CN204658449U - A kind of allosteric state large space robot palletizer mechanism - Google Patents

A kind of allosteric state large space robot palletizer mechanism Download PDF

Info

Publication number
CN204658449U
CN204658449U CN201520391223.5U CN201520391223U CN204658449U CN 204658449 U CN204658449 U CN 204658449U CN 201520391223 U CN201520391223 U CN 201520391223U CN 204658449 U CN204658449 U CN 204658449U
Authority
CN
China
Prior art keywords
rod
drive link
controllable motor
freedom
robot palletizer
Prior art date
Application number
CN201520391223.5U
Other languages
Chinese (zh)
Inventor
王汝贵
吴晓波
张成东
陈辉庆
廖益丰
郑安平
杨洲
Original Assignee
广西大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201520391223.5U priority Critical patent/CN204658449U/en
Application granted granted Critical
Publication of CN204658449U publication Critical patent/CN204658449U/en

Links

Abstract

A kind of allosteric state large space robot palletizer mechanism, this mechanism is spacing by the first spacing bearing pin, make turnover connecting rod overlapping with output connecting rod position, the first drive link, the second drive link and frame is made to form closed loop triangle, mechanism is in single-degree-of-freedom state, realizes changing between two-freedom and mechanism with single degree of freedom.During shutdown, spacing by the second spacing bearing pin, four-wheel drive electric motor starting simultaneously, the turnover connecting rod making output connecting rod and be fixed together by spacing bearing pin and kinematic link are moved to and the second drive link lap position, the three dimensions that mechanism is occupied when shutting down is little, robot palletizer mechanism was both had controlled, adjustable, export flex capability, there is again the multi-functional phase change of metamorphic mechanisms, multiple topology changes, the features such as multiple degrees of freedom change, robot palletizer is made to adapt to different task, flexible Application is in different occasion and different targets.

