CN104627690A - Thirteen-rod controllable stacking mechanism - Google Patents
Thirteen-rod controllable stacking mechanism Download PDFInfo
- Publication number
- CN104627690A CN104627690A CN201410826309.6A CN201410826309A CN104627690A CN 104627690 A CN104627690 A CN 104627690A CN 201410826309 A CN201410826309 A CN 201410826309A CN 104627690 A CN104627690 A CN 104627690A
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- China
- Prior art keywords
- connecting rod
- revolute pair
- compound hinges
- bar
- driving lever
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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
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Abstract
Provided is a thirteen-rod controllable stacking mechanism. One end of a large arm of the stacking mechanism is connected to the other end of a rotating machine frame and is connected with one end of a middle arm. The other end of the middle arm is connected with one end of a small arm. The other end of the small arm is connected with a tail end executing device. One end of a fourth connecting rod is connected to a rotating machine frame. The other end of the fourth connecting rod is connected with one end of a fifth connecting rod. The other end of the fifth connecting rod is connected with one end of a sixth connecting rod. The other end of the sixth connecting rod is connected with the tail end executing device. One end of the first supporting rod is connected to a second composite hinge. The other end of the first supporting rod is connected with a first composite hinge. One end of a second supporting rod is connected to a fourth composite hinge. The other end of the second supporting rod is connected to a third composite hinge. One end of a second connecting rod is connected to the rotating machine frame, and the other end of the second connecting rod is connected to the middle arm. One end of a second driving rod is connected to the rotating machine frame, and the other end of the second driving rod is connected with one end of a first connecting rod. The other end of the first connecting rod is connected to the second connecting rod. Three equal quadrangle structures are used for enabling the tail end executing device to be kept horizontal all the time, and bearing capacity is high.
Description
Technical field
The present invention relates to industrial robot field, particularly the controlled stacking mechanism of a kind of 13 bar.
Background technology
Robot palletizer is widely used in the automatic transporting operation of lathe loading and unloading, punching machine automatic production line, automatic assembly line, carrying piling, freight container etc.Existing robot palletizer mainly contains cartesian co-ordinate type, circular cylindrical coordinate type and joint type three kinds of structure types.Wherein joint type robot palletizer because its compact conformation, flexible movements, the advantage such as floor area is little, working space is large, progressively become the keystone configuration form of robot palletizer.But the drive motor of the robot palletizer of this quasi-tradition fisher's formula cascaded structure all will be arranged on joint, cause the problems such as robot arm weight is large, poor rigidity, inertia are large, joint error is accumulative, mechanism dynamic poor-performing, is difficult to meet the requirement of carrying piling at a high speed.
Along with the development of motor technology and the raising of control technology, controllable mechanical mechanism is that construction machinery and equipment provides wide development space, not only have that working space is large by motor-driven multiple degree of freedom controllable mechanism, flexible movements, reliability be high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Summary of the invention
The object of the present invention is to provide the controlled stacking mechanism of a kind of 13 bar, all drive motor are all arranged in frame, the motor that can solve traditional fisher's formula serial manipulator is arranged on hinge place, the problem such as cause arm heaviness, poor rigidity, inertia is large, joint error is accumulative, robot has good dynamic performance, can meet the requirement of high-speed overload carrying piling preferably.
The present invention achieves the above object by the following technical programs:
The controlled stacking mechanism of a kind of 13 bar, comprises rotary frame, mobile platform, large arm, middle arm, forearm, end-effector, double leval jib, the 5th connecting rod, six-bar linkage, the first strut bar, the second strut bar, second connecting rod, the second driving lever, first connecting rod, the 3rd driving lever, third connecting rod and flange;
Described rotary frame is connected on a mobile platform by the first revolute;
Described large arm one end is connected on rotary frame by the first revolute pair, the large arm other end is connected with middle arm one end by the second compound hinges, the middle arm other end is connected with forearm one end by the 4th compound hinges, and the forearm other end is connected with end-effector by the 4th revolute pair; Described double leval jib one end is connected on rotary frame by the 13 revolute pair, the double leval jib other end is connected with the 5th connecting rod one end by the first compound hinges, the 5th connecting rod other end is connected with six-bar linkage one end by the 3rd compound hinges, and the six-bar linkage other end is connected with end-effector by the 16 revolute pair; Described first strut bar one end is connected on the second compound hinges, and the first strut bar other end is connected on the first compound hinges; Described second strut bar one end is connected on the 4th compound hinges, and the second strut bar other end is connected on the 3rd compound hinges;
Described second connecting rod one end is connected on the rotating gantry by the 8th revolute pair, and the second connecting rod other end is connected on middle arm by the 9th revolute pair, and the 9th revolute pair is between the second compound hinges and the 4th compound hinges; Second driving lever one end is connected on rotary frame by the 5th revolute pair, and the second driving lever other end is connected with first connecting rod one end by the 6th revolute pair, and the first connecting rod other end is connected on second connecting rod by the 7th revolute pair;
Described 3rd driving lever one end is connected on the rotating gantry by the tenth revolute pair, and the 3rd driving lever other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected on forearm by the 12 revolute pair;
Described flange is connected on end-effector translation retainer by the second revolute.
