CN112456160A - Four-degree-of-freedom stacking robot - Google Patents
Four-degree-of-freedom stacking robot Download PDFInfo
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- CN112456160A CN112456160A CN202011276554.6A CN202011276554A CN112456160A CN 112456160 A CN112456160 A CN 112456160A CN 202011276554 A CN202011276554 A CN 202011276554A CN 112456160 A CN112456160 A CN 112456160A
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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
Abstract
The invention relates to a four-degree-of-freedom stacking robot, which comprises a supporting component (1), a connecting component (2), a transmission component (3) and a stacking clamp hand (4); the supporting component (1) is in screw connection with the connecting component (2) through a through hole I (1-1-1-1); the connecting assembly (2) and the transmission assembly (3) are matched with the connecting threaded hole (3-1-2) through the connecting through hole (2-2-1-1) to realize screw connection; the transmission assembly (3) is fixedly connected with the connecting arm (2-1-3) by welding the supporting auxiliary plate (3-2-2); the stacking clamp hand (4) is matched with a clamp box body through hole (4-1-1) through a lower through hole (3-4-6-2-1) to realize bolt connection; the advantages are that: the invention has simple structure, is beneficial to clamping and fastening a target object and is convenient to popularize and apply.
Description
Technical Field
The invention discloses a four-degree-of-freedom stacking robot, and belongs to the field of robots.
Background
The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines have a fairly wide range of applications in the palletizing industry. The stacking robot greatly saves labor force and space. The stacking robot is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency.
However, the existing palletizing robot has insufficient power, and the gripper cannot clamp and fasten a target object.
Disclosure of Invention
Aiming at the defects of the existing palletizing robot, the invention provides a four-degree-of-freedom palletizing robot which adopts electro-hydraulic hybrid drive, has strong load capacity and is clamped and fastened.
The technical scheme adopted by the invention is as follows:
the four-degree-of-freedom stacking robot comprises a supporting component, a connecting component, a transmission component and a stacking clamp hand; the supporting assembly is connected with the connecting assembly through the through hole I in a screwed mode, the connecting assembly and the transmission assembly are connected with the connecting threaded hole in a matched mode through the connecting through hole, the transmission assembly is fixedly connected with the connecting arm in a welded mode through the supporting auxiliary plate, and the stacking clamp hand is connected with the clamp box body through the through hole in a matched mode through the lower through hole in a bolted mode.
The supporting assembly comprises a crossed roller bearing, a supporting cover, a supporting body, a supporting seat and a servo motor I; the crossed roller bearing is connected with a support cover through a through hole II in a screwed mode, the support cover is fixedly connected with a support body through welding, the support body is fixedly connected with a support seat through welding, a servo motor I is fixedly connected with an inner ring, the crossed roller bearing comprises an inner ring and an outer ring, the inner ring and the outer ring can rotate relatively, and meanwhile the height of the inner ring 1-1-1 higher than that of the outer ring 1-1-2 is H1Wherein H is1The value ranges are as follows: 2mm< =H1<=4 mm; the inner ring is in bolted connection with the connecting assembly through the matching of the through hole I and the connecting through hole, and the outer ring is in bolted connection with the support cover through the through hole II, so that the connecting assembly, the transmission assembly and the stacking clamp can rotate relative to the support assembly under the driving of the servo motor I; the supporting body is provided with a window, so that the servo motor I can be conveniently mounted and dismounted; the supporting seat is provided with lower margin through-holes, and lower margin through-holes are arrayed around the supporting seat, and wherein, the figure of lower margin through-holes is 4X1，X1The value range of (1-2), and the purpose of the design of the foot margin through hole is to better fix the supporting component on the ground; the inner ring is provided with through holes I which are arrayed on the inner ring, wherein the number of the through holes I is 3X2，X 2The value range of (1) is 2-3; the outer ring is provided with through holes II which are arrayed on the outer ring, wherein the number of the through holes II is 3X3，X3The value range of (1) is 2-3.
