CN104401749B - Linkage stacking machine mechanical arm - Google Patents
Linkage stacking machine mechanical arm Download PDFInfo
- Publication number
- CN104401749B CN104401749B CN201410588736.5A CN201410588736A CN104401749B CN 104401749 B CN104401749 B CN 104401749B CN 201410588736 A CN201410588736 A CN 201410588736A CN 104401749 B CN104401749 B CN 104401749B
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- Prior art keywords
- push rod
- forearm
- large arm
- point
- articulated
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention is to link stacking machine mechanical arm, including frame, large arm, forearm, large arm push rod, forearm push rod, wrist interface, front rod, back link and balance plate about one.Wherein, large arm, forearm, front rod and back link are hinged with frame, balance plate and wrist interface, being formed and ensure that wrist interface remains two parallelogram connection-rod structures of ABPO Yu BDRQ that attitude is constant, and large arm push rod is hinged with frame and large arm, forearm push rod is hinged with frame and forearm.The present invention either single movement large arm push rod or forearm push rod, all can only realize the swing around a certain axis of the wrist interface, only when large arm push rod and forearm push rod link, wrist interface can be made to realize along the resultant motion including gravity direction.Therefore, the present invention can realize the distribution of more preferable power capacity, it is thus achieved that the preferably characteristic such as the rigidity of structure, dynamic property.And structural parameters can be simplified by the modularized design of large arm push rod and forearm push rod.
Description
Technical field
The present invention relates to the robot arm device of a kind of field of mechanical technique, particularly relate to a kind of linkage code
Stack machine mechanical arm.
Background technology
At present, the various special purpose machinery of the many employings of industrial automation production field or mechanical arm realize material
Carrying and pile, to improve working performance and overall production.Kind condition according to production line and thing
The difference of the volume weight etc. of material, these equipment come in every shape.For special purpose machinery, machinery
Arm is little due to floor space, simple in construction, flexible operation, can realize the advantages such as flexible job, at thing
Carrying and the pile field of material obtain universal application.The version of mechanical arm compares and has representative
Property such as universal joint type industrial machine mechanical arm, or SCARA shape plane coordinates mechanical arm etc..According to work
The complexity of industry, generally i.e. can realize carrying and pile function with 2-5 degree of freedom.But for
Some relatively simple and that required precision is the highest palletizing operation, uses universal joint type mechanical arm one
Determine to exist in degree the waste of function and cost.On the other hand, universal function defines and some
Piling application can not well be mated.Therefore the methods for designing using fall degree of freedom, with satisfied life more
Produce and the requirement of cost.
Chinese patent ZL200520020980.8 proposes the robot palletizer of a kind of four-bar linkage structure, it
By installing vertical line guide rail and vertical ball screw pair and horizontal linear guide rail and level in frame
Ball screw assembly, connects drive mechanism with ball screw assembly, at vertical ball screw pair and horizontal ball
Arm mechanism is connected by rotating shaft, it is achieved that horizontal drive mechanism only makes load carrying point in lead screw pair
Move in the horizontal direction and nothing that vertical driving mechanism makes load carrying point only move in vertical direction
Coupled linear motion i.e. decouples function.Meanwhile, it also utilizes the wrist attitude of two parallelogrames to adjust
Complete machine structure achieves the wrist attitude of robot and keeps constant.But, calculate equipment and calculating current
In the case of software high development, the mobile decoupling of two degree of freedom does not the most possess simplification control and journey
The outstanding advantage of sequence.More importantly, load carrying point is along the only vertical drive of moving of gravity direction
Mechanism undertakes, and this is necessarily required to select bigger power, bigger power/moment of torsion etc., in cost and maintenance
Aspect all forms certain impact.
Summary of the invention
It is an object of the invention to, it is provided that a kind of new linkage stacking machine mechanical arm, technology to be solved
Problem is through two secondary teamworks of linear motion, it is thus achieved that mechanical arm is in gravity direction plane
Interior two dimensional motion, it is achieved that the common acting of drive mechanism, uses modular design method simultaneously,
Reduce part category and maintenance cost.
