CN110405722A - A kind of movable type robot palletizer - Google Patents

A kind of movable type robot palletizer Download PDF

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Publication number
CN110405722A
CN110405722A CN201910742436.0A CN201910742436A CN110405722A CN 110405722 A CN110405722 A CN 110405722A CN 201910742436 A CN201910742436 A CN 201910742436A CN 110405722 A CN110405722 A CN 110405722A
Authority
CN
China
Prior art keywords
arm
drive rod
link block
small
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.)
Pending
Application number
CN201910742436.0A
Other languages
Chinese (zh)
Inventor
卿兆波
杨惠忠
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.)
Hangzhou Tianming Technology Co Ltd
T Max Hangzhou Technology Co Ltd
Original Assignee
Hangzhou Tianming Technology Co Ltd
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 Hangzhou Tianming Technology Co Ltd filed Critical Hangzhou Tianming Technology Co Ltd
Priority to CN201910742436.0A priority Critical patent/CN110405722A/en
Publication of CN110405722A publication Critical patent/CN110405722A/en
Priority claimed from PCT/CN2020/083476 external-priority patent/WO2021027296A1/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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

The invention discloses a kind of mobile robot palletizer, including X, Z coupling arm mechanism and mobile platform, X, Z coupling arm mechanism are fixedly mounted on mobile platform, and mobile platform drives X, Z coupling arm mechanism mobile or original place rotation;X, it includes passing through kinematic pair driving member interconnected, actuator and executive item that Z, which couples arm mechanism, the stretching motion of actuator moves driving member in a manner of interlocking, and the executive item for being located at X, Z coupling arm mechanism end is driven to make corresponding sports with vertical direction in the horizontal direction.It is big to solve prosthetic robot main screw lift, energy consumption of electrical machinery is high, and mobile difficult, actuator positions the problems such as inaccurate.

Description

A kind of movable type robot palletizer
Technical field
The present invention relates to robotic technology field more particularly to a kind of mobile robot palletizers.
Background technique
Robot palletizer is widely used in the crawl in industrial production, and the processes such as carrying and vanning, robot palletizer is not Labour has only been liberated, production efficiency is also effectively increased, instead of being accomplished manually single carrying, the work such as pile.
Usual robot palletizer uses articulated type industrial robot Basic Design.Traditional robot palletizer is in order to realize end The arbitrary motion in space of actuator is held, is often connected into a movement even chain with multiple joints, it is each by controlling The dexterous manipulation of end capture mechanism is realized in the movement in joint.Usually motor is mounted on each joint, articulated type stacking Robot research obtains more mature, but since all joints all concentrate on a kinematic chain, the movement in each joint is missed Difference and disadvantage can accumulate gradually, amplify step by step, arrived end effector there will be inaccurate, and due to concatenated joint compared with Long, centrifugal force is larger, and remaining vibration is big.Each motor, which is mounted on joint, will also result in that rotary inertia is big, load capacity is poor The disadvantages of.And prosthetic robot main screw lift is big, causes power of motor high, mobile difficult, typically fixedly mounted.
Summary of the invention
The invention discloses a kind of mobile robot palletizer, it is big to solve prosthetic robot main screw lift, motor energy The problems such as consumption is high, mobile difficult, and actuator positioning is inaccurate.
The invention is realized by the following technical scheme:
A kind of movable type robot palletizer, including X, Z coupling arm mechanism and mobile platform, X, Z coupling arm mechanism are fixed It is mounted on mobile platform, mobile platform drives X, Z coupling arm mechanism mobile or original place rotation;X, Z couples arm machine Structure includes by kinematic pair driving member interconnected, actuator and executive item, and the stretching motion of actuator makes driving member with even Dynamic mode moves, and the executive item for being located at X, Z coupling arm mechanism end is driven to make Xiang Yingyun with vertical direction in the horizontal direction It is dynamic.
Specifically, driving member includes big arm component, small arm component, shoulder link block, ancon link block and wrist link block; One end of big arm component is rotationally connected with shoulder link block, and the other end of big arm component is rotationally connected with ancon link block;Forearm One end of component is rotationally connected with ancon link block, and the other end of small arm component is rotationally connected with wrist link block.
Further, big arm component includes two parallel and equal length the first big armed levers and the second largest armed lever, described Small arm component includes two parallel and equal length the first small armed levers and the second small armed lever, and the actuator includes large arm driving Bar and forearm drive rod.
Further, one end of forearm drive rod is rotationally connected with the second small armed lever or wrist link block, other end rotation It is connected to ancon link block or the first small armed lever, the stretching motion of forearm drive rod makes small arm component make corresponding translation.
Further, one end of large arm drive rod is rotationally connected with big arm component, and the other end is rotationally connected with shoulder connection Block, the stretching motion of large arm drive rod make big arm component make corresponding translation.
Specifically, forearm drive rod includes the first telescopic seat and the first telescopic rod, it is flexible that the first telescopic rod is moved to first Seat is internal, shortens forearm drive rod;First telescopic rod removes the first telescopic seat, extends forearm drive rod.
Large arm drive rod includes the second telescopic seat and the second telescopic rod, and the second telescopic rod is moved to inside the second telescopic seat, Shorten large arm drive rod;Second telescopic rod removes the second telescopic seat, extends large arm drive rod.
Further, mobile platform two sides of the bottom are symmetrically provided with two driving wheels, by controlling two driving wheels Speed and rotation direction realize the advance of robot, retrogressing, turning and original place rotation.
Further, it is provided with clump weight on mobile platform, for keeping the balance of robot.
The beneficial effects of the present invention are:
(1) compared with traditional articulated type robot palletizer, present invention movable type robot palletizer is realized by mechanism to end The control of executive item has compact-sized, large carrying capacity, advantage with high accuracy.
(2) fixed underpan of traditional robot is replaced with mobile platform, while eliminating traditional robot chassis and machine The rotating mechanism of tool arm keeps robot palletizer structure simpler, alleviates main screw lift.
(3) use mechanism as the actuator of mechanical arm, compared to the joint drive of prosthetic robot, required motor function Rate substantially reduces, and rod piece mechanism is lighter, and the rotary inertia in each joint is small, and remnants vibration is small, and kinetic moment is small, is entirely to move The accuracy of dynamic robot palletizer is higher.
(4) mobile platform of the mobile robot palletizer of the present invention, can planar move, with traditional fixation position Robot palletizer is compared, and the working space of this movement robot palletizer is bigger, and it is bigger can to complete more complicated and working space Task.
Detailed description of the invention
Fig. 1 is the schematic diagram that a kind of movable type robot palletizer X, Z couple arm mechanism;
Fig. 2 is that X, Z of mobile robot palletizer couple a kind of schematic diagram of embodiment of arm mechanism;
Fig. 3 is that X, Z of mobile robot palletizer couple the schematic diagram of arm mechanism another kind embodiment;
Fig. 4 is a kind of mobile robot palletizer overall structure figure.
In figure,
11. mobile platform, 12 driving wheels, 13. clump weights, 24. shoulder link blocks, 25. wrist link blocks, the connection of 26. ancons Block, 211. large arm drive rods, 212. forearm drive rods, 221. first small armed levers, 222. second small armed levers, 231. first large arm Bar, the 232. second largest armed levers, A1、A2、A3、B1、B2、B3、C1、C2For revolute pair.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.Specific embodiment described herein It is used only for explaining the present invention rather than limiting the invention.In addition, it should also be noted that, for ease of description, in attached drawing Only the parts related to the present invention are shown rather than entire infrastructure.
Embodiment 1
With reference to Fig. 1, which is the schematic diagram of X, Z coupling arm mechanism, and it includes big arm component, forearm group that X, Z, which couple arm mechanism, Part, drive rod and each link block, specifically, big arm component includes the first big armed lever 231 and the second largest armed lever 232, the first large arm One end of bar is rotationally connected with shoulder link block 23, and the other end is rotationally connected with ancon link block 26;Small arm component includes first Small armed lever 221 and the second small armed lever 222, one end of small arm component are rotationally connected with ancon link block 26, other end rotation connection In wrist link block 25.Drive rod includes large arm drive rod 211 and forearm drive rod 212, one end rotation of large arm drive rod 211 In big arm component, the other end is rotationally connected with shoulder link block 23;One end of forearm drive rod 212 is rotationally connected with the second forearm Bar 222 or wrist link block 25, the other end are rotationally connected with the small armed lever 221 of ancon link block 26 or the first.
