CN203003890U - Multi-degree-of-freedom controllable-mechanism-type palletizing robot - Google Patents

Multi-degree-of-freedom controllable-mechanism-type palletizing robot Download PDF

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Publication number
CN203003890U
CN203003890U CN 201220731114 CN201220731114U CN203003890U CN 203003890 U CN203003890 U CN 203003890U CN 201220731114 CN201220731114 CN 201220731114 CN 201220731114 U CN201220731114 U CN 201220731114U CN 203003890 U CN203003890 U CN 203003890U
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China
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rod
fraising
hinged
arm
auxiliary
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Expired - Fee Related
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CN 201220731114
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Chinese (zh)
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蔡敢为
李小清
潘宇晨
王小纯
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Guangxi University
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Guangxi University
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Abstract

The utility model discloses a multi-degree-of-freedom controllable-mechanism-type palletizing robot. The multi-degree-of-freedom controllable-mechanism-type palletizing robot comprises a base, a rotating machine frame, an arm lifting mechanism, an end effector translation retaining mechanism and a flange plate. The rotating machine frame is connected on the base through a revolution joint. The arm lifting mechanism comprises a big arm, a small arm, a first driving rod, a first connection rod, a second driving rod and a second connection rod, wherein rods pieces are connected through hinges. The end effector transition retaining mechanism comprises a parallelogram mechanism composed of the big arm, a first auxiliary connection rod, a triangle auxiliary frame and the rotating machine frame, and a parallelogram mechanism composed of the small arm, a second auxiliary connection rod, the triangle auxiliary frame, the end effector transition retainer, wherein rod pieces are connected through hinges. The flange plate is connected on the end effector transition retainer through the revolution joint, and different end effectors can be installed according to actual requirements. The multi-degree-of-freedom controllable-mechanism-type palletizing robot is simple in structure, strong in bearing ability, large in working space, flexible in operation, capable of achieving intelligentization and numerical control when being driven and controlled by a servo motor, and satisfying requirements for palletizing carrying in a high-speed, heavy-load and accurate mode and like, and very wide in application prospect.

Description

A kind of multiple degrees of freedom controllable-mechanism type robot palletizer
Technical field
The utility model relates to robot for carrying and piling field, particularly a kind of multiple degrees of freedom controllable-mechanism type robot palletizer.
Background technology
Raising along with the mechanical automation level, robot palletizer is widely used in the operations such as the obtaining of workpiece in enormous quantities, carrying, piling, de-stacking, packing, is the high-new electronic product that integrates the subjects such as machinery, electronics, information, intellectual technology, computer science.The robot palletizer technology is solving manpower shortage, is improving labor productivity, is reducing production costs, reducing labor strength, is improving the aspect such as production environment and have very large potentiality.Existing robot palletizer mostly is the joint type open chain mechanism, have the advantages such as compact conformation, flexible movements, working space be large, but drive motors is placed on joint of robot, increased the carrying of robot, poor rigidity, inertia is large, error accumulation is large, easily produces and impacts, and makes the robot palletizer bumpy motion, the piling degree of accuracy is low, and be difficult to satisfy at a high speed, heavily loaded, accurate etc. carried the piling requirement.
Summary of the invention
The purpose of this utility model is to provide a kind of multiple degrees of freedom controllable-mechanism type robot palletizer, the employing servomotor is controlled, all motors are installed on frame, the deficiency such as can overcome conventional code stack machine device person joint heaviness, poor rigidity, inertia is large, error accumulation is large, have that controlled, adjustable, function admirable, output are flexible, the dynamo-electric performance that merges, and can be according to actual needs, the soft readjustment movement locus realizes that accurately the hand hand is grabbed the location and carrying is moved.
The utility model achieves the above object by the following technical programs:
Described rotary frame is connected on base by the first revolute, is controlled by the first servomotor, realizes rotation at vertical direction by programming.
described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, the second driving lever, second connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with forearm one end by the 5th fraising, the second driving lever one end is hinged with rotary frame by the 6th fraising, the other end is hinged with second connecting rod one end by the 7th fraising, the second connecting rod other end is hinged with large arm middle-end by the 8th fraising, the first driving lever is controlled by the second servomotor, the second driving lever is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane by programming.
described end effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 9th fraising, the other end is hinged with triangle auxiliary frame one end by the tenth fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 11 fraising, the second auxiliary connecting rod other end is hinged with end effector translation retainer one end by the 12 fraising, the end effector translation retainer other end is hinged with forearm one end by the 13 fraising, two parallelogram mechanisms in series, make end effector remain translation.
Described ring flange is connected on end effector translation retainer by the second revolute, and different end effectors is installed according to actual needs, is controlled by the 4th servomotor, realizes rotation at vertical direction by programming.
The utility model outstanding advantages is:
1, adopt servomotor to control, flexible operation, by programming, the output movement track of governor motion, have flexibility preferably according to actual needs, can accurately realize the various carrying piling actions in working space.
2, adopt two parallelogram mechanisms in series to form end effector translation maintaining body, make end effector remain translation, stable working has also increased its rigidity simultaneously, has improved its bearing capacity.
Description of drawings
Fig. 1 is the structural representation of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 2 is the arm lifting mechanism schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 3 is the end effector translation maintaining body schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 4 is the first work schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 5 is the second work schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 6 is the 3rd work schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
Fig. 7 is the 4th work schematic diagram of multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described further.
Multiple degrees of freedom controllable-mechanism type robot palletizer described in the utility model comprises base, rotary frame, arm lifting mechanism, end effector translation maintaining body, ring flange.
Contrast Fig. 1, described rotary frame 3 is connected on base 1 by the first revolute 2, is controlled by the first servomotor, realizes rotation at vertical direction by programming.
contrast Fig. 1, Fig. 2, described arm lifting mechanism is by large arm 10, forearm 12, the first driving lever 27, first connecting rod 24, the second driving lever 6, second connecting rod 8 forms, large arm 10 1 ends are hinged with rotary frame 3 by the first fraising 4, the other end is hinged with forearm 12 middle-ends by the second fraising 11, the first driving lever 27 1 ends are hinged with rotary frame 3 by the 3rd fraising 28, the other end is hinged with first connecting rod 24 1 ends by the 4th fraising 26, first connecting rod 24 other ends are hinged with forearm 12 1 ends by the 5th fraising 22, the second driving lever 8 one ends are hinged with rotary frame 3 by the 6th fraising 5, the other end is hinged with second connecting rod 8 one ends by the 7th fraising 7, second connecting rod 8 other ends are hinged with large arm 10 middle-ends by the 8th fraising 9, the first driving lever 27 is controlled by the second servomotor, the second driving lever 6 is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane by programming.
contrast Fig. 1, Fig. 3, described end effector translation maintaining body comprises by large arm 10, the first auxiliary connecting rod 23, triangle auxiliary frame 20, the parallel-crank mechanism that rotary frame 3 forms and by forearm 12, the second auxiliary connecting rod 18, triangle auxiliary frame 20, the parallel-crank mechanism that end effector translation retainer 16 forms, the first auxiliary connecting rod 23 1 ends are hinged with rotary frame 3 by the 9th fraising 25, the other end is hinged with triangle auxiliary frame 20 1 ends by the tenth fraising 21, triangle auxiliary frame 20 second ends are hinged with large arm 10 and forearm 12 by the second fraising 11, triangle auxiliary frame 20 the 3rd end is hinged by the 11 fraising the 19 and second auxiliary connecting rod 18, second auxiliary connecting rod 18 other ends are hinged with end effector translation retainer 16 1 ends by the 12 fraising 17, end effector translation retainer 16 other ends are hinged with forearm 12 1 ends by the 13 fraising 13, two parallelogram mechanisms in series, make end effector remain translation.
Contrast Fig. 1, described ring flange 14 is connected on end effector translation retainer 16 by the second revolute 15, and different end effectors can be installed according to actual needs, is controlled by the 4th servomotor, realizes rotation at vertical direction by programming.
Contrast Fig. 4, described a kind of multiple degrees of freedom controllable-mechanism type robot palletizer is at the working state schematic representation of realizing the dead ahead carrying uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.
Contrast Fig. 5, described a kind of multiple degrees of freedom controllable-mechanism type robot palletizer realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead at a distance under driving.
Contrast Fig. 6, described a kind of multiple degrees of freedom controllable-mechanism type robot palletizer is realized the just before working state schematic representation of the side's of exceeding carrying in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.
Contrast Fig. 7, described a kind of multiple degrees of freedom controllable-mechanism type robot palletizer realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead nearby under driving.

