CN106272352A - A kind of parallel institution formula robot palletizer - Google Patents

A kind of parallel institution formula robot palletizer Download PDF

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Publication number
CN106272352A
CN106272352A CN201610807714.2A CN201610807714A CN106272352A CN 106272352 A CN106272352 A CN 106272352A CN 201610807714 A CN201610807714 A CN 201610807714A CN 106272352 A CN106272352 A CN 106272352A
Authority
CN
China
Prior art keywords
rod
revolute pair
expansion link
link
frame
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.)
Pending
Application number
CN201610807714.2A
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Chinese (zh)
Inventor
莫善奎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi University
Original Assignee
Guangxi University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201610807714.2A priority Critical patent/CN106272352A/en
Publication of CN106272352A publication Critical patent/CN106272352A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0072Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

Parallel institution formula robot palletizer, first connecting rod one end is connected in frame, the first connecting rod other end is connected with second connecting rod one end, the second connecting rod other end is connected on end effector, third connecting rod one end is connected on end effector, the third connecting rod other end is sleeved in slide block, first expansion link one end is connected in frame, the other end is connected on first connecting rod, second expansion link one end is connected in frame, the other end is connected on third connecting rod, 3rd expansion link one end is connected in frame, the 3rd expansion link other end is connected with fourth link one end, the fourth link other end and the 5th connecting rod one end connect, the 5th connecting rod other end is connected on second connecting rod, it is connected in the middle part of fourth link on first connecting rod, 4th expansion link one end is connected on slide block, the other end is connected on second connecting rod.The present invention easily realizes automatization, NC postprocessing controls, and noise is low, pollution-free, can well meet digging operation.

