CN106625588A - Controllable mechanism type stacking robot driven by electric push cylinders - Google Patents
Controllable mechanism type stacking robot driven by electric push cylinders Download PDFInfo
- Publication number
- CN106625588A CN106625588A CN201611107588.6A CN201611107588A CN106625588A CN 106625588 A CN106625588 A CN 106625588A CN 201611107588 A CN201611107588 A CN 201611107588A CN 106625588 A CN106625588 A CN 106625588A
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- China
- Prior art keywords
- connecting rod
- cylinder
- electronic
- electric push
- frame
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- 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
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A controllable mechanism type stacking robot driven by electric push cylinders is characterized in that one end of a connecting rod I is connected with a frame; the other end of the connecting rod I is connected with a connecting rod II; one end of an electric push cylinder I is connected with the connecting rod I; the other end of the electric push cylinder I is connected with one end of the connecting rod II; the other end of the connecting rod II is connected with an executing terminal; one end of an electric push cylinder II is connected with the frame; the other end of the electric push cylinder II is connected with the first angle of a triangular connecting plate; the second angle of the triangular connecting plate is connected with one end of an electric push cylinder III; the other end of the electric push cylinder III is connected with the executing terminal; one end of a connecting rod III is connected with the frame; the other end of the connecting rod III is connected with one end of a connecting rod IV; the other end of the connecting rod IV is connected with the connecting rod I; and the frame is connected with a base. The stacking robot maintains a series of advantages such as simple structure, low manufacturing cost, large working space and compact structure and is improved in transmission efficiency compared with a traditional mechanism; and meanwhile the stacking robot is reduced in rotational inertia and increased in movement stability and reliability and is free of pollution.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of electronic cylinder that pushes away drives controllable-mechanism type robot palletizer.
Background technology
The generation of robot causes the life of the mankind to there occurs great change, and it is strong that robot possesses very big work
Degree, and efficient in the short period of time can complete work in every, it is also possible to replace people to go to complete some highly difficult, height
Dangerous work is so as to ensure that the personal safety of workman.And process of industrialization is constantly accelerated, become
The core force of industrial development.Therefore, robot have received the concern of time various countries and promote.
With the continuous progress of science and technology, the continuous improvement required modern mechanical, while the requirement to precision is also progressively
Raising.At present, many link-type robots are all that, using fluid pressure type, with simple structure, low cost of manufacture, work is empty
Between a series of advantage such as big, but its rigidity and intensity is not all universal high, is not particularly suited for high accuracy, high rotating speed and high capacity
Occasion and also elliptical gear is also larger.And for fluid pressure type, not only the hydraulic components accuracy of manufacture has high demands, manufactures
And its maintaining high cost, hydraulic oil is again easy to be failed due to heating during work, changes hydraulic oil high cost, hydraulic system
Such environmental effects are easily received, especially under low temperature or hot environment, situations such as powerless or hydraulic system easily occur and damage.
The content of the invention
The present invention is directed to the deficiencies in the prior art, there is provided a kind of electronic cylinder that pushes away drives controllable-mechanism type robot palletizer.
To achieve these goals, present invention employs technical scheme below：
A kind of electronic cylinder that pushes away drives controllable-mechanism type robot palletizer, including base, frame, connecting rod one, connecting rod two, connecting rod
3rd, connecting rod four, triangular connecting plate, it is electronic push away cylinder one, it is electronic push away cylinder two, it is electronic push away cylinder three and perform terminal, the one end of connecting rod one lead to
Cross rotation secondary to be connected in frame, the other end of connecting rod one is connected on connecting rod two by rotating secondary two, electronic to push away the one end of cylinder one
It is connected on connecting rod one by rotating secondary three, the electronic other end of cylinder one that pushes away is connected by rotation secondary four with the one end of connecting rod two, connecting rod
Two other ends pass through rotation secondary five and are connected in execution terminal, and the electronic one end of cylinder two that pushes away is connected in frame by rotation pair six,
The electronic other end of cylinder two that pushes away is connected by rotation secondary seven with first jiao of triangular connecting plate, and second jiao of triangular connecting plate passes through to turn
Dynamic secondary eight are connected with the electronic one end of cylinder three that pushes away, and the electronic other end of cylinder three that pushes away is connected in execution terminal by rotation secondary nine, triangle
Connecting plate the third angle is connected also by rotating secondary two with connecting rod one and connecting rod two, and the one end of connecting rod three is connected to machine by rotating secondary ten
On frame, the other end of connecting rod three is connected by rotating secondary 11 with the one end of connecting rod four, and the other end of connecting rod four is connected by rotating secondary 12
It is connected on connecting rod one, frame is connected on base by rotating secondary 13.
Compared with prior art, the beneficial effect that the present invention possesses：
And for electronic in the present invention is pushed away for cylinder drives controllable-mechanism type robot palletizer, simple structure is remained,
Low cost of manufacture, working space is big, a series of advantage such as compact conformation, and impact shock is decreased, and is particularly well-suited to
High-revolving occasion, the efficiency of transmission has been improved compared with traditional mechanism, while rotary inertia is decreased, stable movement
Property with reliability increase, pollution will not be produced.Relative to hydraulic cylinder/cylinder, it is electronic push away cylinder have the advantages that it is original：Need not answer
Miscellaneous integrated system support, (including pump, pipeline, valve, filter, many joints etc.)；Many spaces can be saved, and
In the case of without maintenance, safe and reliable work；Pollution without greasy dirt, is greatly lowered noise, keeps clean/quiet
Working environment；Specific performance characteristics are as follows：Self-locking property：Full depth tooth leading screw is electronic to push away cylinder and spiral lift, due to synthesis
Transmission efficiency is low, and major part has absolute dynamic load auto-lock function, increases the security of equipment operation；Precision is positioned：Integrated location essence
Degree is up to 0～1mm；Servo-electric cylinder position essence can be to 0.1um；Precise control：Configuration codes device, by frequency converter or controller
Control, realizes that closed loop is accurately positioned；As required precision is not high, potentiometer can be equipped with and realize On-line Control.Synchronism：Single electricity that slows down
Machine drives multiple stage push rod simultaneously by mechanical connection, realizes synchronization lifting and absolute synchronization drive system：Direct current generator 12/24V,
Load motor, three phase alternating current motor, without the need for source of the gas/hydraulic power source overload protection：Overload-release clutch antioverloading can be equipped with；Also may be used
It is equipped with overload pressure sensor antioverloading.Load is high：Push/pull power can be to 250 tons.Other：Safeguard simple, noise is low, can it is high/
Low temperature, anti-corrosion/explosion-proof adverse circumstances normal work.
Description of the drawings
Fig. 1 is a kind of electronic structural representation one for pushing away cylinder driving controllable-mechanism type robot palletizer of the present invention.
Fig. 2 is a kind of electronic structural representation two for pushing away cylinder driving controllable-mechanism type robot palletizer of the present invention.
Fig. 3 is a kind of structural representation of electronic frame for pushing away cylinder driving controllable-mechanism type robot palletizer of the present invention
Figure.
Specific embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of electronic cylinder that pushes away drives controllable-mechanism type robot palletizer, including base 8, frame 5, connecting rod 1, connecting rod 22,
Connecting rod 33, connecting rod 44, triangular connecting plate 6, it is electronic push away cylinder 1, it is electronic push away cylinder 2 12, it is electronic push away cylinder 3 13 and perform terminal
7,
The one end of connecting rod 1 is connected in frame 5 by rotating secondary 1, and the other end of connecting rod 1 is by rotating secondary 2 102
It is connected on connecting rod 22,
The electronic one end of cylinder 1 that pushes away is connected on connecting rod 1 by rotation secondary 3 103, and the electronic other end of cylinder 1 that pushes away passes through
Rotate secondary 4 104 to be connected with the one end of connecting rod 22, the other end of connecting rod 22 is connected in execution terminal 7 by rotating secondary 5 105,
The electronic one end of cylinder 2 12 that pushes away is connected in frame 5 by rotation secondary 6 106, and the electronic other end of cylinder 2 12 that pushes away is by turning
Dynamic secondary 7 107 are connected with first jiao of triangular connecting plate 6, and second jiao of triangular connecting plate 6 is pushed away by rotating secondary 8 108 with electronic
The one end of cylinder 3 13 connects, and the electronic other end of cylinder 3 13 that pushes away is connected in execution terminal 7 by rotation secondary 9 109, triangular connecting plate 6
The third angle is connected also by rotating secondary 2 102 with connecting rod 1 and connecting rod 22,
The one end of connecting rod 33 is connected in frame 5 by rotating secondary 10, and the other end of connecting rod 33 is by rotating secondary 11
111 are connected with the one end of connecting rod 44, and the other end of connecting rod 44 is connected on connecting rod 1 by rotating secondary 12,
Frame 5 is connected on base 8 by rotating secondary 13.
