CN203003889U - Controllable palletizing robot - Google Patents

Abstract

The utility model relates to a controllable stacking robot, which comprises a large arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, an end effector and a frame. The robot completes the transportation and palletizing work of space, flexible and variable track output through the combined movement of the swing branch chain of the big arm and the swing branch chain of the small arm. During the working process, the two sets of parallelogram structures of the posture maintaining branch chain can ensure that the end effector is always kept in a horizontal state, and all servo motors are installed on the frame, and the rods can be made into light rods, so the robot has a small moment of inertia. The dynamic performance is good, which can better meet the requirements of high-speed handling and palletizing. The utility model adopts a new connecting rod mechanism, which not only has a simple connecting rod transmission mechanism, but also improves the stress of each rod, and is more suitable for manufacturing large-scale palletizers.

Description

A controllable palletizing robot

technical field

The utility model relates to the field of industrial robots, in particular to a controllable stacking robot.

Background technique

Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of such traditional palletizing robots with an open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumulation of joint errors. The dynamic performance of the mechanism is poor, and it is difficult to meet High-speed palletizing requirements.

Contents of the invention

The purpose of the utility model is to provide a controllable palletizing robot, all driving motors are installed on the frame, which can solve the problem that the motors of the traditional open-chain serial palletizing robot are installed at its hinges, resulting in heavy arms and poor rigidity , large inertia, joint error accumulation and other problems, the robot has better dynamic performance, and can better meet the requirements of high-speed heavy-duty handling and palletizing.

The utility model achieves the above-mentioned purpose through the following technical proposals: it includes a large arm swing branch chain, a small arm swing branch chain, a posture maintaining branch chain, an end effector and a frame. The robot completes the transportation and palletizing work of space, flexible and variable trajectory output through the combined movement of the swing branch chain of the big arm and the swing branch chain of the small arm.

The boom swing branch chain is connected by a boom, a small arm, an end effector and a frame. One end of the boom is connected to the frame through a first rotating pair, and the other end is connected to the small arm through a second rotating pair. One end of the small arm is connected to the boom through the second swivel pair, and the other end is connected to the end effector through the third swivel pair. The boom is a first active lever driven by a first servo motor.

The forearm swing branch chain is composed of the second active rod, the first connecting rod, the forearm, the end effector and the frame. One end of the second active rod is connected to the frame through the fourth rotating pair, and the other end is connected through the fifth rotating pair. The rotating pair is connected to the first connecting rod, one end of the first connecting rod is connected to the second active rod through the fifth rotating pair, and the other end is connected to the small arm through the sixth rotating pair, the small arm is a folding rod, and the middle is bent The folding part has a sixth rotating pair, one end of the forearm is connected to the first connecting rod through the sixth rotating pair, and the other end of the forearm is connected to the end effector through the third rotating pair, and the second active rod is driven by the second servo motor .

The posture maintaining branch chain is connected by the second connecting rod, the support rod and the third connecting rod. One end of the second connecting rod is connected to the frame through the seventh rotating pair, and the other end is connected to the support through the eighth rotating pair. One end of the supporting rod is connected with the second and third connecting rods through the eighth rotating pair, and is connected with the swing branch chain of the boom through the second rotating pair, and one end of the third connecting rod is connected with the supporting rod through the eighth rotating pair , the second connecting rod, and the other end is connected to the end effector through the ninth revolving pair, the first revolving pair, the second revolving pair, the seventh revolving pair, and the eighth revolving pair are formed and maintained during the working process of the robot Parallelogram structure, the second rotation pair, the third rotation pair, the eighth rotation pair, and the ninth rotation pair are formed during the working process of the robot and always maintain a parallelogram structure.

The upper part of the end effector is connected to the boom swing branch chain through the third rotating pair, and is connected to the third connecting rod of the posture maintaining branch chain through the ninth rotating pair, and the lower part of the end effector is connected to the tenth rotating pair vertically in the axial direction. Connect with electromagnetic clamping device.

A first servo motor and a second servo motor are installed on the frame. The frame is installed on the rotary platform to realize the palletizing work in the entire robot space.

The outstanding advantages of the present utility model are:

1. Through the combined motion output of the boom swing branch chain and the arm swing branch chain, the space handling and palletizing operations can be realized, and the trajectory is flexible and changeable, and the robot has a strong ability of flexible output;

2. The driving mode of the active parts of this palletizing mechanism is flexible and changeable. It can be driven by a servo motor, which is not only environmentally friendly, but also easy to realize remote control and reduce the labor intensity of workers;

3. All servo motors are installed on the frame, and the rods are made of light rods. The robot has a small moment of inertia and good dynamic performance, which can better meet the requirements of high-speed handling and palletizing.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the controllable palletizing robot described in the present invention.

Fig. 2 is a schematic diagram of the structure of the arm swing branch chain of the controllable palletizing robot described in the present invention.

Fig. 3 is a schematic structural diagram of the forearm swing branch chain of the controllable palletizing robot described in the present invention.

Fig. 4 is a schematic diagram of the posture-maintaining branch chain structure of the controllable palletizing robot described in the present invention.

Fig. 5 is a schematic structural diagram of the end effector of the controllable palletizing robot described in the present invention.

Fig. 6 is a schematic diagram of the first working state of the controllable palletizing robot of the present invention installed on the rotary platform.

Fig. 7 is a schematic diagram of the second working state of the controllable palletizing robot installed on the rotary platform of the present invention.

Fig. 8 is a schematic diagram of the third working state of the controllable palletizing robot of the present invention installed on the rotary platform.

Fig. 9 is a schematic diagram of the fourth working state of the controllable palletizing robot of the present invention installed on the rotary platform.

Detailed ways

The technical solution of the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Figures 1, 6, 7, 8 and 9, a controllable palletizing robot includes a large arm swing branch chain, a small arm swing branch chain, an attitude maintaining branch chain, an end effector and a frame. The frame is installed on the rotary platform to realize the handling and palletizing work in the entire robot space.

Referring to Figures 1 and 2, the boom swing branch chain is formed by connecting the boom 4, the small arm 7, the end effector 20 and the frame 2, and one end of the boom 4 is connected to the frame 2 through the first rotating pair 3 , the other end is connected to the small arm 7 through the second rotating pair 5, one end of the small arm 7 is connected to the boom 4 through the second rotating pair 5, and the other end is connected to the end effector 20 through the third rotating pair 8, the The boom 7 is a first active rod driven by a first servo motor 21 .

1 and 3, the forearm swing branch chain is composed of the second active rod 16, the first connecting rod 17, the forearm 7, the end effector 20 and the frame 2, and one end of the second active rod 16 is rotated by the fourth The pair 15 is connected to the frame 2, and the other end is connected with the first connecting rod 18 through the fifth rotating pair 17, one end of the first connecting rod 18 is connected with the second active rod 16 through the fifth rotating pair 17, and the other end is connected through the fifth rotating pair 17. The sixth rotating pair 6 is connected with the small arm 7, and the small arm is a folding rod, and the middle bending part has the sixth rotating pair 6, and one end of the small arm 7 is connected with the first connecting rod 18 through the sixth rotating pair 6, and the small arm The other end of the 7 is connected to the end effector 20 through the third rotating pair 8, and the second active rod is driven by the second servo motor 22.

1 and 4, the posture maintaining branch chain is formed by connecting the second connecting rod 13, the support rod 12, and the third connecting rod 10, and one end of the second connecting rod 13 is connected to the frame through the seventh rotating pair 14 2, the other end is connected to the support rod 12 through the eighth rotating pair 11, one end of the supporting rod 12 is connected to the second and third connecting rods 13, 10 through the eighth rotating pair 11, and connected to the boom through the second rotating pair 5 Swing branch chain connection, one end of the third connecting rod 10 is connected to the support rod 12 and the second connecting rod 13 through the eighth rotating pair 11, and the other end is connected to the end effector 20 through the tenth rotating pair 9, the first The rotating pair 3, the second rotating pair 5, the seventh rotating pair 14, and the eighth rotating pair 11 form and maintain a parallelogram structure during the working process of the robot. The second rotating pair 5, the third rotating pair 8, the eighth rotating pair The revolving pair 11 and the ninth revolving pair 10 form and maintain a parallelogram structure during the working process of the robot.