Outstanding advantages of the present invention is
1, exported the carrying buttress operation of energy implementation space by aggregate motion, and track is flexible and changeable, robot has the ability that stronger flexibility exports.
2, this robot palletizer selects driven by servomotor, not only environmental protection, and is easy to realize Long-distance Control, reduces labor strength.
3, all servomotors are installed in frame, and robot motion's inertia is little, and dynamic performance is good, can meet the requirement of carrying piling at a high speed preferably.
4, adopt three parallelogram mechanisms in series composition end-effector translation maintaining bodies, make end-effector remain translation, stable working, too increase its rigidity simultaneously, improve its load-carrying capacity.
Accompanying drawing explanation
Fig. 1 is the controlled stacking mechanism of 13 bar of the present invention large arm swing side chain schematic diagram.
Fig. 2 is the working state schematic representation that the controlled stacking mechanism of 13 bar of the present invention realizes dead ahead carrying.
Fig. 3 is the working state schematic representation that the controlled stacking mechanism of 13 bar of the present invention realizes dead ahead carrying at a distance.
Fig. 4 is the working state schematic representation that the controlled stacking mechanism of 13 bar of the present invention realizes dead ahead eminence carrying.
Fig. 5 is the working state schematic representation that the controlled stacking mechanism of 13 bar of the present invention realizes carrying nearby in dead ahead.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
The controlled stacking mechanism of a kind of 13 bar, comprises rotary frame 3, mobile platform 1, large arm 5, middle arm 14, forearm 17, end-effector 21, double leval jib 8, the 5th connecting rod 11, six-bar linkage 19, first strut bar 9, second strut bar 13, second connecting rod 26, second driving lever 33, first connecting rod 29, the 3rd driving lever 31, third connecting rod 25 and flange 24;
Described rotary frame 3 is connected on mobile platform 1 by the first revolute 2;
Described large arm 5 one end is connected on rotary frame 3 by the first revolute pair 4, large arm 5 other end is connected with middle arm 14 one end by the second compound hinges 7, middle arm 14 other end is connected with forearm 17 one end by the 4th compound hinges 15, and forearm 17 other end is connected with end-effector 21 by the 4th revolute pair 22; Described double leval jib 8 one end is connected on rotary frame 3 by the 13 revolute pair 6, double leval jib 8 other end is connected with the 5th connecting rod 11 one end by the first compound hinges 10,5th connecting rod 11 other end is connected with six-bar linkage 19 one end by the 3rd compound hinges 16, and six-bar linkage 19 other end is connected with end-effector 21 by the 16 revolute pair 20; Described first strut bar 9 one end is connected on the second compound hinges 7, and the first strut bar other end is connected on the first compound hinges 10; Described second strut bar 13 one end is connected on the 4th compound hinges 15, and second strut bar 13 other end is connected on the 3rd compound hinges 16;
Described second connecting rod 26 one end is connected on rotary frame 3 by the 8th revolute pair 35, and second connecting rod 26 other end is connected on middle arm 14 by the 9th revolute pair 12, and the 9th revolute pair 12 is between the second compound hinges 7 and the 4th compound hinges 15; Second driving lever 33 one end is connected on rotary frame 3 by the 5th revolute pair 34, and second driving lever 33 other end is connected with first connecting rod 29 one end by the 6th revolute pair 30, and first connecting rod 29 other end is connected on second connecting rod 26 by the 7th revolute pair 27;
Described 3rd driving lever 31 one end is connected on rotary frame 3 by the tenth revolute pair 32,3rd driving lever 31 other end is connected with third connecting rod 25 one end by the 11 revolute pair 28, and third connecting rod 25 other end is connected on forearm 17 by the 12 revolute pair 18;
Described flange 24 is connected on end-effector translation retainer 21 by the second revolute 23.