Description

A kind of parallel institution formula robot palletizer
Technical field
The present invention relates to mechanical field, specifically a kind of parallel institution formula robot palletizer.
Background technology
Industrial automation is exactly with the various parameters in commercial production for controlling purpose, it is achieved various process control, whole In individual commercial production, reduce the technology of manual operation as far as possible.Industrial robot belongs to an important side of industrial automation product Face, industrial robot is the installations automatically performing work, realizes various function by self power and control ability A kind of machine, industrial robot is the multi-joint manipulator towards industrial circle or multivariant robot.
In the production process of a lot of products, complete some production processes with robot, production efficiency can not only be improved, Reduce cost, more can improve product quality.Such as in lip pomade production process, lip pomade and shell be taken out from tray, then Lip pomade is loaded in shell the most exactly, and builds and tighten, finally finished product lip pomade is put in another tray.Also have and permitted In many mobile phones production process, a pallet is fitly placed some equipped with phone housing, printed circuit board (PCB), use plastic bag bag The display unit installed.Mechanical claw grabs them on conveyer belt singly, in order to be for further processing, and Finally empty pallet is moved in empty pallet pile.This kind of robot palletizer is widely used in medicine, packaging, instrument dress Join, numerous industries such as relay production.
But, it is higher to there is fault rate in current robot palletizer, poor reliability, easily causes bigger joint error, right The precision impact of robot is relatively big, and due to this shortcomings, existing robot architecture is difficult to take into account operating flexibility and high accuracy Characteristic, be difficult to meet big work space, in high precision, the job requirements of high reliability.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of parallel institution formula robot palletizer.
To achieve these goals, present invention employs techniques below scheme:
Parallel institution formula robot palletizer, including first connecting rod, second connecting rod, third connecting rod, the first expansion link, second stretches Contracting bar, the 3rd expansion link, fourth link, the 5th connecting rod, the 4th expansion link, end effector, slide block and frame,
First connecting rod one end is connected in frame by revolute pair one, and the first connecting rod other end passes through revolute pair two and second Connecting rod one end connects, and the second connecting rod other end is connected on end effector by revolute pair three,
Third connecting rod one end is connected on end effector by revolute pair four, and the third connecting rod other end is sleeved on slide block In,
First expansion link one end is connected in frame by revolute pair five, and the other end is connected to first even by revolute pair six On bar,
Second expansion link one end is connected in frame by revolute pair seven, and the other end is connected to the 3rd even by revolute pair eight On bar,
3rd expansion link one end is connected in frame by revolute pair nine, the 3rd expansion link other end by revolute pair ten with Fourth link one end connects, and the fourth link other end is connected with the 5th connecting rod one end by revolute pair 14, the 5th connecting rod another End is connected on second connecting rod by revolute pair 15, is connected on first connecting rod by revolute pair 13 in the middle part of fourth link,
4th expansion link one end is connected on slide block by revolute pair 11, and the other end is connected to the by revolute pair 12 On two connecting rods.
Compared with prior art, the beneficial effect that the present invention possesses:
Having higher reliability, be easily controlled, performance accuracy is high, and each parts machining matching requirements are low, maintenance Low cost, work efficiency is greatly improved, it is possible to significantly save manpower, and mechanism easily realizes automatization, NC postprocessing controls, and makes an uproar Sound is low, pollution-free, can well meet digging operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of parallel institution formula robot palletizer of the present invention.
Detailed description of the invention
Below by embodiment, technical scheme is further elaborated.
Embodiment 1
Parallel institution formula robot palletizer, including first connecting rod 1, second connecting rod 2, third connecting rod the 3, first expansion link 4, Two expansion link the 5, the 3rd expansion links 6, fourth link the 10, the 5th connecting rod the 26, the 4th expansion link 7, end effector 8, slide block 9 and machine Frame 10,
First connecting rod 1 one end is connected in frame 10 by revolute pair 1, and first connecting rod 1 other end passes through revolute pair two 12 are connected with second connecting rod 2 one end, and second connecting rod 2 other end is connected on end effector 8 by revolute pair 3 13,
Third connecting rod 3 one end is connected on end effector 8 by revolute pair 4 14, and third connecting rod 3 other end is sleeved on In slide block 9,
First expansion link 4 one end is connected in frame 10 by revolute pair 5 15, and the other end is connected by revolute pair 6 16 On first connecting rod 1,
Second expansion link 5 one end is connected in frame 10 by revolute pair 7 17, and the other end is connected by revolute pair 8 18 On third connecting rod 3, revolute pair 8 18 between slide block 9 and revolute pair 4 14,
3rd expansion link 6 one end is connected in frame 10 by revolute pair 9 19, and the 3rd expansion link 6 other end is by rotating Secondary 10 are connected with fourth link 10 one end, and fourth link 10 other end is connected by revolute pair 14 and the 5th connecting rod 26 one end Connecing, the 5th connecting rod 26 other end is connected on second connecting rod 2 by revolute pair 15, passes through revolute pair in the middle part of fourth link 10 13 are connected on first connecting rod 1,
4th expansion link 7 one end is connected on slide block 9 by revolute pair 11, and the other end is by revolute pair 12 even It is connected on second connecting rod 2.
Revolute pair 12, revolute pair 9 19 and revolute pair 7 17 are rotated by Serve Motor Control, first determine above-mentioned rotation Secondary angle, then determine the second expansion link the 5, the 3rd expansion link 6 and length of the 4th expansion link 7.
Being thered is provided thrust by hydraulically extensible bar, coordinate multi link linkage transmission, wherein third connecting rod 3 has a freedom End, slide block 9 is suspended on second connecting rod by the 4th expansion link 7, plays the effect supporting third connecting rod 3 free end, and the 4th stretches Second connecting rod 2 is also played a supporting role by contracting bar 7 for the direction regulating third connecting rod 3 simultaneously,
First expansion link 4 extends or shortens the angle of regulation first connecting rod 1, and the 3rd expansion link 6 elongates or shortens generation Push-pull effort, the angle of the lever regulation second connecting rod 2 that push-pull effort is formed through fourth link and the 5th connecting rod, first connecting rod 1 He Second connecting rod 2 is worked in coordination and can be moved end effector 8 to target location flexibly, then is held end by the second expansion link 5 Row device 8 provides power to complete the action of end effector 8.

