CN106002986A - Palletizing robot with double vertical sliding bases - Google Patents
Palletizing robot with double vertical sliding bases Download PDFInfo
- Publication number
- CN106002986A CN106002986A CN201610598575.7A CN201610598575A CN106002986A CN 106002986 A CN106002986 A CN 106002986A CN 201610598575 A CN201610598575 A CN 201610598575A CN 106002986 A CN106002986 A CN 106002986A
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- Prior art keywords
- slide
- connecting rod
- forearm
- specifically
- robot palletizer
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A palletizing robot with double vertical sliding bases comprises a pedestal, a waist device, an arm device connected to the waist device, and a grasper connected to the arm device. The pedestal is used for driving the waist device to rotate. The waist device comprises a first vertical sliding device and a second vertical sliding device which are arranged in a spaced mode, the first vertical sliding device comprises the first sliding base and a first lead screw used for driving the first sliding base, the second vertical sliding device comprises the second sliding base and a second lead screw used for driving the second sliding base, and the first vertical sliding device and the second vertical sliding device are connected to the arm device. As the palletizing robot with double vertical sliding bases specifically comprises the two vertical sliding devices, various motions of an arm can be achieved just by controlling the two vertical sliding bases, and only two motors rather than complex driving systems and transmission systems are needed to drive the two vertical sliding bases.
Description
Technical field
The present invention relates to robot field, in particular to a kind of code specifically having double vertically slide
Buttress robot.
Background technology
Robot palletizer be used in industrial processes perform high-volume workpiece, the acquisition of package,
One class industrial robot of the tasks such as carrying, piling, de-stacking, is collection machinery, electronics, information, intelligence
The subject such as technology, computer science is in the high-new electronic product of one.
The structural shape of robot palletizer mainly has cartesian co-ordinate type, joint type.Cartesian co-ordinate type piling
The artificial 4 axle robots of machine.X-axis, Y-axis and Z axis in 4 kinematic axis correspondence rectangular coordinate systems,
And on Z axis with a rotary shaft.The transmission of Cartesian robot is mainly by driving electricity
The rotation of machine drives Timing Belt motion, and Timing Belt drives the slide block movement on line slideway.Rectangular coordinate machine
Device people has positioning precision height, space tracking is prone to advantages such as solving, computer control is simple, but institute
Taking up space, working range big, relative is little, operating flexibility is poor, movement velocity is relatively low.With rectangular coordinate
Robot compares, and revolute robot's fuselage is little and motion space big, and flexible movements can meet more
Production requirement, range of application is wider.In the prior art, the waist knot of 4DOF robot palletizer
Structure is complex and expensive.
Summary of the invention
It is an object of the invention to provide a kind of robot palletizer specifically having double vertically slide, its waist
Simple in construction and cost are relatively low.
Embodiments of the invention are achieved in that
A kind of robot palletizer specifically having double vertically slide, it includes base, lumbar device, connection
To the arm apparatus of lumbar device and be connected to the handgrip of arm apparatus, base drives lumbar device to turn
Dynamic；Lumbar device includes the first vertical carriage and the second vertical carriage of spaced setting,
First vertical carriage includes the first slide and drives the first leading screw of the first slide, and second is vertical
Carriage includes the second slide and drives the second leading screw of the second slide, the first vertical carriage
It is respectively connecting to arm apparatus with the second vertical carriage.
In preferred embodiment of the present invention, the of the above-mentioned robot palletizer specifically having double vertically slide
One slide is connected to arm apparatus by first connecting rod, and one end of first connecting rod is hinged with the first slide,
The other end of first connecting rod is hinged with arm apparatus.
In preferred embodiment of the present invention, the of the above-mentioned robot palletizer specifically having double vertically slide
Two slides are connected to arm apparatus by second connecting rod, and one end of second connecting rod is hinged with the second slide,
The other end of second connecting rod is hinged with arm apparatus.
In preferred embodiment of the present invention, the above-mentioned hands specifically having double vertically robot palletizer of slide
Arm assembly includes postbrachium and is hinged to the forearm of one end of postbrachium, first connecting rod and second connecting rod respectively
It is hinged to same one end of postbrachium.
In preferred embodiment of the present invention, after the above-mentioned robot palletizer specifically having double vertically slide
Arm includes rear large arm and the spaced rear forearm of rear large arm, and first connecting rod and second connecting rod are respectively articulated with
To one end of rear large arm, rear large arm is connected to rear forearm by third connecting rod, between third connecting rod and forearm
Every setting.
In preferred embodiment of the present invention, the above-mentioned waist specifically having double vertically robot palletizer of slide
Part device includes that waist housing, one end of rear forearm are arranged at waist housing, one end of third connecting rod with
Hinged and third connecting rod the other end of rear large arm is hinged with one end of rear forearm.
In preferred embodiment of the present invention, after the above-mentioned robot palletizer specifically having double vertically slide
Large arm and rear forearm are respectively articulated with to forearm, and rear large arm, rear forearm, third connecting rod and forearm are formed
Quadric chain.
In preferred embodiment of the present invention, before the above-mentioned robot palletizer specifically having double vertically slide
One end of arm is provided with installing rack, and installing rack connects handgrip.
In preferred embodiment of the present invention, after the above-mentioned robot palletizer specifically having double vertically slide
Forearm is provided with A-frame with the hinged place of forearm, and the first auxiliary connecting rod is passed through in one end of A-frame
Being connected to postbrachium, the other end of A-frame is connected to installing rack by the second auxiliary connecting rod.
In preferred embodiment of the present invention, the of the above-mentioned robot palletizer specifically having double vertically slide
One leading screw is driven by the first motor, and the second leading screw is driven by the second motor.
The embodiment of the present invention provides the benefit that: the piling machine specifically having double vertically slide of the present invention
People includes base, lumbar device, is connected to the arm apparatus of lumbar device and is connected to arm apparatus
Handgrip, base drive lumbar device rotate；Lumbar device includes the first vertical of spaced setting
Carriage and the second vertical carriage, the first vertical carriage includes the first slide and driving
First leading screw of the first slide, the second vertical carriage includes the second slide and drives the second slide
The second leading screw, the first vertical carriage and the second vertical carriage be respectively connecting to arm apparatus,
The robot palletizer specifically having double vertically slide includes two vertical carriages, and specifically has double perpendicular
The robot palletizer of straight slide does not has horizontal slide, it is only necessary to can be real by controlling two vertical slides
The multi-motion of existing arm, it is only necessary to two motors drive the vertical slide of the two, it is not necessary to complicated
Drive system and drive system, cost is lower, manufacture is easier.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the schematic perspective view specifically having double vertically robot palletizer of slide of the present invention；
Fig. 2 is another schematic perspective view specifically having double vertically robot palletizer of slide of the present invention；
Fig. 3 is that the local specifically having double vertically lumbar device of the robot palletizer of slide of the present invention is stood
Body schematic diagram；
Fig. 4 is the arm apparatus movement locus specifically having double vertically robot palletizer of slide of the present invention
The first schematic diagram；
Fig. 5 is the arm apparatus movement locus specifically having double vertically robot palletizer of slide of the present invention
The second schematic diagram；
Fig. 6 is the arm apparatus movement locus specifically having double vertically robot palletizer of slide of the present invention
The 3rd schematic diagram.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in inventive embodiments, clearly and completely retouches the technical scheme in the embodiment of the present invention
State, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments.
Generally herein described in accompanying drawing and the assembly of the embodiment of the present invention that illustrates can be with various different joining
Put and arrange and design.
Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit below
The scope of claimed invention processed, but it is merely representative of the selected embodiment of the present invention.Based on this
Embodiment in invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
It should also be noted that similar label and letter represent similar terms, therefore, one in following accompanying drawing
A certain Xiang Yi the accompanying drawing of denier is defined, then need not it is carried out further in accompanying drawing subsequently
Definition and explanation.
In describing the invention, it should be noted that term " " center ", " on ", D score, " left ",
Orientation or the position relationship of the instruction such as " right ", " vertically ", " level ", " interior ", " outward " are based on attached
Orientation shown in figure or position relationship, or the orientation usually put or position when this invention product uses
Put relation, be for only for ease of the description present invention and simplify description rather than instruction or imply indication
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore can not manage
Solve as limitation of the present invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for district
Divide and describe, and it is not intended that indicate or hint relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited,
Term " is arranged ", " installation ", " connection " should be interpreted broadly, and connects for example, it may be fixing,
Can also be to removably connect, or be integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；
Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two element internals
Connection.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition
Concrete meaning in invention.
First embodiment
Refer to Fig. 1 and Fig. 2, the present embodiment provides a kind of robot palletizer specifically having double vertically slide
100, it includes base 110, lumbar device 120, arm apparatus 130 and handgrip 152, base
110 drive lumbar device 120 to rotate, and arm apparatus 130 is connected to lumbar device 120, handgrip 152
It is connected to arm apparatus 130.
Base 110 is installed to ground or other installed surface, and base 110 includes base 110 housing, drives
Dynamic device (not shown) and deceleration device (not shown), driving means and deceleration device are respectively mounted
Inside at base 110 housing.In the present embodiment, driving means includes the first motor and the second electricity
Machine；Deceleration device is planet-gear speed reducer.
Refer to Fig. 3, lumbar device 120 includes that the first vertical carriage 121 and second vertically slides
Device 124.First vertical carriage 121 is identical with the structure of the second vertical carriage 124, tool
Body ground, the first vertical carriage 121 includes first slide the 122, first leading screw the 123, first left cunning
Rail 161 and the second left slide rail 162, the first slide 122 offers three and installs through hole (not shown),
Middle installation through hole and the first leading screw 123 coordinate, and two installation through holes of both sides are left with first respectively
Slide rail 161 and the second left slide rail 162 coordinate.First slide 122 is opened in the installation through hole tool of centre
Having female thread, the first leading screw 123 has the external screw thread that the female thread with the first slide 122 mates.Separately
Outer two installation through holes mate with the first left slide rail 161 and the second left slide rail 162 respectively, and the two is pacified
Dress through hole cross sectional shape respectively with the first left slide rail 161 and cross sectional shape phase of the second left slide rail 162
With, in the present embodiment, the cross sectional shape of the first left slide rail 161 is rectangle, the second left slide rail 162
Cross sectional shape be rectangle.Should be understood that the installation through hole that the first slide 122 is offered is left with first respectively
Slide rail the 161, first right slide rail 163 and the first leading screw 123 coordinate, and the cross sectional shape installing through hole can
To be other shape such as circular, trapezoidal.
One end of first right slide rail 163 is connected to the bottom of waist housing 127, the first right slide rail 163
The other end be connected to the top of waist housing 127.One end of second right slide rail 164 is connected to waist
The bottom of housing 127, the other end of the second right slide rail 164 is connected to the top of waist housing 127.
First right slide rail 163 and the second right spaced setting of slide rail 164.First right slide rail 163 is arranged on
In the installing hole that first slide 122 is arranged, the second left slide rail 162 is arranged on and is also mounted at the first slide
In 122 installing holes arranged, by connector, (figure is not in the bottom of the first right slide rail 163 and the second slide rail
Show) link together.Connector offers the installing hole installing the second leading screw 126, the peace of connector
Dress hole offers screw thread and the second leading screw 126 can be rotated in the installing hole of connector.
Second vertical carriage 124 includes second slide the 125, second leading screw the 126, first right slide rail
163 and the second right slide rail 164, the second slide 125 offers three and installs through hole (not shown), in
Between installation through hole and the second leading screw 126 coordinate, two of both sides installation through holes respectively with the first right cunning
Rail 163 and the second right slide rail 164 coordinate.Second slide 125 is opened in the installation through hole of centre to be had
Female thread, the second leading screw 126 has the external screw thread that the female thread with the second slide 125 mates.Additionally
Installing through hole for two to mate with the first right slide rail 163 and the second right slide rail 164 respectively, the two is installed
The cross sectional shape of through hole is identical with the cross sectional shape of the first right slide rail 163 and the second right slide rail 164 respectively,
In the present embodiment, the cross sectional shape of the first right slide rail 163 is rectangle, cutting of the second right slide rail 164
Face shape is rectangle.Should be understood that installation through hole that the second slide 125 offers respectively with the first right slide rail
163, the first right slide rail 163 and the second leading screw 126 coordinate, and the cross sectional shape installing through hole can be
Other shape such as circular, trapezoidal.
One end of first right slide rail 163 is connected to the bottom of waist housing 127, the first right slide rail 163
The other end be connected to the top of waist housing 127.One end of first right slide rail 163 is connected to waist
The bottom of housing 127, the other end of the first right slide rail 163 is connected to the top of waist housing 127.
First right slide rail 163 and the second right spaced setting of slide rail 164.First right slide rail 163 is arranged on
In the installing hole that first slide 122 is arranged, the second left slide rail 162 is arranged on and is also mounted at the first slide
In 122 installing holes arranged, by connector, (figure is not in the bottom of the first right slide rail 163 and the second slide rail
Show) link together.Connector offers the installing hole installing the first leading screw 123, the peace of connector
Dress hole offers screw thread and the first leading screw 123 can be rotated in the installing hole of connector.
Continuing referring to Fig. 1 and Fig. 2, arm apparatus 130 includes postbrachium 131, forearm 134, first
Connecting rod 135, second connecting rod 136, third connecting rod 137 and auxiliary connecting rod 140.Postbrachium 131 includes
Rear large arm 132 and rear forearm 133, rear large arm 132 and rear forearm 133 be parallel to each other and be spaced setting,
One end of rear large arm 132 is arranged at one end of waist housing 127 and rear forearm 133 by the 3rd even
Bar 137 connects, the other end of rear large arm 132 and the other end of rear forearm 133 respectively with forearm 134
Hinged, rear large arm 132, rear forearm 133, third connecting rod 137 and forearm 134 form double leval jib machine
Structure.
One end of rear large arm 132 is provided with articulated mounting 145, articulated mounting 145 include two plates and
The first jointed shaft 146 and the second jointed shaft 147 being connected between two plates.Third connecting rod 137
One end hinged with one end of rear large arm 132, it is hinged that the other end of third connecting rod 137 is hinged on first
On axle 146.One end of first connecting rod 135 is hinged with the first slide 122, first connecting rod 135 another
One end is hinged on the second jointed shaft 147；One end of second connecting rod 136 is hinged with the second slide 125,
The other end of second connecting rod 136 is hinged on the second jointed shaft 147.
One end of forearm 134 is provided with the installing rack 151 for installing handgrip 152, installing rack 151
Side is connected to one end of forearm 134, and the opposite side of installing rack 151 is connected to handgrip 152.
Auxiliary connecting rod 140 includes first auxiliary connecting rod the 141, second auxiliary connecting rod 142 and A-frame
143, one end of the first auxiliary connecting rod 141 is hinged to A-frame 143, the first auxiliary connecting rod 141
The other end is hinged to the second jointed shaft 147 of articulated mounting 145, one end hinge of the second auxiliary connecting rod 142
Being connected to A-frame 143, the other end of the second auxiliary stand is hinged to handgrip 152.
Compared with prior art, the robot palletizer 100 specifically having double vertically slide in the present embodiment
There is no horizontal slide, the present embodiment specifically has the robot palletizer 100 of double vertically slide by two
Vertically slide controls arm, it is only necessary to can realize the multiple fortune of arm by controlling two vertical slides
Dynamic, it is only necessary to two motor (not shown) drive the vertical slide of the two, it is not necessary to complicated driving
System and drive system, thus cost is lower, it is easier to manufacture.
First motor drives the first leading screw 123 to rotate, and the first leading screw 123 drives the first slide 122 to exist
Vertical motion on first leading screw 123.When the first motor rotates with first direction (the most clockwise),
First leading screw 123 rotates with first direction (the most clockwise), and the first leading screw 123 drives first to slide
Seat 122 moves upward, and the first slide 122 is at the first left slide rail 161 and the second left slide rail 162 simultaneously
Middle slip.When the first motor rotates with second direction (the most counterclockwise), the first leading screw 123 with
Second direction (the most counterclockwise) rotates, and the first leading screw 123 drives the first slide 122 to move downward,
First slide 122 slides in the first left slide rail 161 and the second left slide rail 162 simultaneously.
Second motor drives the second leading screw 126 to rotate, and the second leading screw 126 drives the second slide 125 to exist
Vertical motion on second leading screw 126.When the second motor rotates with first direction (the most clockwise),
Second leading screw 126 rotates with first direction (the most clockwise), and the second leading screw 126 drives second to slide
Seat 125 moves upward, and the second slide 125 is at the first right slide rail 163 and the second right slide rail 164 simultaneously
Middle slip.When the second motor rotates with second direction (the most counterclockwise), the second leading screw 126 with
Second direction (the most counterclockwise) rotates, and the second leading screw 126 drives the second slide 125 to move downward,
Second slide 125 slides in the first right slide rail 163 and the second right slide rail 164 simultaneously.
Refer to Fig. 4, it is shown that the hands specifically having double vertically robot palletizer 100 of slide of the present invention
The movement locus of arm assembly 130, specifically has the robot palletizer 100 of double vertically slide to have altogether seven
Individual pin joint.Specifically, to be referred to as first hinged for first connecting rod 135 and the pin joint of the first slide 122
Point 171, second connects the pin joint with the second slide 125 is referred to as the second pin joint 172, and first connects
Claim with the pin joint of the second jointed shaft 147 and the pin joint of the second connector and the second jointed shaft 147
Being the 3rd pin joint 173, it is hinged that third connecting rod 137 and the pin joint of the first jointed shaft 146 are referred to as the 4th
Point 174, third connecting rod 137 is referred to as the 5th pin joint 175, rear large arm with the pin joint of rear forearm 133
132 are referred to as the 6th pin joint 176 with the pin joint of forearm 134, the hinge of rear forearm 133 and forearm 134
Contact is referred to as the 7th pin joint 177.
When the first slide 122 moves upward along the axial direction of the first leading screw 123, first connecting rod 135
Move upward in company with the first slide 122, and first connecting rod 135 rotates around the first pin joint 171；
When the first slide 122 moves downward along the axial direction of the first leading screw 123, first connecting rod 135 with
Move downwardly together with the first slide 122, and first connecting rod 135 rotates around the first pin joint 171.
When the second slide 125 moves upward along the axial direction of the second leading screw 126, second connecting rod 136 with
Move upward with the second slide 125, and second connecting rod 136 rotates around the second pin joint 172；When
Second slide 125 along the axial direction of the second leading screw 126 move downward time, second connecting rod 136 companion
Second slide 125 moves downwardly together, and second connecting rod 136 rotates around the second pin joint 172.
As shown in Figure 4, the state of the arm apparatus 130 in Fig. 4 is defined as original state, i.e.
The position of one pin joint 171 is in the position (position that the i.e. first leading screw 123 is relatively low) of diagram, and second
The position of pin joint 172 is in the position (position that the i.e. second leading screw 126 is relatively low) of diagram.
As it is shown in figure 5, the first motor drives the first leading screw 123 to rotate, the first leading screw 123 drives
One slide 122 moves up, and the first pin joint 171 moves, and the second motor drives the second leading screw 126
Rotate, when the second leading screw 126 drives the second chute, the second pin joint 172 moves.First connecting rod 135
Before promoting respectively with second connecting rod 136, large arm rotates around the first jointed shaft 146, and rear large arm 132 promotes
Forearm 134 rotates clockwise around the 7th pin joint 177.Rear large arm 132, rear forearm the 133, the 3rd are even
Bar 137 and forearm 134 constitute quadric chain, and rear forearm 133 and third connecting rod 137 are made accordingly
Motion.
As shown in Figure 6, the first motor drives the first leading screw 123 to rotate with contrary rotation direction, the
One leading screw 123 drives the first slide 122 to move down, and the second motor drives with contrary rotation direction
Second leading screw 126 rotates, and the second leading screw 126 drives the second slide 125 to move down.First is hinged
Point 171 is when moving down, and first connecting rod 135 pulls the second jointed shaft 147 to make the to move down, the most greatly
Arm 132 rotates counterclockwise around the first jointed shaft 146, and rear large arm 132 pulls at the 6th pin joint 176
Forearm 134, forearm 134 rotates counterclockwise around the 7th pin joint 177.Rear large arm 132, rear forearm 133,
Third connecting rod 137 and forearm 134 constitute quadric chain, and rear forearm 133 and third connecting rod 137 are made
Corresponding motion.
In sum, the robot palletizer 100 specifically having double vertically slide of the present invention include base 110,
Lumbar device 120, it is connected to the arm apparatus 130 of lumbar device 120 and is connected to arm apparatus
The handgrip 152 of 130, base 110 drives lumbar device 120 to rotate；Lumbar device 120 includes mutually
Spaced first vertical carriage 121 and the second vertical carriage 124, first vertically slides
Device 121 includes the first slide 122 and drives the first leading screw 123 of the first slide 122, and second erects
Straight carriage 124 includes the second slide 125 and drives the second leading screw 126 of the second slide 125,
First vertical carriage 121 and the second vertical carriage 124 are respectively connecting to arm apparatus 130,
The robot palletizer 100 specifically having double vertically slide includes two vertical carriages, and specifically has
The robot palletizer 100 of double vertical slides does not has horizontal slide, it is only necessary to by controlling two vertical cunnings
Seat can realize the multi-motion of arm, it is only necessary to two motors drive the vertical slide of the two, are not required to
Wanting complicated drive system and drive system, cost is lower, manufacture is easier.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for
For those skilled in the art, the present invention can have various modifications and variations.All essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included in the present invention
Protection domain within.
Claims (10)
1. the robot palletizer specifically having double vertically slide, it is characterised in that it includes base, waist
Device, it is connected to the arm apparatus of described lumbar device and is connected to the handgrip of described arm apparatus,
Described base drives described lumbar device to rotate；Described lumbar device includes the first of spaced setting
Vertically carriage and the second vertical carriage, the described first vertical carriage includes the first slide
And driving the first leading screw of described first slide, the described second vertical carriage includes the second slide
And drive the second leading screw of described second slide, the described first vertical carriage and described second to erect
Straight carriage is respectively connecting to described arm apparatus.
The robot palletizer specifically having double vertically slide the most according to claim 1, it is characterised in that
Described first slide is connected to described arm apparatus by first connecting rod, one end of described first connecting rod with
Described first slide is hinged, and the other end of described first connecting rod is hinged with described arm apparatus.
The robot palletizer specifically having double vertically slide the most according to claim 2, it is characterised in that
Described second slide is connected to described arm apparatus by second connecting rod, one end of described second connecting rod with
Described second slide is hinged, and the other end of described second connecting rod is hinged with described arm apparatus.
The robot palletizer specifically having double vertically slide the most according to claim 3, it is characterised in that
Described arm apparatus includes postbrachium and is hinged to the forearm of one end of described postbrachium, described first connecting rod
It is respectively articulated with the same one end to described postbrachium with described second connecting rod.
The robot palletizer specifically having double vertically slide the most according to claim 4, it is characterised in that
Described postbrachium includes rear large arm and the spaced rear forearm of described rear large arm, described first connecting rod and institute
Stating second connecting rod and be respectively articulated with the one end to described rear large arm, described rear large arm is connected by third connecting rod
Arrange to described rear forearm, described third connecting rod and described forearm interval.
The robot palletizer specifically having double vertically slide the most according to claim 5, it is characterised in that
Described lumbar device includes that waist housing, one end of described rear forearm are arranged at described waist housing, institute
State the other end of one end third connecting rod hinged and described with described rear large arm of third connecting rod with described
One end of rear forearm is hinged.
The robot palletizer specifically having double vertically slide the most according to claim 6, it is characterised in that
Described rear large arm and described rear forearm are respectively articulated with to described forearm, described rear large arm, described rear forearm,
Described third connecting rod and described forearm form quadric chain.
The robot palletizer specifically having double vertically slide the most according to claim 7, it is characterised in that
One end of described forearm is provided with installing rack, and described installing rack connects handgrip.
The robot palletizer specifically having double vertically slide the most according to claim 8, it is characterised in that
Described rear forearm is provided with A-frame with the hinged place of described forearm, and one end of described A-frame leads to
Crossing the first auxiliary connecting rod and be connected to described postbrachium, the other end of described A-frame is by the second auxiliary even
Bar is connected to described installing rack.
The robot palletizer specifically having double vertically slide the most according to claim 1, it is characterised in that
Described first leading screw is driven by the first motor, and described second leading screw is driven by the second motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610598575.7A CN106002986B (en) | 2016-07-26 | 2016-07-26 | A kind of specific robot palletizer for having double vertical slides |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610598575.7A CN106002986B (en) | 2016-07-26 | 2016-07-26 | A kind of specific robot palletizer for having double vertical slides |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002986A true CN106002986A (en) | 2016-10-12 |
| CN106002986B CN106002986B (en) | 2018-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610598575.7A Expired - Fee Related CN106002986B (en) | 2016-07-26 | 2016-07-26 | A kind of specific robot palletizer for having double vertical slides |
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| CN (1) | CN106002986B (en) |
Cited By (4)
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| CN108216755A (en) * | 2018-03-09 | 2018-06-29 | 李军 | A kind of Openmouthed bag mechanical hand packing machine |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
| CN114406979A (en) * | 2022-02-25 | 2022-04-29 | 德威土行孙工程机械（北京）有限公司 | Universal manipulator capable of being flexibly adjusted |
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| CN205835323U (en) * | 2016-07-26 | 2016-12-28 | 青岛北洋天青数联智能股份有限公司 | A kind of robot palletizer specifically having double vertically slide |
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| JPS60209438A (en) * | 1984-04-03 | 1985-10-22 | Okura Yusoki Co Ltd | Loading device |
| CN202542490U (en) * | 2012-03-26 | 2012-11-21 | 广东工业大学 | Transporting and stacking robot |
| CN102886777A (en) * | 2012-10-25 | 2013-01-23 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108216755A (en) * | 2018-03-09 | 2018-06-29 | 李军 | A kind of Openmouthed bag mechanical hand packing machine |
| CN108313747A (en) * | 2018-03-21 | 2018-07-24 | 广州数控设备有限公司 | A kind of robot palletizer of linear motor driving |
| CN113334370A (en) * | 2021-07-16 | 2021-09-03 | 广州耐为机器人科技有限公司 | Multi-joint robot with linear transmission |
| CN114406979A (en) * | 2022-02-25 | 2022-04-29 | 德威土行孙工程机械（北京）有限公司 | Universal manipulator capable of being flexibly adjusted |
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