The object of the invention to solve the technical problems realizes by the following technical solutions.Foundation
A kind of linkage stacking machine mechanical arm that the present invention proposes, comprising: frame, large arm, forearm, large arm push away
Bar, forearm push rod, wrist interface, front rod, back link and balance plate；Wherein, described large arm
The A point that one end is articulated with in described frame, the other end of described large arm and described forearm are articulated with B point；
The F point that one end of described large arm push rod is articulated with in described frame, the other end of described large arm push rod with
Described large arm is articulated with E point；One end of described forearm is articulated with C point with one end of described forearm push rod,
The other end of described forearm and described wrist interface are articulated with D point；The other end hinge of described forearm push rod
The G point being connected in described frame；The O point that one end of described back link is articulated with in described frame, institute
The other end stating back link is articulated with P point with described balance plate；One end of described front rod is flat with described
Weighing apparatus plate is articulated with Q point, and the other end of described front rod and described wrist interface are articulated with R point；Described
Together with balance plate is also point articulated at B with described large arm and described forearm；In described large arm, described little
Between arm, described front rod, described back link and described balance plate, between geometrically AO 2
Distance and BP 2 between distance equal, between distance and the OP 2 between AB 2 away from
From equal, the distance between BQ 2 is equal with the distance between DR 2, between BD 2 away from
From equal with the distance between QR 2, it be consequently formed the described wrist interface of guarantee and remain that attitude is not
Two the parallelogram connection-rod structures of ABPO Yu BDRQ become.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid linkage stacking machine mechanical arm, also includes: base, base gyro black assembly and wrist revolution group
Part；Wherein, described base gyro black assembly connects described frame and described base；Described wrist interface is solid
On described wrist gyro black assembly, the other end of described forearm is hinged with described wrist gyro black assembly
In D point, the other end of described front rod is to be articulated with R point with described wrist gyro black assembly.
Aforesaid linkage stacking machine mechanical arm, wherein said large arm push rod and described forearm push rod are electronic pushing away
Bar or Electrohydraulic push rod.
Aforesaid linkage stacking machine mechanical arm, wherein said large arm push rod makes institute with the linkage of described forearm push rod
State wrist interface to realize along resultant motion including gravity direction, and described large arm push rod and institute
State forearm push rod and realize modularized design with same argument structure.
The present invention compared with prior art has clear advantage and beneficial effect.By above-mentioned technical side
Case, the present invention stacking machine mechanical arm that links at least has following advantages and beneficial effect: with prior art phase
Ratio, the linkage stacking machine mechanical arm of the present invention achieves the distribution of more preferable power capacity, it is thus achieved that preferably
The characteristic such as the rigidity of structure, more preferable dynamic property.Join it addition, simplify structure by modularized design
Number, the aspect such as workinprocess cost, maintainability, reliability is respectively provided with certain practical value.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the present invention's
Technological means, and can being practiced according to the content of description, and in order to allow the above-mentioned of the present invention and
Other objects, features and advantages can become apparent, and below especially exemplified by preferred embodiment, and coordinates attached
Figure, describes in detail as follows.
Accompanying drawing explanation
Fig. 1 is that the present invention links the structural representation of stacking machine mechanical arm one preferred embodiment.
Fig. 2 be the present invention link stacking machine mechanical arm single movement large arm push rod time wrist interface actions show
It is intended to.
Fig. 3 be the present invention link stacking machine mechanical arm single movement forearm push rod time wrist interface actions show
It is intended to.
1: base 2: base gyro black assembly
3: frame 4: large arm
5: back link 6: front rod
7: forearm 8: wrist gyro black assembly
9: wrist interface 10: forearm push rod
11: large arm push rod 12: balance plate
Detailed description of the invention
By further illustrating the technological means and merit that the present invention taked by reaching predetermined goal of the invention
Effect, below in conjunction with accompanying drawing and preferred embodiment, to its tool of the linkage stacking machine mechanical arm proposed according to the present invention
Body embodiment, structure, feature and effect thereof, after describing in detail such as.
Refer to shown in Fig. 1, be that the present invention links the structural representation of stacking machine mechanical arm one preferred embodiment
Figure.The linkage stacking machine mechanical arm of the present invention mainly by frame 3, large arm 4, forearm 7, large arm push rod 11,
Forearm push rod 10, wrist interface 9, front rod 6, back link 5 and balance plate 12 are constituted.
Wherein, the A point that one end of large arm 4 is articulated with in frame 3, the other end of large arm 4 and forearm 7
It is articulated with B point.The F point that one end of large arm push rod 11 is articulated with in frame 3, large arm push rod 11
The other end and large arm 4 are articulated with E point.One end of forearm 7 is articulated with C with one end of forearm push rod 10
Point, the other end of forearm 7 and wrist interface 9 are articulated with D point, and the other end of forearm push rod 10 is hinged
G point in frame 3.
