CN105775771B - A kind of multi-activity degree controllable-mechanism type robot palletizer - Google Patents
A kind of multi-activity degree controllable-mechanism type robot palletizer Download PDFInfo
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- CN105775771B CN105775771B CN201610280461.8A CN201610280461A CN105775771B CN 105775771 B CN105775771 B CN 105775771B CN 201610280461 A CN201610280461 A CN 201610280461A CN 105775771 B CN105775771 B CN 105775771B
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- bar
- revolute pair
- platform
- connecting plate
- triangular connecting
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Multi-activity degree controllable-mechanism type robot palletizer, one one end of bar of the robot is connected on platform, first jiao of connection of one other end of bar and triangular connecting plate, two one end of bar is connected for second jiao with triangular connecting plate, two other end of bar is connected on actuator, three one end of bar is connected on platform, three other end of bar, triangular connecting plate the third angle and four one end three of bar link together simultaneously, four other end of bar is connected on actuator, five one end of bar is connected on platform, five other end of bar is connected with six one end of bar, six other end of bar is connected with bar July 1st end, seven other end of bar is connected on bar four, bar Aug. 1st end is connected on bar three, eight other end of bar is connected on bar six, platform is mounted on by revolute pair 14 in walking mechanism.The problems such as present invention can solve traditional fisher's formula serial machine human arm heaviness, poor rigidity, inertia is big, joint error is accumulative, robot has preferable dynamic performance, can preferably meet the requirement that high-speed overload carries stacking.
Description
Technical field
The present invention relates to machinery fields, are specifically a kind of multi-activity degree controllable-mechanism type robot palletizer.
Background technology
Robot palletizer is widely used in lathe loading and unloading, press machine automatic production line, automatic assembly line, carrying
In the automatic transporting operation of stacking, container etc..Existing robot palletizer mainly have cartesian co-ordinate type, circular cylindrical coordinate type and
Three kinds of structure types of joint type.Wherein joint type robot palletizer is because its compact-sized, flexible movements, floor space be small, work
Make the advantages that space is big, progressively become the primary structure form of robot palletizer.But this quasi-tradition fisher's formula cascaded structure
The driving motor of robot palletizer will be mounted on joint, cause that robot arm weight is big, poor rigidity, inertia are big, joint
The problems such as deviation accumulation, mechanism dynamic poor-performing, it is difficult to meet the requirement for carrying stacking at a high speed.
With the development of motor technology and the raising of control technology, controllable mechanical mechanism provides wide for engineering machinery
Development space, not only have that working space big, flexible movements, reliability are high by motor-driven multiple degrees of freedom controllable mechanism,
Also have many advantages, such as that manufacture is at low cost simultaneously, maintaining is simple.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of multi-activity degree controllable-mechanism type robot palletizers.
To achieve these goals, present invention employs following technical schemes：
Multi-activity degree controllable-mechanism type robot palletizer, including bar one, triangular connecting plate, bar two, actuator, bar three, bar
4th, bar five, bar six, bar seven, bar eight, platform and walking mechanism,
One one end of bar is connected to by revolute pair one on platform, and one other end of bar passes through revolute pair two and triangular connecting plate
First jiao of connection, two one end of bar are connected for second jiao by revolute pair three with triangular connecting plate, and two other end of bar passes through revolute pair four
It is connected on actuator,
Three one end of bar is connected to by revolute pair five on platform, three other end of bar, triangular connecting plate the third angle and bar four
One end three is linked together simultaneously by revolute pair six, and four other end of bar is connected to by revolute pair seven on actuator,
Five one end of bar is connected to by revolute pair eight on platform, and five other end of bar is connected by revolute pair nine and six one end of bar
It connecing, six other end of bar is connected by revolute pair ten with bar July 1st end, and seven other end of bar is connected to by revolute pair 11 on bar four,
Bar Aug. 1st end is connected to by revolute pair 12 on bar three, and eight other end of bar is connected to bar six by revolute pair 13
On,
Platform is mounted on by revolute pair 14 in walking mechanism.
Compared with prior art, the advantageous effect that the present invention possesses：
All driving motors are all mounted in rack, and the motor that can solve traditional fisher's formula serial manipulator is mounted on hinge
Place, leads to problems such as arm heaviness, poor rigidity, inertia is big, joint error is accumulative, robot with preferable dynamic performance,
The requirement that high-speed overload carries stacking can preferably be met.
Description of the drawings
Fig. 1 is the structure diagram of multi-activity degree controllable-mechanism type robot palletizer of the present invention.