Claims (1)

1. parallel institution formula robot palletizer, it is characterised in that include first connecting rod, second connecting rod, third connecting rod, first stretch Bar, the second expansion link, the 3rd expansion link, fourth link, the 5th connecting rod, the 4th expansion link, end effector, slide block and frame,
First connecting rod one end is connected in frame by revolute pair one, and the first connecting rod other end passes through revolute pair two and second connecting rod One end connects, and the second connecting rod other end is connected on end effector by revolute pair three,
Third connecting rod one end is connected on end effector by revolute pair four, and the third connecting rod other end is sleeved in slide block,
First expansion link one end is connected in frame by revolute pair five, and the other end is connected to first connecting rod by revolute pair six On,
Second expansion link one end is connected in frame by revolute pair seven, and the other end is connected to third connecting rod by revolute pair eight On,
3rd expansion link one end is connected in frame by revolute pair nine, and the 3rd expansion link other end passes through revolute pair ten and the 4th Connecting rod one end connects, and the fourth link other end is connected with the 5th connecting rod one end by revolute pair 14, and the 5th connecting rod other end leads to Cross revolute pair 15 to be connected on second connecting rod, be connected on first connecting rod by revolute pair 13 in the middle part of fourth link,
4th expansion link one end is connected on slide block by revolute pair 11, and the other end is connected to second even by revolute pair 12 On bar.
CN201610807714.2A 2016-09-06 2016-09-06 A kind of parallel institution formula robot palletizer Pending CN106272352A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610807714.2A CN106272352A (en) 2016-09-06 2016-09-06 A kind of parallel institution formula robot palletizer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610807714.2A CN106272352A (en) 2016-09-06 2016-09-06 A kind of parallel institution formula robot palletizer

Publications (1)

Publication Number Publication Date
CN106272352A true CN106272352A (en) 2017-01-04

Family

ID=57710359

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610807714.2A Pending CN106272352A (en) 2016-09-06 2016-09-06 A kind of parallel institution formula robot palletizer

Country Status (1)

Country Link
CN (1) CN106272352A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107673081A (en) * 2017-09-26 2018-02-09 广西南宁栩兮科技有限公司 A kind of multiple degrees of freedom robot palletizer

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000085973A (en) * 1998-09-07 2000-03-28 Fuji Yusoki Kogyo Co Ltd Columnar continuous loading device
CN203008006U (en) * 2012-12-28 2013-06-19 广西大学 Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism
CN104404989A (en) * 2014-11-11 2015-03-11 广西大学 Controllable loading mechanism with active metamorphic function
CN104912128A (en) * 2015-06-04 2015-09-16 广西大学 Controllable excavating mechanism
CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105252521A (en) * 2015-11-20 2016-01-20 覃煦 Multiple-degree-of-freedom industrial robot manipulator
CN105291100A (en) * 2015-11-20 2016-02-03 覃煦 Mechanical arm working at multiple angles
CN205134401U (en) * 2015-11-10 2016-04-06 覃煦 Multi freedom connecting rod formula pile up neatly arm
CN105773654A (en) * 2016-05-15 2016-07-20 广西南宁栩兮科技有限公司 Telescopic material taking and putting joint

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000085973A (en) * 1998-09-07 2000-03-28 Fuji Yusoki Kogyo Co Ltd Columnar continuous loading device
CN203008006U (en) * 2012-12-28 2013-06-19 广西大学 Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism
CN104404989A (en) * 2014-11-11 2015-03-11 广西大学 Controllable loading mechanism with active metamorphic function
CN104912128A (en) * 2015-06-04 2015-09-16 广西大学 Controllable excavating mechanism
CN205134401U (en) * 2015-11-10 2016-04-06 覃煦 Multi freedom connecting rod formula pile up neatly arm
CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105252521A (en) * 2015-11-20 2016-01-20 覃煦 Multiple-degree-of-freedom industrial robot manipulator
CN105291100A (en) * 2015-11-20 2016-02-03 覃煦 Mechanical arm working at multiple angles
CN105773654A (en) * 2016-05-15 2016-07-20 广西南宁栩兮科技有限公司 Telescopic material taking and putting joint

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107673081A (en) * 2017-09-26 2018-02-09 广西南宁栩兮科技有限公司 A kind of multiple degrees of freedom robot palletizer

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Application publication date: 20170104