The O point that one end of back link 5 is articulated with in frame 3, the other end of back link 5 and balance plate
12 are articulated with P point.One end of front rod 6 and balance plate 12 are articulated with Q point, another of front rod 6
End and wrist interface 9 are articulated with R point.Balance plate 12 also with large arm 4 and forearm 7 B point articulated
Together.
As it is shown in figure 1, between large arm 4, forearm 7, front rod 6, back link 5 and balance plate 12,
Distance between geometrically AO 2 and the distance between BP 2 are equal, between AB 2 away from
The distance phase between distance and DR 2 from equal with the distance between OP 2, between BQ 2
Deng, the distance between BD 2 is equal with the distance between QR 2, is consequently formed ABPO and BDRQ
Two parallelogram connection-rod structures, can ensure that wrist by the two parallelogram connection-rod structure
Interface 9 remains that attitude is constant.
In a preferred embodiment of the present invention, the present invention stacking machine mechanical arm that links is additionally provided with base 1, the end
Seat gyro black assembly 2 and wrist gyro black assembly 8.Wherein, base gyro black assembly 2 connection frame 3 and base
1, it can be to realize the frame 3 back rotation relative to base 1 by conventional revolution transmission device
Make.Wrist interface 9 is affixed on wrist gyro black assembly 8, and wherein the other end of forearm 7 is and hands
Wrist gyro black assembly 8 is articulated with D point, and the other end of front rod 6 is hinged with wrist gyro black assembly 8
In R point.Wrist gyro black assembly 8 can also be to realize wrist by conventional revolution transmission device to connect
The revolution action of mouth 9.
The large arm push rod 11 of the present invention and forearm push rod 10 can be by conventional Linear transmission and to move
Power device realizes, such as the combination of servomotor Yu ball-screw or trapezoidal screw etc., such as: electronic
Push rod or Electrohydraulic push rod.
Referring to shown in Fig. 2 and Fig. 3, Fig. 2 is that the present invention links stacking machine mechanical arm single movement large arm
Wrist interface actions schematic diagram during push rod, Fig. 3 is that the present invention stacking machine mechanical arm single movement that links is little
Wrist interface actions schematic diagram during arm push rod.The present invention only by large arm push rod 11 along self length
Direction is done and is extended or during contractive action, and the axis that large arm 4 is formed around A point is done pitching motion,
And extend or during contractive action only being done along self length direction by forearm push rod 10, forearm will be made
7 around B point formed axis do pitching motion.Therefore, either large arm push rod 11 or forearm push away
Bar 10 single movement, all can only realize the wrist interface 9 swing around a certain axis, only in large arm
When push rod 11 and forearm push rod 10 link, wrist interface 9 can be made to realize along particularly including weight
Force direction is in interior resultant motion.It is to say, the present invention links, stacking machine mechanical arm is at gravity direction
Acting is shared realization jointly by large arm push rod 11 and forearm push rod 10, and this contributes to reducing greatly
The requirement of the power device of arm push rod 11 and forearm push rod 10, and reasonably optimizing under design,
Large arm push rod 11 and forearm push rod 10 even can realize modularized design with same argument structure.
By above description it can be seen that the linkage stacking machine mechanical arm of the present invention achieves more preferable kinetic force
Amount distribution, it is thus achieved that the preferably characteristic such as the rigidity of structure, more preferable dynamic property.It addition, pass through mould
Massing design simplifies structural parameters, and the aspect such as workinprocess cost, maintainability, reliability is respectively provided with
Certain practical value.
The above, be only presently preferred embodiments of the present invention, and the present invention not makees any form
On restriction, although the present invention is disclosed above with preferred embodiment, but is not limited to this
Bright, any those skilled in the art, in the range of without departing from technical solution of the present invention, when can profit
Make a little change with the technology contents of the disclosure above or be modified to the Equivalent embodiments of equivalent variations, but
Every without departing from technical solution of the present invention content, the technical spirit of the foundation present invention is to above example institute
Any simple modification, equivalent variations and the modification made, all still falls within the range of technical solution of the present invention.
