CN106041901A - Three-degree-of-freedom linear driving controllable mechanism type robot palletizer - Google Patents
Three-degree-of-freedom linear driving controllable mechanism type robot palletizer Download PDFInfo
- Publication number
- CN106041901A CN106041901A CN201610464080.5A CN201610464080A CN106041901A CN 106041901 A CN106041901 A CN 106041901A CN 201610464080 A CN201610464080 A CN 201610464080A CN 106041901 A CN106041901 A CN 106041901A
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- China
- Prior art keywords
- revolute pair
- connecting rod
- linear actuator
- bearing
- frame
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Classifications
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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
- B25J9/02—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
Abstract
A three-degree-of-freedom linear driving controllable mechanism type robot palletizer comprises a base slewing mechanism, a big arm lifting mechanism, a small arm control mechanism and a tail end balance mechanism. According to the three-degree-of-freedom linear driving controllable mechanism type robot palletizer, a series-parallel connection mixed mechanism is adopted, the lower part is a parallel mechanism which is high in rigidity, large in inertia, low in residual oscillation and long in service life; the stress of the upper part is small, a serial mechanism is adopted as the upper part, a tail end motion space is enlarged, series connection and parallel connection are combined, advantages and disadvantages are complementary, and therefore the performance of the robot palletizer is better.
Description
Technical field
The present invention relates to industrial robot field, particularly a kind of Three Degree Of Freedom linear drives controllable-mechanism type piling machine
People.
Background technology
The development pole the earth with science and technology that produces of robot changes production and the life style of the mankind.Robot can
To complete long altofrequency repetitive operation, reduce the fatigue of people；Can substitute for the mankind can in the environment of severe danger
Task, the safety of protection people is completed by ground；Production efficiency and the quality of production etc. can be improved by having operated work accurately
Deng.Industrial Robot Technology reaches its maturity, and has become as a kind of standard device and obtains industrial quarters and extensively apply, carrying and piling
Device people is the most typical a kind of.Generally robot for carrying and piling uses articulated type industrial robot Basic Design.
Traditional welding robot, in order to realize the arbitrary motion in space of end effector, often takes tandem
Mechanism, and tandem mechanism needs to be placed on each joint motor.Tandem robot palletizer has been done a lot of grinding
Study carefully, technology relative maturity, simple in construction, low cost, control simple, the advantages such as space is big.
Summary of the invention
It is an object of the invention to provide a kind of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer and tandem is removed
Fortune robot palletizer is compared, and the latter half uses parallel institution so that it is have bigger load capacity, increases stablizing of robot
Property, the motor in joint is placed on base, reduces the accumulation of vibration, shorten kinematic chain, reduce centrifugal force.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of Three Degree Of Freedom linear drives controllable-mechanism type piling
Robot, including base slew gear, large arm elevating mechanism, forearm controlling organization and end balanced controls, concrete structure and
Annexation is:
Described base slew gear is made up of frame and revolving dial, and revolving dial is by the first revolute pair with frame even
Connect,
Described large arm elevating mechanism is by the first linear actuator frame, the first linear actuator, the first bearing and first even
Bar is constituted, and one end of the first linear actuator frame is connected on revolving dial by the second revolute pair；First linear actuator frame
Being connected by revolute pair and the first linear actuator are fixing, the tache motorice of the first linear actuator is connected to first by revolute pair
In the plane of bearing, the other end of the first bearing is connected to, by the 3rd revolute pair, the stage casing that first connecting rod leans on,
Described forearm controlling organization by first connecting rod, the second linear actuator frame, the second linear actuator, the second bearing with
And second connecting rod is constituted, one end of the second linear actuator frame is connected to the stage casing of first connecting rod by the 4th revolute pair, second
Linear actuator is connected on the second linear actuator frame by revolute pair, and the tache motorice of the second linear actuator passes through revolute pair
Being connected in the plane of the second bearing, the other end of the second bearing is connected to one end of second connecting rod by the 5th revolute pair, the
One end of one connecting rod is connected on revolving dial by the 6th revolute pair, and the other end is connected to second connecting rod by the 7th revolute pair
Stage casing,
Described end balanced controls are made up of third connecting rod, set square, fourth link and the 5th connecting rod, third connecting rod
One end is connected on revolving dial by the 8th revolute pair, and the other end is connected to the first end of set square by the 9th revolute pair,
Second end of set square is connected with one end of fourth link by the tenth revolute pair, and the other end of fourth link passes through the 11st turn
Dynamic pair is connected with one end of the 5th connecting rod, and the other end of the 5th connecting rod is connected by the other end of the 12nd revolute pair with second connecting rod
Connecing, the 3rd end of set square is connected to the stage casing of second connecting rod by the 13rd revolute pair.
