CN104647353A - High-accuracy high-bearing stacking robot mechanism - Google Patents
High-accuracy high-bearing stacking robot mechanism Download PDFInfo
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- CN104647353A CN104647353A CN201410826285.4A CN201410826285A CN104647353A CN 104647353 A CN104647353 A CN 104647353A CN 201410826285 A CN201410826285 A CN 201410826285A CN 104647353 A CN104647353 A CN 104647353A
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- connecting rod
- connection rod
- revolute pair
- rod
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Abstract
The invention discloses a high-accuracy high-bearing stacking robot mechanism. The robot mechanism is characterized in that one end of a fifth connection rod is connected to a rack, and the other end of the fifth connection rod is connected to one end of a second connection rod; the other end of the second connection rod is connected to one end of a sixth connection rod; the other end of the six connection rod is connected to a tail end actuator; one end of a first driving rod is connected to the rack, and the other end of the first driving rod is connected to one end of a first connection rod; the other end of the first connection rod is connected to the sixth connection rod; one end of a fourth connection rod is simultaneously connected to the first driving rod and the first connection rod, and the other end of the fourth connection rod is connected to the fifth connection rod and the second connection rod; one end of a second driving rod is connected to the rack, and the other end of the second driving rod is connected to one end of a third connection rod; the other end of the third connection rod is connected to the first connection rod. Compared with the conventional chain-opening type series stacking robot, the stacking robot mechanism has the advantages of high rigidity, high bearing capability and small error accumulation, and is particularly suitable for high-speed and high-bearing places; meanwhile, the remote control is liable to be implemented; the labor intensity of workers is effectively reduced.
Description
Technical field
The present invention relates to robot palletizer field, particularly a kind of high accuracy large carrying robot palletizer mechanism.
Background technology
Robot palletizer a kind ofly packs carton, the various shape finished product such as packed, canned, bottled, carry and the industrial robot put in good order, in the industrial production can for some long working that is dull, frequent and that repeat of oblige by doing, traditional robot palletizer generally adopts fisher's formula serial mechanism, fisher's formula serial manipulator has the advantages such as structure is simple, flexible movements, floor space is little, working space is large, is widely used in the fields such as oil, chemical industry, food processing, beverage, logistics.But it is low to there is rigidity equally, can not be applied at a high speed, carry greatly the deficiency of occasion.Fisher's formula cascaded structure robot is because of the restriction of himself structure, drive motors all needs to be arranged on hinged place, the problems such as arm weight is large, poor rigidity, inertia are large, joint error accumulation, mechanism dynamic poor-performing can be caused, be difficult to the requirement meeting high-speed, high precision location piling.In actual piling operation process, if end effector and horizontal plane exist small angle, the number of plies of robot piling is higher, and stacks of goods just easily occurs inclination conditions, causes the serious consequence of collapse of setting.
Summary of the invention
The object of the invention is to prior art Problems existing and a kind of high accuracy large carrying robot palletizer mechanism is provided, solve the little and motor of traditional fisher's formula cascaded structure robot palletizer bearing capacity and be arranged on hinged place, cause that arm weight is large, poor rigidity, inertia large, joint error accumulation, mechanism dynamic poor-performing, be difficult to meet the problems such as high-speed, high precision location piling job requirements.
The present invention achieves the above object by the following technical programs:
A kind of high accuracy large carrying robot palletizer mechanism, comprises frame, revolving dial, the 5th connecting rod, second connecting rod, six-bar linkage, end effector, the first driving lever, first connecting rod, double leval jib, the second driving lever and third connecting rod;
Described frame is arranged on revolving dial;
Described 5th connecting rod one end is connected with frame by the second revolute pair, the 5th connecting rod other end is connected with second connecting rod one end by the 5th compound hinges, the second connecting rod other end is connected with six-bar linkage one end by the 8th revolute pair, and the six-bar linkage other end is connected with end effector by the tenth revolute pair;
Described first driving lever one end is connected with frame by the first revolute pair, and the first driving lever other end is connected with first connecting rod one end by the 4th compound hinges, and the described first connecting rod other end is connected on six-bar linkage by the 9th revolute pair;
Described double leval jib one end is connected with the first driving lever and first connecting rod by the 4th compound hinges simultaneously, and the double leval jib other end is connected with the 5th connecting rod and second connecting rod by the 5th compound hinges simultaneously;
Described second driving lever one end is connected with frame by the 3rd revolute pair, and the second driving lever other end is connected with third connecting rod one end by the 6th revolute pair, and the third connecting rod other end is connected on first connecting rod by the 7th revolute pair.
Outstanding advantages of the present invention is:
1, adopt the robot palletizer in parallel of band closed-loop subchain, there is the advantages such as higher than traditional fisher's formula series connection robot palletizer rigidity, bearing capacity is strong, error accumulation is little, be especially applicable to being applied at a high speed, carry occasion greatly, and be easy to realize Long-distance Control, effectively reduce labor strength.
2, have employed attitude and keep side chain, in palletization, attitude keeps side chain can ensure that end effector remains level by two groups of parallelogram, and end effector precision can be made higher, effectively solves the collapse of setting problem that the work of actual code buttress exists.
3, all servomotors are installed in frame, and robot motion's inertia is little, and dynamic performance is good, more
Meet well the demand of high-speed, high precision piling work.