Description

A kind of allosteric state large space robot palletizer mechanism
Technical field
The utility model relates to palletizing mechanical design field, particularly a kind of allosteric state large space robot palletizer mechanism.
Background technology
Along with the raising of automation level, it is gradually extensive that robot palletizer makes it apply with its advantage in frame for movement, the scope of application, flexibility, cost and maintenance etc., and become a kind of development trend, be widely used in the automated production enterprises such as food, electronics, machinery, medicine.Existing robot palletizer mechanism is fixing free degree mechanism, and space is limited, can not change its working space according to functional requirement or environmental change.
Chinese patent 201210576488.3 discloses a kind of large working space controllable-mechanism type stacking machine, though the large but working flexibility of this stacking mechanism working space and stability is low and to occupy space when not working larger, Chinese patent 201110184520.9 discloses a kind of metamorphic mechanisms formula robot palletizer mechanism, although working flexibility and the high but working space of stability little, not yet have the innovation design of a kind of working flexibility and stability is high, working space is large stacking machine robot mechanism at present
Summary of the invention
The purpose of this utility model is to provide a kind of allosteric state large space robot palletizer mechanism, and it can overcome the deficiency of existing stacking machine, working flexibility and stability high, working space greatly and the three dimensions occupied when not working is little, can make stacking machine adapt to different task.
The utility model achieves the above object by the following technical programs:
A kind of allosteric state large space robot palletizer mechanism, comprises frame, motor, drive link, kinematic link, turnover connecting rod, exports connecting rod, spacing bearing pin and cylinder smooth hinge.Concrete structure and annexation are: described motor is controllable motor, be made up of the first controllable motor, the second controllable motor, the 3rd controllable motor and the 4th controllable motor, first controllable motor, the second controllable motor are fixed in frame, 3rd controllable motor is fixed on the second drive rod, 4th controllable motor is fixed on take-off lever
Described drive link comprises the first drive link, second drive link and the 3rd drive link, first drive link one end is connected in the first controllable motor rotating shaft, the other end is connected with output connecting rod, export the connecting rod other end to be connected with kinematic link by the 4th cylinder smooth hinge, export in the middle of connecting rod and be connected with turnover connecting rod by the first cylinder smooth hinge, second drive link one end is fixedly connected in the second controllable motor rotating shaft, the other end is connected with turnover connecting rod by the second cylinder smooth hinge, 3rd drive link one end is connected in the 3rd controllable motor rotating shaft, the other end is connected with kinematic link by three cylindrical smooth hinge, kinematic link is connected in by the 4th cylinder smooth hinge one end and exports on connecting rod, the other end is connected with the 3rd drive link by three cylindrical smooth hinge, spacing bearing pin is fixed on and exports on connecting rod.
Described turnover length of connecting rod is equal to the distance of the 4th controllable motor with the first cylinder smooth hinge.
Described 3rd drive link length is equal with the distance of the 3rd controllable motor to the second cylinder smooth hinge.
During work, because turnover link motion is to the position overlapping with exporting connecting rod, first spacer pin shaft extension goes out spacer pin makes turnover connecting rod fix with output connecting rod, now the second cylinder smooth hinge position overlaps with the 4th controllable motor, make the first drive link simultaneously, second drive link and frame form closed loop triangle, mechanism is made to be in single-degree-of-freedom state, the stable transport of goods is realized by the 3rd drive motors, arrive assigned address, when stacking machine shuts down, under single-degree-of-freedom state, kinematic link moves to and exports connecting rod lap position, second spacer pin shaft extension goes out spacer pin makes kinematic link fix with output connecting rod, now three cylindrical smooth hinge position overlaps with the second cylinder smooth hinge and four-wheel drive motor position, four-wheel drive electric motor starting, make output connecting rod and by first, the turnover connecting rod that second spacing bearing pin is fixed together and kinematic link move to shuts down with the second drive link lap position, the use of spacing bearing pin can realize two-freedom, change between mechanism with single degree of freedom, mechanism was both had be convenient to control under single-degree-of-freedom state, be convenient to the characteristic that goods stablizes carrying, there is again the characteristic of the high sensitivity location of mechanism under two degrees of freedom state, Neng Shi mechanism three dimensions of occupying when shutting down is little again.
Outstanding advantages of the present utility model is:
1, robot palletizer in the course of the work, mechanism can be realized switch in structure state multiple under different task, robot is made to adapt to different task, during mechanism's two-freedom, the flexibility that can realize robot palletizer arbitrary trajectory in working space exports, during single-degree-of-freedom, goods can be made more stable in handling process.
2, when single-degree-of-freedom, because the first drive link and the second drive link form a closed triangle, make equivalent frame horizontal level have lifting relative to former rack level position, improve the output region of mechanism.
3, when stacking machine does not work, the three dimensions that whole mechanism occupies is little.
Accompanying drawing explanation
Configuration state figure when Fig. 1 is the two degrees of freedom of allosteric state large space robot palletizer mechanism described in the utility model.
Configuration state figure when Fig. 2 is the single-degree-of-freedom of allosteric state large space robot palletizer mechanism described in the utility model.
Configuration state figure when Fig. 3 is zero free degree of allosteric state large space robot palletizer mechanism described in the utility model.
Detailed description of the invention
Be clearly and completely described the technical solution of the utility model below in conjunction with drawings and Examples, obviously, embodiment is only the utility model part embodiment, instead of whole embodiments.Based on embodiment of the present utility model, those skilled in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Contrast Fig. 1, Fig. 2 and Fig. 3, allosteric state large space robot palletizer mechanism described in the utility model, comprises frame, motor, drive link, kinematic link, turnover connecting rod, exports connecting rod, spacing bearing pin and cylinder smooth hinge.Concrete structure and connected mode are:
Described motor is controllable motor, be made up of the first controllable motor 11, second controllable motor 12, the 3rd controllable motor 13 and the 4th controllable motor 10, first controllable motor 11, second controllable motor 12 is fixed in frame 1,3rd controllable motor 13 is fixed on the second drive rod 6, and the 4th controllable motor 10 is fixed on and exports on connecting rod 3.
Described drive link comprises the first drive link 2, second drive link 6 and the 3rd drive link 5.Described first drive link 2 one end is connected in the first controllable motor rotating shaft 11, the other end is connected with output connecting rod 3, export connecting rod 3 other end to be connected with kinematic link 4 by the 4th cylinder smooth hinge 17, export in the middle of connecting rod 3 and be connected with turnover connecting rod 7 by the first cylinder smooth hinge 14.Described second drive link 6 one end is fixedly connected in the second controllable motor 12 rotating shaft, and the other end is connected with turnover connecting rod 7 by the second cylinder smooth hinge 15.Described 3rd drive link 5 one end is connected in the 3rd controllable motor 13 rotating shaft, and the other end is connected with kinematic link 4 by three cylindrical smooth hinge 16.
Described kinematic link 4 is connected in by the 4th cylinder smooth hinge 17 one end and exports on connecting rod 3, and the other end is connected with the 3rd drive link 5 by three cylindrical smooth hinge 16.
Described turnover connecting rod 7 is connected with output connecting rod 3 by the first cylinder smooth hinge 14, and the other end is connected with the second drive link 6 by the second cylinder smooth hinge 15.
Described first spacing bearing pin 9 is fixed on and exports on connecting rod.
Described second spacing bearing pin 8 is fixed on and exports on connecting rod.
Described turnover connecting rod 7 length and the first cylinder smooth hinge 14 to the four controllable motor 10 are apart from equal.
Described 3rd drive link 5 length and the 3rd controllable motor 13 to the second cylinder smooth hinge 15 are apart from equal.
Operation principle and process:
During work, because turnover connecting rod 7 moves to the position overlapping with exporting connecting rod 3, first spacing bearing pin 9 stretches out spacer pin makes turnover connecting rod fix with output connecting rod 3, now the second cylinder smooth hinge 15 position overlaps with the 4th controllable motor 10, make the first drive link 2 simultaneously, second drive link 6 forms closed loop triangle with frame, mechanism is made to be in single-degree-of-freedom state, the stable transport of goods is realized by the 3rd drive motors 13, arrive assigned address, when stacking machine shuts down, under single-degree-of-freedom state, kinematic link 4 moves to and exports connecting rod 3 lap position, second spacing bearing pin 8 stretches out spacer pin makes kinematic link 4 fix with output connecting rod 3, now three cylindrical smooth hinge 16 position is put with the second cylinder smooth hinge 15 and four-wheel drive motor position 10 and is overlapped, four-wheel drive motor 10 starts, make output connecting rod 3 and by first, second spacing bearing pin 9, the 8 turnover connecting rods be fixed together 7 move to kinematic link 4 and shut down with the second drive link 6 lap position, the use of spacing bearing pin can realize two-freedom, change between mechanism with single degree of freedom, mechanism was both had be convenient to control under single-degree-of-freedom state, be convenient to the characteristic that goods stablizes carrying, there is again the characteristic of the high sensitivity location of mechanism under two degrees of freedom state, Neng Shi mechanism three dimensions of occupying when shutting down is little again.