Claims (1)

1. a multiple degrees of freedom controllable-mechanism type robot palletizer, is characterized in that, comprises base, rotary frame, arm lifting mechanism, end effector translation maintaining body, ring flange, and its structure and connected mode are:
Described rotary frame is connected on base by the first revolute,
described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, the second driving lever, second connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with forearm one end by the 5th fraising, the second driving lever one end is hinged with rotary frame by the 6th fraising, the other end is hinged with second connecting rod one end by the 7th fraising, the second connecting rod other end is hinged with large arm middle-end by the 8th fraising,
described end effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 9th fraising, the other end is hinged with triangle auxiliary frame one end by the tenth fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 11 fraising, the second auxiliary connecting rod other end is hinged with end effector translation retainer one end by the 12 fraising, the end effector translation retainer other end is hinged with forearm one end by the 13 fraising,
Described ring flange is connected on end effector translation retainer by the second revolute, and different end effectors is installed according to actual needs.
CN 201220731114 2012-12-27 2012-12-27 Multi-degree-of-freedom controllable-mechanism-type palletizing robot Expired - Fee Related CN203003890U (en)

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103662855A (en) * 2014-01-03 2014-03-26 江西省机械科学研究所 Three-degree-of-freedom parallel stacking manipulator
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103722551A (en) * 2013-12-17 2014-04-16 广西大学 Stacking robot with multiple closed-loop subchains
CN103737207A (en) * 2013-12-07 2014-04-23 广西大学 Parallel-serial welding robot mechanism with six degrees of freedom
CN103787204A (en) * 2014-02-27 2014-05-14 钦州学院 Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane
CN104616563A (en) * 2015-02-16 2015-05-13 清华大学 Rocker arm type flight simulator having continuous overload simulation capability
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN104647336A (en) * 2014-12-25 2015-05-27 广西大学 Controllable mechanism type two-degrees-of-freedom mobile manipulator
CN104647333A (en) * 2014-12-25 2015-05-27 广西大学 Three-freedom degree controllable mechanism type mobile mechanical arm
CN104858861A (en) * 2015-06-09 2015-08-26 洛阳理工学院 Stacking mechanical arm
CN105945950A (en) * 2016-06-03 2016-09-21 广东伊雪松机器人设备有限公司 Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot
CN106917423A (en) * 2017-03-22 2017-07-04 山东交通学院 A kind of two-freedom numerical control is digged pit robot mechanism
CN107433413A (en) * 2017-07-13 2017-12-05 柳州福能机器人开发有限公司 Screw type welding robot arm
CN108033278A (en) * 2017-12-07 2018-05-15 上海宇航系统工程研究所 Mechanical arm configuration applied to robot palletizer
WO2019196398A1 (en) * 2018-04-11 2019-10-17 清华大学 Track-type large-span foldable and unfoldable machining robot

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103737207A (en) * 2013-12-07 2014-04-23 广西大学 Parallel-serial welding robot mechanism with six degrees of freedom
CN103707289A (en) * 2013-12-17 2014-04-09 广西大学 Controllable multi-degree of freedom welding robot
CN103722551A (en) * 2013-12-17 2014-04-16 广西大学 Stacking robot with multiple closed-loop subchains
CN103707290A (en) * 2013-12-17 2014-04-09 广西大学 Welding robot with a plurality of closed-ring subchains
CN103662855A (en) * 2014-01-03 2014-03-26 江西省机械科学研究所 Three-degree-of-freedom parallel stacking manipulator
CN103787204A (en) * 2014-02-27 2014-05-14 钦州学院 Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane
CN103787204B (en) * 2014-02-27 2017-01-04 钦州学院 Two-freedom seven bar combination drive front-handling mobile crane
CN104647333A (en) * 2014-12-25 2015-05-27 广西大学 Three-freedom degree controllable mechanism type mobile mechanical arm
CN104626109A (en) * 2014-12-25 2015-05-20 广西大学 MDOF controllable mechanism type hybrid carrying robot
CN104647336A (en) * 2014-12-25 2015-05-27 广西大学 Controllable mechanism type two-degrees-of-freedom mobile manipulator
CN104616563A (en) * 2015-02-16 2015-05-13 清华大学 Rocker arm type flight simulator having continuous overload simulation capability
CN104858861A (en) * 2015-06-09 2015-08-26 洛阳理工学院 Stacking mechanical arm
CN105945950A (en) * 2016-06-03 2016-09-21 广东伊雪松机器人设备有限公司 Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot
CN106917423A (en) * 2017-03-22 2017-07-04 山东交通学院 A kind of two-freedom numerical control is digged pit robot mechanism
CN107433413A (en) * 2017-07-13 2017-12-05 柳州福能机器人开发有限公司 Screw type welding robot arm
CN108033278A (en) * 2017-12-07 2018-05-15 上海宇航系统工程研究所 Mechanical arm configuration applied to robot palletizer
CN108033278B (en) * 2017-12-07 2020-04-28 上海宇航系统工程研究所 Mechanical arm structure applied to stacking robot
WO2019196398A1 (en) * 2018-04-11 2019-10-17 清华大学 Track-type large-span foldable and unfoldable machining robot

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Granted publication date: 20130619

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