CN203003889U - Controllable palletizing robot - Google Patents
Controllable palletizing robot Download PDFInfo
- Publication number
- CN203003889U CN203003889U CN 201220731039 CN201220731039U CN203003889U CN 203003889 U CN203003889 U CN 203003889U CN 201220731039 CN201220731039 CN 201220731039 CN 201220731039 U CN201220731039 U CN 201220731039U CN 203003889 U CN203003889 U CN 203003889U
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- revolute pair
- forearm
- side chain
- connecting rod
- end effector
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Abstract
The utility model relates to a controllable palletizing robot. The controllable palletizing robot comprises a big arm swing branched chain, a small arm swing branched chain, an attitude maintaining branched chain, an end effector, and a rack. The controllable palletizing robot completes carrying palletizing work output by space and flexible and variable tracks through combined motion of the big arm swing branched chain and the small arm swing branched chain. In the process of working, two sets of parallelogram structures of the attitude maintaining branched chain can ensure that the end effector always maintains a horizontal state, and all servo motors are arranged on the rack, rod pieces can be processed into light rods, motion inertness of the controllable palletizing robot is small, dynamics performance is good, and the requirements of high-speed carrying palletizing can be well met. By utilizing of a novel link mechanism, a connecting rod transmission mechanism is simple, rod stress is improved, and the controllable palletizing robot is suitable for manufacturing large-scale palletizers.
Description
Technical field
The utility model relates to industrial robot field, particularly a kind of controlled stacking robot.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and three kinds of structure types of joint type.Wherein the joint type robot palletizer because of its mechanism's compactness, flexible movements, the advantage such as floor space is little, working space is large, progressively becomes the topmost version of robot palletizer.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be arranged on joint, cause that robot arm weight is large, the problems such as poor rigidity, inertia are large, joint error accumulation, the mechanism dynamic poor-performing is difficult to satisfy the requirement of carrying piling at a high speed.
Summary of the invention
The purpose of this utility model is to provide a kind of controlled stacking robot, all drive motors all are arranged on frame, the motor that can solve traditional fisher's formula series connection robot palletizer is arranged on its hinge place, the problems such as the arm heaviness that causes, poor rigidity, inertia are large, joint error accumulation, robot has better dynamic performance, can better satisfy the requirement of high-speed overload carrying piling.
The utility model achieves the above object by the following technical programs: comprise that large arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Robot completes the carrying piling work of space, the output of flexible and changeable track by the aggregate motion of large arm swing side chain, forearm swing side chain.
Described large arm swing side chain is formed by connecting by large arm, forearm, end effector and frame, large arm one end is connected on frame by the first revolute pair, the other end is connected with forearm by the second revolute pair, described forearm one end is connected with large arm by the second revolute pair, the other end is connected with end effector by the 3rd revolute pair, described large arm is the first driving lever, by the first driven by servomotor.
described forearm swings side chain by the second driving lever, first connecting rod, forearm, end effector and frame form, the second driving lever one end is connected on frame by the 4th revolute pair, the other end is connected with first connecting rod by the 5th revolute pair, described first connecting rod one end is connected with the second driving lever by the 5th revolute pair, the other end is connected with forearm by the 6th revolute pair, described forearm is pole, middle bending part has the 6th revolute pair, forearm one end turns secondary by the 6th and is connected with first connecting rod, the forearm other end is connected with end effector by the 3rd revolute pair, described the second driving lever is by the second driven by servomotor.
described attitude keeps side chain by second connecting rod, support bar, third connecting rod is formed by connecting, described second connecting rod one end is connected on frame by the 7th revolute pair, the other end is connected with support bar by the 8th revolute pair, described support bar one end is by the 8th revolute pair and second, three connecting rods connect, be connected with large arm swing side chain by the second revolute pair, described third connecting rod one end is by the 8th revolute pair and support bar, second connecting rod connects, the other end is connected with end effector by the 9th revolute pair, described the first revolute pair, the second revolute pair, the 7th revolute pair, the 8th revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 8th revolute pair, the 9th revolute pair forms in the robot course of work and remains parallelogram sturcutre.
Described end effector top is connected with large arm swing side chain by the 3rd revolute pair, and the third connecting rod by the 9th revolute pair and attitude maintenance side chain is connected, and the end effector bottom is passed through the tenth vertical revolute pair of axis direction and is connected with electromagnetic clamp device.
The first servomotor, the second servomotor are installed on described frame.Frame is arranged on revolving dial, realizes the space carrying piling work of whole robot.