Principle of work:
When end-effector 21 moves to object place, by the aggregate motion of large arm 5, middle arm 14, forearm 17, end-effector 21, coordinate the movement of mobile platform 1, the rotation of rotary frame 3 simultaneously, realize that robot is grabbed, gets, carried, the carrying palletizing operation of discharging.Described rotary frame 3 is connected on mobile platform 1 by the first revolute 2, by the first Serve Motor Control, by the rotation of programming realization vertical direction; Described large arm 5 is by the second driven by servomotor; Between the 4th compound hinges 15 and the 4th revolute pair 22.Described flange 24 is connected on end-effector translation retainer 21 by the second revolute 23, can install different end-effectors according to actual needs, by the 4th Serve Motor Control, by the rotation of programming realization at vertical direction.
Claims (1)
1. the controlled stacking mechanism of bar, it is characterized in that, comprise rotary frame, mobile platform, large arm, middle arm, forearm, end-effector, double leval jib, the 5th connecting rod, six-bar linkage, the first strut bar, the second strut bar, second connecting rod, the second driving lever, first connecting rod, the 3rd driving lever, third connecting rod and flange;
Described rotary frame is connected on a mobile platform by the first revolute;
Described large arm one end is connected on rotary frame by the first revolute pair, the large arm other end is connected with middle arm one end by the second compound hinges, the middle arm other end is connected with forearm one end by the 4th compound hinges, and the forearm other end is connected with end-effector by the 4th revolute pair; Described double leval jib one end is connected on rotary frame by the 13 revolute pair, the double leval jib other end is connected with the 5th connecting rod one end by the first compound hinges, the 5th connecting rod other end is connected with six-bar linkage one end by the 3rd compound hinges, and the six-bar linkage other end is connected with end-effector by the 16 revolute pair; Described first strut bar one end is connected on the second compound hinges, and the first strut bar other end is connected on the first compound hinges; Described second strut bar one end is connected on the 4th compound hinges, and the second strut bar other end is connected on the 3rd compound hinges;
Described second connecting rod one end is connected on the rotating gantry by the 8th revolute pair, and the second connecting rod other end is connected on middle arm by the 9th revolute pair, and the 9th revolute pair is between the second compound hinges and the 4th compound hinges; Second driving lever one end is connected on rotary frame by the 5th revolute pair, and the second driving lever other end is connected with first connecting rod one end by the 6th revolute pair, and the first connecting rod other end is connected on second connecting rod by the 7th revolute pair;
Described 3rd driving lever one end is connected on the rotating gantry by the tenth revolute pair, and the 3rd driving lever other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected on forearm by the 12 revolute pair;
Described flange is connected on end-effector translation retainer by the second revolute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826309.6A CN104627690A (en) | 2014-12-25 | 2014-12-25 | Thirteen-rod controllable stacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826309.6A CN104627690A (en) | 2014-12-25 | 2014-12-25 | Thirteen-rod controllable stacking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN104627690A true CN104627690A (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826309.6A Pending CN104627690A (en) | 2014-12-25 | 2014-12-25 | Thirteen-rod controllable stacking mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011182A (en) * | 2018-08-29 | 2018-12-18 | 成都清大华科微晶材料有限责任公司 | A kind of wideband is infrared and terahertz emission device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4329111A (en) * | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| CN102990661A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Large-workspace controllable stack device |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103056875A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Large-work-space controllable-mechanism stacker crane |
-
2014
- 2014-12-25 CN CN201410826309.6A patent/CN104627690A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4329111A (en) * | 1979-06-19 | 1982-05-11 | Societe Suisse Pour L'industrie Horlogere Management Services | Mechanical manipulator |
| US20120067156A1 (en) * | 2010-09-21 | 2012-03-22 | Hon Hai Precision Industry Co., Ltd. | Robot for handling object |
| CN102990661A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Large-workspace controllable stack device |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN103056875A (en) * | 2012-12-27 | 2013-04-24 | 广西大学 | Large-work-space controllable-mechanism stacker crane |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011182A (en) * | 2018-08-29 | 2018-12-18 | 成都清大华科微晶材料有限责任公司 | A kind of wideband is infrared and terahertz emission device |
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Application publication date: 20150520 |
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