The first described servomotor drives revolving dial to realize the space revolution fortune of whole mechanism by the first revolute pair
Dynamic；First linear actuator drives the elevating movement of whole mechanism by the 3rd revolute pair；Second linear actuator passes through the 5th
The motion of revolute pair drive mechanism end；End balanced controls realize end holding level by the parallel principle of parallelogram
State.
The present invention has the prominent advantages that:
Using hybrid serial-parallel mechanism, the latter half is parallel institution, and rigidity is big, and inertia is little, and residual oscillation is little, uses the longevity
Life is long, and top half stress is little, uses serial mechanism, increases end movement space, and connection in series-parallel combines, and strengths and weaknesses is complementary, makes this
The performance of robot palletizer is more preferable.
Accompanying drawing explanation
Fig. 1 is the structural representation of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention.
Fig. 2 is the revolute pair structural representation of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention
Figure.
Fig. 3 is the chassis slew gear of the Three Degree Of Freedom controlled robot for carrying and piling of linear actuator formula of the present invention
Schematic diagram.
Fig. 4 is that the large arm elevating mechanism of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention shows
It is intended to.
Fig. 5 is that the forearm controlling organization of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention shows
It is intended to.
Fig. 6 is that the end balanced controls of Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention show
It is intended to.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
As shown in Figures 1 to 6, Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer of the present invention, including
Base slew gear, large arm elevating mechanism, forearm controlling organization and end balanced controls, concrete structure and annexation be:
Described base slew gear is made up of frame 1 and revolving dial 2, and revolving dial 2 is by the first revolute pair 24 and machine
Frame 1 connects；
Described large arm elevating mechanism is by the first linear actuator frame the 27, first linear actuator 12 and the first bearing 26 structure
Becoming, one end of the first linear actuator frame 27 is connected on revolving dial 2 by the second revolute pair 13；First linear actuator frame
27 fixing with the main part of the first linear actuator 12 are connected, and the tache motorice of the first linear actuator 12 is threadably secured company
Being connected in the plane of the first bearing 26, the other end of the first bearing 26 is connected in first connecting rod 4 by the 3rd revolute pair 14
Between hold.
Described forearm controlling organization is by first connecting rod the 4, second linear actuator frame the 5, second linear actuator 6, second
Seat 7 and second connecting rod 10 are constituted, and one end of the second linear actuator frame 5 is connected to first connecting rod 4 by the 4th revolute pair 25
Stage casing, the second linear actuator 6 is fixedly connected on the second linear actuator frame 5, and the tache motorice of the second linear actuator 6 passes through
In the plane being connected to the second bearing 7 that is screwed, the other end of the second bearing 7 is connected to second even by the 5th revolute pair 17
One end of bar 10, one end of first connecting rod 4 is connected on revolving dial 2 by the 6th revolute pair 15, and the other end passes through the 7th turn
Dynamic secondary 19 stage casings being connected to second connecting rod 10.
Described end balanced controls are made up of third connecting rod 3, set square 8, fourth link 9 and the 5th connecting rod 11, and the 3rd
One end of connecting rod 3 is connected on revolving dial 2 by the 8th revolute pair 16, and the other end is connected to triangle by the 9th revolute pair 18
First end of plate 8, the second end of set square 8 is connected with one end of fourth link 9 by the tenth revolute pair 20, fourth link 9
The other end is connected with one end of the 5th connecting rod 11 by the 11st revolute pair 21, and the other end of the 5th connecting rod 11 passes through the 12nd turn
Dynamic secondary 22 are connected with the other end of second connecting rod 10, and the 3rd end of set square 8 is connected to second even by the 13rd revolute pair 23
The stage casing of bar 10.
Operation principle and process:
First servomotor drives revolving dial 2 to realize the space gyration of whole mechanism by the first revolute pair 24；
First linear actuator 12 drives the elevating movement of whole mechanism by the 3rd revolute pair 14；Second linear actuator 6 is by the
The motion of five revolute pair 17 drive mechanism ends；End balanced controls realize end by the parallel principle of parallelogram and keep
Level.
Claims (2)
1. a Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer, including base slew gear, large arm elevating mechanism,
Forearm controlling organization and end balanced controls, it is characterised in that concrete structure and annexation be:
Described base slew gear is made up of frame and revolving dial, and revolving dial is connected with frame by the first revolute pair,
Described large arm elevating mechanism is by the first linear actuator frame, the first linear actuator, the first bearing and first connecting rod structure
Becoming, one end of the first linear actuator frame is connected on revolving dial by the second revolute pair；First linear actuator frame passes through
Revolute pair is fixing with the first linear actuator to be connected, and the tache motorice of the first linear actuator is connected to the first bearing by revolute pair
Plane on, the other end of the first bearing is connected to, by the 3rd revolute pair, the stage casing that first connecting rod leans on,
Described forearm controlling organization is by first connecting rod, the second linear actuator frame, the second linear actuator, the second bearing and
Two connecting rods are constituted, and one end of the second linear actuator frame is connected to the stage casing of first connecting rod, the second straight line by the 4th revolute pair
Driver is connected on the second linear actuator frame by revolute pair, and the tache motorice of the second linear actuator is connected by revolute pair
In the plane of the second bearing, the other end of the second bearing is connected to one end of second connecting rod by the 5th revolute pair, and first even
One end of bar is connected on revolving dial by the 6th revolute pair, and the other end is connected in second connecting rod by the 7th revolute pair
Section,
Described end balanced controls are made up of third connecting rod, set square, fourth link and the 5th connecting rod, one end of third connecting rod
Being connected on revolving dial by the 8th revolute pair, the other end is connected to the first end of set square, triangle by the 9th revolute pair
Second end of plate is connected with one end of fourth link by the tenth revolute pair, and the other end of fourth link passes through the 11st revolute pair
Being connected with one end of the 5th connecting rod, the other end of the 5th connecting rod is connected with the other end of second connecting rod by the 12nd revolute pair,
3rd end of set square is connected to the stage casing of second connecting rod by the 13rd revolute pair.
Three Degree Of Freedom linear drives controllable-mechanism type robot palletizer the most according to claim 1, it is characterised in that described
The first servomotor drive revolving dial to realize the space gyration of whole mechanism by the first revolute pair；First straight line drives
Dynamic device drives the elevating movement of whole mechanism by the 3rd revolute pair；Second linear actuator passes through the 5th revolute pair drive mechanism
The motion of end；End balanced controls realize end by the parallel principle of parallelogram and keep level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464080.5A CN106041901A (en) | 2016-06-23 | 2016-06-23 | Three-degree-of-freedom linear driving controllable mechanism type robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464080.5A CN106041901A (en) | 2016-06-23 | 2016-06-23 | Three-degree-of-freedom linear driving controllable mechanism type robot palletizer |
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| CN106041901A true CN106041901A (en) | 2016-10-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464080.5A Pending CN106041901A (en) | 2016-06-23 | 2016-06-23 | Three-degree-of-freedom linear driving controllable mechanism type robot palletizer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426153A (en) * | 2016-12-01 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Rotation swinging mechanism for robot arm, robot arm and robot |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN108080841A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of two-freedom linkage spot welding manipulator |
| CN109500519A (en) * | 2018-12-24 | 2019-03-22 | 广西大学 | A kind of controllable flexural pivot parasitic mechanisms formula welding robot |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN109500519B (en) * | 2018-12-24 | 2024-04-12 | 广西大学 | Controllable spherical hinge parasitic mechanism type welding robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN102672710A (en) * | 2012-06-11 | 2012-09-19 | 党金行 | Four-rod type robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN105643588A (en) * | 2016-01-25 | 2016-06-08 | 广西大学 | Self-walking-type mechanical arm |
-
2016
- 2016-06-23 CN CN201610464080.5A patent/CN106041901A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
| CN1923468A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot for carrying and piling |
| CN102672710A (en) * | 2012-06-11 | 2012-09-19 | 党金行 | Four-rod type robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN105643588A (en) * | 2016-01-25 | 2016-06-08 | 广西大学 | Self-walking-type mechanical arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108080841A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of two-freedom linkage spot welding manipulator |
| CN106426153A (en) * | 2016-12-01 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Rotation swinging mechanism for robot arm, robot arm and robot |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN107283405B (en) * | 2017-08-24 | 2024-01-30 | 上海岭先机器人科技股份有限公司 | Mechanical arm |
| CN109500519A (en) * | 2018-12-24 | 2019-03-22 | 广西大学 | A kind of controllable flexural pivot parasitic mechanisms formula welding robot |
| CN109500519B (en) * | 2018-12-24 | 2024-04-12 | 广西大学 | Controllable spherical hinge parasitic mechanism type welding robot |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
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Application publication date: 20161026 |
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