1, 2, 4 and 5, the lower part of the end effector 20 is connected to the forearm 7 of the boom swing branch chain through the third rotating pair 8, and connected to the third link of the posture maintaining branch chain through the ninth rotating pair 9. The rod 10 is connected, and the lower part of the end effector 20 is connected with the electromagnetic clamping device through the tenth rotating pair vertical in the axial direction.

Referring to FIGS. 2 and 3 , the frame 2 is equipped with a first servo motor 21 and a second servo motor 22 . The frame 2 is installed on the rotary platform 1 to realize the handling and palletizing work in the entire robot space.

Referring to Figures 6, 7, 8 and 9, when the robot is working, through the combined motion output of the two-bar mechanism and the four-bar mechanism, it can realize the flexible and changeable trajectory handling and palletizing operations. When the end effector 20 moves to the object, through the combined movement of the arm swing branch chain, the forearm swing branch chain, and the posture maintaining branch chain, and at the same time cooperate with the rotary motion of the rotary platform 1, the robot grabs, carries, and unloads materials. handling and palletizing operations. During the working process, the two sets of parallelogram structures of the posture maintaining branch chain can ensure that the end effector 20 is always kept in a horizontal state.

Claims (1)

1. A controllable palletizing robot, comprising a large arm swing branch chain branch chain, a forearm swing branch chain branch chain, a posture maintaining branch chain, an end effector and a frame, characterized in that its structure and connection mode are: The boom swing branch chain is connected by a boom, a small arm, an end effector and a frame. One end of the boom is connected to the frame through a first rotating pair, and the other end is connected to the small arm through a second rotating pair. One end of the small arm is connected to the boom through the second swivel pair, and the other end is connected to the end effector through the third swivel pair. The boom is a first active lever driven by a first servo motor. The forearm swing branch chain is composed of the second active rod, the first connecting rod, the forearm, the end effector and the frame. One end of the second active rod is connected to the frame through the fourth rotating pair, and the other end is connected through the fifth rotating pair. The rotating pair is connected to the first connecting rod, one end of the first connecting rod is connected to the second active rod through the fifth rotating pair, and the other end is connected to the small arm through the sixth rotating pair, the small arm is a folding rod, and the middle is bent The folding part has a sixth rotating pair, one end of the arm is connected to the first connecting rod through the sixth rotating pair, and the other end of the arm is connected to the end effector through the third rotating pair, and the second active lever is driven by the second servo motor , The posture maintaining branch chain is connected by the second connecting rod, the support rod and the third connecting rod. One end of the second connecting rod is connected to the frame through the seventh rotating pair, and the other end is connected to the support through the eighth rotating pair. One end of the supporting rod is connected with the second and third connecting rods through the eighth rotating pair, and is connected with the swing branch chain of the boom through the second rotating pair, and one end of the third connecting rod is connected with the supporting rod through the eighth rotating pair , the second connecting rod, and the other end is connected to the end effector through the ninth revolving pair, the first revolving pair, the second revolving pair, the seventh revolving pair, and the eighth revolving pair are formed and maintained during the working process of the robot Parallelogram structure, the second revolving pair, the third revolving pair, the eighth revolving pair, and the ninth revolving pair are formed during the working process of the robot and always maintain a parallelogram structure, The upper part of the end effector is connected to the boom swing branch chain through the third rotating pair, and is connected to the third connecting rod of the posture maintaining branch chain through the ninth rotating pair, and the lower part of the end effector is connected to the tenth rotating pair vertically in the axial direction. Connected with electromagnetic clamping device, A first servo motor and a second servo motor are installed on the frame.

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