CN103009384A - Controllable stacking robot - Google Patents
Controllable stacking robot Download PDFInfo
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- CN103009384A CN103009384A CN2012105765462A CN201210576546A CN103009384A CN 103009384 A CN103009384 A CN 103009384A CN 2012105765462 A CN2012105765462 A CN 2012105765462A CN 201210576546 A CN201210576546 A CN 201210576546A CN 103009384 A CN103009384 A CN 103009384A
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Abstract
The invention relates to a controllable stacking robot, which comprises a large arm swinging branched chain, a small arm swinging branched chain, a gesture maintaining branched chain, a tail end actuator and a machine frame. The robot completes the tasks of transporting and stacking on a space as well as flexible and changeable trajectory output according to the combined movement of the large arm swinging branched chain and the small arm swinging branched arm. During a working process, according to two groups of parallelogram structures of the gesture maintaining branched chain, the tail end actuator can be guaranteed to maintain in a horizontal state all the time, all servo motors are arranged on the machine frame, rod pieces can be made into light rods, the robot has small movement inertia and excellent dynamic performance, and can be better satisfied with the requirement of transporting stacks at a high speed. According to the controllable stacking robot, by the adoption of a novel connecting rod mechanism, as a connecting transmission mechanism is simple in structure, the stress of each rod is improved, and the robot is more suitable for manufacturing a large-scale stacking machine.
Description
Technical field
The present invention relates to the industrial robot field, particularly a kind of controlled stacking robot.
Background technology
Robot palletizer is widely used in the middle of the automatic transporting operation of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, carrying piling, container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and three kinds of structure types of joint type.Wherein the joint type robot palletizer progressively becomes the topmost version of robot palletizer because of its mechanism's compactness, flexible movements, the advantage such as floor space is little, working space is large.But the drive motors of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all needs to be installed in joint, cause that robot arm weight is large, the problems such as poor rigidity, inertia are large, joint error accumulation, the mechanism dynamic poor-performing is difficult to satisfy the requirement of carrying piling at a high speed.
Summary of the invention
The object of the present invention is to provide a kind of controlled stacking robot, all drive motors all are installed on the frame, the motor that can solve traditional fisher's formula series connection robot palletizer is installed in its hinge place, the problems such as the arm heaviness that causes, poor rigidity, inertia are large, joint error accumulation, robot has better dynamic performance, can better satisfy the requirement of high-speed overload carrying piling.
The present invention achieves the above object by the following technical programs: comprise that large arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Robot finishes the carrying piling work of space, the output of flexible and changeable track by the aggregate motion of large arm swing side chain, forearm swing side chain.
Described large arm swing side chain is formed by connecting by large arm, forearm, end effector and frame, large arm one end is connected on the frame by the first revolute pair, the other end is connected with forearm by the second revolute pair, described forearm one end is connected with large arm by the second revolute pair, the other end is connected with end effector by the 3rd revolute pair, described large arm is the first driving lever, by the first driven by servomotor.
Described forearm swings side chain by the second driving lever, first connecting rod; forearm; end effector and frame form; the second driving lever one end is connected on the frame by the 4th revolute pair; the other end is connected with first connecting rod by the 5th revolute pair; described first connecting rod one end is connected with the second driving lever by the 5th revolute pair; the other end is connected with forearm by the 6th revolute pair; described forearm is pole; middle bending part has the 6th revolute pair; forearm one end turns secondary by the 6th and is connected with first connecting rod; the forearm other end is connected with end effector by the 3rd revolute pair, and described the second driving lever is by the second driven by servomotor.
Described attitude keeps side chain by second connecting rod, support bar, third connecting rod is formed by connecting, described second connecting rod one end is connected on the frame by the 7th revolute pair, the other end is connected with support bar by the 8th revolute pair, described support bar one end is by the 8th revolute pair and second, three connecting rods connect, be connected with large arm swing side chain by the second revolute pair, described third connecting rod one end is by the 8th revolute pair and support bar, second connecting rod connects, the other end is connected with end effector by the 9th revolute pair, described the first revolute pair, the second revolute pair, the 7th revolute pair, the 8th revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 8th revolute pair, the 9th revolute pair forms in the robot course of work and remains parallelogram sturcutre.
Described end effector top is connected with large arm swing side chain by the 3rd revolute pair, keeps the third connecting rod of side chain to be connected by the 9th revolute pair and attitude, and the end effector bottom is connected with electromagnetic clamp device by the tenth vertical revolute pair of axis direction.
