detailed description of the invention of interlock stacker mechanical arm proposed according to the present invention, structure, feature and effect thereof, be described in detail as follows.
Referring to shown in Fig. 1, is that the present invention links the structural representation of stacker mechanical arm one preferred embodiment.Interlock stacker mechanical arm of the present invention is formed primarily of frame 3, large arm 4, forearm 7, large arm push rod 11, forearm push rod 10, wrist interface 9, front rod 6, rear linking rod 5 and balance plate 12.
Wherein, one end of large arm 4 is articulated with the A point in frame 3, and the other end of large arm 4 and forearm 7 are articulated with B point.One end of large arm push rod 11 is articulated with the F point in frame 3, and the other end of large arm push rod 11 and large arm 4 are articulated with E point.One end of forearm 7 and one end of forearm push rod 10 are articulated with C point, and the other end of forearm 7 and wrist interface 9 are articulated with D point, and the other end of forearm push rod 10 is articulated with the G point in frame 3.
One end of rear linking rod 5 is articulated with the O point in frame 3, and the other end of rear linking rod 5 and balance plate 12 are articulated with P point.One end of front rod 6 and balance plate 12 are articulated with Q point, and the other end of front rod 6 and wrist interface 9 are articulated with R point.Together with balance plate 12 is also point articulated at B with forearm 7 with large arm 4.
As shown in Figure 1, large arm 4, forearm 7, front rod 6, between rear linking rod 5 and balance plate 12, equal with the distance between BP 2 in the distance geometrically between AO 2, distance between AB 2 is equal with the distance between OP 2, distance between BQ 2 is equal with the distance between DR 2, distance between BD 2 is equal with the distance between QR 2, form ABPO and BDRQ two parallelogram connection-rod structures thus, can ensure that wrist interface 9 remains that attitude is constant by these two parallelogram connection-rod structures.
In a preferred embodiment of the present invention, the present invention's stacker mechanical arm that links also is provided with base 1, base gyro black assembly 2 and wrist gyro black assembly 8.Wherein, base gyro black assembly 2 connection frame 3 and base 1, it can be realize the revolution action of frame 3 relative to base 1 by the revolution transmission device of routine.Wrist interface 9 is fixed on wrist gyro black assembly 8, and wherein the other end of forearm 7 is articulated with D point with wrist gyro black assembly 8, and the other end of front rod 6 is articulated with R point with wrist gyro black assembly 8.Wrist gyro black assembly 8 also can be the revolution action being realized wrist interface 9 by the revolution transmission device of routine.
Large arm push rod 11 of the present invention and forearm push rod 10 can be realized by the Linear transmission of routine and power device, as the combination of servomotor and ball-screw or trapezoidal screw etc., such as: electric pushrod or Electrohydraulic push rod.
Refer to shown in Fig. 2 and Fig. 3, Fig. 2 be the present invention link stacker mechanical arm single movement large arm push rod time wrist interface actions schematic diagram, Fig. 3 be the present invention link stacker mechanical arm single movement forearm push rod time wrist interface actions schematic diagram.The present invention only by large arm push rod 11 along self length direction do extend or contractive action time, the axis that large arm 4 is formed around A point is done pitching motion, and only by forearm push rod 10 along self length direction do extend or contractive action time, the axis that forearm 7 is formed around B point is done pitching motion.Therefore, no matter be large arm push rod 11 or forearm push rod 10 single movement, all can only realize the swing of wrist interface 9 around a certain axis, only when large arm push rod 11 and forearm push rod 10 link, wrist interface 9 realization can be made along the resultant movement particularly comprising gravity direction.That is, the present invention's stacker mechanical arm that links shares realization in the acting of gravity direction jointly by large arm push rod 11 and forearm push rod 10, this contributes to the requirement of the power device reduced large arm push rod 11 and forearm push rod 10, and under rational optimal design, large arm push rod 11 and forearm push rod 10 even can realize modular design with same argument structure.
Described as can be seen from above, interlock stacker mechanical arm of the present invention achieves better power capacity and distributes, and obtains the characteristics such as the better rigidity of structure, better dynamic property.In addition, to be simplified the structure parameter by modular design, the aspects such as workinprocess cost, maintainability, reliability all have certain practical value.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (4)
1. an interlock stacker mechanical arm, is characterized in that it comprises: frame, large arm, forearm, large arm push rod, forearm push rod, wrist interface, front rod, rear linking rod and balance plate;
Wherein, one end of described large arm is articulated with the A point in described frame, and the other end of described large arm and described forearm are articulated with B point; One end of described large arm push rod is articulated with the F point in described frame, and the other end of described large arm push rod and described large arm are articulated with E point;
One end of described forearm and one end of described forearm push rod are articulated with C point, and the other end and the described wrist interface of described forearm are articulated with D point; The other end of described forearm push rod is articulated with the G point in described frame;
One end of described rear linking rod is articulated with the O point in described frame, and the other end of described rear linking rod and described balance plate are articulated with P point; One end of described front rod and described balance plate are articulated with Q point, and the other end and the described wrist interface of described front rod are articulated with R point; Described balance plate also with described large arm and described forearm point articulated at B together with;
Between described large arm, described forearm, described front rod, described rear linking rod and described balance plate, equal with the distance between BP 2 in the distance geometrically between AO 2, distance between AB 2 is equal with the distance between OP 2, distance between BQ 2 is equal with the distance between DR 2, distance between BD 2 is equal with the distance between QR 2, is formed thus and ensures that described wrist interface remains ABPO and BDRQ two parallelogram connection-rod structures that attitude is constant.
2. interlock stacker mechanical arm according to claim 1, is characterized in that it also comprises: base, base gyro black assembly and wrist gyro black assembly;
Wherein, described base gyro black assembly connects described frame and described base; Described wrist interface is fixed on described wrist gyro black assembly, and the other end of described forearm is articulated with D point with described wrist gyro black assembly, and the other end of described front rod is articulated with R point with described wrist gyro black assembly.
3. interlock stacker mechanical arm according to claim 1, is characterized in that wherein said large arm push rod and described forearm push rod are electric pushrod or Electrohydraulic push rod.
4. interlock stacker mechanical arm according to claim 1, it is characterized in that wherein said large arm push rod and described forearm push rod link makes described wrist Interface realization along the resultant movement comprising gravity direction, and described large arm push rod realizes modular design with the same argument structure of described forearm push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410588736.5A CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410588736.5A CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104401749A true CN104401749A (en) | 2015-03-11 |
| CN104401749B CN104401749B (en) | 2016-08-31 |
Family
ID=52639440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410588736.5A Active CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104401749B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802185A (en) * | 2015-04-22 | 2015-07-29 | 上海交通大学 | Five-degree-of-freedom mechanical arm |
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking 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 |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN106809655A (en) * | 2016-10-20 | 2017-06-09 | 绵阳蓝奥重型机械制造有限公司 | A kind of rocker-arm automatic loading manipulator |
| CN111376235A (en) * | 2020-03-31 | 2020-07-07 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN112743533A (en) * | 2019-10-29 | 2021-05-04 | 天津新松机器人自动化有限公司 | Intelligent stacking robot |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
| CN118125148A (en) * | 2024-04-09 | 2024-06-04 | 江苏智慧工场技术研究院有限公司 | Palletizing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| WO2011075093A1 (en) * | 2009-12-14 | 2011-06-23 | Gokhan Vargin Gok | A multi axis robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN203680288U (en) * | 2014-01-03 | 2014-07-02 | 江西省机械科学研究所 | Parallel-connection stacking mechanical arm capable of rotating in complete circle |
| CN204324422U (en) * | 2014-10-28 | 2015-05-13 | 广西力源宝科技有限公司 | Interlock stacker mechanical arm |
-
2014
- 2014-10-28 CN CN201410588736.5A patent/CN104401749B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| WO2011075093A1 (en) * | 2009-12-14 | 2011-06-23 | Gokhan Vargin Gok | A multi axis robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN203680288U (en) * | 2014-01-03 | 2014-07-02 | 江西省机械科学研究所 | Parallel-connection stacking mechanical arm capable of rotating in complete circle |
| CN204324422U (en) * | 2014-10-28 | 2015-05-13 | 广西力源宝科技有限公司 | Interlock stacker mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 陶俊等: "钢丝绳传动四自由度机械臂的机构设计", 《机械与电子》, no. 1, 31 January 2008 (2008-01-31), pages 31 - 34 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802185A (en) * | 2015-04-22 | 2015-07-29 | 上海交通大学 | Five-degree-of-freedom mechanical arm |
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking robot |
| CN105500360B (en) * | 2016-01-14 | 2017-07-18 | 广西大学 | A kind of robot palletizer |
| 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 |
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
| CN106809655A (en) * | 2016-10-20 | 2017-06-09 | 绵阳蓝奥重型机械制造有限公司 | A kind of rocker-arm automatic loading manipulator |
| CN112743533A (en) * | 2019-10-29 | 2021-05-04 | 天津新松机器人自动化有限公司 | Intelligent stacking robot |
| CN111376235A (en) * | 2020-03-31 | 2020-07-07 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
| CN118125148A (en) * | 2024-04-09 | 2024-06-04 | 江苏智慧工场技术研究院有限公司 | Palletizing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104401749B (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104401749A (en) | Mechanical linkage stacking arm | |
| CN102145815B (en) | Spatial four-degree-of-freedom controllable palletizing robot | |
| CN104440866B (en) | A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair | |
| CN103056875A (en) | Large-work-space controllable-mechanism stacker crane | |
| CN103029124A (en) | Multi-degree-of-freedom controllable mechanism type stacking robot | |
| CN103121589A (en) | Carrying stacking mechanism | |
| CN102922511A (en) | Three-move one-rotation four-freedom degree space parallel connection mechanism | |
| CN203901283U (en) | Three-freedom-degree parallel-serial stacking mechanical arm with large working space | |
| CN103419189A (en) | Robot driving structure | |
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN105128977A (en) | Leg configuration for rotatably driven three-dimensional walking robot | |
| CN102990661A (en) | Large-workspace controllable stack device | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN103569874A (en) | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers | |
| CN203003889U (en) | Controllable palletizing robot | |
| CN204324422U (en) | Interlock stacker mechanical arm | |
| CN105773654A (en) | Telescopic material taking and putting joint | |
| CN203006510U (en) | Transportation stacking mechanism | |
| CN103662855B (en) | A kind of freedom degree parallel connection palletizing mechanical arm | |
| US20210138665A1 (en) | Link mechanism | |
| CN104589308A (en) | Multi-rotating-pair mechanism | |
| CN203901284U (en) | Three-freedom-degree series-parallel stacking mechanical arm | |
| CN203006509U (en) | Large-workspace robot palletizer | |
| CN105751207A (en) | Connecting rod gripper of novel structure | |
| CN105773600A (en) | Multi-degree of freedom mounting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |