CN106002986B - A kind of specific robot palletizer for having double vertical slides - Google Patents
A kind of specific robot palletizer for having double vertical slides Download PDFInfo
- Publication number
- CN106002986B CN106002986B CN201610598575.7A CN201610598575A CN106002986B CN 106002986 B CN106002986 B CN 106002986B CN 201610598575 A CN201610598575 A CN 201610598575A CN 106002986 B CN106002986 B CN 106002986B
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- CN
- China
- Prior art keywords
- connecting rod
- slide
- forearm
- hinged
- robot palletizer
- 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.)
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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
-
- 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
-
- 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
Abstract
A kind of specific robot palletizer for having double vertical slides comprising pedestal, lumbar device, the arm apparatus for being connected to lumbar device and the handgrip for being connected to arm apparatus, pedestal drive lumbar device rotation；Lumbar device includes the first vertical sliding device and the second vertical sliding device of spaced setting, first vertical sliding device includes first slide and drives the first leading screw of first slide, second vertical sliding device includes second slide and drives the second leading screw of second slide, and the first vertical sliding device and the second vertical sliding device are respectively connected to arm apparatus.The specific robot palletizer for having double vertical slides includes two vertical sliding devices, only the multi-motion of arm can be realized by controlling two vertical slides for needs, only two motors is needed to drive the two vertical slides, does not need complicated drive system and transmission system.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of specific robot palletizer for having double vertical slides.
Background technology
Robot palletizer be used in industrial processes execute high-volume workpiece, the acquisition of package, carrying, stacking,
A kind of industrial robot of the tasks such as de-stacking is to integrate the subjects such as machinery, electronics, information, intellectual technology, computer science
High-new electronic product.
The structural shape of robot palletizer mainly has cartesian co-ordinate type, joint type.Cartesian co-ordinate type robot palletizer is 4 axis
Robot.The rotary shaft that 4 kinematic axis correspond to X-axis in rectangular coordinate system, carried on Y-axis and Z axis, and Z axis.Right angle
The transmission of coordinates robot mainly drives synchronous belt movement, synchronous belt to drive in the linear guide by the rotation of driving motor
Slide block movement.Cartesian robot has many advantages, such as that positioning accuracy is high, space tracking is easy to solve, computer control is simple,
But taking up space, big, working range is small, operating flexibility is poor, movement velocity is relatively low relatively.Compared with Cartesian robot, close
Nodal pattern robot fuselage is small and motion space is big, flexible movements, can meet more production requirements, and application range is wider.
In the prior art, the waist structure of 4DOF robot palletizer is complex and expensive.
Invention content
The purpose of the present invention is to provide a kind of specific robot palletizers for having double vertical slides, and waist structure is simply simultaneously
And cost is relatively low.
What the embodiment of the present invention was realized in：
A kind of specific robot palletizer for having double vertical slides comprising pedestal, is connected to lumbar device at lumbar device
Arm apparatus and the handgrip for being connected to arm apparatus, pedestal drive lumbar device rotation；Lumbar device includes spaced sets
The the first vertical sliding device and the second vertical sliding device set, the first vertical sliding device include first slide and driving the
First leading screw of one slide, the second vertical sliding device include second slide and drive the second leading screw of second slide, and first
Vertical sliding device and the second vertical sliding device are respectively connected to arm apparatus.
In preferred embodiments of the present invention, the above-mentioned specific first slide for having the robot palletizer of double vertical slides passes through
First connecting rod is connected to arm apparatus, and one end of first connecting rod and first slide are hinged, and the other end and the arm of first connecting rod fill
It sets hinged.
In preferred embodiments of the present invention, the above-mentioned specific second slide for having the robot palletizer of double vertical slides passes through
Second connecting rod is connected to arm apparatus, and one end of second connecting rod and second slide are hinged, and the other end and the arm of second connecting rod fill
It sets hinged.
In preferred embodiments of the present invention, above-mentioned specific have the arm apparatus of the robot palletizers of double vertical slides to include
Postbrachium and be hinged to postbrachium one end forearm, first connecting rod and second connecting rod are respectively articulated with to the same end of postbrachium.
In preferred embodiments of the present invention, above-mentioned specific to have the postbrachium of the robot palletizers of double vertical slides include rear big
Arm is respectively articulated with the spaced rear forearm of rear large arm, first connecting rod and second connecting rod to one end of rear large arm, and rear large arm is logical
It crosses third connecting rod and is connected to rear forearm, third connecting rod is arranged with forearm interval.
In preferred embodiments of the present invention, above-mentioned specific have the lumbar device of the robot palletizers of double vertical slides to include
Waist shell, one end of rear forearm are set to waist shell, and one end of third connecting rod is hinged with rear large arm and third connecting rod
One end of the other end and rear forearm is hinged.
In preferred embodiments of the present invention, rear large arm of the above-mentioned specific robot palletizer for having double vertical slides and rear small
Arm is respectively articulated with to forearm, and rear large arm, rear forearm, third connecting rod and forearm form four-bar mechanism.
In preferred embodiments of the present invention, above-mentioned specific one end for having double forearms of the robot palletizer of slides vertically is set
It is equipped with mounting bracket, mounting bracket is connected with handgrip.
In preferred embodiments of the present invention, the above-mentioned specific rear forearm and forearm for having double robot palletizers of slides vertically
Hinged place be provided with A-frame, one end of A-frame is connected to postbrachium by the first auxiliary connecting rod, A-frame it is another
One end is connected to mounting bracket by the second auxiliary connecting rod.
In preferred embodiments of the present invention, above-mentioned specific the first leading screw for having the robot palletizer of double vertical slides passes through
First motor drives, and the second leading screw is driven by the second motor.
The advantageous effect of the embodiment of the present invention is：The robot palletizer of double vertical slides that specifically has of the present invention includes bottom
Seat, lumbar device, the arm apparatus for being connected to lumbar device and the handgrip for being connected to arm apparatus, pedestal drive lumbar device
Rotation；Lumbar device includes the first vertical sliding device and the second vertical sliding device of spaced setting, and first is vertical sliding
Dynamic device include first slide and drive first slide the first leading screw, the second vertical sliding device include second slide and
The second leading screw of second slide, the first vertical sliding device and the second vertical sliding device is driven to be respectively connected to arm apparatus,
The specific robot palletizer for having double vertical slides includes two vertical sliding devices, and specifically has the stacking machine of double vertical slides
Device people does not have horizontal slide, it is only necessary to the multi-motion of arm can be realized by controlling two vertical slides, it is only necessary to two
Motor drives the two vertical slides, does not need complicated drive system and transmission system, cost is lower, manufacture is easier.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the specific stereoscopic schematic diagram for having double robot palletizers of slides vertically of the present invention；
Fig. 2 is specific another stereoscopic schematic diagram for having double robot palletizers of slides vertically of the present invention；
Fig. 3 is the specific sectional perspective schematic diagram for having double lumbar devices of the robot palletizer of slides vertically of the present invention；
Fig. 4 is specific the first signal for having double arm apparatus movement locus of the robot palletizer of slides vertically of the present invention
Figure；
Fig. 5 is specific the second signal for having double arm apparatus movement locus of the robot palletizer of slides vertically of the present invention
Figure；
Fig. 6 is the specific third signal for having double arm apparatus movement locus of the robot palletizer of slides vertically of the present invention
Figure.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned term with concrete condition
Concrete meaning in the present invention.
First embodiment
Referring to Fig.1 and 2, the present embodiment provides a kind of specific robot palletizers 100 for having double vertical slides comprising
Pedestal 110, lumbar device 120, arm apparatus 130 and handgrip 152, pedestal 110 drive lumbar device 120 to rotate, arm dress
It sets 130 and is connected to lumbar device 120, handgrip 152 is connected to arm apparatus 130.
For the installation of pedestal 110 to ground or other mounting surfaces, pedestal 110 includes 110 shell of pedestal, driving device (not shown)
And deceleration device (not shown), driving device and deceleration device are separately mounted to the inside of 110 shell of pedestal.In the present embodiment
In, driving device includes first motor and the second motor；Deceleration device is planet-gear speed reducer.
Fig. 3 is please referred to, lumbar device 120 includes the first vertical sliding device 121 and the second vertical sliding device 124.The
One vertical sliding device 121 is identical with the structure of the second vertical sliding device 124, specifically, the first vertical sliding device 121 packet
First slide 122, the first leading screw 123, the first left sliding rail 161 and the second left sliding rail 162 are included, there are three first slide 122 opens up
Installation through-hole (not shown), intermediate installation through-hole and the first leading screw 123 coordinate, and two installation through-holes of both sides are respectively with first
Left sliding rail 161 and the cooperation of the second left sliding rail 162.First slide 122, which is opened in intermediate installation through-hole, has an internal thread, first
Thick stick 123 has the matched external screw thread of internal thread with first slide 122.Other two installation through-hole respectively with the first left sliding rail
161 and second left sliding rail 162 match, the cross sectional shapes of the two installation through-holes respectively with the first left sliding rail 161 and the second left cunning
The cross sectional shape of rail 162 is identical, and in the present embodiment, the cross sectional shape of the first left sliding rail 161 is rectangle, the second left sliding rail 162
Cross sectional shape be rectangle.It should be understood that the installation through-hole that opens up of first slide 122 respectively with the first left sliding rail 161, the first right cunning
Rail 163 and the cooperation of the first leading screw 123, the cross sectional shape of installation through-hole can be the other shapes such as round, trapezoidal.
One end of first right sliding rail 163 is connected to the bottom of waist shell 127, the other end connection of the first right sliding rail 163
To the top of waist shell 127.One end of second right sliding rail 164 is connected to the bottom of waist shell 127, the second right sliding rail 164
The other end be connected to the top of waist shell 127.The 164 spaced setting of first right sliding rail 163 and the second right sliding rail.First
Right sliding rail 163 is mounted in the mounting hole that first slide 122 is arranged, and the second left sliding rail 162 is mounted on and is also mounted at first slide
In the mounting hole of 122 settings, the bottom of the first right sliding rail 163 and the second sliding rail is linked together by connector (not shown).
Connector offers the mounting hole of the second leading screw 126 of installation, and the mounting hole of connector offers screw thread and so that the second leading screw 126 can
To be rotated in the mounting hole of connector.
Second vertical sliding device 124 includes second slide 125, the second leading screw 126, the first right sliding rail 163 and second right side
Sliding rail 164, second slide 125 are opened up there are three installation through-hole (not shown), and intermediate installation through-hole is matched with the second leading screw 126
It closes, two installation through-holes of both sides coordinate with the first right sliding rail 163 and the second right sliding rail 164 respectively.Second slide 125 is opened in
There is intermediate installation through-hole internal thread, the second leading screw 126 to have the matched external screw thread of internal thread with second slide 125.Separately
Outer two installation through-holes are matched with the first right sliding rail 163 and the second right sliding rail 164 respectively, the cross sectional shape of the two installation through-holes
It is identical as the first right sliding rail 163 and the cross sectional shape of the second right sliding rail 164 respectively, in the present embodiment, the first right sliding rail 163
Cross sectional shape is rectangle, and the cross sectional shape of the second right sliding rail 164 is rectangle.It should be understood that the installation through-hole that second slide 125 opens up
Coordinate respectively with the first right sliding rail 163, the first right sliding rail 163 and the second leading screw 126, the cross sectional shape of installation through-hole can be
The other shapes such as round, trapezoidal.
One end of first right sliding rail 163 is connected to the bottom of waist shell 127, the other end connection of the first right sliding rail 163
To the top of waist shell 127.One end of first right sliding rail 163 is connected to the bottom of waist shell 127, the first right sliding rail 163
The other end be connected to the top of waist shell 127.The 164 spaced setting of first right sliding rail 163 and the second right sliding rail.First
Right sliding rail 163 is mounted in the mounting hole that first slide 122 is arranged, and the second left sliding rail 162 is mounted on and is also mounted at first slide
In the mounting hole of 122 settings, the bottom of the first right sliding rail 163 and the second sliding rail is linked together by connector (not shown).
Connector offers the mounting hole of the first leading screw 123 of installation, and the mounting hole of connector offers screw thread and so that the first leading screw 123 can
To be rotated in the mounting hole of connector.
Please continue to refer to Fig. 1 and Fig. 2, arm apparatus 130 includes postbrachium 131, forearm 134, the company of first connecting rod 135, second
Bar 136, third connecting rod 137 and auxiliary connecting rod 140.Postbrachium 131 includes rear large arm 132 and rear forearm 133,132 He of rear large arm
Forearm 133 is mutually parallel and is spaced setting afterwards, and one end of rear large arm 132 is set to waist shell 127 and rear forearm 133
One end is connected by third connecting rod 137, and the other end of the other end of rear large arm 132 and rear forearm 133 is cut with scissors with forearm 134 respectively
It connects, rear large arm 132, rear forearm 133, third connecting rod 137 and forearm 134 form four-bar mechanism.
One end of large arm 132 is provided with articulated mounting 145 afterwards, and articulated mounting 145 includes two plates and is connected to
The first articulated shaft 146 between two plates and the second articulated shaft 147.One end of third connecting rod 137 and one end of rear large arm 132 are cut with scissors
It connects, the other end of third connecting rod 137 is hinged on the first articulated shaft 146.It is cut with scissors with first slide 122 one end of first connecting rod 135
It connects, the other end of first connecting rod 135 is hinged on the second articulated shaft 147；It is cut with scissors with second slide 125 one end of second connecting rod 136
It connects, the other end of second connecting rod 136 is hinged on the second articulated shaft 147.
One end of forearm 134 is provided with the mounting bracket 151 for installing handgrip 152, before the side of mounting bracket 151 is connected to
The other side of one end of arm 134, mounting bracket 151 is connected to handgrip 152.
Auxiliary connecting rod 140 includes the first auxiliary connecting rod 141, the second auxiliary connecting rod 142 and A-frame 143, the first auxiliary
One end of connecting rod 141 is hinged to A-frame 143, and the other end of the first auxiliary connecting rod 141 is hinged to the second of articulated mounting 145
One end of articulated shaft 147, the second auxiliary connecting rod 142 is hinged to A-frame 143, and the other end of the second auxiliary stand, which is hinged to, grabs
Hand 152.
Compared with prior art, the specific robot palletizer 100 for having double vertical slides in the present embodiment is sliding without level
, specifically there is the robot palletizer 100 of double vertical slides to pass through two vertical slides in the present embodiment and control arms, it is only necessary to is logical
Cross the multi-motion that arm can be realized in two vertical slides of control, it is only necessary to which two motor (not shown) drive the two vertical
Slide does not need complicated drive system and transmission system, to which cost is lower, manufacture is easier.
First motor drives the rotation of the first leading screw 123, the first leading screw 123 to drive first slide 122 on the first leading screw 123
Vertical and straight movement.When first motor is with first direction (such as clockwise) rotation, the first leading screw 123 is (such as suitable with first direction
Hour hands) rotation, the first leading screw 123 driving first slide 122 moves upwards, while first slide 122 is in 161 He of the first left sliding rail
It is slided in second left sliding rail 162.When first motor is with second direction (such as counterclockwise) rotation, the first leading screw 123 is with second
Direction (such as counterclockwise) rotation, the first leading screw 123 driving first slide 122 moves downward, while first slide 122 is first
It is slided in left sliding rail 161 and the second left sliding rail 162.
Second motor drives the rotation of the second leading screw 126, the second leading screw 126 to drive second slide 125 on the second leading screw 126
Vertical and straight movement.When the second motor is with first direction (such as clockwise) rotation, the second leading screw 126 is (such as suitable with first direction
Hour hands) rotation, the second leading screw 126 driving second slide 125 moves upwards, while second slide 125 is in 163 He of the first right sliding rail
It is slided in second right sliding rail 164.When the second motor is with second direction (such as counterclockwise) rotation, the second leading screw 126 is with second
Direction (such as counterclockwise) rotation, the second leading screw 126 driving second slide 125 moves downward, while second slide 125 is first
It is slided in right sliding rail 163 and the second right sliding rail 164.
Please refer to Fig. 4, it is shown that the specific arm apparatus 130 for there are double robot palletizers 100 of slides vertically of the invention
Movement locus, specifically have the robot palletizer 100 of double vertical slides that there are altogether seven hinge joints.Specifically, first connecting rod
135 are known as the first hinge joint 171 with the hinge joint of first slide 122, and the hinge joint of the second connection and second slide 125 is known as the
Two hinge joints 172, the first connection and the hinge joint of the second articulated shaft 147 and the hinge of the second connector and the second articulated shaft 147
Contact is known as third hinge joint 173, and the hinge joint of third connecting rod 137 and the first articulated shaft 146 is known as the 4th hinge joint 174, and
Three-link 137 and the hinge joint of rear forearm 133 are known as the 5th hinge joint 175, and rear large arm 132 and the hinge joint of forearm 134 are known as
6th hinge joint 176, rear forearm 133 and the hinge joint of forearm 134 are known as the 7th hinge joint 177.
When first slide 122 is moved upwards along the axial direction of the first leading screw 123, first connecting rod 135 is slided in company with first
Seat 122 moves upwards, and first connecting rod 135 is rotated around the first hinge joint 171；When first slide 122 is along the first leading screw 123
When axial direction moves downward, first connecting rod 135 moves downwardly together in company with first slide 122, and first connecting rod 135 is around
One hinge joint 171 rotates.When second slide 125 is moved upwards along the axial direction of the second leading screw 126, second connecting rod 136 with
It is moved upwards with second slide 125, and second connecting rod 136 is rotated around the second hinge joint 172；When second slide 125 is along second
When the axial direction of leading screw 126 moves downward, second connecting rod 136 moves downwardly together in company with second slide 125, and second connects
Bar 136 is rotated around the second hinge 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 first hinge joint 171
Position is in the position (i.e. 123 lower position of the first leading screw) of diagram, and the position of the second hinge joint 172 is in the position of diagram
(i.e. 126 lower position of the second leading screw).
As shown in figure 5, first motor drives the rotation of the first leading screw 123, the first leading screw 123 to drive first slide 122 upward
Mobile, the first hinge joint 171 moves up, and the second motor drives the rotation of the second leading screw 126, when the second leading screw 126 drives second sliding slot,
Second hinge joint 172 moves up.Large arm is rotated around the first articulated shaft 146 before first connecting rod 135 and second connecting rod 136 push respectively,
Large arm 132 pushes forearm 134 to be rotated clockwise around the 7th hinge joint 177 afterwards.Large arm 132, rear forearm 133, third connecting rod 137 afterwards
Four-bar mechanism is constituted with forearm 134, rear forearm 133 and third connecting rod 137 move accordingly.
As shown in fig. 6, first motor drives the first leading screw 123 to rotate in opposite rotation direction, the first leading screw 123 drives
First slide 122 moves down, and the second motor drives the second leading screw 126 to rotate in opposite rotation direction, 126 band of the second leading screw
Dynamic second slide 125 moves down.When first hinge joint 171 moves down, first connecting rod 135 pulls the second articulated shaft 147 so that the
It moves down, rear large arm 132 is rotated counterclockwise around the first articulated shaft 146, and rear large arm 132 pulls forearm in the 6th hinge joint 176
134, forearm 134 is rotated counterclockwise around the 7th hinge joint 177.Large arm 132, rear forearm 133, third connecting rod 137 and forearm 134 afterwards
Four-bar mechanism is constituted, rear forearm 133 and third connecting rod 137 move accordingly.
In conclusion the specific robot palletizer 100 for having double vertical slides of the present invention includes pedestal 110, lumbar device
120, it is connected to the arm apparatus 130 of lumbar device 120 and is connected to the handgrip 152 of arm apparatus 130, pedestal 110 drives
Lumbar device 120 rotates；Lumbar device 120 includes that the first vertical sliding device 121 and second of spaced setting is vertical sliding
Dynamic device 124, the first vertical sliding device 121 include first slide 122 and drive the first leading screw 123 of first slide 122,
Second vertical sliding device 124 includes second slide 125 and drives the second leading screw 126 of second slide 125, and first is vertical sliding
Dynamic 121 and second vertical sliding device 124 of device is respectively connected to arm apparatus 130, specifically there is the stacking machine of double vertical slides
Device people 100 includes two vertical sliding devices, and specifically has the robot palletizer 100 of double vertical slides not have horizontal slide,
Only the multi-motion of arm can be realized by controlling two vertical slides for needs, it is only necessary to which two motors drive the two vertical
Slide does not need complicated drive system and transmission system, and cost is lower, manufacture is easier.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of specific robot palletizer for having double vertical slides, which is characterized in that it includes pedestal, lumbar device, is connected to
The arm apparatus of the lumbar device and the handgrip for being connected to the arm apparatus, the pedestal drive the lumbar device to turn
It is dynamic；The lumbar device includes the first vertical sliding device and the second vertical sliding device of spaced setting, and described first
Vertical sliding device includes the first leading screw of first slide and the driving first slide, the second vertical sliding device packet
The second leading screw of second slide and the driving second slide is included, the first vertical sliding device and described second are slided vertically
Dynamic device is respectively connected to the arm apparatus, arm apparatus includes postbrachium, be hinged to the postbrachium one end forearm and
Auxiliary connecting rod, the one end of the postbrachium far from the forearm is provided with articulated mounting, and the postbrachium passes through the articulated mounting
It is connected to the first vertical sliding device and the second vertical sliding device, the auxiliary connecting rod includes the first auxiliary
One end of connecting rod, the second auxiliary connecting rod and A-frame, first auxiliary connecting rod is hinged to A-frame, first auxiliary
The other end of connecting rod is hinged to the articulated mounting, and one end of second auxiliary connecting rod is hinged to A-frame, the second auxiliary
The one end of the other end of connecting rod and the forearm far from the postbrachium is hinged to the handgrip.
2. the specific robot palletizer for having double vertical slides according to claim 1, which is characterized in that the first slide
It is connected to the arm apparatus by first connecting rod, one end of the first connecting rod is hinged with the first slide, and described first
The other end of connecting rod is hinged with the arm apparatus.
3. the specific robot palletizer for having double vertical slides according to claim 2, which is characterized in that the second slide
It is connected to the arm apparatus by second connecting rod, one end of the second connecting rod is hinged with the second slide, and described second
The other end of connecting rod is hinged with the arm apparatus.
4. the specific robot palletizer for having double vertical slides according to claim 3, which is characterized in that the first connecting rod
It is respectively articulated with to the same end of the postbrachium with the second connecting rod.
5. the specific robot palletizer for having double vertical slides according to claim 4, which is characterized in that the postbrachium includes
Afterwards large arm with it is described after large arm it is spaced after forearm, the first connecting rod and the second connecting rod are respectively articulated with to after described
One end of large arm, the rear large arm are connected to the rear forearm, the third connecting rod and the forearm interval by third connecting rod
Setting.
6. the specific robot palletizer for having double vertical slides according to claim 5, which is characterized in that the lumbar device
Including waist shell, it is described after one end of forearm be set to the waist shell, one end of the third connecting rod with it is described after it is big
Arm is hinged and the other end of the third connecting rod and one end of the rear forearm are hinged.
7. the specific robot palletizer for having double vertical slides according to claim 6, which is characterized in that after described large arm and
Forearm is respectively articulated with to the forearm, the rear large arm, the rear forearm, the third connecting rod and the forearm shape after described
At four-bar mechanism.
8. the specific robot palletizer for having double vertical slides according to claim 7, which is characterized in that the one of the forearm
End is provided with mounting bracket, and the mounting bracket is connected with handgrip.
9. the specific robot palletizer for having double vertical slides according to claim 8, which is characterized in that the A-frame
One end the postbrachium is connected to by the first auxiliary connecting rod, the other end of the A-frame is connected by the second auxiliary connecting rod
To the mounting bracket.
10. the specific robot palletizer for having double vertical slides according to claim 1, which is characterized in that described first
Thick stick is driven by first motor, and 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 CN106002986A (en) | 2016-10-12 |
| CN106002986B true CN106002986B (en) | 2018-08-14 |
Family
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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 |
| CN114406979B (en) * | 2022-02-25 | 2022-11-15 | 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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| 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 |
| CN102886777B (en) * | 2012-10-25 | 2015-05-06 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
| CN103010764B (en) * | 2012-12-19 | 2016-05-04 | 广州市万世德包装机械有限公司 | One parallel bar stacking machine robot |
| CN203901283U (en) * | 2014-06-19 | 2014-10-29 | 江西省机械科学研究所 | Three-freedom-degree parallel-serial stacking mechanical arm with large working space |
| CN104669252A (en) * | 2015-02-28 | 2015-06-03 | 天津大学 | Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof |
| 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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