CN204585209U - A kind of six degree of freedom robot palletizer - Google Patents
A kind of six degree of freedom robot palletizer Download PDFInfo
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- CN204585209U CN204585209U CN201520287925.9U CN201520287925U CN204585209U CN 204585209 U CN204585209 U CN 204585209U CN 201520287925 U CN201520287925 U CN 201520287925U CN 204585209 U CN204585209 U CN 204585209U
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- rocking arm
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Abstract
A kind of six degree of freedom robot palletizer, comprises series connection piling main chain, a rocking arm vernier control subchain and executing agency's subchain.Described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and is arranged in large arm, carries out vernier control by four-bar mechanism to main chain; Described executing agency subchain supports large arm and regulates.The utility model is by the connection of multiple mechanical arm and fuselage, thus the six degree of freedom realizing end orbit exports, this mechanism have agile, precision is high, movement inertia is little, power performance is good, and compact conformation, working space are large, carrying is large, multi-motion track exports, it is simple to control, and can apply to the multiple occasion of piling, crawl.
Description
Technical field
The present invention relates to automobile robot palletizer field, particularly a kind of six degree of freedom robot palletizer.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, but along with the development and progress of society, the raising of living standards of the people, requirement for automobile is also more and more higher, the shortcoming of traditional serial manipulator displays gradually, the development need of modern society can not be met, be therefore badly in need of wanting a kind of brand-new automobile palletizing apparatus.Now emerging parallel robot is compared with traditional serial manipulator; have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end piling actuator inertia is little etc. feature; drive unit can be placed on fixed platform or close to the position of fixed platform; such motion parts is lightweight; speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.
A kind of six degree of freedom robot palletizer provided by the utility model, comprise a series connection piling main chain and a rocking arm vernier control subchain, described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and be arranged in large arm, carry out vernier control by four-bar mechanism to main chain, mechanism has lightweight, compact conformation, good rigidity, bearing capacity is large, and working space is large, can not only meet automobile palletizing operation, also save a large amount of labours simultaneously, cut down expenses.The automobile robot palletizer of this rocking arm vernier control subchain has good controlling functions, and can be operated by single, reliability is high, mechanism has compact conformation, and control simple advantage, working space is large, move after making mechanism's center of gravity, more occasions can be applied to.
Summary of the invention
The object of the present invention is to provide a kind of six degree of freedom robot palletizer; comprise series connection piling main chain, a rocking arm vernier control subchain and executing agency's subchain, described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and is arranged in large arm, carries out vernier control by four-bar mechanism to main chain; Described executing agency subchain supports large arm and regulates, the present invention is by the connection of multiple mechanical arm and fuselage, thus the six degree of freedom realizing end orbit exports, this mechanism have agile, precision is high, movement inertia is little, power performance is good, and compact conformation, working space are large, carrying is large, multi-motion track exports, it is simple to control, and can apply to the multiple occasion of piling, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs: a kind of six degree of freedom robot palletizer, and be made up of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain, its structure and connected mode are:
Described series connection piling main chain is by car body, principal arm, large arm, second rocking arm, shoulder arm, bracket and manipulator are formed by connecting, principal arm one end is connected with the stud end on car body by the first revolute pair, the principal arm other end is connected with large arm first link by the first ball pair, large arm second link is connected by the second revolute pair and the second rocking arm first link, second second, rocking arm link is connected with shoulder arm one end by the 3rd revolute pair, the shoulder arm other end is connected with bracket one end by the 4th revolute pair, the bracket other end is connected with manipulator by the 5th revolute pair.
Described rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, first first, rocking arm link is connected by the 6th revolute pair and large arm the 3rd link, first second, rocking arm link is connected with first connecting rod one end by the 7th revolute pair, the first connecting rod other end is connected by the 8th revolute pair and the second rocking arm second link, first rocking arm the 3rd link is connected with second connecting rod one end by the 9th revolute pair, and the second connecting rod other end is connected by the tenth revolute pair and the second rocking arm the 3rd link.
Described executing agency subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and slide block, slide block one end is connected with the chute on car body by the first moving sets, the slide block other end is connected with crank arm one end by the 11 revolute pair, the crank arm other end is connected with third connecting rod one end by the second ball pair, and the third connecting rod other end is connected with large arm the 4th link by the 3rd ball pair.
In said structure, realized the palletizing operation of automobile by the change in location of the resultant motion of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain.
Outstanding advantages of the present invention is:
1, type of drive of the present invention is flexible and changeable, is conducive to the control of robot palletizer;
2, the multiple mechanical arm of the present invention is connected with connecting rod, and control simple, reliability is high, and accumulated error is little, considerably increases mechanism's rigidity;
3, the present invention adopts four-bar mechanism to close chaindriven form, effective weight reducing each component, has that movement inertia is little, track exports flexibly, reliable operation, precision advantages of higher;
4 and the design of rocking arm movable type improves the working space of robot greatly, can avoid the dead-centre position of mechanism, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
5, lighter bar made by rod member, and mechanism kinematic inertia is little, and dynamic performance is good.
Accompanying drawing explanation
Fig. 1 is the first operating diagram of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 2 is the first work rearview of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 3 is the second operating diagram of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 4 is the 3rd operating diagram of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 5 is the 4th operating diagram of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 6 is the 5th operating diagram of a kind of six degree of freedom robot palletizer of the present invention.