The connecting assembly comprises a connecting frame, a sliding module and a driving module; the sliding module and the connecting frame are in fit connection through the sliding guide rail and the sliding groove, so that the sliding module can do linear motion; the driving module is fixedly connected with the connecting frame through a supporting block, the connecting frame is provided with a sliding guide rail, a connecting through hole and a connecting arm, the sliding module comprises a connecting plate, a sliding block and a fixed block, the sliding block is fixedly connected with the connecting plate, the fixed block is fixedly connected with the connecting plate, the driving module comprises a driving lead screw, a supporting block and a driving end, and the driving end is matched and connected with a servo motor IV to realize the rotation of the driving lead screw; the driving screw rod is connected with the supporting block in a matched mode and is connected with the fixed thread, so that the driving screw rod can rotate to drive the driving module to do linear motion on the sliding guide rail; the connecting plate has connect the through-hole, and the sliding block is provided with the spout, and the fixed block is provided with fixed screw.
The transmission assembly comprises a transmission main arm, a supporting auxiliary arm, a cross frame, an intermediate mechanism, a crank and a connecting rod; the transmission main arm is connected with the cross frame through a pin I, and the support auxiliary arm is connected with the cross frame through a pin II and a bearing; the crank is connected with the cross frame through a pin, the connecting rod is connected with the crank, and the intermediate mechanism is respectively connected with the connecting rod and the cross frame through a pin; crossbearer, crank, connecting rod and intermediate mechanism all are in the same place through pin joint interconnect to the length of crank is A, and the distance between intermediate mechanism and crossbearer and the connecting rod tie point is B, and the length of crossbearer is C, and the length of connecting rod is D, and simultaneously, the length relation between them is: a < B < C < D and A + D > B + C, so that the transverse frame, the crank, the connecting rod and the intermediate mechanism form a crank-rocker mechanical structure; the transmission main arm is provided with pin I and connecting thread hole, supports the auxiliary arm and is provided with pin II and support subplate, and the crossbearer is provided with small-size servo motor, and small-size servo motor is connected with the crank cooperation for the whole week rotation of drive crank realization.
The intermediate mechanism comprises a mechanism box body, a supporting table and a medium servoThe servo motor, the speed reducer connecting rod and the crossed roller bearing; the supporting table is matched and connected with the mechanism box body through the matching of a supporting box body and a box body left chamber, the medium-sized servo motor is matched and connected with the mechanism box body through a box body right chamber, the speed reducing device is matched and connected with the supporting table through a connecting rod, the speed reducing device is matched and connected with the servo motor through a small gear, the connecting rod is matched and connected with the speed reducing device through a large gear, and the connecting rod is matched and connected with the supporting table through a supporting column; the cross roller bearing is matched with the left chamber through hole through an upper through hole to realize bolted connection with the mechanism box body, the mechanism box body is provided with a box body left chamber and a box body right chamber, the supporting platform comprises a supporting box body, a supporting column and a lower connecting end, the supporting box body is connected with the supporting column through interference fit of the supporting box body through hole and the supporting column, the speed reducing device comprises a large gear, a gear chain and a small gear, the large gear is in gear-rack fit with the gear chain, and the small gear is in gear-rack fit with the gear chain; the crossed roller bearing comprises an upper bearing ring and a lower bearing ring, a left chamber of the box body is provided with a left chamber through hole, and the supporting box body is provided with a supporting box body through hole; the upper bearing ring is provided with upper through holes which are arrayed on the upper bearing ring, wherein the number of the upper through holes is 3X4，X4The value range of (1) is 2-3, the lower bearing ring is provided with lower through holes, the lower through holes are arrayed on the lower bearing ring, and the number of the lower through holes is 3X5，X5The value range of (1) is 2-3.
The stacking clamp hand comprises a clamp box body, a clamp part, a clamp nail and a hydraulic power mechanism; the clamp box body is in screwed connection with the hydraulic power mechanism through a lower connecting block through hole, the clamp part is in matched connection with the hydraulic power mechanism through a straight rod, the clamp nail is fixedly connected with the clamp part through threads, and the clamp nail is fixedly connected with the clamp part in a crossed manner, so that a nut for firmly and reliably grabbing a target object can be better achieved, meanwhile, the number of the clamp nails is N, the numerical range of N is 6-10, the hydraulic power mechanism is in matched connection with the clamp box body through the straight rod, the clamp box body is provided with a clamp box body through hole, the hydraulic power mechanism comprises a hydraulic cylinder assembly, a lower connecting block, a middle plate and a straight rod, the hydraulic cylinder assembly is fixedly connected with the lower connecting block, the middle plate is in; the hydraulic cylinder assembly drives the middle plate to move through hydraulic pressure, and the straight rod fixedly connected with the hydraulic cylinder assembly is forced to rotate.
The invention has the beneficial effects that: compared with the prior art, the invention has simple structure and reliable connection of all parts; the hydraulic drive can output large torque, the ratio of the load to the self weight is large, the use effect is good, and the popularization and the application are convenient.
Drawings
Fig. 1 is a schematic view of a four degree of freedom palletizing robot;
FIG. 2 is a schematic view of a support assembly of a four degree-of-freedom palletizing robot;
FIG. 3 is a schematic exploded view of a four degree of freedom palletizing robot attachment assembly;
FIG. 4 is a schematic exploded view of a four degree of freedom robot palletizer drive assembly;
FIG. 5 is an intermediate structure of a four degree-of-freedom palletizing robot and an exploded view thereof;
fig. 6 shows a pallet gripper hand of a four-degree-of-freedom pallet robot and an exploded view thereof.
Detailed Description
The present embodiment will be described with reference to fig. 1 to 6.
The embodiment provides a four-degree-of-freedom palletizing robot; the four-degree-of-freedom palletizing robot comprises a supporting component (1), a connecting component (2), a transmission component (3) and a palletizing clamp hand (4); the supporting component (1) is connected with the connecting component (2) through the through hole I (1-1-1-1), the connecting component (2) is in screw connection with the transmission component (3) through the matching of the connecting through hole (2-2-1-1) and the connecting threaded hole (3-1-2), the transmission component (3) is in fixed connection with the connecting arm (2-1-3) through the welding of the supporting subplate (3-2-2), and the stacking clamp hand (4) is in bolt connection with the clamp box body through hole (4-1-1) through the matching of the lower through hole (3-4-6-2-1).
The supporting assembly (1) comprises a crossed roller bearing (1-1), a supporting cover (1-2), a supporting body (1-3), a supporting seat (1-4) and a servo motor I (1-5); the crossed roller bearing (1-1) passes through the through holeII (1-1-2-1) is in screw connection with a supporting cover (1-2), the supporting cover (1-2) is fixedly connected with a supporting body (1-3) through welding, the supporting body (1-3) is fixedly connected with a supporting seat (1-4) through welding, a servo motor I (1-5) is fixedly connected with an inner ring (1-1-1), a crossed roller bearing (1-1) comprises an inner ring (1-1-1) and an outer ring (1-1-2), the inner ring (1-1-1) and the outer ring (1-1-2) can rotate relatively, and the height of the inner ring (1-1-1) higher than the height of the outer ring (1-1-2) is H1Wherein H is1The value ranges are as follows: 2mm< =H1<=4mm, in the present embodiment: h1=3 mm. The inner ring (1-1-1) is in bolted connection with the connecting component (2) through the matching of the through hole I (1-1-1-1) and the connecting through hole (2-1-2), and the outer ring (1-1-2) is in screwed connection with the supporting cover (1-2) through the through hole II (1-1-1-2), so that the connecting component (2), the transmission component (3) and the stacking clamp hand (4) can rotate relative to the supporting component (1) under the driving of the servo motor I (1-5). The supporting body (1-3) is provided with a window (1-3-1) so as to facilitate the installation and the disassembly of the servo motor I (1-5). The supporting seat (1-4) is provided with foundation through holes (1-4-1), the foundation through holes (1-4-1) are arrayed around the supporting seat (1-4), and the number of the foundation through holes (1-4-1) is 4X1，X1The value range of (a) is 1-2, and in the specific embodiment: x1=1, the purpose of the foot through hole (1-4-1) design is to better fix the support assembly (1) on the ground. The inner ring (1-1-1) is provided with through holes I (1-1-1-1), the through holes I (1-1-1-1) are arrayed on the inner ring (1-1-1), and the number of the through holes I (1-1-1-1) is 3X2，X 2The value range of (a) is 2 to 3, and in the specific embodiment: x2And (2). The outer ring (1-1-2) is provided with through holes II (1-1-1-2), the through holes II (1-1-1-2) are arrayed on the outer ring (1-1-2), wherein the number of the through holes II (1-1-1-2) is 3X3，X3The value range of (a) is 2 to 3, and in the specific embodiment: x3=2。
The connecting assembly (2) comprises a connecting frame (2-1), a sliding module (2-2) and a driving module (2-3). The sliding module (2-2) and the connecting frame (2-1) are in fit connection with the sliding chute (2-2-2-1) through the sliding guide rail (2-1-1), so that the sliding module (2-2) can do linear motion. The driving module (2-3) is fixedly connected with the connecting frame (2-1) through the supporting block (2-3-2), the connecting frame (2-1) is provided with a sliding guide rail (2-1-1), a connecting through hole (2-1-2) and a connecting arm (2-1-3), the sliding module (2-2) comprises a connecting plate (2-2-1), a sliding block (2-2-2) and a fixing block (2-2-3), the sliding block (2-2-2) is fixedly connected with the connecting plate (2-2-1), the fixing block (2-2-3) is fixedly connected with the connecting plate (2-2-1), and the driving module (2-3) comprises a driving lead screw (2-3-1), The supporting block (2-3-2) and the driving end (2-3-3), the driving end (2-3-3) is connected with the servo motor IV in a matched mode, and the driving screw rod (2-3-1) is driven to rotate. The driving screw rod (2-3-1) is connected with the supporting block (2-3-2) in a matched mode, the driving screw rod (2-3-1) is connected with the fixed thread (2-2-3-1) in a threaded mode, and the driving screw rod (2-3-1) rotates to drive the driving module (2-3) to do linear motion on the sliding guide rail (2-1-2). The connecting plate (2-2-1) is provided with a connecting through hole (2-2-1-1), the sliding block (2-2-2) is provided with a sliding chute (2-2-2-1), and the fixed block (2-2-3) is provided with a fixed thread (2-2-3-1).
The transmission assembly (3) comprises a transmission main arm (3-1), a supporting auxiliary arm (3-2), a transverse frame (3-3), an intermediate mechanism (3-4), a crank (3-5) and a connecting rod (3-6). The transmission main arm (3-1) is connected with the cross frame (3-3) through a pin I (3-1-1), and the support auxiliary arm (3-2) is connected with the cross frame (3-3) through a pin II (3-2-1) and a bearing; the crank (3-5) is connected with the cross frame (3-3) through a pin, the connecting rod (3-6) is connected with the crank (3-5), and the intermediate mechanism (3-4) is respectively connected with the connecting rod (3-6) and the cross frame (3-3) through a pin; the crossbearer (3-3), the crank (3-5), the connecting rod (3-6) and the intermediate mechanism (3-4) are connected with each other through pin connection, the length of the crank (3-5) is A, the distance between the intermediate mechanism (3-4) and the connecting point of the crossbearer (3-3) and the connecting rod (3-6) is B, the length of the crossbearer (3-3) is C, the length of the connecting rod (3-6) is D, and meanwhile, the length relation among the crossbearer (3-3), the crank (3-5), the connecting rod (3-6) satisfies the following conditions: a < B < C < D and A + D > B + C, so that the transverse frame (3-3), the crank (3-5), the connecting rod (3-6) and the intermediate mechanism (3-4) form a mechanical structure of a crank-rocker; the transmission main arm (3-1) is provided with a pin I (3-1-1) and a connecting threaded hole (3-1-2), the supporting auxiliary arm (3-2) is provided with a pin II (3-2-1) and a supporting auxiliary plate (3-2-2), the cross frame (3-3) is provided with a small servo motor (3-3-1), and the small servo motor (3-3-1) is connected with the crank (3-5) in a matched mode and used for driving the crank (3-5) to rotate in a whole circle.