Claims (3)

1. an allosteric state large space robot palletizer mechanism, comprise frame, motor, drive link, kinematic link, turnover connecting rod, export connecting rod, spacing bearing pin and cylinder smooth hinge, it is characterized in that, concrete structure and annexation are:
Described motor is controllable motor, be made up of the first controllable motor, the second controllable motor, the 3rd controllable motor and the 4th controllable motor, the first controllable motor, the second controllable motor are fixed in frame, and the 3rd controllable motor is fixed on the second drive rod, 4th controllable motor is fixed on take-off lever
Described drive link comprises the first drive link, second drive link and the 3rd drive link, first drive link one end is connected in the first controllable motor rotating shaft, the other end is connected with output connecting rod, export the connecting rod other end to be connected with kinematic link by the 4th cylinder smooth hinge, export in the middle of connecting rod and be connected with turnover connecting rod by the first cylinder smooth hinge, second drive link one end is fixedly connected in the second controllable motor rotating shaft, the other end is connected with turnover connecting rod by the second cylinder smooth hinge, 3rd drive link one end is connected in the 3rd controllable motor rotating shaft, the other end is connected with kinematic link by three cylindrical smooth hinge, kinematic link is connected in by the 4th cylinder smooth hinge one end and exports on connecting rod, the other end is connected with the 3rd drive link by three cylindrical smooth hinge, spacing bearing pin is fixed on and exports on connecting rod.
2. allosteric state large space robot palletizer mechanism according to claim 1, it is characterized in that, described turnover length of connecting rod is equal to the distance of the 4th controllable motor with the first cylinder smooth hinge.
3. allosteric state large space robot palletizer mechanism according to claim 1, it is characterized in that, described 3rd drive link length is equal with the distance of the 3rd controllable motor to the second cylinder smooth hinge.
CN201520391223.5U 2015-06-08 2015-06-08 A kind of allosteric state large space robot palletizer mechanism CN204658449U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520391223.5U CN204658449U (en) 2015-06-08 2015-06-08 A kind of allosteric state large space robot palletizer mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520391223.5U CN204658449U (en) 2015-06-08 2015-06-08 A kind of allosteric state large space robot palletizer mechanism

Publications (1)

Publication Number Publication Date
CN204658449U true CN204658449U (en) 2015-09-23

Family

ID=54128879

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520391223.5U CN204658449U (en) 2015-06-08 2015-06-08 A kind of allosteric state large space robot palletizer mechanism

Country Status (1)

Country Link
CN (1) CN204658449U (en)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104875201A (en) * 2015-06-08 2015-09-02 广西大学 Variable-configuration large-space robot palletizer mechanism
CN105480717A (en) * 2016-01-06 2016-04-13 潘玲玉 Multi-rod object taking and stacking device
CN106607864A (en) * 2016-11-28 2017-05-03 广西大学 Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor
CN106737717A (en) * 2016-11-28 2017-05-31 广西大学 A kind of servo-drive variable freedom multi link mechanical arm for assembling work
CN106737645A (en) * 2016-12-05 2017-05-31 广西大学 A kind of servo-drive variable freedom multi link mechanical arm for transport operation
CN106945039A (en) * 2017-03-24 2017-07-14 广西大学 A kind of structure state metamorphic mechanisms of ten connecting rod of large space two
CN106954476A (en) * 2017-03-24 2017-07-18 广西大学 A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine
CN106954477A (en) * 2017-03-24 2017-07-18 广西大学 A kind of pair two and the three structure states change cell type trees training tree felling machine of single-degree-of-freedom conversion
CN106965176A (en) * 2017-03-24 2017-07-21 广西大学 A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot
CN106965149A (en) * 2017-03-24 2017-07-21 广西大学 One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot
CN106973755A (en) * 2017-03-24 2017-07-25 广西大学 A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine
CN107020626A (en) * 2017-03-24 2017-08-08 广西大学 A kind of structure state of tilting-type servo-drive large space two becomes cell type training and cut down trees robot
CN107018856A (en) * 2017-03-24 2017-08-08 广西大学 A kind of training of structure state metamorphic mechanisms formula trees of combination drive three is cut down trees robot
CN107020627A (en) * 2017-03-24 2017-08-08 广西大学 A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot
CN107087531A (en) * 2017-03-24 2017-08-25 广西大学 A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot
CN107087530A (en) * 2017-03-24 2017-08-25 广西大学 A kind of training of structure state metamorphic mechanisms formula trees of large space two is cut down trees all-in-one
CN107097237A (en) * 2017-03-24 2017-08-29 广西大学 A kind of tilting-type automation large space two structure state becomes cell type training and cut down trees robot
CN107135902A (en) * 2017-03-24 2017-09-08 广西大学 A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
CN107155811A (en) * 2017-03-24 2017-09-15 广西大学 A kind of structure state of tilting-type servo-drive three becomes the training of cell type trees and cut down trees robot
CN107155662A (en) * 2017-03-24 2017-09-15 广西大学 A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine
CN107409788A (en) * 2017-03-24 2017-12-01 广西大学 A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot
CN107414843A (en) * 2017-03-24 2017-12-01 广西大学 A kind of structure state of combination drive large space two becomes the training of cell type trees and cut down trees robot
CN107409789A (en) * 2017-03-24 2017-12-01 广西大学 A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104875201A (en) * 2015-06-08 2015-09-02 广西大学 Variable-configuration large-space robot palletizer mechanism
CN104875201B (en) * 2015-06-08 2016-05-18 广西大学 One allosteric state large space robot palletizer mechanism
CN105480717A (en) * 2016-01-06 2016-04-13 潘玲玉 Multi-rod object taking and stacking device
CN106607864A (en) * 2016-11-28 2017-05-03 广西大学 Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor
CN106737717A (en) * 2016-11-28 2017-05-31 广西大学 A kind of servo-drive variable freedom multi link mechanical arm for assembling work
CN106737645A (en) * 2016-12-05 2017-05-31 广西大学 A kind of servo-drive variable freedom multi link mechanical arm for transport operation
CN107020626A (en) * 2017-03-24 2017-08-08 广西大学 A kind of structure state of tilting-type servo-drive large space two becomes cell type training and cut down trees robot
CN106954476A (en) * 2017-03-24 2017-07-18 广西大学 A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine
CN106954477A (en) * 2017-03-24 2017-07-18 广西大学 A kind of pair two and the three structure states change cell type trees training tree felling machine of single-degree-of-freedom conversion
CN106965176A (en) * 2017-03-24 2017-07-21 广西大学 A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot
CN106965149A (en) * 2017-03-24 2017-07-21 广西大学 One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot
CN106973755A (en) * 2017-03-24 2017-07-25 广西大学 A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine
CN106945039A (en) * 2017-03-24 2017-07-14 广西大学 A kind of structure state metamorphic mechanisms of ten connecting rod of large space two
CN107018856A (en) * 2017-03-24 2017-08-08 广西大学 A kind of training of structure state metamorphic mechanisms formula trees of combination drive three is cut down trees robot
CN107020627A (en) * 2017-03-24 2017-08-08 广西大学 A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot
CN107087531A (en) * 2017-03-24 2017-08-25 广西大学 A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot
CN107087530A (en) * 2017-03-24 2017-08-25 广西大学 A kind of training of structure state metamorphic mechanisms formula trees of large space two is cut down trees all-in-one
CN107097237A (en) * 2017-03-24 2017-08-29 广西大学 A kind of tilting-type automation large space two structure state becomes cell type training and cut down trees robot
CN107135902A (en) * 2017-03-24 2017-09-08 广西大学 A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
CN107155811A (en) * 2017-03-24 2017-09-15 广西大学 A kind of structure state of tilting-type servo-drive three becomes the training of cell type trees and cut down trees robot
CN107155662A (en) * 2017-03-24 2017-09-15 广西大学 A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine
CN107409788A (en) * 2017-03-24 2017-12-01 广西大学 A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot
CN107414843A (en) * 2017-03-24 2017-12-01 广西大学 A kind of structure state of combination drive large space two becomes the training of cell type trees and cut down trees robot
CN107409789A (en) * 2017-03-24 2017-12-01 广西大学 A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot

Similar Documents

Publication Publication Date Title
CN103737581B (en) The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled
CN203611246U (en) Industrial robot
CN201198134Y (en) Cylindrical storehouse stacking robot
CN103737577B (en) A kind of Six-DOF industrial robot driven containing ball screw assembly,
CN201275760Y (en) Plane parallel robot mechanism with two freedom degrees
CN105881914A (en) Multi-nozzle 3D printer and printing method
CN203779488U (en) Delta parallel robot
CN102039240B (en) Spraying robot mechanism
CN104096998A (en) Multi-degree of freedom parallel mechanism type spot welding robot
CN103722552B (en) A kind of controllable multi-degree-of-freedom manipulator
CN203109944U (en) Robot palletizer capable of keeping wrist horizontal
CN105313107A (en) Rotatable manipulation arm with metamorphic function
CN103978482A (en) Quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot
CN203003890U (en) Multi-degree-of-freedom controllable-mechanism-type palletizing robot
CN103722553B (en) A kind of controlled welding robot of multiple freedom parallel mechanism formula
CN201405354Y (en) Horizontal stacking manipulator for glass production line
CN203495947U (en) Horizontal multi-joint robot not driven by belt
CN203254224U (en) Overturn transporting mechanism and loading equipment
CN104493816B (en) A kind of become born of the same parents parallel connection robot palletizer mechanism
CN202163919U (en) Metamorphic stacking robot mechanism
CN104626092A (en) Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods
CN104647362A (en) Three-degree-of-freedom cylindrical coordinate hydraulic drive manipulator
WO2020125044A1 (en) Four degrees of freedom parallel robot provided with dual moving platform structure
CN103029124A (en) Multi-degree-of-freedom controllable mechanism type stacking robot
CN104044134A (en) Multi-freedom-degree controlled parallel robot

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20150923

Effective date of abandoning: 20160518

C25 Abandonment of patent right or utility model to avoid double patenting