Fig. 7 is the slide block structure schematic diagram of a kind of six degree of freedom robot palletizer of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of six degree of freedom robot palletizer, its structure and connected mode are:
Described series connection piling main chain is by car body 1, principal arm 2, large arm 3, second Rocker arm 5, shoulder arm 8, bracket 9 and manipulator 10 are formed by connecting, principal arm 2 one end is connected with the stud end on car body 1 by the first revolute pair 13, principal arm 2 other end is connected with large arm 3 first links by the first ball secondary 14, large arm 3 second is connected and is connected by the second revolute pair 16 and the second Rocker arm 5 first link, second Rocker arm 5 second link is connected with shoulder arm 8 one end by the 3rd revolute pair 17, shoulder arm 8 other end is connected with bracket 9 one end by the 4th revolute pair 18, bracket 9 other end is connected with manipulator 10 by the 5th revolute pair 19.
Described rocking arm vernier control subchain is by the first Rocker arm 4, second Rocker arm 5, first connecting rod 6 and second connecting rod 7 are formed by connecting, first Rocker arm 4 first link is connected by the 6th revolute pair 15 and large arm 3 the 3rd link, first Rocker arm 4 second link is connected with first connecting rod 6 one end by the 7th revolute pair 20, first connecting rod 6 other end is connected by the 8th revolute pair 21 and the second Rocker arm 5 second link, first Rocker arm 4 the 3rd link is connected with second connecting rod 7 one end by the 9th revolute pair 22, second connecting rod 7 other end is connected by the tenth revolute pair 23 and the second Rocker arm 5 the 3rd link.
Described executing agency subchain is formed by connecting by car body 1, crank arm 12, third connecting rod 11, large arm 3 and slide block 25, slide block 25 one end is connected with the chute on car body 1 by the first moving sets 24, slide block 25 other end is connected with crank arm 12 one end by the 11 revolute pair 26, crank arm 12 other end is connected with third connecting rod 11 one end by the second ball secondary 27, and third connecting rod 11 other end is connected with large arm 3 the 4th link by the 3rd ball secondary 28.
In said structure, realized the palletizing operation of automobile by the change in location of the resultant motion of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain.
As depicted in figs. 1 and 2, the present invention is in the first work, and principal arm and large arm are in preparation state.
As shown in Figure 3, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in lower position part.
As shown in Figure 4, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in anterior locations part, also can complete the palletizing operation of place's back location part simultaneously.
As shown in Figure 5, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in leftward position part, also can complete the palletizing operation of place's right positions part simultaneously.
As shown in Figure 6, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in upper position part, also can complete the palletizing operation of place's right positions part simultaneously.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of six degree of freedom robot palletizer of the present invention's design can complete the palletizing operation in six orientation, space such as mobile and upset.
Claims (1)
1. a six degree of freedom robot palletizer, is made up of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain, it is characterized in that:
Described series connection piling main chain is by car body, principal arm, large arm, second rocking arm, shoulder arm, bracket and manipulator are formed by connecting, principal arm one end is connected with the stud end on car body by the first revolute pair, the principal arm other end is connected with large arm first link by the first ball pair, large arm second link is connected by the second revolute pair and the second rocking arm first link, second second, rocking arm link is connected with shoulder arm one end by the 3rd revolute pair, the shoulder arm other end is connected with bracket one end by the 4th revolute pair, the bracket other end is connected with manipulator by the 5th revolute pair,
Described rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, first first, rocking arm link is connected by the 6th revolute pair and large arm the 3rd link, first second, rocking arm link is connected with first connecting rod one end by the 7th revolute pair, the first connecting rod other end is connected by the 8th revolute pair and the second rocking arm second link, first rocking arm the 3rd link is connected with second connecting rod one end by the 9th revolute pair, the second connecting rod other end is connected by the tenth revolute pair and the second rocking arm the 3rd link
Described executing agency subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and slide block, slide block one end is connected with the chute on car body by the first moving sets, the slide block other end is connected with crank arm one end by the 11 revolute pair, the crank arm other end is connected with third connecting rod one end by the second ball pair, and the third connecting rod other end is connected with large arm the 4th link by the 3rd ball pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520287925.9U CN204585209U (en) | 2015-05-07 | 2015-05-07 | A kind of six degree of freedom robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520287925.9U CN204585209U (en) | 2015-05-07 | 2015-05-07 | A kind of six degree of freedom robot palletizer |
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| Publication Number | Publication Date |
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| CN204585209U true CN204585209U (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520287925.9U Expired - Fee Related CN204585209U (en) | 2015-05-07 | 2015-05-07 | A kind of six degree of freedom robot palletizer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117464652A (en) * | 2023-12-26 | 2024-01-30 | 济南二机床集团有限公司 | Workpiece carrying parallel-serial mechanical arm and track control method of parallel-serial mechanical arm |
-
2015
- 2015-05-07 CN CN201520287925.9U patent/CN204585209U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117464652A (en) * | 2023-12-26 | 2024-01-30 | 济南二机床集团有限公司 | Workpiece carrying parallel-serial mechanical arm and track control method of parallel-serial mechanical arm |
| CN117464652B (en) * | 2023-12-26 | 2024-03-19 | 济南二机床集团有限公司 | Workpiece carrying parallel-serial mechanical arm and track control method of parallel-serial mechanical arm |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20160507 |