Outstanding advantages of the present utility model is:
1, the output of the aggregate motion by large arm swing side chain, arm swing side chain, carrying palletizing operation that can the implementation space, and track is flexible and changeable, and robot has the ability of stronger flexibility output;
2, this stacking mechanism driving link type of drive is flexible and changeable, can select driven by servomotor, not only environmental protection, and be easy to realize Long-distance Control, reduce labor strength;
3, all servomotors are installed on frame, and rod member is made lighter bar, and robot motion's inertia is little, and dynamic performance is good, can better satisfy the requirement of carrying piling at a high speed.
Description of drawings
Fig. 1 is the overall structure schematic diagram of controlled stacking robot described in the utility model.
Fig. 2 is the large arm swing branched structure schematic diagram of controlled stacking robot described in the utility model.
Fig. 3 is that the forearm of controlled stacking robot described in the utility model swings the branched structure schematic diagram.
Fig. 4 is that the attitude of controlled stacking robot described in the utility model keeps the branched structure schematic diagram.
Fig. 5 is the end effector structural representation of controlled stacking robot described in the utility model.
Fig. 6 is that controlled stacking robot described in the utility model is arranged on the first working state schematic representation on revolving dial.
Fig. 7 is that controlled stacking robot described in the utility model is arranged on the second working state schematic representation on revolving dial.
Fig. 8 is that controlled stacking robot described in the utility model is arranged on the third working state schematic representation on revolving dial.
Fig. 9 is that controlled stacking robot described in the utility model is arranged on the 4th kind of working state schematic representation on revolving dial.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1,6,7,8 and 9, a kind of controlled stacking robot comprises that large arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Described frame is arranged on revolving dial, realizes the space carrying piling work of whole robot.
Contrast Fig. 1,2, described large arm swing side chain is formed by connecting by large arm 4, forearm 7, end effector 20 and frame 2, large arm 4 one ends are connected on frame 2 by the first revolute pair 3, the other end is connected with forearm 7 by the second revolute pair 5, described forearm 7 one ends are connected with large arm 4 by the second revolute pair 5, the other end is connected with end effector 20 by the 3rd revolute pair 8, and described large arm 7 is the first driving lever, is driven by the first servomotor 21.
contrast Fig. 1, 3, described forearm swings side chain by the second driving lever 16, first connecting rod 17, forearm 7, end effector 20 and frame 2 form, the second driving lever 16 1 ends are connected on frame 2 by the 4th revolute pair 15, the other end is connected with first connecting rod 18 by the 5th revolute pair 17, described first connecting rod 18 1 ends are connected with the second driving lever 16 by the 5th revolute pair 17, the other end is connected with forearm 7 by the 6th revolute pair 6, described forearm is pole, middle bending part has the 6th revolute pair 6, forearm 7 one ends are connected with first connecting rod 18 by the 6th revolute pair 6, forearm 7 other ends are connected with end effector 20 by the 3rd revolute pair 8, described the second driving lever is driven by the second servomotor 22.
contrast Fig. 1, 4, described attitude keeps side chain by second connecting rod 13, support bar 12, third connecting rod 10 is formed by connecting, described second connecting rod 13 1 ends are connected on frame 2 by the 7th revolute pair 14, the other end is connected with support bar 12 by the 8th revolute pair 11, described support bar 12 1 ends are by the 8th revolute pair 11 and second, three connecting rods 13, 10 connect, be connected with large arm swing side chain by the second revolute pair 5, described third connecting rod 10 1 ends are by the 8th revolute pair 11 and support bar 12, second connecting rod 13 connects, the other end is connected with end effector 20 by the tenth revolute pair 9, described the first revolute pair 3, the second revolute pair 5, the 7th revolute pair 14, the 8th revolute pair 11 forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair 5, the 3rd revolute pair 8, the 8th revolute pair 11, the 9th revolute pair 10 forms in the robot course of work and remains parallelogram sturcutre.
Contrast Fig. 1,2,4 and 5, described end effector 20 bottoms are connected by the forearm 7 of the 3rd revolute pair 8 with large arm swing side chain, keep the third connecting rod 10 of side chain to be connected by the 9th revolute pair 9 and attitude, end effector 20 bottoms are passed through the tenth vertical revolute pair of axis direction and are connected with electromagnetic clamp device.
Contrast Fig. 2 and 3 is equipped with the first servomotor 21, the second servomotor 22 on described frame 2.Frame 2 is arranged on revolving dial 1, realizes the space carrying piling work of whole robot.
