CN104626091A - Multi-freedom-degree parallel palletizing robot - Google Patents

Multi-freedom-degree parallel palletizing robot Download PDF

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Publication number
CN104626091A
CN104626091A CN201410786764.8A CN201410786764A CN104626091A CN 104626091 A CN104626091 A CN 104626091A CN 201410786764 A CN201410786764 A CN 201410786764A CN 104626091 A CN104626091 A CN 104626091A
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China
Prior art keywords
rod
revolute pair
arm
auxiliary
forearm
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Pending
Application number
CN201410786764.8A
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Chinese (zh)
Inventor
蔡敢为
王龙
邓承祥
王麾
李智杰
张永文
李荣康
朱凯君
王小纯
李岩舟
杨旭鹃
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Guangxi University
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Guangxi University
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Priority to CN201410786764.8A priority Critical patent/CN104626091A/en
Publication of CN104626091A publication Critical patent/CN104626091A/en
Pending legal-status Critical Current

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Abstract

The invention provides a multi-freedom-degree parallel palletizing robot. The multi-freedom-degree parallel palletizing robot comprises a moving platform, a rotating rack, an arm lifting mechanism, an end effector horizontal-movement keeping mechanism and a flange plate. The rotating rack is connected to the moving platform through a rotating pair. The arm lifting mechanism comprises a large arm, a small arm, a first driving rod, a first connecting rod, a second connecting rod, a third connecting rod, a second driving rod and a fourth connecting rod, and all the rods are connected through hinges. The end effector horizontal-movement keeping mechanism comprises a parallelogram mechanism composed of the large arm, a first auxiliary connecting rod, a triangular auxiliary frame and the rotating rack and a parallelogram mechanism composed of the small arm, a second auxiliary connecting rod, a triangular auxiliary frame and an end effector horizontal-movement keeping device. The multi-freedom-degree parallel palletizing robot is high in bearing capacity, large in working space, flexible in operation and capable of achieving intelligentization and numerical control through the driving control of a servo motor; moreover, the palletizing robot is compact in structure, large in rigidity and better in reliability and dynamic stability.

Description

A kind of multi-freedom parallel connection robot palletizer
[technical field]
The present invention relates to industrial robot field, espespecially a kind of multi-freedom parallel connection 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]
For the variety of problems faced described in background technology, the object of the present invention is to provide a kind of multi-freedom parallel connection 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.
For achieving the above object, the technical scheme that a kind of multi-freedom parallel connection of the present invention robot palletizer adopts is: a kind of multi-freedom parallel connection robot palletizer, comprises mobile platform, rotary frame, arm lifting mechanism, end effector translation maintaining body, ring flange, described rotary frame is connected on a mobile platform, by the first Serve Motor Control, by the rotation of programming realization vertical direction by the first revolute, described arm lifting mechanism is made up of large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, double leval jib, large arm one end is connected with rotary frame by the first revolute pair, and the other end is connected with forearm middle-end by the second revolute pair, first driving lever one end is connected with rotary frame by the first revolute pair, and the other end is connected by the 3rd revolute pair and first connecting rod first link, first connecting rod second link is connected with second connecting rod one end by the 4th revolute pair, and the second connecting rod other end is connected with third connecting rod one end by the 5th revolute pair, and the third connecting rod other end is connected with forearm by the 6th revolute pair, first connecting rod the 3rd link is connected with forearm by the 7th revolute pair, second driving lever is connected with rotary frame by the 8th revolute pair, and the other end is connected with double leval jib one end by the 9th revolute pair, and the double leval jib other end is connected with large arm by the tenth revolute pair, wherein, the first driving lever is by the second Serve Motor Control, and the second driving lever is by the 3rd Serve Motor Control, described end effector translation maintaining body comprises large arm, first auxiliary connecting rod, triangle auxiliary frame, rotary frame composition parallel-crank mechanism and by forearm, second auxiliary connecting rod, triangle auxiliary frame, the parallel-crank mechanism of end effector translation retainer composition, first auxiliary connecting rod one end is connected with rotary frame by the 11 revolute pair, the other end is connected with triangle auxiliary frame by the 12 revolute pair, second end of triangle auxiliary frame is connected with large arm and forearm by the second revolute pair, 3rd end of triangle auxiliary frame is connected with the second auxiliary connecting rod by the 13 revolute pair, the second auxiliary connecting rod other end is connected with end effector translation retainer one end by the 14 revolute pair, the end effector translation retainer other end is connected with forearm one end by the 15 revolute pair, described ring flange is arranged on end effector translation retainer by the second revolute, installs different end effectors according to actual needs, by the 4th Serve Motor Control, by the rotation of programming realization vertical direction.
Further, the first driving lever, the second driving lever, drives by the servomotor installed on the rotating gantry.
The present invention has following beneficial effect:
1. exported by mobile platform, rotary frame, arm lifting mechanism, the aggregate motion of end effector translation maintaining body, 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.
4. adopt the parallel-crank mechanism of large arm, first connecting rod, second connecting rod and forearm composition and the parallel-crank mechanism of first connecting rod, second connecting rod, third connecting rod and forearm composition, make structure more stable, add its rigidity, improve its bearing capacity.
Your juror all can there be further understanding and understanding to object of the present invention, shape, structure, feature and effect thereof for ease of, and elaborate in conjunction with the embodiments.
[accompanying drawing explanation]
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is arm lifting mechanism schematic diagram of the present invention;
Fig. 3 is end effector translation maintaining body schematic diagram of the present invention;
Fig. 4 is the first working state schematic representation of the present invention;
Fig. 5 is the second working state schematic representation of the present invention;
Fig. 6 is the third working state schematic representation of the present invention;
Fig. 7 is the present invention's the 4th kind of working state schematic representation.
The drawing reference numeral of detailed description of the invention illustrates:
Mobile platform 1 Rotary frame 3 Large arm 26
Forearm 12 First driving lever 5 Second driving lever 30
First connecting rod 6 Second connecting rod 9 Third connecting rod 24
Double leval jib 28 First revolute 2 Second revolute 20
First revolute pair 32 Second revolute pair 15 3rd revolute pair 4
4th revolute pair 8 5th revolute pair 25 6th revolute pair 2
7th revolute pair 11 8th revolute pair 31 9th revolute pair 27
Tenth revolute pair 29 11 revolute pair 7 12 revolute pair 13
13 revolute pair 22 14 revolute pair 18 15 revolute pair 17
First auxiliary connecting rod 10 Second auxiliary connecting rod 16 Triangle auxiliary frame 14
End effector translation retainer 19
[detailed description of the invention]
Below in conjunction with the drawings and specific embodiments, a kind of multi-freedom parallel connection robot palletizer of the present invention is described further.
Refer to Fig. 1, be a kind of multi-freedom parallel connection robot palletizer of the present invention, comprise mobile platform 1, rotary frame 3, arm lifting mechanism, end effector translation maintaining body, ring flange 21.
Refer to Fig. 1, described rotary frame 3 is connected on mobile platform 1 by the first revolute 2, by the first Serve Motor Control, by the rotation of programming realization vertical direction.
Refer to Fig. 1 and Fig. 2, described arm lifting mechanism is by large arm 26, forearm 12, first driving lever 5, first connecting rod 6, second connecting rod 9, third connecting rod 24, second driving lever 30, double leval jib 28 forms, large arm 26 one end is connected with rotary frame 3 by the first revolute pair 32, the other end is connected with forearm 12 middle-end by the second revolute pair 15, first driving lever 5 one end is connected with rotary frame 3 by the first revolute pair 32, the other end is connected by the 3rd revolute pair 4 and first connecting rod 6 first links, first connecting rod 6 second links are connected with second connecting rod 9 by the 4th revolute pair 8, second connecting rod 9 is connected with third connecting rod 24 by the 5th revolute pair 25, third connecting rod 24 is connected with forearm 12 by the 6th revolute pair 23, first connecting rod 6 the 3rd link is connected with forearm 12 by the 7th revolute pair 11, second driving lever 30 is connected with rotary frame 3 by the 8th revolute pair 31, the other end is connected with double leval jib 28 one end by the 9th revolute pair 27, double leval jib 28 other end is connected with large arm 26 by the tenth revolute pair 29, first driving lever 5 is by the second Serve Motor Control, second driving lever 30 is by the 3rd Serve Motor Control.
Refer to Fig. 1 and Fig. 3, described end effector translation maintaining body comprises large arm 26, first auxiliary connecting rod 10, triangle auxiliary frame 14, rotary frame 3 form parallel-crank mechanism and by forearm 12, second auxiliary connecting rod 16, triangle auxiliary frame 14, the parallel-crank mechanism of end effector translation retainer 19 composition, first auxiliary connecting rod 10 one end is connected with rotary frame 3 by the 11 revolute pair 7, the other end is connected with triangle auxiliary frame 14 by the 12 revolute pair 13, second end of triangle auxiliary frame 14 is connected with large arm 26 and forearm 12 by the second revolute pair 15, 3rd end of triangle auxiliary frame 14 is connected with the second auxiliary connecting rod 16 by the 13 revolute pair 22, second auxiliary connecting rod 16 other end is connected with end effector translation retainer 19 one end by the 14 revolute pair 18, end effector translation retainer 19 other end is connected with forearm 12 one end by the 15 revolute pair 17.
Referring to ring flange 21 described in Fig. 1 is connected on end effector translation retainer 19 by the second revolute 20, can install different end effectors according to actual needs, by the 4th Serve Motor Control, by the rotation of programming realization at vertical direction.
Refer to Fig. 4, for robot of the present invention realizes the working state schematic representation of dead ahead carrying.
Refer to Fig. 5, for robot of the present invention realizes the working state schematic representation of dead ahead carrying at a distance.
Refer to Fig. 6, for robot of the present invention realizes the working state schematic representation of dead ahead eminence carrying.
Refer to Fig. 7, for robot of the present invention realizes the working state schematic representation carried in dead ahead nearby.
In sum, the present invention has following beneficial effect:
1. exported by mobile platform, rotary frame, arm lifting mechanism, the aggregate motion of end effector translation maintaining body, 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.
4. adopt the parallel-crank mechanism of large arm, first connecting rod, second connecting rod and forearm composition and the parallel-crank mechanism of first connecting rod, second connecting rod, third connecting rod and forearm composition, make structure more stable, add its rigidity, improve its bearing capacity.
Above-mentioned explanation is the detailed description for the better possible embodiments of the present invention, but embodiment is also not used to limit patent claim of the present invention, the equal change completed under technical spirit suggested by all the present invention or modification are changed, and all should belong to the present invention and contain the scope of the claims.