Claims (4)
1. a linkage stacking machine mechanical arm, it is characterised in that comprising: frame, large arm, forearm, big
Arm push rod, forearm push rod, wrist interface, front rod, back link and balance plate；
Wherein, the A point that one end of described large arm is articulated with in described frame, the other end of described large arm
It is articulated with B point with described forearm；The F point that one end of described large arm push rod is articulated with in described frame,
The other end of described large arm push rod and described large arm are articulated with E point；
One end of one end of described forearm and described forearm push rod is articulated with C point, another of described forearm
End and described wrist interface are articulated with D point；The other end of described forearm push rod is articulated with in described frame
G point；
The O point that one end of described back link is articulated with in described frame, the other end of described back link with
Described balance plate is articulated with P point；One end of described front rod and described balance plate are articulated with Q point, institute
The other end stating front rod is articulated with R point with described wrist interface；Described balance plate also with described large arm
And described forearm is point articulated together at B；
Between described large arm, described forearm, described front rod, described back link and described balance plate,
Distance between geometrically AO 2 and the distance between BP 2 are equal, between AB 2 away from
The distance phase between distance and DR 2 from equal with the distance between OP 2, between BQ 2
Deng, the distance between BD 2 is equal with the distance between QR 2, is consequently formed the described wrist of guarantee
Interface remains two parallelogram connection-rod structures of ABPO Yu BDRQ that attitude is constant.
Linkage stacking machine mechanical arm the most according to claim 1, it is characterised in that it also includes: the end
Seat, base gyro black assembly and wrist gyro black assembly；
Wherein, described base gyro black assembly connects described frame and described base；Described wrist interface is solid
On described wrist gyro black assembly, the other end of described forearm is hinged with described wrist gyro black assembly
In D point, the other end of described front rod is to be articulated with R point with described wrist gyro black assembly.
Linkage stacking machine mechanical arm the most according to claim 1, it is characterised in that wherein said large arm
Push rod and described forearm push rod are electric pushrod or Electrohydraulic push rod.
Linkage stacking machine mechanical arm the most according to claim 1, it is characterised in that wherein said large arm
Push rod makes described wrist interface realize along the synthesis including gravity direction with the linkage of described forearm push rod
Move, and the argument structure that described large arm push rod is as described forearm push rod realizes modularity and sets
Meter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410588736.5A CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410588736.5A CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
Publications (2)
| Publication Number | Publication Date |
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| CN104401749A CN104401749A (en) | 2015-03-11 |
| CN104401749B true CN104401749B (en) | 2016-08-31 |
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| CN201410588736.5A Active CN104401749B (en) | 2014-10-28 | 2014-10-28 | Linkage stacking machine mechanical arm |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802185A (en) * | 2015-04-22 | 2015-07-29 | 上海交通大学 | Five-degree-of-freedom mechanical arm |
| CN105500360B (en) * | 2016-01-14 | 2017-07-18 | 广西大学 | A kind of robot palletizer |
| CN105522556B (en) * | 2016-01-25 | 2017-09-29 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of many loop series-parallel mechanical arms of four-degree-of-freedom |
| CN105883424B (en) * | 2016-05-03 | 2018-08-17 | 上海交通大学 | Can autonomous stacking AGV devices |
| CN106429528A (en) * | 2016-10-20 | 2017-02-22 | 绵阳蓝奥重型机械制造有限公司 | Automatic loading system capable of batch loading of packed materials |
| CN112743533A (en) * | 2019-10-29 | 2021-05-04 | 天津新松机器人自动化有限公司 | Intelligent stacking robot |
| CN111376235B (en) * | 2020-03-31 | 2022-07-15 | 哈尔滨工业大学 | Heavy-load four-degree-of-freedom four-parallel four-connecting-rod type actuating mechanism |
| CN114193429A (en) * | 2020-09-18 | 2022-03-18 | 北京机械设备研究所 | Desktop-level demonstration type mechanical arm |
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| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN203680288U (en) * | 2014-01-03 | 2014-07-02 | 江西省机械科学研究所 | Parallel-connection stacking mechanical arm capable of rotating in complete circle |
| CN204324422U (en) * | 2014-10-28 | 2015-05-13 | 广西力源宝科技有限公司 | Interlock stacker mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TR200909397A2 (en) * | 2009-12-14 | 2011-07-21 | Vargin Gök Gökhan | A robot with multiple axes. |
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| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN203680288U (en) * | 2014-01-03 | 2014-07-02 | 江西省机械科学研究所 | Parallel-connection stacking mechanical arm capable of rotating in complete circle |
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| CN104401749A (en) | 2015-03-11 |
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