Contrast Fig. 6,7,8 and 9, the machine man-hour, the aggregate motion output by two linkages and four-bar mechanism can realize the flexible and changeable carrying palletizing operation of track.When end effector 20 moves to the object place, swing the aggregate motion of side chain, attitude maintenance side chain by large arm swing side chain, forearm, coordinate simultaneously the gyration of revolving dial 1, realize the carrying palletizing operation of robot crawl, carrying, discharging.In the course of the work, attitude keeps two groups of parallelogram sturcutres of side chain can guarantee that end effector 20 remains level.
Claims (1)
1. a controlled stacking robot, comprise that large arm swing side chain side chain, forearm swing side chain, attitude keeps side chain, end effector and frame, it is characterized in that, its structure and connected mode are:
Described large arm swing side chain is formed by connecting by large arm, forearm, end effector and frame, large arm one end is connected on frame by the first revolute pair, the other end is connected with forearm by the second revolute pair, described forearm one end is connected with large arm by the second revolute pair, the other end is connected with end effector by the 3rd revolute pair, described large arm is the first driving lever, by the first driven by servomotor
described forearm swings side chain by the second driving lever, first connecting rod, forearm, end effector and frame form, the second driving lever one end is connected on frame by the 4th revolute pair, the other end is connected with first connecting rod by the 5th revolute pair, described first connecting rod one end is connected with the second driving lever by the 5th revolute pair, the other end is connected with forearm by the 6th revolute pair, described forearm is pole, middle bending part has the 6th revolute pair, forearm one end is connected with first connecting rod by the 6th revolute pair, the forearm other end is connected with end effector by the 3rd revolute pair, described the second driving lever is by the second driven by servomotor,
described attitude keeps side chain by second connecting rod, support bar, third connecting rod is formed by connecting, described second connecting rod one end is connected on frame by the 7th revolute pair, the other end is connected with support bar by the 8th revolute pair, described support bar one end is by the 8th revolute pair and second, three connecting rods connect, be connected with large arm swing side chain by the second revolute pair, described third connecting rod one end is by the 8th revolute pair and support bar, second connecting rod connects, the other end is connected with end effector by the 9th revolute pair, described the first revolute pair, the second revolute pair, the 7th revolute pair, the 8th revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 8th revolute pair, the 9th revolute pair forms in the robot course of work and remains parallelogram sturcutre,
Described end effector top is connected with large arm swing side chain by the 3rd revolute pair, and the third connecting rod by the 9th revolute pair and attitude maintenance side chain is connected, and the end effector bottom is passed through the tenth vertical revolute pair of axis direction and is connected with electromagnetic clamp device,
The first servomotor, the second servomotor are installed on described frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731039 CN203003889U (en) | 2012-12-27 | 2012-12-27 | Controllable palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731039 CN203003889U (en) | 2012-12-27 | 2012-12-27 | Controllable palletizing robot |
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| Publication Number | Publication Date |
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| CN203003889U true CN203003889U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220731039 Expired - Fee Related CN203003889U (en) | 2012-12-27 | 2012-12-27 | Controllable palletizing robot |
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| CN (1) | CN203003889U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN104608123A (en) * | 2015-01-23 | 2015-05-13 | 浙江理工大学 | Three-axis hybrid-driven mechanical arm |
| CN104647353A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | High-accuracy high-bearing stacking robot mechanism |
| CN109210071A (en) * | 2018-09-13 | 2019-01-15 | 维沃移动通信有限公司 | Mobile terminal and linkage |
-
2012
- 2012-12-27 CN CN 201220731039 patent/CN203003889U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN104647353A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | High-accuracy high-bearing stacking robot mechanism |
| CN104608123A (en) * | 2015-01-23 | 2015-05-13 | 浙江理工大学 | Three-axis hybrid-driven mechanical arm |
| CN109210071A (en) * | 2018-09-13 | 2019-01-15 | 维沃移动通信有限公司 | Mobile terminal and linkage |
| WO2020052632A1 (en) * | 2018-09-13 | 2020-03-19 | 维沃移动通信有限公司 | Mobile terminal and hinge mechanism |
| KR20210055081A (en) * | 2018-09-13 | 2021-05-14 | 비보 모바일 커뮤니케이션 컴퍼니 리미티드 | Mobile terminal and hinge mechanism |
| US11503729B2 (en) | 2018-09-13 | 2022-11-15 | Vivo Mobile Communication Co., Ltd. | Mobile terminal and hinge mechanism |
| KR102478446B1 (en) * | 2018-09-13 | 2022-12-16 | 비보 모바일 커뮤니케이션 컴퍼니 리미티드 | Mobile Terminal and Hinge Mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20151227 |
|
| EXPY | Termination of patent right or utility model |