CN106041902B - A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom - Google Patents
A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom Download PDFInfo
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- CN106041902B CN106041902B CN201610464989.0A CN201610464989A CN106041902B CN 106041902 B CN106041902 B CN 106041902B CN 201610464989 A CN201610464989 A CN 201610464989A CN 106041902 B CN106041902 B CN 106041902B
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- revolute pair
- pole
- retarder
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- driving lever
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom, including arm lifting mechanism, posture holding mechanism, pivoting support, base, end effector, servomotor and retarder.Arm lifting mechanism includes rotary frame, the first driving lever, the first pole, supporting rod, cross bar, second connecting rod and the second driving lever；Posture holding mechanism includes the first balancing pole, the second pole, the second balancing pole and translation retainer, rotary frame and is connected by pivoting support with base；End effector is connected on translation retainer.The present invention uses multi link controllable mechanism, is driven using the servomotor of installation on the rotating gantry, has the advantages that rigidity is high, movement inertia is small, bearing capacity is strong, gesture stability is accurate, dynamics is good, meets that high speed, heavy duty carry stacking demand.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom.
Background technology
Industrial robot can replace people to do some dull, frequent and repetition long workings in the industrial production, existing
Series connection mechanical arm driving motor be required for being installed on joint greatly, can cause arm heaviness, poor rigidity, inertia greatly, joint mistake
The problems such as difference accumulation, mechanism dynamic poor-performing.
It is rigidly good that multi link controllable mechanism combines conventional parallel mechanism, and the speed of service is high, and bearing capacity is strong and series connection
The characteristics of mechanism flexibility is good, and drive motor to be installed in rack, type of drive is outer secondary driving, so the controllable machine of multi link
The rigidity property of structure is good, bearing capacity is strong, and movement inertia is smaller, and joint error accumulation is few, and dynamics is good, is applied to
Industrial robot palletizer can meet that high speed, heavy duty carry palletizing operation demand.
The content of the invention
It is an object of the invention to design a kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom, revolved using being installed on
The multi link controllable mechanism by servomotor driving made a connection on frame replaces driving motor installed in the existing cascade machine of joint
Tool arm, in addition, the linkage containing three parallelogram sturcutres is applied to gesture stability, makes robot meet that structure is tight
Gather, rigidity property is good, bearing capacity is strong, movement inertia is small, joint error is accumulated less, gesture stability is accurate, dynamics is good
Requirement.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of ten bar controllable-mechanism type stacking machine of four-degree-of-freedom
People, including arm lifting mechanism, posture holding mechanism, pivoting support, base, end effector, the first servomotor, second watch
Take motor, the 3rd servomotor, the 4th servomotor, the first retarder, the second retarder, the 3rd retarder and the 4th deceleration
Device, concrete structure and connection mode are：
The arm lifting mechanism includes rotary frame, the first driving lever, the first pole, supporting rod, cross bar, second connecting rod
And second driving lever,
The posture holding mechanism includes the first balancing pole, the second pole, the second balancing pole and translation retainer,
First servomotor is connected on the first retarder, and the first retarder is installed on base, the first retarder
It is connected by the first revolute pair with rotary frame, pivoting support is installed on base, and pivoting support passes through the second revolute pair and rotation
Frame of making a connection connects, wherein, the first revolute pair and the second revolute pair corotation shaft,
Second servomotor is connected on the second retarder, and the installation of the second retarder on the rotating gantry and passes through the
Three revolute pairs are connected with one end of the first driving lever, the other end of the first driving lever pass through the 4th revolute pair and the first pole the
One end connects, and the second end of the first pole is connected by the 5th revolute pair and the intermediate ends of supporting rod, the 3rd end of the first pole
It is connected by the 6th revolute pair with one end of the first balancing pole, the other end of the first balancing pole passes through the 7th revolute pair and the second folding
The first end connection of bar, the second end of the second pole are connected by one end of the 8th revolute pair and supporting rod, and the 3rd of supporting rod the
End is connected by the 9th revolute pair with rotary frame, the 3rd end of the second pole by the tenth revolute pair with the second balancing pole one
End connection, the other end of the second balancing pole are connected by the 11st revolute pair with the one end for the retainer that is translatable, and be translatable retainer
The other end is connected by one end of the 12nd revolute pair and cross bar, and the intermediate ends of cross bar pass through the 13rd revolute pair and supporting rod
One end connects, and the 3rd end of cross bar is connected by one end of the 14th revolute pair and second connecting rod, and the other end of second connecting rod leads to
Cross the 15th revolute pair to be connected with one end of the second driving lever, the other end of the second driving lever passes through the 16th revolute pair and the 3rd
Retarder connects,
3rd servomotor is connected on the 3rd retarder, and the installation of the 3rd retarder on the rotating gantry and passes through the
16 revolute pairs are connected with the second driving lever,
4th servomotor is connected on the 4th retarder, and the 4th retarder is installed on translation retainer and passes through
The 17th vertical revolute pair of rotation axis is connected with end effector.
The rotary frame, the first driving lever, the first pole, supporting rod pass through the 3rd revolute pair, the 4th revolute pair, the 5th
Revolute pair and the 9th revolute pair form first parallelogram sturcutre, wherein, in machine man-hour, the 3rd revolute pair 25 with
9th revolute pair immobilizes with the relative position between rotary frame.