The first servomotor, the second servomotor are installed on the described frame.Frame is installed on the revolving dial, realizes the space carrying piling work of whole robot.
Outstanding advantages of the present invention is:
1, export by the aggregate motion of large arm swing side chain, arm swing side chain, the carrying palletizing operation of energy implementation space, and track is flexible and changeable, and robot has the ability of stronger flexibility output;
2, this stacking mechanism driving link type of drive is flexible and changeable, can select driven by servomotor, not only environmental protection, and be easy to realize Long-distance Control, reduce labor strength;
3, all servomotors are installed on the frame, and rod member is made lighter bar, and robot motion's inertia is little, and dynamic performance is good, can better satisfy the requirement of carrying piling at a high speed.
Description of drawings
Fig. 1 is the overall structure schematic diagram of controlled stacking robot of the present invention.
Fig. 2 is the large arm swing branched structure schematic diagram of controlled stacking robot of the present invention.
Fig. 3 is that the forearm of controlled stacking robot of the present invention swings the branched structure schematic diagram.
Fig. 4 is that the attitude of controlled stacking robot of the present invention keeps the branched structure schematic diagram.
Fig. 5 is the end effector structural representation of controlled stacking robot of the present invention.
Fig. 6 is that controlled stacking robot of the present invention is installed in the first working state schematic representation on the revolving dial.
Fig. 7 is that controlled stacking robot of the present invention is installed in the second working state schematic representation on the revolving dial.
Fig. 8 is that controlled stacking robot of the present invention is installed in the third working state schematic representation on the revolving dial.
Fig. 9 is that controlled stacking robot of the present invention is installed in the 4th kind of working state schematic representation on the revolving dial.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1,6,7,8 and 9, a kind of controlled stacking robot comprises that large arm swing side chain, forearm swing side chain, attitude keeps side chain, end effector and frame.Described frame is installed on the revolving dial, realizes the space carrying piling work of whole robot.
Contrast Fig. 1,2, described large arm swing side chain is formed by connecting by large arm 4, forearm 7, end effector 20 and frame 2, large arm 4 one ends are connected on the frame 2 by the first revolute pair 3, the other end is connected with forearm 7 by the second revolute pair 5, described forearm 7 one ends are connected with large arm 4 by the second revolute pair 5, the other end is connected with end effector 20 by the 3rd revolute pair 8, and described large arm 7 is the first driving lever, is driven by the first servomotor 21.
Contrast Fig. 1,3, described forearm swings side chain by the second driving lever 16, first connecting rod 17; forearm 7; end effector 20 and frame 2 form; the second driving lever 16 1 ends are connected on the frame 2 by the 4th revolute pair 15; other end is connected with first connecting rod 18 by the 5th revolute pair 17; described first connecting rod 18 1 ends are connected with the second driving lever 16 by the 5th revolute pair 17; other end is connected with forearm 7 by the 6th revolute pair 6; described forearm is pole; middle bending part has the 6th revolute pair 6; forearm 7 one ends are connected with first connecting rod 18 by the 6th revolute pair 6; forearm 7 other ends are connected with end effector 20 by the 3rd revolute pair 8, described the second driving lever is driven by the second servomotor 22.
Contrast Fig. 1,4, described attitude keeps side chain by second connecting rod 13, support bar 12, third connecting rod 10 is formed by connecting, described second connecting rod 13 1 ends are connected on the frame 2 by the 7th revolute pair 14, the other end is connected with support bar 12 by the 8th revolute pair 11, described support bar 12 1 ends are by the 8th revolute pair 11 and second, three connecting rods 13,10 connect, be connected with large arm swing side chain by the second revolute pair 5, described third connecting rod 10 1 ends are by the 8th revolute pair 11 and support bar 12, second connecting rod 13 connects, the other end is connected with end effector 20 by the tenth revolute pair 9, described the first revolute pair 3, the second revolute pair 5, the 7th revolute pair 14, the 8th revolute pair 11 forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair 5, the 3rd revolute pair 8, the 8th revolute pair 11, the 9th revolute pair 10 forms in the robot course of work and remains parallelogram sturcutre.
Contrast Fig. 1,2,4 and 5, described end effector 20 bottoms are connected by the forearm 7 of the 3rd revolute pair 8 with large arm swing side chain, keep the third connecting rod 10 of side chain to be connected by the 9th revolute pair 9 and attitude, end effector 20 bottoms are connected with electromagnetic clamp device by the tenth vertical revolute pair of axis direction.