Specifically, one end of the first big armed lever 231 passes through revolute pair A3It is connected to shoulder link block 23, the first big armed lever 231 other end passes through revolute pair B3It is connected to ancon link block 26;One end of the second largest armed lever 232 passes through revolute pair A2Connection Pass through revolute pair B in the other end of shoulder link block 23, the second largest armed lever 2322It is connected to ancon link block 26;First big armed lever 231, the second largest armed lever 232, B2And B3LineA2And A3Line, this four edges form a mobilizable parallelogram, The stretching motion of large arm drive rod 211 drives the parallelogram to generate corresponding translation.
One end of first small armed lever 221 passes through revolute pair B2Be connected to ancon link block 26, the first small armed lever 221 it is another End passes through revolute pair C2It is connected to wrist link block 25;One end of second small armed lever 222 passes through revolute pair B1It is connected to ancon connection The other end of block 26, the second small armed lever 222 passes through revolute pair C1It is connected to wrist link block 25;First small armed lever 221, second is small Armed lever 222, C1And C2LineB1And B2Line, this four edges form a mobilizable parallelogram, forearm drive rod 212 stretching motion drives the parallelogram to generate corresponding translation.
Forearm drive rod 212 includes the first telescopic seat 2122 and the first telescopic rod 2121, and the first telescopic rod 2121 is by turning Dynamic secondary C1It is connected to wrist link block 25, the first telescopic seat 2122 passes through revolute pair B2It is connected to ancon link block 26;Large arm is driven Lever 211 includes the second telescopic seat 2112 and the second telescopic rod 2111, and the second telescopic rod 2111 passes through revolute pair B3It is connected to elbow Portion's link block 26, the second telescopic seat 2112 pass through revolute pair A1It is connected to ancon link block 26.
Forearm drive rod 212 and large arm drive rod 211 are electric telescopic rod, and drive rod inner wall installs electric motor, are stretched Bar and telescopic seat are by engaged gears, and the rotation of electric motor is with the rotation of dynamic bearing, so that the stretching motion of telescopic rod is pushed, When electric motor rotates clockwise, telescopic rod removes telescopic seat, drive rod length elongation;When electric motor rotates counterclockwise, stretch Contracting bar moves into telescopic seat, and driving pole length shortens.
Embodiment 2
With reference to Fig. 2, which is the structural schematic diagram that X, Z coupling arm mechanism are in rounding state, when X, Z coupling arm mechanism need When collapsing, start the motor of large arm drive rod, and rotate counterclockwise motor bearings, pushes the second telescopic rod 2111 opposite Second telescopic seat 2112 is rotated, and slowly enters the second telescopic rod 2111 inside second telescopic seat 2112, to make first Big armed lever 231 and the second largest armed lever 232 move downward forward.Simultaneously start the motor of forearm drive rod, and make motor bearings by It rotates counterclockwise, the first telescopic rod 2121 is pushed to be rotated relative to the first telescopic seat 2122, make the first telescopic rod 2121 slowly Into inside the first telescopic seat 2122, so that the first small armed lever 221 and the second small armed lever 222 be made to move downward backward.Large arm group The angle of part and small arm component reduces, and X, Z coupling arm mechanism are in rounding state.
Embodiment 3
With reference to Fig. 3, which is the structural schematic diagram that X, Z coupling arm mechanism are in extended state, when X, Z coupling arm mechanism need When stretching, start the motor of large arm drive rod, and be clockwise pivoted motor bearings, pushes the second telescopic rod 2111 opposite Second telescopic seat 2112 is rotated, and so that the second telescopic rod 2111 is slowly removed the second telescopic seat 2112, to make the first large arm Bar 231 and the second largest armed lever 232 move upwards backward.Start the motor of forearm drive rod simultaneously, and makes motor bearings by up time Needle rotation, pushes the first telescopic rod 2121 to be rotated relative to the first telescopic seat 2122, removes the first telescopic rod 2121 slowly First telescopic seat 2122, so that the first small armed lever 221 and the second small armed lever 222 be made to move forward and up.Big arm component and forearm The angle of component increases, and X, Z coupling arm mechanism are in extended state.
Embodiment 4
With reference to Fig. 4, which is X, Z coupling arm mechanism robot palletizer overall structure diagram, including X, Z couple arm mechanism With mobile platform 1, there are two drivings 12 for setting on mobile platform 1, by the speed and the rotation side that control two driving wheels It is rotated to advance, retrogressing, turning and the original place for realizing robot.X, Z couples arm mechanism and mobile platform 1 and is connected by shoulder Block 23 is connect to be fixedly connected, shoulder link block 23 includes at least two parallel shoulder framves, be provided between parallel shoulder frame it is several with The vertical connecting rod of shoulder frame, large arm drive rod, the first big armed lever, the second largest armed lever one end be rotationally connected with therein one respectively Connecting rod.
In the present embodiment, the on both sides of the middle on chassis 1 is arranged in driving wheel 12, and the axisymmetrical on opposite chassis 1 is arranged, Be conducive to improve the robust motion on chassis.Using process control two-wheel differential driving by the way of realize robot advance, after The movement of the forms such as moving back, turn, rotating in place, when the speed of two-wheel is identical, when direction is identical, realize robot advance or after It moves back;When the speed of two-wheel is identical, when contrary, the no-radius rotation of robot is realized;When the speed difference of two-wheel, direction phase Meanwhile realizing the turning of robot.
The work step of the present embodiment movable type robot palletizer:
S1, according to receiving stacking command information, the stacking command information include the initial position of at least one article to be palletized with And the stacking position after carrying.
When needing to carry and when stacking article, robot palletizer receives and execute article carrying instruction, with complete to carry with Stacking article task, wherein article carrying instruction includes mobile route, the start bit of at least one target item of robot It sets, heap code position of at least one target item etc., at least one target item can belong to same article or different types of Article.
S2, mobile platform 11 reach article position to be palletized by mobile and/or rotation.
The movement of driving wheel 12 in mobile platform 11 drives robot palletizer to move to target item original position It is dynamic.As target item initial position is advanced again into behind the rear of robot palletizer, the first original place rotation 180 degree of driving wheel 12 Target item.
S3, large arm drive rod 211 adjust the height of big arm component by stretching motion, and forearm drive rod 212 passes through flexible The height of the small arm component of motor adjustment and horizontal position make the handgrip of end reach the height to match with article to be palletized, and Surface in article.
S4, telescopic arm mechanism handgrip crawl article after, according to the stowed location of the article to be palletized received, control Mobile lifting mechanism place to be formulated.
The stowed location of article to be palletized being moved to by robot, or be with Mobile lifting mechanism The center of circle, telescopic arm mechanism are any position of radius.

Claims (9)

1. a kind of movable type robot palletizer, which is characterized in that couple arm mechanism and mobile platform, X, Z coupling including X, Z Arm mechanism is fixedly mounted on mobile platform, and mobile platform drives X, Z coupling arm mechanism mobile or original place rotation;
X, it includes by kinematic pair driving member interconnected, actuator and executive item that Z, which couples arm mechanism, and actuator stretches Movement move driving member in a manner of interlocking, drive be located at X, Z coupling arm mechanism end executive item in the horizontal direction and Vertical direction makees corresponding sports.
2. it is according to claim 1 movable type robot palletizer, which is characterized in that the driving member include big arm component, Small arm component, shoulder link block, ancon link block and wrist link block;One end of big arm component is rotationally connected with shoulder connection Block, the other end of big arm component are rotationally connected with ancon link block;One end of small arm component is rotationally connected with ancon link block, small The other end of arm component is rotationally connected with wrist link block.
3. movable type robot palletizer according to claim 2, which is characterized in that the big arm component includes two parallel And the first big armed lever and the second largest armed lever of equal length, the small arm component include two parallel and equal length first small Armed lever and the second small armed lever, the actuator include large arm drive rod and forearm drive rod.
4. movable type robot palletizer according to claim 3, which is characterized in that one end of the forearm drive rod rotates It is connected to the second small armed lever or wrist link block, the other end is rotationally connected with ancon link block or the first small armed lever, forearm driving The stretching motion of bar makes small arm component make corresponding translation.
5. movable type robot palletizer according to claim 3, which is characterized in that one end of the large arm drive rod rotates It is connected to big arm component, the other end is rotationally connected with shoulder link block, and the stretching motion of large arm drive rod makes big arm component make phase The translation answered.
6. movable type robot palletizer according to claim 3, which is characterized in that the forearm drive rod is stretched including first Contracting seat and the first telescopic rod, the first telescopic rod are moved to inside the first telescopic seat, shorten forearm drive rod;First telescopic rod moves First telescopic seat out extends forearm drive rod.
7. movable type robot palletizer according to claim 3, which is characterized in that the large arm drive rod is stretched including second Contracting seat and the second telescopic rod, the second telescopic rod are moved to inside the second telescopic seat, shorten large arm drive rod;Second telescopic rod moves Second telescopic seat out extends large arm drive rod.
8. movable type robot palletizer according to claim 1, which is characterized in that the mobile platform two sides of the bottom pair Claim ground setting there are two driving wheel, by the speed and rotation direction of two driving wheels of control realize the advance of robot, retrogressing, Turning and original place rotation.
9. movable type robot palletizer according to claim 7, which is characterized in that be provided with and match on the mobile platform Pouring weight, for keeping the balance of robot.
CN201910742436.0A 2019-08-13 2019-08-13 A kind of movable type robot palletizer Pending CN110405722A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910742436.0A CN110405722A (en) 2019-08-13 2019-08-13 A kind of movable type robot palletizer

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910742436.0A CN110405722A (en) 2019-08-13 2019-08-13 A kind of movable type robot palletizer
PCT/CN2020/083476 WO2021027296A1 (en) 2019-08-13 2020-04-07 Mobile-type robot and working method therefor

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Publication Number Publication Date
CN110405722A true CN110405722A (en) 2019-11-05

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021027296A1 (en) * 2019-08-13 2021-02-18 杭州天铭科技股份有限公司 Mobile-type robot and working method therefor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021027296A1 (en) * 2019-08-13 2021-02-18 杭州天铭科技股份有限公司 Mobile-type robot and working method therefor

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