4, jointed gear unit is simplified, and is suitable for and manufactures large-scale carrying and piling.
5, rod member all can make lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of high accuracy of the present invention large carrying robot palletizer mechanism.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
A kind of high accuracy large carrying robot palletizer mechanism, comprises frame 2, revolving dial 1, the 5th connecting rod 6, second connecting rod 10, six-bar linkage 19, end effector 21, first driving lever 5, first connecting rod 11, double leval jib 8, second driving lever 14 and third connecting rod 16;
Described frame 2 is arranged on revolving dial 1;
Described 5th connecting rod 6 one end is connected with frame 2 by the second revolute pair 4,5th connecting rod 6 other end is connected with second connecting rod 10 one end by the 5th compound hinges 7, second connecting rod 10 other end is connected with six-bar linkage 19 one end by the 8th revolute pair 12, and six-bar linkage 19 other end is connected with end effector 21 by the tenth revolute pair 20;
Described first driving lever 5 one end is connected with frame 2 by the first revolute pair 3, and first driving lever 5 other end is connected with first connecting rod 11 one end by the 4th compound hinges 9, and described first connecting rod 11 other end is connected on six-bar linkage 19 by the 9th revolute pair 18;
Described double leval jib 8 one end is connected with the first driving lever 5 and first connecting rod 11 by the 4th compound hinges 9 simultaneously, and double leval jib 8 other end is connected with the 5th connecting rod 6 and second connecting rod 10 by the 5th compound hinges 7 simultaneously;
Described second driving lever 14 one end is connected with frame 2 by the 3rd revolute pair 13, and second driving lever 14 other end is connected with third connecting rod 16 one end by the 6th revolute pair 15, and third connecting rod 16 other end is connected on first connecting rod 11 by the 7th revolute pair 17.
The course of work and principle:
Described first driving lever 5 is driven by the first servomotor 28, and the second driving lever 14 is driven by the second servomotor 29; Described first revolute pair 3, second revolute pair 4, the 5th compound hinges 7, the 4th compound hinges 9 form and remain parallelogram sturcutre in the robot course of work, described 4th compound hinges 9, the 5th compound hinges 7, the 8th revolute pair 12, the 9th revolute pair 18 form and remain parallelogram sturcutre in the robot course of work, realize end effector and remain level in the course of the work; Described frame 2 is provided with the first servomotor 28, second servomotor 29; Frame 2 is arranged on revolving dial 1, realizes the space carrying piling work of whole robot; Machine man-hour, can realize robot crawl, carrying, discharging carrying palletizing operation, attitude keeps two groups of parallelogram sturcutres of side chain to ensure that end effectors 21 remain level; Described frame 2 is arranged on revolving dial 1, realizes the job requirement that whole robot mechanism is flexible and changeable in working space.
Claims (1)
1. a high accuracy large carrying robot palletizer mechanism, it is characterized in that, comprise frame, revolving dial, the 5th connecting rod, second connecting rod, six-bar linkage, end effector, the first driving lever, first connecting rod, double leval jib, the second driving lever and third connecting rod;
Described frame is arranged on revolving dial;
Described 5th connecting rod one end is connected with frame by the second revolute pair, the 5th connecting rod other end is connected with second connecting rod one end by the 5th compound hinges, the second connecting rod other end is connected with six-bar linkage one end by the 8th revolute pair, and the six-bar linkage other end is connected with end effector by the tenth revolute pair;
Described first driving lever one end is connected with frame by the first revolute pair, and the first driving lever other end is connected with first connecting rod one end by the 4th compound hinges, and the described first connecting rod other end is connected on six-bar linkage by the 9th revolute pair;
Described double leval jib one end is connected with the first driving lever and first connecting rod by the 4th compound hinges simultaneously, and the double leval jib other end is connected with the 5th connecting rod and second connecting rod by the 5th compound hinges simultaneously;
Described second driving lever one end is connected with frame by the 3rd revolute pair, and the second driving lever other end is connected with third connecting rod one end by the 6th revolute pair, and the third connecting rod other end is connected on first connecting rod by the 7th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826285.4A CN104647353A (en) | 2014-12-25 | 2014-12-25 | High-accuracy high-bearing stacking robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826285.4A CN104647353A (en) | 2014-12-25 | 2014-12-25 | High-accuracy high-bearing stacking robot mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN104647353A true CN104647353A (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826285.4A Pending CN104647353A (en) | 2014-12-25 | 2014-12-25 | High-accuracy high-bearing stacking robot mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086616A (en) * | 2021-03-31 | 2021-07-09 | 天津中车四方所科技有限公司 | Large-angle long-stroke material tray transfer device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0647507A1 (en) * | 1993-03-31 | 1995-04-12 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Articulated robot |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN203003889U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Controllable palletizing robot |
-
2014
- 2014-12-25 CN CN201410826285.4A patent/CN104647353A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0647507A1 (en) * | 1993-03-31 | 1995-04-12 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Articulated robot |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN203003889U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Controllable palletizing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086616A (en) * | 2021-03-31 | 2021-07-09 | 天津中车四方所科技有限公司 | Large-angle long-stroke material tray transfer device |
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Application publication date: 20150527 |