Contrast Fig. 2 and 3 is equipped with the first servomotor 21, the second servomotor 22 on the described frame 2.Frame 2 is installed on the revolving dial 1, realizes the space carrying piling work of whole robot.
Contrast Fig. 6,7,8 and 9, the machine man-hour, the aggregate motion output by two linkages and four-bar mechanism can realize the flexible and changeable carrying palletizing operation of track.When end effector 20 moved to the object place, the aggregate motion by large arm swing side chain, forearm swing side chain, attitude keep side chain cooperated the gyration of revolving dial 1 simultaneously, realizes the carrying palletizing operation of robot crawl, carrying, discharging.In the course of the work, attitude keeps two groups of parallelogram sturcutres of side chain can guarantee that end effector 20 remains level.
Claims (1)
1. a controlled stacking robot comprises that large arm swing side chain side chain, forearm swing side chain, attitude keeps side chain, end effector and frame, it is characterized in that its structure and connected mode are:
Described large arm swing side chain is formed by connecting by large arm, forearm, end effector and frame, large arm one end is connected on the frame by the first revolute pair, the other end is connected with forearm by the second revolute pair, described forearm one end is connected with large arm by the second revolute pair, the other end is connected with end effector by the 3rd revolute pair, described large arm is the first driving lever, by the first driven by servomotor
Described forearm swings side chain by the second driving lever, first connecting rod; forearm; end effector and frame form; the second driving lever one end is connected on the frame by the 4th revolute pair; the other end is connected with first connecting rod by the 5th revolute pair; described first connecting rod one end is connected with the second driving lever by the 5th revolute pair; the other end is connected with forearm by the 6th revolute pair; described forearm is pole; middle bending part has the 6th revolute pair; forearm one end is connected with first connecting rod by the 6th revolute pair; the forearm other end is connected with end effector by the 3rd revolute pair; described the second driving lever is by the second driven by servomotor
Described attitude keeps side chain by second connecting rod, support bar, third connecting rod is formed by connecting, described second connecting rod one end is connected on the frame by the 7th revolute pair, the other end is connected with support bar by the 8th revolute pair, described support bar one end is by the 8th revolute pair and second, three connecting rods connect, be connected with large arm swing side chain by the second revolute pair, described third connecting rod one end is by the 8th revolute pair and support bar, second connecting rod connects, the other end is connected with end effector by the 9th revolute pair, described the first revolute pair, the second revolute pair, the 7th revolute pair, the 8th revolute pair forms in the robot course of work and remains parallelogram sturcutre, described the second revolute pair, the 3rd revolute pair, the 8th revolute pair, the 9th revolute pair forms in the robot course of work and remains parallelogram sturcutre
Described end effector top is connected with large arm swing side chain by the 3rd revolute pair, keeps the third connecting rod of side chain to be connected by the 9th revolute pair and attitude, and the end effector bottom is connected with electromagnetic clamp device by the tenth vertical revolute pair of axis direction,
The first servomotor, the second servomotor are installed on the described frame.
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| CN2012105765462A CN103009384A (en) | 2012-12-27 | 2012-12-27 | Controllable stacking robot |
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| CN2012105765462A CN103009384A (en) | 2012-12-27 | 2012-12-27 | Controllable stacking robot |
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| CN2012105765462A Pending CN103009384A (en) | 2012-12-27 | 2012-12-27 | Controllable stacking robot |
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| CN103587964A (en) * | 2013-11-15 | 2014-02-19 | 江阴大地装备股份有限公司 | Connecting rod mechanism |
| 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 |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103722551A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Stacking robot with multiple closed-loop subchains |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
| CN103737583A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Mechanical arm with symmetrical mechanisms |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN104476535A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104552234A (en) * | 2014-12-18 | 2015-04-29 | 广西大学 | Multi-freedom degree wheeled mobile stacking robot |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104627690A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Thirteen-rod controllable stacking mechanism |
| CN104626103A (en) * | 2014-12-18 | 2015-05-20 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable moving palletizing robot |
| CN104647353A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | High-accuracy high-bearing stacking robot mechanism |
