CN104526677A - Controllable mechanism type movable palletizing robot - Google Patents
Controllable mechanism type movable palletizing robot Download PDFInfo
- Publication number
- CN104526677A CN104526677A CN201410830799.7A CN201410830799A CN104526677A CN 104526677 A CN104526677 A CN 104526677A CN 201410830799 A CN201410830799 A CN 201410830799A CN 104526677 A CN104526677 A CN 104526677A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- connecting rod
- forearm
- connection rod
- frame
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a controllable mechanism type movable palletizing robot. One end of a large arm of the palletizing robot is connected to the other end of a machine frame to be connected with one end of a small arm. The other end of the small arm is connected with a tail end executor. One end of a third connection rod is connected to the other end of the machine frame to be connected with the first angle of a triangular holder. The second corner of the triangular holder is connected with one end of a fourth connection rod. The other end of the fourth connection rod is connected with the tail end executor. The third corner of the triangular holder is connected to a first composite hinge. One end of a second driving rod is connected to the other end of the machine frame to be connected with the first corner of a supporting plate. The second corner of the supporting plate is connected with a first connection rod. The other end of the first connection rod is connected to the small arm. The third corner of the supporting plate is connected with one end of a second connection rod. The other end of the second connection rod is connected to the small arm. The palletizing robot is high in bearing capacity, large in working space and flexible to operate, intelligentization and numerical control can be achieved when the robot is driven and controlled through a servo motor, and most of servo motors can be installed on a rotating machine frame.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of controllable-mechanism type moves robot palletizer.
Background technology
Robot palletizer is widely used in the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and joint type three kinds of structure types.Wherein joint type robot palletizer because its compact conformation, flexible movements, the advantage such as floor space is little, working space is large, progressively become the primary structure form of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all will be arranged on joint, cause the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.
Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that engineering machinery provides wide development space, not only have that working space is large by motor-driven multiple degrees of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
A kind of controllable-mechanism type is the object of the present invention is to provide to move robot palletizer, all drive motors are all arranged in frame, the motor that can solve traditional fisher's formula serial manipulator is arranged on hinge place, the problem such as cause arm heaviness, poor rigidity, inertia is large, joint error is accumulative, robot has good dynamic performance, can meet the requirement of high-speed overload carrying piling preferably.
The present invention achieves the above object by the following technical programs:
A kind of controllable-mechanism type moves robot palletizer, comprises frame, revolving dial, dolly, large arm, forearm, end effector, third connecting rod, triangle retainer, double leval jib, the second driving lever, gripper shoe, first connecting rod and second connecting rod;
Described frame is arranged on revolving dial, and revolving dial is arranged on dolly;
Described large arm one end is connected in frame by the first revolute pair, and the large arm other end is connected with forearm one end by the first compound hinges, and the forearm other end is connected with end effector by the 3rd revolute pair;
Described third connecting rod one end is connected in frame by the tenth revolute pair, the third connecting rod other end is connected by the 11 revolute pair and triangle retainer first jiao, second jiao of triangle retainer is connected with double leval jib one end by the 12 revolute pair, and the double leval jib other end is connected with end effector by the 13 revolute pair;
The triangle joint of described triangle retainer is on the first compound hinges;
Described second driving lever one end is connected in frame by the 4th revolute pair, the second driving lever other end is connected with gripper shoe first jiao by the 5th revolute pair, gripper shoe second jiao is connected with first connecting rod by the 6th revolute pair, the first connecting rod other end is connected on forearm by the 8th revolute pair, and gripper shoe triangle is connected with second connecting rod one end by the 7th revolute pair; The second connecting rod other end connects on forearm by the 9th revolute pair;
End effector bottom is connected with electromagnetic clamp device by the 14 revolute pair that axis direction is vertical.
Outstanding advantages of the present invention is
1, exported by aggregate motion, add the carrying buttress operation of the rotation of revolving dial and the motion energy implementation space of dolly, and track is flexible and changeable, robot has the ability that stronger flexibility exports;
2, this robot palletizer selects driven by servomotor, not only environmental protection, and is easy to realize Long-distance Control, reduces labor strength;
3, all servomotors are installed in frame, and robot motion's inertia is little, and dynamic performance is good, can meet the requirement of carrying piling at a high speed preferably.
Accompanying drawing explanation
Fig. 1 is that a kind of controllable-mechanism type of the present invention moves robot palletizer overall structure schematic diagram.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
A kind of controllable-mechanism type moves robot palletizer, comprises frame 17, revolving dial 2, dolly 1, large arm 7, forearm 13, end effector 17, third connecting rod 6, triangle retainer 10, double leval jib 14, second driving lever 28, gripper shoe 26, first connecting rod 22 and second connecting rod 23;
Described frame 3 is arranged on revolving dial 2, and flat 2 of revolution is arranged on dolly 1;
Described large arm 7 one end is connected in frame 3 by the first revolute pair 5, and large arm 7 other end is connected with forearm 13 one end by the first compound hinges 9, and forearm 13 other end is connected with end effector 17 by the 3rd revolute pair 16;
Described third connecting rod 6 one end is connected in frame 3 by the tenth revolute pair 4, third connecting rod 6 other end is connected by the 11 revolute pair 8 and triangle retainer 10 first jiao, second jiao of triangle retainer 10 is connected with double leval jib 14 one end by the 12 revolute pair 11, and double leval jib 14 other end is connected with end effector 17 by the 13 revolute pair 15;
The triangle joint of described triangle retainer 10 is on the first compound hinges 9;
Described second driving lever 28 one end is connected in frame by the 4th revolute pair 29, second driving lever 28 other end is connected with gripper shoe 26 first jiaos by the 5th revolute pair 27, gripper shoe 26 second jiaos is connected with first connecting rod 22 by the 6th revolute pair 25, first connecting rod 22 other end is connected on forearm by the 8th revolute pair 21, and gripper shoe 26 triangle is connected with second connecting rod 23 one end by the 7th revolute pair 24; Second connecting rod 23 other end connects on forearm 13 by the 9th revolute pair 20;
End effector 17 bottom is connected with electromagnetic clamp device 19 by the 14 revolute pair 18 that axis direction is vertical.
Described first revolute pair 5, first compound hinges 9, the tenth revolute pair the 4, the 11 revolute pair 8 form and remain parallelogram sturcutre in the robot course of work, and described first compound hinges 9, the 3rd revolute pair the 16, the 12 revolute pair the 11, the 13 revolute pair 15 form and remain parallelogram sturcutre in the robot course of work.Described frame is provided with the first servomotor and the second servomotor; Frame 3 is arranged on revolving dial 2, and revolving dial 2 is arranged on dolly 1, realizes movement and the work of space carrying piling of whole robot; Described second driving lever 28 is by the second driven by servomotor; Described large arm 7 is the first driving lever, by the first driven by servomotor.Machine man-hour, by the cooperation of large arm 7 and forearm 13, add the rotation of revolving dial 2 and the movement of dolly 1, the mobile carrying palletizing operation that track is flexible and changeable can be realized, when end effector 17 moves to object place, by aggregate motion, coordinate the motion of dolly 1 and the rotation of revolving dial 2 simultaneously, realize that robot captures, mobile, carrying, discharging mobile carrying palletizing operation.
Claims (1)
1. a controllable-mechanism type moves robot palletizer, it is characterized in that, comprise frame, revolving dial, dolly, large arm, forearm, end effector, third connecting rod, triangle retainer, double leval jib, the second driving lever, gripper shoe, first connecting rod and second connecting rod;
Described frame is arranged on revolving dial, and revolving dial is arranged on dolly;
Described large arm one end is connected in frame by the first revolute pair, and the large arm other end is connected with forearm one end by the first compound hinges, and the forearm other end is connected with end effector by the 3rd revolute pair;
Described third connecting rod one end is connected in frame by the tenth revolute pair, the third connecting rod other end is connected by the 11 revolute pair and triangle retainer first jiao, second jiao of triangle retainer is connected with double leval jib one end by the 12 revolute pair, and the double leval jib other end is connected with end effector by the 13 revolute pair;
The triangle joint of described triangle retainer is on the first compound hinges;
Described second driving lever one end is connected in frame by the 4th revolute pair, the second driving lever other end is connected with gripper shoe first jiao by the 5th revolute pair, gripper shoe second jiao is connected with first connecting rod by the 6th revolute pair, the first connecting rod other end is connected on forearm by the 8th revolute pair, and gripper shoe triangle is connected with second connecting rod one end by the 7th revolute pair; The second connecting rod other end connects on forearm by the 9th revolute pair;
End effector bottom is connected with electromagnetic clamp device by the 14 revolute pair that axis direction is vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410830799.7A CN104526677A (en) | 2014-12-25 | 2014-12-25 | Controllable mechanism type movable palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410830799.7A CN104526677A (en) | 2014-12-25 | 2014-12-25 | Controllable mechanism type movable palletizing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104526677A true CN104526677A (en) | 2015-04-22 |
Family
ID=52842402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410830799.7A Pending CN104526677A (en) | 2014-12-25 | 2014-12-25 | Controllable mechanism type movable palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104526677A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328695A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type movable mechanical arm |
| 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 |
| CN105775771A (en) * | 2016-04-29 | 2016-07-20 | 广西大学 | Controllable mechanism type robot palletizer with multiple active degrees |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
| CN106759566A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| JP5112115B2 (en) * | 2008-03-07 | 2013-01-09 | オークラ輸送機株式会社 | Loading device |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
-
2014
- 2014-12-25 CN CN201410830799.7A patent/CN104526677A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5112115B2 (en) * | 2008-03-07 | 2013-01-09 | オークラ輸送機株式会社 | Loading device |
| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| CN103711157A (en) * | 2013-12-16 | 2014-04-09 | 广西大学 | High-rigidity nine-lever and two-freedom degree controllable mechanical loading mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328695A (en) * | 2015-11-10 | 2016-02-17 | 南宁邃丛赋语科技开发有限责任公司 | Controllable mechanism type movable mechanical arm |
| CN105328695B (en) * | 2015-11-10 | 2017-06-23 | 南宁邃丛赋语科技开发有限责任公司 | A kind of controllable-mechanism type mobile mechanical arm |
| 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 |
| CN105775771A (en) * | 2016-04-29 | 2016-07-20 | 广西大学 | Controllable mechanism type robot palletizer with multiple active degrees |
| CN105775771B (en) * | 2016-04-29 | 2018-06-05 | 广西大学 | A kind of multi-activity degree controllable-mechanism type robot palletizer |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
| CN106759566A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A kind of movable type robot palletizer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203003890U (en) | Multi-degree-of-freedom controllable-mechanism-type palletizing robot | |
| CN104526677A (en) | Controllable mechanism type movable palletizing robot | |
| CN201942330U (en) | Four-spatial-activity controlled stacking robot | |
| CN103029124A (en) | Multi-degree-of-freedom controllable mechanism type stacking robot | |
| CN104589301B (en) | A kind of piling with ten bar four-degree-of-freedom controllable-mechanism type mobile mechanical arms | |
| CN102145815B (en) | Spatial four-degree-of-freedom controllable palletizing robot | |
| CN104552232A (en) | Multi-freedom degree controllable mechanism type mobile stacking robot | |
| CN203901283U (en) | Three-freedom-degree parallel-serial stacking mechanical arm with large working space | |
| CN102990661A (en) | Large-workspace controllable stack device | |
| CN106041902B (en) | A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom | |
| CN104476535A (en) | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism | |
| CN104608116A (en) | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism | |
| CN105291100A (en) | Mechanical arm working at multiple angles | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN203003889U (en) | Controllable palletizing robot | |
| CN105773654A (en) | Telescopic material taking and putting joint | |
| CN203901284U (en) | Three-freedom-degree series-parallel stacking mechanical arm | |
| CN105775771B (en) | A kind of multi-activity degree controllable-mechanism type robot palletizer | |
| CN203006509U (en) | Large-workspace robot palletizer | |
| CN104626091A (en) | Multi-freedom-degree parallel palletizing robot | |
| CN203680288U (en) | Parallel-connection stacking mechanical arm capable of rotating in complete circle | |
| CN103707286B (en) | A kind of palletizing mechanical arm in parallel of circumferential rotation type | |
| CN105773600A (en) | Multi-degree of freedom mounting device | |
| CN104493818A (en) | Controllable multi-connecting rod stacking robot | |
| CN203003888U (en) | Large-workspace controllable mechanism type stacking machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150422 |