CN106041902A - Four-freedom-degree ten-rod controllable mechanism type stacking robot - Google Patents
Four-freedom-degree ten-rod controllable mechanism type stacking robot Download PDFInfo
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- CN106041902A CN106041902A CN201610464989.0A CN201610464989A CN106041902A CN 106041902 A CN106041902 A CN 106041902A CN 201610464989 A CN201610464989 A CN 201610464989A CN 106041902 A CN106041902 A CN 106041902A
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- revolute pair
- decelerator
- pole
- servomotor
- rod
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A four-freedom-degree ten-rod controllable mechanism type stacking robot comprises an arm lifting mechanism, a posture keeping mechanism, a slewing bearing, a base, an end effector, servo motors and speed reducers. The arm lifting mechanism comprises a rotation rack, a first drive rod, a first folding rod, a supporting rod, a transverse rod, a second connecting rod and a second drive rod. The posture keeping mechanism comprises a first balance rod, a second folding rod, a second balance rod and a translation holder, and the rotation rack is connected with the base through the slewing bearing. The end effector is connected to the translation holder. According to the four-freedom-degree ten-rod controllable mechanism type stacking robot, a multi-connecting-rod controllable mechanism is adopted, the servo motors installed on the rotation rack are used for conducting driving, the four-freedom-degree ten-rod controllable mechanism type stacking robot has the beneficial effects of being high in rigidity, small in motion inertia, high in bearing capability, accurate in posture control and good in dynamic characteristic, and the requirement for high-speed and heavy-load carrying stacking is met.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer.
Background technology
Industrial robot can replace people to do some long working that is dull, frequent and that repeat in the industrial production, existing
The driving motor of cascade machine mechanical arm is required for greatly being arranged on joint, can cause that arm heaviness, poor rigidity, inertia is big, joint by mistake
The problems such as difference accumulation, mechanism dynamic poor-performing.
Multi link controllable mechanism combines conventional parallel mechanism good rigidly, and the speed of service is high, and bearing capacity is strong and connects
The feature that mechanism flexibility is good, and drive motor to be arranged in frame, type of drive is outer secondary driving, so the controlled machine of multi link
The rigidity property of structure is good, bearing capacity strong, and movement inertia is less, and joint error accumulation is few, and dynamics is good, is applied to
Industry robot palletizer can meet at a high speed, heavy duty carrying palletizing operation demand.
Summary of the invention
It is an object of the invention to design a kind of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer, use and be installed on rotation
The existing cascade machine being arranged on joint by the multi link controllable mechanism replacement driving motor of driven by servomotor on favourable turn frame
Mechanical arm, it addition, by being applied to gesture stability containing the linkage of three parallelogram sturcutres, make robot meet structure tight
Gather, rigidity property is good, bearing capacity is strong, movement inertia is little, joint error is accumulated less, gesture stability is accurate, dynamics good
Requirement.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of four-degree-of-freedom ten bar controllable-mechanism type piling machine
People, including arm lifting mechanism, attitude maintaining body, pivoting support, base, end effector, the first servomotor, second watches
Take motor, the 3rd servomotor, the 4th servomotor, the first decelerator, the second decelerator, the 3rd decelerator and the 4th deceleration
Device, concrete structure and connected mode be:
Described arm lifting mechanism includes rotary frame, the first driving lever, the first pole, support bar, cross bar, second connecting rod
And second driving lever,
Described attitude maintaining body includes first gimbal lever, the second pole, second gimbal lever and translation retainer,
Described first servomotor is connected on the first decelerator, and the first decelerator is arranged on base, the first decelerator
Being connected with rotary frame by the first revolute pair, pivoting support is arranged on base, and pivoting support passes through the second revolute pair and rotation
Favourable turn frame connects, wherein, and the first revolute pair and the second revolute pair corotation rotating shaft,
Described second servomotor is connected on the second decelerator, and the second decelerator is installed on the rotating gantry and passes through the
Three revolute pairs are connected with one end of the first driving lever, the other end of the first driving lever by the 4th revolute pair and the first pole the
One end connects, and the second end of the first pole is connected with the intermediate ends of support bar by the 5th revolute pair, the 3rd end of the first pole
Being connected with one end of first gimbal lever by the 6th revolute pair, the other end of first gimbal lever is by the 7th revolute pair and the second folding
First end of bar connects, and the second end of the second pole is connected with one end of support bar by the 8th revolute pair, the 3rd of support bar
End is connected with rotary frame by the 9th revolute pair, and the 3rd end of the second pole is by the tenth revolute pair and the one of second gimbal lever
End connects, and the other end of second gimbal lever is connected with one end of translation retainer by the 11st revolute pair, translation retainer
The other end is connected with one end of cross bar by the 12nd revolute pair, and the intermediate ends of cross bar is by the 13rd revolute pair and support bar
One end connects, and the 3rd end of cross bar is connected with one end of second connecting rod by the 14th revolute pair, and the other end of second connecting rod leads to
Crossing the 15th revolute pair to be connected with one end of the second driving lever, the other end of the second driving lever passes through the 16th revolute pair and the 3rd
Decelerator connects,
Described 3rd servomotor is connected on the 3rd decelerator, and the 3rd decelerator is installed on the rotating gantry and passes through the
16 revolute pairs are connected with the second driving lever,
Described 4th servomotor is connected on the 4th decelerator, and the 4th decelerator is arranged on translation retainer and passes through
Vertical the 17th revolute pair of rotation axis is connected with end effector.
Described rotary frame, the first driving lever, the first pole, support bar by the 3rd revolute pair, the 4th revolute pair, the 5th
Revolute pair and the 9th revolute pair first parallelogram sturcutre of composition, wherein, at machine man-hour, the 3rd revolute pair 25 with
9th revolute pair immobilizes with the relative position between rotary frame.
Described first pole, first gimbal lever, the second pole, support bar by the 5th revolute pair, the 6th revolute pair, the 7th
Revolute pair and the 8th revolute pair second parallelogram sturcutre of composition.
Described second pole, second gimbal lever, translation retainer, cross bar by the 8th revolute pair, the tenth revolute pair, the tenth
One revolute pair, the 12nd revolute pair and the 13rd revolute pair form the 3rd parallelogram sturcutre, wherein, the 8th revolute pair and
13rd revolute pair corotation rotating shaft.
The present invention has the prominent advantages that:
1. use be installed on rotary frame to be replaced driving motor peace by the multi link controllable mechanism of driven by servomotor
It is contained in the existing cascade machine mechanical arm of joint, alleviates the weight of mechanical arm, meet compact conformation, rigidity property is good, motion is used
Measure requirement little, that bearing capacity strong, joint error is accumulated less, dynamics is good.
2. the linkage with three specific parallelogram sturcutres is applied to gesture stability so that translation keeper
In robot motion's output procedure, remain level, reduce robot and control the difficulty of programming, be conducive to quilt
Carrying article carry out accurate gesture stability.
3. under driven by servomotor, by programming Control arm lifting mechanism, the aggregate motion of attitude maintaining body, with
The gyration of Shi Peihe rotary frame, compares existing cascade machine mechanical arm and can improve every fingers such as speed, acceleration, smoothness
Mark, it is achieved the space motion output that end effector of robot track is flexible and changeable.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention.
Fig. 2 is the arm lifting mechanism signal of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention
Figure.
Fig. 3 is the attitude maintaining body signal of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention
Figure.
Fig. 4 is that the major motor installation first of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention is shown
It is intended to.
Fig. 5 is that the major motor installation second of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention is shown
It is intended to.
Fig. 6 is that signal installed by the end effector of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention
Figure.
Fig. 7 is the whole structure figure of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention.
Detailed description of the invention
Comparison Fig. 1 to Fig. 7, four-degree-of-freedom ten bar controllable-mechanism type robot palletizer of the present invention, including arm liter
Descending mechanism, attitude maintaining body, pivoting support 2, base 3, end effector the 11, first servomotor the 15, second servomotor
17, the 3rd servomotor the 19, the 4th servomotor the 21, first decelerator the 16, second decelerator the 18, the 3rd decelerator the 20, the 4th
Decelerator 22, concrete structure and connected mode be:
Comparison Fig. 1 and Fig. 2, described arm lifting mechanism includes rotary frame the 1, first driving lever the 4, first pole 5, supports
Bar 6, cross bar 12, second connecting rod 13 and the second driving lever 14.
Comparison Fig. 1 and Fig. 3, described attitude maintaining body include first the 7, second pole 8, second gimbal lever 9 of the gimbal lever with
And translation retainer 10.
Comparison Fig. 1, Fig. 4 and Fig. 5, described first servomotor 15 is connected on the first decelerator 16, the first decelerator 16
Installing on the base 3 and be connected with rotary frame 1 by the first revolute pair 23, pivoting support 2 is installed on the base 3 and passes through the
Two revolute pairs 24 are connected with rotary frame 1, wherein, and the first revolute pair 23 and the second revolute pair 24 corotation rotating shaft.
Comparison Fig. 1 to Fig. 5, described second servomotor 17 is connected on the second decelerator 18, and the second decelerator 18 is installed
Being connected with one end of the first driving lever 4 on rotary frame 1 and by the 3rd revolute pair 25, the other end of the first driving lever 4 leads to
Crossing the 4th revolute pair 26 to be connected with the first end of the first pole 5, the second end of the first pole 5 is by the 5th revolute pair 27 and support
The intermediate ends of bar 6 connects, and the 3rd end of the first pole 5 is connected with one end of first gimbal lever 7 by the 6th revolute pair 28, and first
The other end of the gimbal lever 7 is connected with the first end of the second pole 8 by the 7th revolute pair 29, and the second end of the second pole 8 passes through
8th revolute pair 30 is connected with one end of support bar 6, and the 3rd end of support bar 6 is by the 9th revolute pair 31 with rotary frame 1 even
Connecing, the 3rd end of the second pole 8 is connected with one end of second gimbal lever 9 by the tenth revolute pair 32, another of second gimbal lever 9
End is connected with one end of translation retainer 10 by the 11st revolute pair 33, and the other end of translation retainer 10 passes through the 12nd turn
Dynamic secondary 34 are connected with one end of cross bar 12, and the intermediate ends of cross bar 12 is connected with one end of support bar 6 by the 13rd revolute pair 35,
3rd end of cross bar 12 is connected with one end of second connecting rod 13 by the 14th revolute pair 36, and the other end of second connecting rod 13 passes through
15th revolute pair 37 is connected with one end of the second driving lever 14, and the other end of the second driving lever 14 passes through the 16th revolute pair 38
It is connected with the 3rd decelerator 20.
Comparison Fig. 1, Fig. 4 and Fig. 5, described 3rd servomotor 19 is connected on the 3rd decelerator 20, the 3rd decelerator 20
It is arranged on rotary frame 1 and is connected with the second driving lever 14 by the 16th revolute pair 38.
Comparison Fig. 1, Fig. 6, described 4th servomotor 21 is connected on the 4th decelerator 22, and the 4th decelerator 22 is arranged on
It is connected with end effector 11 on translation retainer 10 and by the 17th revolute pair 39 that rotation axis is vertical.
Comparison Fig. 1, Fig. 2 and Fig. 5, described rotary frame the 1, first driving lever the 4, first pole 5, support bar 6 are by the 3rd
Revolute pair the 25, the 4th revolute pair the 26, the 5th revolute pair 27 and the 9th revolute pair 31 form first parallelogram sturcutre, its
In, at machine man-hour, the 3rd revolute pair 25 is fixing not with the relative position between rotary frame 1 with the 9th revolute pair 31
Become.
Comparison Fig. 1, Fig. 3, described first pole 5, first gimbal lever the 7, second pole 8, support bar 6 are by the 5th revolute pair
27, the 6th revolute pair the 28, the 7th revolute pair 29 and the 8th revolute pair 30 form second parallelogram sturcutre.
Comparison Fig. 1, Fig. 2, Fig. 3, described second pole 8, second gimbal lever 9, translation retainer 10, cross bar 12 are by the 8th
Revolute pair the 30, the tenth revolute pair the 32, the 11st revolute pair the 33, the 12nd revolute pair the 34 and the 13rd revolute pair 35 forms the 3rd
Parallelogram sturcutre, wherein, the 8th revolute pair the 30 and the 13rd revolute pair 35 corotation rotating shaft.
Operation principle and process:
Comparison Fig. 1 to Fig. 7, described four-degree-of-freedom ten bar controllable-mechanism type robot palletizer is operationally, electric in servo
Under machine drives, by programming Control arm lifting mechanism, the aggregate motion of attitude maintaining body, it is achieved the sky of end effector 11
Between mobile operating mode and spatial rotational operating mode, space moves operating mode and is accomplished by: in the driving of the second servomotor 17
Under control, the first driving lever 4 rotates around the 3rd revolute pair 25 and passes through the 4th revolute pair 26 and drives the first pole 5 to rotate, the
One pole 5 drives support bar 6 to rotate by the 5th revolute pair 27, and under the driving of the 3rd servomotor 19 controls, second actively
Bar 14 rotates around the 16th revolute pair 38 and passes through the 15th revolute pair 37 and drives second connecting rod 13 to rotate, support bar 6 and
Two connecting rods 13 drive cross bar 12 to move jointly, then by the connection of translation retainer 10 so that it is arranged on translation retainer 10
End effector 11 can move up and down, meanwhile, the first servomotor 15 driving control under, rotary frame around
First revolute pair 23 of corotation rotating shaft and the second revolute pair 24 rotate, it is achieved the integral-rotation of multi link controllable mechanism so that end
End executor 11 can move forward and backward, so that end effector 11 can be the most mobile in the range of certain space, additionally,
Rotary frame the 1, first driving lever the 4, first pole 5, support bar 6 are rotated by the 3rd revolute pair the 25, the 4th revolute pair the 26, the 5th
Secondary 27, the 9th revolute pair 31 forms first parallelogram sturcutre, wherein, at machine man-hour, the 3rd revolute pair 25 with
9th revolute pair 31 immobilizes with the relative position between rotary frame 1, first pole 5, first gimbal lever the 7, second pole
8, support bar 6 forms second by the 5th revolute pair the 27, the 6th revolute pair the 28, the 7th revolute pair the 29, the 8th revolute pair 30 and puts down
Row quadrilateral structure, second pole 8, second gimbal lever 9, translation retainer 10, cross bar 12 by the 8th revolute pair 30, the tenth turn
Dynamic secondary 32, the 11st revolute pair the 33, the 12nd revolute pair the 34, the 13rd revolute pair 35 forms the 3rd parallelogram sturcutre,
Wherein, the 8th revolute pair the 30, the 13rd revolute pair 35 corotation rotating shaft, the specific parallelogram sturcutre of these three makes translation protect
Hold frame 10 and remain level in robot motion's output procedure, be beneficial to be handled upside down the horizontal stability of article；Space
Rotation operating mode is accomplished by: under the driving of the 4th servomotor 21 controls, end effector 11 is around rotary shaft
Vertical the 17th revolute pair 39 of line rotates, thus realizes the spatial rotational of end effector 11.When translation retainer 10 moves
Need to article crawled or when being piled up the top of position, clamp by controlling end effector 11, unclamp or rotate article,
Realize this robot the high speed of article is carried, palletizing operation.
Claims (4)
1. a four-degree-of-freedom ten bar controllable-mechanism type robot palletizer, including arm lifting mechanism, attitude maintaining body, revolution
Supporting, base, end effector, the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, first
Decelerator, the second decelerator, the 3rd decelerator and the 4th decelerator, it is characterised in that concrete structure and connected mode be:
Described arm lifting mechanism include rotary frame, the first driving lever, the first pole, support bar, cross bar, second connecting rod and
Second driving lever,
Described attitude maintaining body includes first gimbal lever, the second pole, second gimbal lever and translation retainer,
Described first servomotor is connected on the first decelerator, and the first decelerator is arranged on base, and the first decelerator passes through
First revolute pair is connected with rotary frame, and pivoting support is arranged on base, and pivoting support passes through the second revolute pair and whirler
Frame connects, wherein, and the first revolute pair and the second revolute pair corotation rotating shaft,
Described second servomotor is connected on the second decelerator, and the second decelerator is installed on the rotating gantry and by the 3rd turn
Dynamic pair is connected with one end of the first driving lever, and the other end of the first driving lever is by the first end of the 4th revolute pair with the first pole
Connecting, the second end of the first pole is connected with the intermediate ends of support bar by the 5th revolute pair, and the 3rd end of the first pole passes through
6th revolute pair is connected with one end of first gimbal lever, and the other end of first gimbal lever is by the 7th revolute pair and the second pole
First end connects, and the second end of the second pole is connected with one end of support bar by the 8th revolute pair, and the 3rd end of support bar leads to
Crossing the 9th revolute pair to be connected with rotary frame, the 3rd end of the second pole is connected by one end of the tenth revolute pair with second gimbal lever
Connecing, the other end of second gimbal lever is connected with one end of translation retainer by the 11st revolute pair, another of translation retainer
End is connected with one end of cross bar by the 12nd revolute pair, and the intermediate ends of cross bar is by one end of the 13rd revolute pair with support bar
Connecting, the 3rd end of cross bar is connected with one end of second connecting rod by the 14th revolute pair, and the other end of second connecting rod passes through the
15 revolute pairs are connected with one end of the second driving lever, and the other end of the second driving lever is slowed down with the 3rd by the 16th revolute pair
Device connects,
Described 3rd servomotor is connected on the 3rd decelerator, and the 3rd decelerator is installed on the rotating gantry and by the 16th
Revolute pair is connected with the second driving lever,
Described 4th servomotor is connected on the 4th decelerator, and the 4th decelerator is arranged on translation retainer and by rotating
17th revolute pair of axis vertical is connected with end effector.
A kind of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer the most according to claim 1, it is characterised in that described
Rotary frame, the first driving lever, the first pole, support bar pass through the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair and the 9th
Revolute pair first parallelogram sturcutre of composition, wherein, at machine man-hour, the 3rd revolute pair and the 9th revolute pair are with rotation
Relative position between favourable turn frame immobilizes.
A kind of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer the most according to claim 1, it is characterised in that described
First pole, first gimbal lever, the second pole, support bar are by the 5th revolute pair, the 6th revolute pair, the 7th revolute pair and the 8th
Revolute pair second parallelogram sturcutre of composition.
A kind of four-degree-of-freedom ten bar controllable-mechanism type robot palletizer the most according to claim 1, it is characterised in that described
Second pole, second gimbal lever, translation retainer, cross bar by the 8th revolute pair, the tenth revolute pair, the 11st revolute pair, the
12 revolute pairs and the 13rd revolute pair form the 3rd parallelogram sturcutre, and wherein, the 8th revolute pair and the 13rd rotates
Secondary corotation rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464989.0A CN106041902B (en) | 2016-06-23 | 2016-06-23 | A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464989.0A CN106041902B (en) | 2016-06-23 | 2016-06-23 | A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom |
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| CN106041902A true CN106041902A (en) | 2016-10-26 |
| CN106041902B CN106041902B (en) | 2018-05-01 |
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| CN106313091A (en) * | 2016-11-04 | 2017-01-11 | 南通艾特软件有限公司 | Workpiece clamping device |
| CN107116322A (en) * | 2017-07-04 | 2017-09-01 | 广西大学 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
| CN107309904A (en) * | 2017-07-04 | 2017-11-03 | 广西大学 | A kind of multiple degrees of freedom clamps arm robot |
| CN108031827A (en) * | 2018-01-08 | 2018-05-15 | 安徽理工大学 | Less important work robot is used in casting |
| CN108098740A (en) * | 2017-12-27 | 2018-06-01 | 东北大学 | A kind of loading and unloading link robot manipulator with end turn over function |
| CN109760017A (en) * | 2018-12-24 | 2019-05-17 | 燕山大学 | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106313091A (en) * | 2016-11-04 | 2017-01-11 | 南通艾特软件有限公司 | Workpiece clamping device |
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| CN107309904A (en) * | 2017-07-04 | 2017-11-03 | 广西大学 | A kind of multiple degrees of freedom clamps arm robot |
| CN108098740A (en) * | 2017-12-27 | 2018-06-01 | 东北大学 | A kind of loading and unloading link robot manipulator with end turn over function |
| CN108031827A (en) * | 2018-01-08 | 2018-05-15 | 安徽理工大学 | Less important work robot is used in casting |
| CN108031827B (en) * | 2018-01-08 | 2024-03-22 | 安徽理工大学 | Auxiliary operation robot for casting |
| CN109760017A (en) * | 2018-12-24 | 2019-05-17 | 燕山大学 | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band |
| CN109760017B (en) * | 2018-12-24 | 2020-07-10 | 燕山大学 | Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists |
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|---|---|
| CN106041902B (en) | 2018-05-01 |
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