Claims (1)
1. a kind of electronic cylinder that pushes away drives controllable-mechanism type robot palletizer, it is characterised in that including base, frame, connecting rod one, company
Bar two, connecting rod three, connecting rod four, triangular connecting plate, it is electronic push away cylinder one, it is electronic push away cylinder two, it is electronic push away cylinder three and perform terminal,
The one end of connecting rod one is connected in frame by rotating secondary one, and the other end of connecting rod one is connected to connecting rod two by rotating secondary two
On,
The electronic one end of cylinder one that pushes away is connected on connecting rod one by rotation pair three, and the electronic other end of cylinder one that pushes away is by rotating secondary four and connecting
The one end of bar two connects, and the other end of connecting rod two is connected in execution terminal by rotating secondary five,
The electronic one end of cylinder two that pushes away is connected in frame by rotation secondary six, and the electronic other end of cylinder two that pushes away is by rotating secondary seven and triangle
First jiao of connection of connecting plate, second jiao of triangular connecting plate is connected by rotating secondary eight with the electronic one end of cylinder three that pushes away, electronic to push away
The other end of cylinder three is connected in execution terminal by rotating secondary nine, and triangular connecting plate the third angle is also by rotation secondary two and connecting rod one
Connect with connecting rod two,
The one end of connecting rod three is connected in frame by rotating secondary ten, and the other end of connecting rod three is by rotating secondary 11 with the one end of connecting rod four
Connection, the other end of connecting rod four is connected on connecting rod one by rotating secondary 12,
Frame is connected on base by rotating secondary 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611107588.6A CN106625588A (en) | 2016-12-06 | 2016-12-06 | Controllable mechanism type stacking robot driven by electric push cylinders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611107588.6A CN106625588A (en) | 2016-12-06 | 2016-12-06 | Controllable mechanism type stacking robot driven by electric push cylinders |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625588A true CN106625588A (en) | 2017-05-10 |
Family
ID=58819575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611107588.6A Pending CN106625588A (en) | 2016-12-06 | 2016-12-06 | Controllable mechanism type stacking robot driven by electric push cylinders |
Country Status (1)
| Country | Link |
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| CN (1) | CN106625588A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127501A (en) * | 2017-07-04 | 2017-09-05 | 广西大学 | A kind of double cylinder pushing type welding robots of four-degree-of-freedom |
| CN107363817A (en) * | 2017-09-12 | 2017-11-21 | 连雪芳 | A kind of six degree of freedom robot palletizer |
| CN111360791A (en) * | 2020-03-27 | 2020-07-03 | 赵文孝 | Stable form intelligent manufacturing mechanical arm with secondary limiting function |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002938A (en) * | 2016-06-12 | 2016-10-12 | 广西大学 | Linear rotation hybrid drive controllable mechanism type robot |
-
2016
- 2016-12-06 CN CN201611107588.6A patent/CN106625588A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002938A (en) * | 2016-06-12 | 2016-10-12 | 广西大学 | Linear rotation hybrid drive controllable mechanism type robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127501A (en) * | 2017-07-04 | 2017-09-05 | 广西大学 | A kind of double cylinder pushing type welding robots of four-degree-of-freedom |
| CN107363817A (en) * | 2017-09-12 | 2017-11-21 | 连雪芳 | A kind of six degree of freedom robot palletizer |
| CN111360791A (en) * | 2020-03-27 | 2020-07-03 | 赵文孝 | Stable form intelligent manufacturing mechanical arm with secondary limiting function |
| CN111360791B (en) * | 2020-03-27 | 2021-05-07 | 江苏瑞伯特智能科技股份有限公司 | Stable form intelligent manufacturing mechanical arm with secondary limiting function |
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| PB01 | Publication | ||
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Application publication date: 20170510 |