First pole, the first balancing pole, the second pole, supporting rod pass through the 5th revolute pair, the 6th revolute pair, the 7th
Revolute pair and the 8th revolute pair form second parallelogram sturcutre.
Second pole, the second balancing pole, translation retainer, cross bar pass through the 8th revolute pair, the tenth revolute pair, the tenth
One revolute pair, the 12nd revolute pair and the 13rd revolute pair form the 3rd parallelogram sturcutre, wherein, the 8th revolute pair and
13rd revolute pair corotation shaft.
The present invention's has the prominent advantages that：
1. driving motor peace is replaced using the multi link controllable mechanism by servomotor driving being installed on rotary frame
Mounted in the existing series connection mechanical arm of joint, the weight of mechanical arm is alleviated, meets that compact-sized, rigidity property is good, movement is used
Measure requirement small, that bearing capacity is strong, joint error is accumulated less, dynamics is good.
2. the linkage with three specific parallelogram sturcutres is applied to gesture stability so that translation retainer
Horizontality is remained in robot motion's output procedure, is reduced the difficulty of robot control programming, is conducive to quilt
Carry article and carry out accurate gesture stability.
3. under servomotor driving, by the aggregate motion of programming Control arm lifting mechanism, posture holding mechanism, together
The rotary motion of Shi Peihe rotary frames, the items such as speed, acceleration, smoothness can be improved and refer to by comparing existing series connection mechanical arm
Mark, realizes the flexible and changeable spatial movement output in end effector of robot track.
Brief description of the drawings
Fig. 1 is the overall structure diagram of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention.
Fig. 2 is that the arm lifting mechanism of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention is illustrated
Figure.
Fig. 3 is that the posture holding mechanism of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention is illustrated
Figure.
Fig. 4 is that the major motor installation first of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention is shown
It is intended to.
Fig. 5 is that the major motor installation second of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention is shown
It is intended to.
Fig. 6 is the end effector installation signal of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention
Figure.
Fig. 7 is the overall effect figure of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention.
Embodiment
Compares figure 1 is to Fig. 7, ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom of the present invention, including arm liter
Descending mechanism, posture holding mechanism, pivoting support 2, base 3, end effector 11, the first servomotor 15, the second servomotor
17th, the 3rd servomotor 19, the 4th servomotor 21, the first retarder 16, the second retarder 18, the 3rd retarder the 20, the 4th
Retarder 22, concrete structure and connection mode are：
Compares figure 1 and Fig. 2, the arm lifting mechanism include rotary frame 1, the first driving lever 4, the first pole 5, support
Bar 6, cross bar 12,13 and second driving lever 14 of second connecting rod.
Compares figure 1 and Fig. 3, the posture holding mechanism include the first balancing pole 7, the second pole 8, the second balancing pole 9 with
And translation retainer 10.
Compares figure 1, Fig. 4 and Fig. 5, first servomotor 15 are connected on the first retarder 16, the first retarder 16
Installation is connected on the base 3 and by the first revolute pair 23 with rotary frame 1, and pivoting support 2 is installed on the base 3 and by the
Two revolute pairs 24 are connected with rotary frame 1, wherein, 24 corotation shaft of the first revolute pair 23 and the second revolute pair.
Compares figure 1 to Fig. 5, second servomotor 17 is connected on the second retarder 18, and the second retarder 18 is installed
It is connected on rotary frame 1 and by the 3rd revolute pair 25 with one end of the first driving lever 4, the other end of the first driving lever 4 leads to
The first end that the 4th revolute pair 26 is crossed with the first pole 5 is connected, and the second end of the first pole 5 passes through the 5th revolute pair 27 and support
The intermediate ends connection of bar 6, the 3rd end of the first pole 5 are connected by the 6th revolute pair 28 with one end of the first balancing pole 7, and first
The other end of balancing pole 7 is connected by the 7th revolute pair 29 with the first end of the second pole 8, and the second end of the second pole 8 passes through
8th revolute pair 30 is connected with one end of supporting rod 6, and the 3rd end of supporting rod 6 is connected by the 9th revolute pair 31 with rotary frame 1
Connect, the 3rd end of the second pole 8 is connected by the tenth revolute pair 32 with one end of the second balancing pole 9, the second balancing pole 9 it is another
End is connected by the 11st revolute pair 33 with the one end for the retainer 10 that is translatable, and the other end of translation retainer 10 passes through the 12nd turn
Dynamic pair 34 is connected with one end of cross bar 12, and the intermediate ends of cross bar 12 are connected by the 13rd revolute pair 35 with one end of supporting rod 6,
3rd end of cross bar 12 is connected by the 14th revolute pair 36 with one end of second connecting rod 13, and the other end of second connecting rod 13 passes through
15th revolute pair 37 is connected with one end of the second driving lever 14, and the other end of the second driving lever 14 passes through the 16th revolute pair 38
It is connected with the 3rd retarder 20.
Compares figure 1, Fig. 4 and Fig. 5, the 3rd servomotor 19 are connected on the 3rd retarder 20, the 3rd retarder 20
It is connected on rotary frame 1 and by the 16th revolute pair 38 with the second driving lever 14.
Compares figure 1, Fig. 6, the 4th servomotor 21 are connected on the 4th retarder 22, and the 4th retarder 22 is installed on
It is connected on translation retainer 10 and by the 17th vertical revolute pair 39 of rotation axis with end effector 11.
Compares figure 1, