CN202163920U - Controllable mechanism type stacking robot mechanism - Google Patents
Controllable mechanism type stacking robot mechanism Download PDFInfo
- Publication number
- CN202163920U CN202163920U CN2011202317094U CN201120231709U CN202163920U CN 202163920 U CN202163920 U CN 202163920U CN 2011202317094 U CN2011202317094 U CN 2011202317094U CN 201120231709 U CN201120231709 U CN 201120231709U CN 202163920 U CN202163920 U CN 202163920U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- controllable
- motor
- frame
- rotating base
- 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.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
A controllable mechanism type stacking robot mechanism comprises a rotating base, a frame, a motor, an arm and an arm lifting mechanism, wherein the rotating base is a cylinder; the frame is a square horizontal plate; the axial line of the cylinder is vertical to the horizontal plate; a controllable motor is fixed onto the frame; the arm comprises a first connecting hack lever and a first connecting rod; the arm lifting mechanism is a hinge four-bar mechanism and comprises a second connecting rod, a third connecting rod, a fourth connecting rod and a second connecting hack lever; the rods are connected through smooth cylindrical hinges; two ends of the fourth connecting rod are connected with the middle part of the second connecting rod and the middle part of the third connecting rod; the connecting hack levers and the axial lines of the connecting rods are in the same plane; and the joint of the first connecting rod and the second connecting rod is an output end. Computer control programs are compiled to control the motor, so that the two connecting hack levers rotate around a motor shaft and are in fit with the rotary motion of the rotating base; and the motion trail can be flexibly adjusted according to the environmental change, so that the stacking actions of the output end in a working space can be realized exactly.
Description
Technical field
The utility model relates to the robot design field, particularly a kind of controllable mechanism formula robot palletizer mechanism.
Background technology
Raising along with the mechanical automation level; It gradually serves as extensive that robot palletizer makes its application with its advantage at aspects such as physical construction, Applicable scope, alerting ability, cost and maintenances; And become a kind of development tendency, be widely used in automated production enterprises such as food, electronics, machinery, medicine.Existing robot palletizer mechanism is open chain mechanism mostly, and drive motor is placed on the robot arm, has increased the carrying of robot, is easy to generate impact, makes the robot palletizer motion unstable, and the piling accuracy is low.
As the controllable mechanism of an important branch of modern theory of mechanisms, can satisfy controlled, the adjustable requirement of modern mechanical well.This type of mechanism can make work mechanism reach function admirable, flexible, the dynamo-electric advanced level that merges of output; Satisfy the demand of many practical application, realize that at needs the every field that becomes output movements such as stroke, change pivot angle, change track all has application promise in clinical practice.This type of mechanism is applied to the robot palletizer mechanism design, will obtains effect preferably.
Summary of the invention
The purpose of the utility model provides a kind of controllable mechanism formula robot palletizer mechanism; It can overcome the deficiency of existing robot palletizer mechanism; Have controlled, adjustable, function admirable, flexible, the dynamo-electric performance that merges of output; And can be according to the variation of functional requirement or environment, soft readjustment path of motion accurately realizes holding in hand location and carrying action.
The utility model achieves the above object through following technical scheme:
A kind of controllable mechanism formula robot palletizer mechanism, a kind of controllable mechanism formula robot palletizer mechanism is made up of rotating base, frame, motor, arm and arm lifting mechanism; Said rotating base is a cylinder, and frame is square horizontal plate, and cylinder axis is vertical with horizontal plate; Frame is connected on the rotating base, and motor is made up of first controllable motor and second controllable motor, and controllable motor is fixed on the frame; Arm is made up of first side link and first connecting rod; First side link is a knee, and an end is fixed on the turning cylinder of first controllable motor and by this controllable motor and drives, and the other end links to each other with first connecting rod through the first smooth cylindrical hinge; The arm lifting mechanism is a four-bar mechanism; Be made up of second connecting rod, third connecting rod, the 4th connecting rod and second side link, second connecting rod one end passes through the second smooth cylindrical hinge and links to each other with first connecting rod, and the other end links to each other with third connecting rod through the 4th smooth cylindrical hinge; Second side link, one end links to each other with third connecting rod through the 5th smooth cylindrical hinge; The other end is fixed on the turning cylinder of second controllable motor and by second controllable motor and drives, and the 4th connecting rod one end links to each other with second connecting rod through the 3rd smooth cylindrical hinge of second connecting rod middle part, and the 6th smooth cylindrical hinge that the other end passes through the second side link middle part links to each other with second side link.Each side link and each connecting rod axis are in same plane.
Controllable mechanism formula robot palletizer mechanism is when work; The second smooth cylindrical hinge is a mouth; Frame can rotate around the rotating base axis; First side link and second side link rotate around first controllable motor and the second controllable motor axle respectively, and drive first side link and second side link through first controllable motor and second controllable motor, make controllable mechanism formula robot palletizer mechanism mouth in motion space, accurately realize various piling actions.
The outstanding advantage of the utility model is:
1, the utility model is a three degree of freedom mechanism; Output movement is rotatablely moved by first controllable motor, second controllable motor and rotating base and determines jointly; Just can make the robot palletizer mouth in working space, realize the arbitrary motion action easily through working out suitable computer-controlled program; And can change the output movement of mechanism like a cork, have flexible preferably, can be according to the variation of environment; Soft readjustment path of motion makes controllable mechanism formula robot palletizer mechanism mouth in motion space, accurately realize various piling actions.
2, owing to adopt the controlled connecting rod mechanism of closed chain, all motors all are installed on the frame, effectively reduce arm weight, improve the robot palletizer work efficiency.
3, because the arm lifting mechanism is a four-bar linkage, can support the carrying object effectively during work, have better stability of motion.
Description of drawings
Fig. 1 is the structural front view of the described controllable mechanism formula of the utility model robot palletizer mechanism.
Fig. 2 is the structural representation of the described controllable mechanism formula of the utility model robot palletizer mechanism.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is carried out clear, intactly description, obviously, embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment of the utility model, those skilled in the art are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Map 1, a kind of controllable mechanism formula robot palletizer comprises rotating base 16, frame 1, motor, robot palletizer arm, arm lifting mechanism; Said rotating base 16 is a cylinder, and said frame 1 is square horizontal plate, and cylinder axis is vertical with horizontal plate; Frame 1 can rotate around rotating base 16 axis; Said motor is made up of first controllable motor 2 and second controllable motor 15, and two controlled motors are fixed on the frame 1, and frame 1 is connected on the rotating base 16; Said robot palletizer arm is made up of with first connecting rod 5 first side link 3; First side link 3 is a knee, and an end is fixed on first controllable motor, 2 turning cylinders and is driven by this controllable motor, and the other end links to each other with first connecting rod 5 through the first smooth cylindrical hinge 4; Said arm lifting mechanism is a four-bar linkage; Be made up of second connecting rod 7, third connecting rod 10, the 4th connecting rod 11 and second side link 14, second connecting rod 7 one ends link to each other with first connecting rod 5 through the second smooth cylindrical hinge 6, and an other end links to each other with third connecting rod 10 through the 4th smooth cylindrical hinge 9; Second side link, 14 1 ends link to each other with third connecting rod 10 through the 5th smooth cylindrical hinge 12; An other end is fixed on second controllable motor, 15 turning cylinders and is driven by this controllable motor, and the 4th connecting rod 11 1 ends link to each other with second connecting rod 7 through the 3rd smooth cylindrical hinge 8 of second connecting rod 7 middle parts, and an other end links to each other with second side link 14 through the 6th smooth cylindrical hinge 13 of second side link, 14 middle parts.
Controllable mechanism formula robot palletizer mechanism is when work; The second smooth cylindrical hinge 6 is a mouth; Frame 1 can rotate around rotating base 16 axis; First side link 3 and second side link 14 rotate around first controllable motor 2 and 15 of second controllable motors respectively, and the controllable mechanism formula robot palletizer mechanism of being invented is a three degree of freedom mechanism, and output movement is by the common decision that rotatablely moves of first controllable motor 2, second controllable motor 15 and rotating base 16; Through working out suitable computer-controlled program, can make controllable mechanism formula robot palletizer mechanism mouth in motion space, accurately realize various piling actions easily.