The intermediate mechanism (3-4) comprisesThe mechanism comprises a mechanism box body (3-4-1), a support table (3-4-2), a medium servo motor (3-4-3), a speed reducing device (3-4-4), a connecting rod (3-4-5) and a cross roller bearing (3-4-6); the supporting platform (3-4-2) is matched and connected with the mechanism box body (3-4-1) through the supporting box body (3-4-2-1) and the box body left chamber (3-4-1) in a matching way, the medium-sized servo motor (3-4-3) is matched and connected with the mechanism box body (3-4-1) through the box body right chamber (3-4-1-2), the speed reducing device (3-4-4) is matched and connected with the supporting platform (3-4-2) through the connecting rod (3-4-5), the speed reducing device (3-4-4) is matched and connected with the servo motor (3-4-3) through the small gear (3-4-3), and the connecting rod (3-4-5) is matched and connected with the speed reducing device (3) through the large gear (3-4-4-1) 4-4) are connected in a matching way, and the connecting rod (3-4-5) is connected with the supporting platform (3-4-2) in a matching way through the supporting column (3-4-2-2); the crossed roller bearing (3-4-6) is matched with the left chamber through hole (3-4-6-1-1) through the upper through hole (3-4-6-1-1) to be in bolted connection with the mechanism box body (3-4-1), the mechanism box body (3-4-1) is provided with a box body left chamber (3-4-1-1) and a box body right chamber (3-4-1-2), the support table (3-4-2) comprises a support box body (3-4-2-1), a support column (3-4-2-2) and a lower connecting end (3-4-2-3), and the support box body (3-4-2-1) and the support column (3-4-2-2) are supported through the support box body through hole (3-4-2-1-1) The support column is connected with the support column (3-4-2-2) in an interference fit mode, the speed reducing device (3-4-4) consists of a large gear (3-4-4-1), a gear chain (3-4-4-2) and a small gear (3-4-4-3), the large gear (3-4-4-1) and the gear chain (3-4-4-2) realize gear-rack fit, and the small gear (3-4-4-3) and the gear chain (3-4-4-2) realize gear-rack fit; the crossed roller bearing (3-4-6) comprises an upper bearing ring (3-4-6-1) and a lower bearing ring (3-4-6-2), a left chamber (3-4-1-1) of the box body is provided with a left chamber through hole (3-4-1-1-1), and a supporting box body through hole (3-4-2-1-1) is arranged on the supporting box body (3-4-2-1); the upper bearing ring (3-4-6-1) is provided with upper through holes (3-4-6-1-1), the upper through holes (3-4-6-1-1) are arrayed on the upper bearing ring (3-4-6-1), wherein the number of the upper through holes (3-4-6-1-1) is 3X4，X4The value range of (a) is 2 to 3, and in the specific embodiment: x4=2, the lower bearing ring (3-4-6-2) is provided with lower through holes (3-4-6-2-1), the lower through holes (3-4-6-2-1) are arrayed on the lower bearing ring (3-4-6-2), wherein the number of the lower through holes (3-4-6-2-1) is 3X5，X5The value range of (a) is 2 to 3, and in the specific embodiment: x5=2。
The stacking clamp hand (4) comprises a clamp box body (4-1), a clamp part (4-2), clamp nails (4-3) and a hydraulic power mechanism (4-4). The clamp box body (4-1) is in screw connection with the hydraulic power mechanism (4-4) through the lower connecting block through hole (4-4-2-1), the clamp part (4-2) is in fit connection with the hydraulic power mechanism (4-4) through the straight rod (4-4-4), the clamp nail (4-3) is in threaded connection with the clamp part (4-2) and fixed, and the clamp nail (4-3) is in fixed connection with the clamp part (4-2) in a crossed mode, so that the purpose of firmly and reliably grabbing a target object can be achieved better, meanwhile, the number of the clamp nails (4-3) is N, the value range of the N is 6-10, and in the specific embodiment, the value of the N is as follows: n = 8; the hydraulic power mechanism (4-4) is connected with the clamp box body (4-1) in a matching way through the straight rod (4-4-4), the clamp box body (4-1) is provided with a clamp box body through hole (4-1-1), the hydraulic power mechanism (4-4) comprises a hydraulic cylinder assembly (4-4-1) and a lower connecting block (4-4-2), the hydraulic cylinder assembly comprises an intermediate plate (4-4-3) and a straight rod (4-4-4), wherein the hydraulic cylinder assembly (4-4-1) is fixedly connected with a lower connecting block (4-4-2), the intermediate plate (4-4-3) is connected with the hydraulic cylinder assembly (4-4-1) through a pin, and the straight rod (4-4-4) is fixedly connected with the intermediate plate (4-4-3); the hydraulic cylinder assembly (4-4-1) drives the middle plate (4-4-3) to move through hydraulic pressure, and the straight rod (4-4-4) fixedly connected with the hydraulic cylinder assembly is forced to rotate.
The working process of the invention is as follows:
a servo motor I (1-5) of the stacking robot is fixedly connected with an inner ring (1-1-1), a crossed roller bearing (1-1) comprises an inner ring (1-1-1) and an outer ring (1-1-2), the inner ring (1-1-1) and the outer ring (1-1-2) can rotate relatively, a connecting component (2), a transmission component (3) and a stacking clamp hand (4) can rotate relative to a supporting component (1) under the driving of the servo motor I (1-5), and the operating position of the stacking clamp hand (4) of the stacking robot is changed; a driving end (2-3-3) in the driving module (2-3) is connected with a servo motor IV in a matching way to realize the rotation of a driving lead screw (2-3-1), under the action of the servo motor IV, the driving lead screw (2-3-1) is connected with a supporting block (2-3-2) in a matching way, a connecting component (2) is connected with a transmission component (3) through a connecting through hole (2-2-1-1) and a connecting threaded hole (3-1-2) in a matching way to realize the screw connection, the driving lead screw (2-3-1) is in threaded connection with a fixed thread (2-2-3-1), so that the driving lead screw (2-3-1) rotates to drive the driving module (2-3) to do linear motion on a sliding guide rail (2-1-2), further driving the transverse frames (3-3) and the stacking clamp hand (4) to realize pitching motion; the transverse frame (3-3) is provided with a small servo motor (3-3-1), and the small servo motor (3-3-1) is connected with the crank (3-5) in a matched mode and used for driving the crank to rotate in the whole circle, so that the middle mechanism (3-4) has a larger operation space; the middle-sized servo motor (3-4-3), the speed reducer (3-4-4), the connecting rod (3-4-5) and the crossed roller bearing (3-4-6) can drive the stacking clamp hand (4) to do rotary motion, so that the object clamped by the stacking clamp hand (4) can change the placing direction; the clamp part (4-2) is connected with the hydraulic power mechanism (4-4) in a matched mode through the straight rod (4-4-4), the clamp nail (4-3) is fixedly connected with the clamp part (4-2) in a threaded mode, and the clamp nail (4-3) is fixedly connected with the clamp part (4-2) in a crossed mode, so that the purpose of firmly and reliably grabbing the target object can be achieved better.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (6)
1. The four-degree-of-freedom stacking robot is characterized in that: the robot comprises a supporting component (1), a connecting component (2), a transmission component (3) and a stacking clamp hand (4); the supporting component (1) is in screw connection with the connecting component (2) through a through hole I (1-1-1-1); the connecting assembly (2) and the transmission assembly (3) are matched with the connecting threaded hole (3-1-2) through the connecting through hole (2-2-1-1) to realize screw connection; the transmission assembly (3) is fixedly connected with the connecting arm (2-1-3) by welding the supporting auxiliary plate (3-2-2); the stacking clamp hand (4) is matched with the clamp box body through hole (4-1-1) through the lower through hole (3-4-6-2-1) to realize bolt connection.
2. The four degree of freedom palletizing robot as claimed in claim 1, wherein: the supporting component (1) comprises a crossed roller bearing I (1-1), a supporting cover (1)1-2), a support body (1-3), a support seat (1-4) and a servo motor I (1-5); the crossed roller bearing I (1-1) is in screw connection with the supporting cover (1-2) through a through hole II (1-1-2-1); the supporting cover (1-2) is fixedly connected with the supporting body (1-3) through welding; the support body (1-3) and the support seat (1-4) are fixedly connected through welding; the servo motor I (1-5) is fixedly connected with the inner ring (1-1-1); the crossed roller bearing I (1-1) comprises an inner ring (1-1-1) and an outer ring (1-1-2), wherein the inner ring (1-1-1) and the outer ring (1-1-2) are in clearance fit, and the height of the inner ring (1-1-1) higher than the outer ring (1-1-2) is H1，H1The value ranges are as follows: 2mm< =H1<=4 mm; the support body (1-3) is provided with a window (1-3-1); the supporting seat (1-4) is provided with foundation through holes (1-4-1), the foundation through holes (1-4-1) are arrayed around the supporting seat (1-4), and the number of the foundation through holes (1-4-1) is 4X1，X1The value range of (1) to (2); the inner ring (1-1-1) is provided with through holes I (1-1-1-1), the through holes I (1-1-1-1) are arrayed on the inner ring (1-1-1), and the number of the through holes I (1-1-1-1) is 3X2，X 2The value range of (1) is 2-3; the outer ring (1-1-2) is provided with through holes II (1-1-1-2), the through holes II (1-1-1-2) are arrayed on the outer ring (1-1-2), and the number of the through holes II (1-1-1-2) is 3X3，X3The value range of (1) is 2-3.
3. The four degree of freedom palletizing robot as claimed in claim 1, wherein: the connecting assembly (2) comprises a connecting frame (2-1), a sliding module (2-2) and a driving module (2-3); the sliding module (2-2) and the connecting frame (2-1) are connected with the sliding chute (2-2-2-1) in a matching way through the sliding guide rail (2-1-1); the driving module (2-3) is fixedly connected with the connecting frame (2-1) through the supporting block (2-3-2); the connecting frame (2-1) is provided with a sliding guide rail (2-1-1), a connecting through hole (2-1-2) and a connecting arm (2-1-3); the sliding module (2-2) comprises a connecting plate (2-2-1), a sliding block (2-2-2) and a fixed block (2-2-3); the sliding block (2-2-2) is fixedly connected with the connecting plate (2-2-1); the fixed block (2-2-3) is fixedly connected with the connecting plate (2-2-1); the driving module (2-3) comprises a driving screw rod (2-3-1), a supporting block (2-3-2) and a driving end (2-3-3); the driving screw rod (2-3-1) is connected with the supporting block (2-3-2) in a matching way; the driving screw rod (2-3-1) is in threaded connection with the fixed thread (2-2-3-1); the connecting plate (2-2-1) is provided with a connecting through hole (2-2-1-1); the sliding block (2-2-2) is provided with a sliding chute (2-2-2-1); the fixing block (2-2-3) is provided with a fixing thread (2-2-3-1).
4. The four degree of freedom palletizing robot as claimed in claim 1, wherein: the transmission assembly (3) comprises a transmission main arm (3-1), a supporting auxiliary arm (3-2), a transverse frame (3-3), an intermediate mechanism (3-4), a crank (3-5) and a connecting rod (3-6); the transmission main arm (3-1) is connected with the cross frame (3-3) through a pin I (3-1-1); the supporting auxiliary arm (3-2) is connected with the transverse frame (3-3) through a pin II (3-2-1) and a bearing; the crank (3-5) is connected with a cross frame (3-3) through a pin III, the connecting rod (3-6) is hinged with the crank (3-5), the intermediate mechanism (3-4) is respectively connected with the connecting rod (3-6) and a pin IV of the cross frame (3-3), the length of the crank (3-5) is A, the distance between the intermediate mechanism (3-4) and the connecting point of the cross frame (3-3) and the connecting rod (3-6) is B, the length of the cross frame (3-3) is C, the length of the connecting rod (3-6) is D, and meanwhile, the length relation between the crank and the intermediate mechanism satisfies the following conditions: a < B < C < D and A + D > B + C; the transmission main arm (3-1) is provided with a pin I (3-1-1) and a connecting threaded hole (3-1-2); the supporting auxiliary arm (3-2) is provided with a pin II (3-2-1) and a supporting auxiliary plate (3-2-2); the transverse frame (3-3) is provided with a small servo motor (3-3-1); the small servo motor (3-3-1) is connected with the crank (3-5) in a matching way.
5. The four degree of freedom palletizing robot as claimed in claim 4, wherein: the intermediate mechanism (3-4) comprises a mechanism box body (3-4-1), a supporting platform (3-4-2) and a middle mechanismThe servo motor type driving device comprises a type servo motor (3-4-3), a speed reducing device (3-4-4), a connecting rod (3-4-5) and a crossed roller bearing II (3-4-6); the supporting platform (3-4-2) is matched and connected with the mechanism box body (3-4-1) through the matching of the supporting box body (3-4-2-1) and the box body left chamber (3-4-1-1); the medium-sized servo motor (3-4-3) is connected with the mechanism box body (3-4-1) in a matching way through the right box body chamber (3-4-1-2); the speed reducing device (3-4-4) is connected with the supporting platform (3-4-2) in a matching way through a connecting rod (3-4-5); the speed reducing device (3-4-4) is in fit connection with the servo motor (3-4-3) through a pinion (3-4-4-3); the connecting rod (3-4-5) is connected with the speed reducing device (3-4-4) in a matching way through a large gear (3-4-4-1); the connecting rod (3-4-5) is connected with the supporting platform (3-4-2) in a matching way through the supporting column (3-4-2-2); the crossed roller bearing II (3-4-6) is matched with the left chamber through hole (3-4-1-1) through the upper through hole (3-4-6-1-1) to be in bolted connection with the mechanism box body (3-4-1); the mechanism box body (3-4-1) is provided with a box body left chamber (3-4-1-1) and a box body right chamber (3-4-1-2); the support table (3-4-2) comprises a support box body (3-4-2-1), a support column (3-4-2-2) and a lower connecting end (3-4-2-3); the support box body (3-4-2-1) is connected with the support column (3-4-2-2) through interference fit of the support box body through hole (3-4-2-1-1) and the support column (3-4-2-2); the speed reduction device (3-4-4) consists of a big gear (3-4-4-1), a gear chain (3-4-4-2) and a small gear (3-4-4-3); the gearwheel (3-4-4-1) and the gear chain (3-4-4-2) realize gear-rack matching; the pinion (3-4-4-3) and the gear chain (3-4-4-2) realize gear-rack matching; the crossed roller bearing II (3-4-6) comprises an upper bearing ring (3-4-6-1) and a lower bearing ring (3-4-6-2); the left chamber (3-4-1-1) of the box body is provided with a left chamber through hole (3-4-1-1-1); the supporting box body (3-4-2-1) is provided with a supporting box body through hole (3-4-2-1-1); the upper bearing ring (3-4-6-1) is provided with upper through holes (3-4-6-1-1), the upper through holes (3-4-6-1-1) are arrayed on the upper bearing ring (3-4-6-1), and the number of the upper through holes (3-4-6-1-1) is 3X4，X4The value range of (1) is 2-3; the lower bearing ring (3-4-6-2) is provided with a lower throughHoles (3-4-6-2-1), and lower through holes (3-4-6-2-1) arrayed on the lower bearing ring (3-4-6-2), wherein the number of the lower through holes (3-4-6-2-1) is 3X5，X5The value range of (1) is 2-3.
6. The four degree of freedom palletizing robot as claimed in claim 1, wherein: the stacking clamp hand (4) comprises a clamp box body (4-1), a clamp part (4-2), a clamp nail (4-3) and a hydraulic power mechanism (4-4); the clamp box body (4-1) is in screw connection with the hydraulic power mechanism (4-4) through a lower connecting block through hole (4-4-2-1); the clamp part (4-2) is connected with the hydraulic power mechanism (4-4) in a matched manner through a straight rod (4-4-4); the clamp nail (4-3) is fixedly connected with the clamp part (4-2) through threads; the hydraulic power mechanism (4-4) is connected with the clamp box body (4-1) in a matching way through a straight rod (4-4-4); the clamp box body (4-1) is provided with a clamp box body through hole (4-1-1); the hydraulic power mechanism (4-4) comprises a hydraulic cylinder assembly (4-4-1), a lower connecting block (4-4-2), a middle plate (4-4-3) and a straight rod (4-4-4); the hydraulic cylinder assembly (4-4-1) is fixedly connected with the lower connecting block (4-4-2); the middle plate (4-4-3) is connected with the hydraulic cylinder assembly (4-4-1) by a pin; the straight rod (4-4-4) is fixedly connected with the middle plate (4-4-3).
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| CN202011276554.6A CN112456160A (en) | 2020-11-16 | 2020-11-16 | Four-degree-of-freedom stacking robot |
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| CN202011276554.6A CN112456160A (en) | 2020-11-16 | 2020-11-16 | Four-degree-of-freedom stacking robot |
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