Claims (2)

1. a multi-freedom parallel connection robot palletizer, is characterized in that: comprise mobile platform, rotary frame, arm lifting mechanism, end effector translation maintaining body, ring flange;
Described rotary frame is connected on a mobile platform, by the first Serve Motor Control, by the rotation of programming realization vertical direction by the first revolute;
Described arm lifting mechanism is made up of large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, double leval jib; Large arm one end is connected with rotary frame by the first revolute pair, and the other end is connected with forearm middle-end by the second revolute pair; First driving lever one end is connected with rotary frame by the first revolute pair, and the other end is connected by the 3rd revolute pair and first connecting rod first link; First connecting rod second link is connected with second connecting rod one end by the 4th revolute pair, and the second connecting rod other end is connected with third connecting rod one end by the 5th revolute pair, and the third connecting rod other end is connected with forearm by the 6th revolute pair; First connecting rod the 3rd link is connected with forearm by the 7th revolute pair; Second driving lever is connected with rotary frame by the 8th revolute pair, and the other end is connected with double leval jib one end by the 9th revolute pair, and the double leval jib other end is connected with large arm by the tenth revolute pair; Wherein, the first driving lever is by the second Serve Motor Control, and the second driving lever is by the 3rd Serve Motor Control;
Described end effector translation maintaining body comprises large arm, first auxiliary connecting rod, triangle auxiliary frame, rotary frame composition parallel-crank mechanism and by forearm, second auxiliary connecting rod, triangle auxiliary frame, the parallel-crank mechanism of end effector translation retainer composition, first auxiliary connecting rod one end is connected with rotary frame by the 11 revolute pair, the other end is connected with triangle auxiliary frame by the 12 revolute pair, second end of triangle auxiliary frame is connected with large arm and forearm by the second revolute pair, 3rd end of triangle auxiliary frame is connected with the second auxiliary connecting rod by the 13 revolute pair, the second auxiliary connecting rod other end is connected with end effector translation retainer one end by the 14 revolute pair, the end effector translation retainer other end is connected with forearm one end by the 15 revolute pair,
Described ring flange is arranged on end effector translation retainer by the second revolute, installs different end effectors according to actual needs, by the 4th Serve Motor Control, by the rotation of programming realization vertical direction.
2. a kind of multi-freedom parallel connection robot palletizer as claimed in claim 1, is characterized in that: the first driving lever, the second driving lever, drives by the servomotor installed on the rotating gantry.
CN201410786764.8A 2014-12-17 2014-12-17 Multi-freedom-degree parallel palletizing robot Pending CN104626091A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710864A (en) * 2016-04-12 2016-06-29 上海工程技术大学 Decoupling four-freedom-degree telecentric mechanism for ex-vivo minimally invasive operations
CN106917423A (en) * 2017-03-22 2017-07-04 山东交通学院 A kind of two-freedom numerical control is digged pit robot mechanism

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CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103722553A (en) * 2013-12-17 2014-04-16 广西大学 Multi-degree-of-freedom parallel-mechanism type controllable welding robot
CN103737581A (en) * 2013-12-07 2014-04-23 广西大学 Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space
CN103737208A (en) * 2013-12-17 2014-04-23 广西大学 Multi-degree-of-freedom welding robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6305678B1 (en) * 2000-06-02 2001-10-23 Hammersmith Mfg. & Sales, Inc. Welder positioner
CN201711963U (en) * 2010-07-20 2011-01-19 徐州圣尊机器人科技有限公司 Movable mechanical arm platform
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103737581A (en) * 2013-12-07 2014-04-23 广西大学 Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103722553A (en) * 2013-12-17 2014-04-16 广西大学 Multi-degree-of-freedom parallel-mechanism type controllable welding robot
CN103737208A (en) * 2013-12-17 2014-04-23 广西大学 Multi-degree-of-freedom welding robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710864A (en) * 2016-04-12 2016-06-29 上海工程技术大学 Decoupling four-freedom-degree telecentric mechanism for ex-vivo minimally invasive operations
CN106917423A (en) * 2017-03-22 2017-07-04 山东交通学院 A kind of two-freedom numerical control is digged pit robot mechanism

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Application publication date: 20150520

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