| CN104960859A (en) * | 2015-07-02 | 2015-10-07 | 山大鲁能信息科技有限公司 | Roaster cigarette holder installation and detachment equipment |
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking robot |
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
| CN106607658A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106607869A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo motor-driven variable-degree of freedom connecting rod mechanism for simple gas cutting blanking machine |
| CN107053220A (en) * | 2016-10-12 | 2017-08-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line |
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN109264635A (en) * | 2017-07-18 | 2019-01-25 | 山东交通学院 | A kind of fork truck robot large space swing arm elevating mechanism |
| CN109573853A (en) * | 2019-01-17 | 2019-04-05 | 吉林大学 | A kind of three sections of arm types translation lifting handling device |
| CN109775279A (en) * | 2019-03-08 | 2019-05-21 | 林佳琳 | A kind of logistics transfer robot and five rod-type fast removal mechanisms |
| CN110355747A (en) * | 2018-11-21 | 2019-10-22 | 上海交通大学 | Two-freedom planar flexible pick and place machine structure |
| CN110817460A (en) * | 2019-12-11 | 2020-02-21 | 深圳市领略数控设备有限公司 | Linear stacking device |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
| CN113263489A (en) * | 2021-06-23 | 2021-08-17 | 辽宁科技大学 | Full-automatic logistics robot |
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| CN103587964A (en) * | 2013-11-15 | 2014-02-19 | 江阴大地装备股份有限公司 | Connecting rod mechanism |
| CN103587964B (en) * | 2013-11-15 | 2016-01-20 | 江阴大地装备股份有限公司 | A kind of connecting rod mechanism |
| CN103737582A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | High-precision advanced welding robot mechanism with six degrees of freedom |
| CN103737582B (en) * | 2013-12-07 | 2016-06-29 | 广西大学 | A kind of six degree of freedom welding robot robot mechanism |
| CN103737578A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom |
| CN103737581A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-bar six-freedom-degree welding robot containing parallel closed loop sub chains and provided with controllable space |
| CN103722552A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable multi-degree-of-freedom manipulator |
| CN103737583A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Mechanical arm with symmetrical mechanisms |
| 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 |
| CN103707289A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Controllable multi-degree of freedom welding robot |
| CN104476535A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104552234A (en) * | 2014-12-18 | 2015-04-29 | 广西大学 | Multi-freedom degree wheeled mobile stacking robot |
| CN104626103A (en) * | 2014-12-18 | 2015-05-20 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable moving palletizing robot |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104647353A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | High-accuracy high-bearing stacking robot mechanism |
| CN104627690A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Thirteen-rod controllable stacking mechanism |
| CN104493816B (en) * | 2014-12-25 | 2016-11-30 | 广西大学 | A kind of become born of the same parents parallel connection robot palletizer mechanism |
| CN104960859A (en) * | 2015-07-02 | 2015-10-07 | 山大鲁能信息科技有限公司 | Roaster cigarette holder installation and detachment equipment |
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking robot |
| CN105500360B (en) * | 2016-01-14 | 2017-07-18 | 广西大学 | A kind of robot palletizer |
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN107053220A (en) * | 2016-10-12 | 2017-08-18 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
| CN106607658A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-range of motion closed-chain connecting rod mechanism mechanical arm for welding operation |
| CN106607869A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo motor-driven variable-degree of freedom connecting rod mechanism for simple gas cutting blanking machine |
| CN109264635A (en) * | 2017-07-18 | 2019-01-25 | 山东交通学院 | A kind of fork truck robot large space swing arm elevating mechanism |
| CN109264635B (en) * | 2017-07-18 | 2023-09-29 | 山东宏大安装股份有限公司 | Large-space movable arm lifting mechanism for forklift robot |
| CN110355747A (en) * | 2018-11-21 | 2019-10-22 | 上海交通大学 | Two-freedom planar flexible pick and place machine structure |
| CN110355747B (en) * | 2018-11-21 | 2022-06-14 | 上海交通大学 | Two-degree-of-freedom planar flexible taking and placing mechanism |
| CN109573853A (en) * | 2019-01-17 | 2019-04-05 | 吉林大学 | A kind of three sections of arm types translation lifting handling device |
| CN109573853B (en) * | 2019-01-17 | 2023-12-22 | 吉林大学 | Three-section arm type translational crane carrying device |
| CN109775279A (en) * | 2019-03-08 | 2019-05-21 | 林佳琳 | A kind of logistics transfer robot and five rod-type fast removal mechanisms |
| CN110817460A (en) * | 2019-12-11 | 2020-02-21 | 深圳市领略数控设备有限公司 | Linear stacking device |
| CN113147949A (en) * | 2021-04-22 | 2021-07-23 | 上海扩博智能技术有限公司 | Walking joint for robot |
| CN113263489A (en) * | 2021-06-23 | 2021-08-17 | 辽宁科技大学 | Full-automatic logistics robot |
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Application publication date: 20130403 |