Claims (1)
1. a controllable mechanism formula robot palletizer mechanism is characterized in that this mechanism is made up of rotating base, frame, motor, arm and arm lifting mechanism; Said rotating base is a cylinder, and frame is square horizontal plate, and cylinder axis is vertical with horizontal plate; Frame is connected on the rotating base, and motor is made up of first controllable motor and second controllable motor, and controllable motor is fixed on the frame; Arm is made up of first side link and first connecting rod; First side link is a knee, and an end is fixed on the turning cylinder of first controllable motor and by this controllable motor and drives, and the other end links to each other with first connecting rod through the first smooth cylindrical hinge; The arm lifting mechanism is a four-bar mechanism; Be made up of second connecting rod, third connecting rod, the 4th connecting rod and second side link, second connecting rod one end passes through the second smooth cylindrical hinge and links to each other with first connecting rod, and the other end links to each other with third connecting rod through the 4th smooth cylindrical hinge; Second side link, one end links to each other with third connecting rod through the 5th smooth cylindrical hinge; The other end is fixed on the turning cylinder of second controllable motor and by second controllable motor and drives, and the 4th connecting rod one end links to each other with second connecting rod through the 3rd smooth cylindrical hinge of second connecting rod middle part, and the 6th smooth cylindrical hinge that the other end passes through the second side link middle part links to each other with second side link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202317094U CN202163920U (en) | 2011-07-01 | 2011-07-01 | Controllable mechanism type stacking robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202317094U CN202163920U (en) | 2011-07-01 | 2011-07-01 | Controllable mechanism type stacking robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202163920U true CN202163920U (en) | 2012-03-14 |
Family
ID=45799763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202317094U Withdrawn - After Issue CN202163920U (en) | 2011-07-01 | 2011-07-01 | Controllable mechanism type stacking robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202163920U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN103722551A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Stacking robot with multiple closed-loop subchains |
| CN104570735A (en) * | 2014-12-23 | 2015-04-29 | 广州市万世德智能装备科技有限公司 | Arc-shaped movement-track algorithm for palletizing robot |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104985586A (en) * | 2015-06-17 | 2015-10-21 | 北京控制工程研究所 | Structure changing space robot and route planning method |
-
2011
- 2011-07-01 CN CN2011202317094U patent/CN202163920U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN102320479B (en) * | 2011-07-01 | 2013-04-17 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN103722551A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Stacking robot with multiple closed-loop subchains |
| CN104570735A (en) * | 2014-12-23 | 2015-04-29 | 广州市万世德智能装备科技有限公司 | Arc-shaped movement-track algorithm for palletizing robot |
| CN104570735B (en) * | 2014-12-23 | 2017-03-15 | 佛山市湘德智能科技有限公司 | A kind of robot palletizer arcuate movement Trajectory Arithmetic |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104985586A (en) * | 2015-06-17 | 2015-10-21 | 北京控制工程研究所 | Structure changing space robot and route planning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102320479B (en) | Controllable mechanism type palletizing robot mechanism | |
| CN202163920U (en) | Controllable mechanism type stacking robot mechanism | |
| CN203003890U (en) | Multi-degree-of-freedom controllable-mechanism-type palletizing robot | |
| CN103029124A (en) | Multi-degree-of-freedom controllable mechanism type stacking robot | |
| CN103056875A (en) | Large-work-space controllable-mechanism stacker crane | |
| CN103121589A (en) | Carrying stacking mechanism | |
| CN104440866A (en) | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair | |
| CN204712050U (en) | A kind of redundant drive three-dimensional translating parallel structure | |
| CN104589301A (en) | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm | |
| CN203210372U (en) | Parallel robot | |
| CN104723327A (en) | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm | |
| CN104526677A (en) | Controllable mechanism type movable palletizing robot | |
| CN104440867A (en) | Eight-freedom-degree movable robot palletizer | |
| CN106041902A (en) | Four-freedom-degree ten-rod controllable mechanism type stacking robot | |
| CN102240911A (en) | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement | |
| CN203003887U (en) | Large-workspace controllable stacking device | |
| CN204640216U (en) | A kind of robot for carrying and piling | |
| CN203003889U (en) | Controllable palletizing robot | |
| CN203006510U (en) | Transportation stacking mechanism | |
| CN104626107A (en) | Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin | |
| CN202378046U (en) | Robot mechanism with seven ranges of motion in space | |
| CN205497466U (en) | Parallel robot with swing arm - rod drive mechanism | |
| CN102995676A (en) | Self-adjusting reverse-rotation controllable mechanism type miniature multi-freedom-degree loading mechanism | |
| CN202357162U (en) | 3-3-3 type nine-range-of-motion robot mechanism | |
| CN208514518U (en) | Mechanical arm arm bindiny mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120314 Effective date of abandoning: 20130417 |
|
| RGAV | Abandon patent right to avoid regrant |