Specific embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
Multi-activity degree controllable-mechanism type robot palletizer, which is characterized in that including bar 1, triangular connecting plate 15, bar two
16th, actuator 23, bar 3 17, bar 4 18, bar 5 19, bar 6 20, bar 7 21, bar 8 22, platform 24 and walking mechanism 25,
One 14 one end of bar is connected to by revolute pair 1 on platform 24, and one 14 other end of bar passes through revolute pair 22 and triangle
First jiao of connection of connecting plate 15,2 16 one end of bar are connected for 15 second jiaos by revolute pair 33 with triangular connecting plate, and bar 2 16 is another
One end is connected to by revolute pair 44 on actuator 23,
3 17 one end of bar is connected to by revolute pair 55 on platform 24,3 17 other end of bar, 15 the third angle of triangular connecting plate
And 4 18 one end three of bar is linked together simultaneously by revolute pair 66,4 18 other end of bar is connected to by revolute pair 77
On actuator 23,
5 19 one end of bar is connected to by revolute pair 88 on platform 24, and 5 19 other end of bar passes through revolute pair 99 and bar six
20 one end connect, and 6 20 other end of bar is connected by revolute pair 10 with 7 21 one end of bar, and 7 21 other end of bar passes through revolute pair
11 are connected on bar 4 18,
8 22 one end of bar is connected to by revolute pair 12 on bar 3 17, and 8 22 other end of bar passes through revolute pair 13
It is connected on bar 6 20,
Platform 24 is mounted on by revolute pair 14 in walking mechanism 25.
Operation principle
First by the first servo-motors driving platforms 24, the rotation with moving platform 24 can make the controllable machine of this multi-activity degree
Structure formula robot palletizer realizes the rotation in the range of 360 degree.Bar 3 17 is driven by revolute pair 55, and revolute pair 55 is watched by second
Motor driving is taken, the significantly pendulum of this multi-activity degree controllable-mechanism type robot palletizer entirety is driven by the rotation of bar 3 17
It is dynamic.Bar 5 19 is driven by revolute pair 88, and revolute pair 88 is driven by the 3rd servomotor, and the rotation of bar 5 19 passes through two five
Linkage is transferred to bar 4 18, realizes that bar 4 18 is swung up and down.Pass through the rotation phase of driving link platform 24, bar 3 17 and bar 5 19
So as to fulfill the control to actuator 23, the horizontal attitude to actuator 23 is realized by two parallelogram mechanisms for cooperation
Control, the final completion for realizing palletizing operation.
Claims (1)
1. multi-activity degree controllable-mechanism type robot palletizer, which is characterized in that including bar one, triangular connecting plate, bar two, execution
Device, bar three, bar four, bar five, bar six, bar seven, bar eight, platform and walking mechanism,
One one end of bar is connected to by revolute pair one on platform, and one other end of bar passes through revolute pair two and the first of triangular connecting plate
Angle connects, and two one end of bar is connected for second jiao by revolute pair three with triangular connecting plate, and two other end of bar is connected by revolute pair four
On actuator,
Three one end of bar is connected to by revolute pair five on platform, four one end of three other end of bar, triangular connecting plate the third angle and bar
Three is linked together simultaneously by revolute pair six, and four other end of bar is connected to by revolute pair seven on actuator,
Five one end of bar is connected to by revolute pair eight on platform, and five other end of bar is connected by revolute pair nine with six one end of bar, bar
Six other ends are connected by revolute pair ten with bar July 1st end, and seven other end of bar is connected to by revolute pair 11 on bar four,
Bar Aug. 1st end is connected to by revolute pair 12 on bar three, and eight other end of bar is connected to by revolute pair 13 on bar six,
Platform is mounted on by revolute pair 14 in walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610280461.8A CN105775771B (en) | 2016-04-29 | 2016-04-29 | A kind of multi-activity degree controllable-mechanism type robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610280461.8A CN105775771B (en) | 2016-04-29 | 2016-04-29 | A kind of multi-activity degree controllable-mechanism type robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105775771A CN105775771A (en) | 2016-07-20 |
| CN105775771B true CN105775771B (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610280461.8A Active CN105775771B (en) | 2016-04-29 | 2016-04-29 | A kind of multi-activity degree controllable-mechanism type robot palletizer |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213795A (en) * | 2016-12-12 | 2018-06-29 | 广西大学 | A kind of controllable link-type welding robot of multiple degrees of freedom |
| CN107414365B (en) * | 2017-07-13 | 2019-03-15 | 柳州福能机器人开发有限公司 | Robot arm is used in pulley-type welding |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2811267A (en) * | 1952-02-14 | 1957-10-29 | Magnaflux Corp | Feeding mechanism control system |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| CN104526677A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Controllable mechanism type movable palletizing robot |
| CN104589301A (en) * | 2014-12-17 | 2015-05-06 | 广西大学 | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm |
-
2016
- 2016-04-29 CN CN201610280461.8A patent/CN105775771B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2811267A (en) * | 1952-02-14 | 1957-10-29 | Magnaflux Corp | Feeding mechanism control system |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| CN104589301A (en) * | 2014-12-17 | 2015-05-06 | 广西大学 | Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm |
| CN104526677A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Controllable mechanism type movable palletizing robot |
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| CN105775771A (en) | 2016-07-20 |
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