CN204736216U - 16 mobility engine pile up neatly machine people - Google Patents
16 mobility engine pile up neatly machine people Download PDFInfo
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- CN204736216U CN204736216U CN201520279582.1U CN201520279582U CN204736216U CN 204736216 U CN204736216 U CN 204736216U CN 201520279582 U CN201520279582 U CN 201520279582U CN 204736216 U CN204736216 U CN 204736216U
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- arm
- rocking arm
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- connecting rod
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Abstract
The utility model provides a 16 mobility engine pile up neatly machine people, includes a series connection pile up neatly backbone and a rocking arm fine -tune control subchain. Series connection pile up neatly backbone can control this car robot carry out 6 -degree of freedom's motion in the space, rocking arm fine -tune control subchain is by two rocking arms and two connecting rod composition four -bar linkage to install on big arm, carry out fine -tune control through four -bar linkage to the backbone. The utility model discloses a plurality of arms are connected with the fuselage to realize the 6 -degree of freedom output of terminal orbit, this mechanism have agile, the precision is high, motion inertia is little, dynamic performance is good, and compact structure, the output of big, the multiple movement track of working space, control are simple, multiple occasion such as can apply to the pile up neatly, snatch.
Description
Technical field
The present invention relates to robot field, particularly a kind of 16 mobility engine robot palletizers.
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 Welding device.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 welding 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 16 mobility engine robot palletizers provided by the utility model, comprise a series connection welding main chain and a rocking arm vernier control subchain, and described series connection welding 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 Welding operation, also save a large amount of labours simultaneously, cut down expenses.The Automobile Welding robot 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 16 mobility engine robot palletizers, 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, by four-bar mechanism, vernier control is carried out to main chain, 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 has agile, precision is high, movement inertia is little, power performance is good, and compact conformation, working space is large, multi-motion track exports, control simple, the multiple occasion of piling can be applied to, 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 16 mobility engine robot palletizers, and be made up of series connection piling main chain and rocking arm vernier control 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.
In said structure, realize the piling of automobile by the change in location of connect piling main chain and this Liang Ge mechanism of rocking arm vernier control subchain and capture operation.
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 welding robot;
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 16 mobility engine robot palletizers of the present invention.
Fig. 2 is the first work rearview of a kind of 16 mobility engine robot palletizers of the present invention.
Fig. 3 is the second operating diagram of a kind of 16 mobility engine robot palletizers of the present invention.
Fig. 4 is the 3rd operating diagram of a kind of 16 mobility engine robot palletizers of the present invention.
Fig. 5 is the 4th operating diagram of a kind of 16 mobility engine robot palletizers of the present invention.
Fig. 6 is the 5th operating diagram of a kind of 16 mobility engine robot palletizers 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 and Fig. 6, a kind of 16 mobility engine robot palletizers, its structure and connected mode are:
Described series connection piling main chain is by car body 1, principal arm 2, large arm 3, second rocking arm 7, 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 11, principal arm 2 other end is connected with large arm 3 first links by the first ball secondary 12, large arm 3 second is connected and is connected by the second revolute pair 18 and the second rocking arm 7 first links, second 7 second, rocking arm link is connected with shoulder arm 8 one end by the 3rd revolute pair 19, shoulder arm 8 other end is connected with bracket 9 one end by the 4th revolute pair 20, bracket 9 other end is connected with manipulator 10 by the 5th revolute pair 21.
Described rocking arm vernier control subchain is by the first Rocker arm 4, second rocking arm 7, first connecting rod 5 and second connecting rod 6 are formed by connecting, first Rocker arm 4 first link is connected by the 6th revolute pair 17 and large arm 3 the 3rd link, first Rocker arm 4 second link is connected with first connecting rod 5 one end by the 7th revolute pair 13, first connecting rod 5 other end is connected by the 8th revolute pair 15 and the second rocking arm 7 second links, first Rocker arm 4 the 3rd link is connected with second connecting rod 6 one end by the 9th revolute pair 14, second connecting rod 6 other end is connected by the tenth revolute pair 16 and the second rocking arm 7 the 3rd link.
In said structure, realize the piling of automobile by the change in location of connect piling main chain and this Liang Ge mechanism of rocking arm vernier control subchain and capture operation.
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 being in the piling of lower position part and capturing operation.
As shown in Figure 4, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes being in the piling of anterior locations part and capturing operation, also can complete the piling of place's back location part simultaneously and capture operation.
As shown in Figure 5, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes being in the piling of leftward position part and capturing operation, also can complete the piling of place's right positions part simultaneously and capture operation.
As shown in Figure 6, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes being in the piling of upper position part and capturing operation, also can complete the piling of place's right positions part simultaneously and capture operation.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of 16 mobility engine robot palletizers of the present invention's design can complete the weld job in six orientation, space such as mobile and upset.
Claims (1)
1. 16 mobility engine robot palletizers, are made up of series connection piling main chain and rocking arm vernier control 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, and the second connecting rod other end is connected by the tenth revolute pair and the second rocking arm the 3rd link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520279582.1U CN204736216U (en) | 2015-05-04 | 2015-05-04 | 16 mobility engine pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520279582.1U CN204736216U (en) | 2015-05-04 | 2015-05-04 | 16 mobility engine pile up neatly machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204736216U true CN204736216U (en) | 2015-11-04 |
Family
ID=54417972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520279582.1U Expired - Fee Related CN204736216U (en) | 2015-05-04 | 2015-05-04 | 16 mobility engine pile up neatly machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204736216U (en) |
-
2015
- 2015-05-04 CN CN201520279582.1U patent/CN204736216U/en not_active Expired - Fee Related
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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: 20151104 Termination date: 20160504 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |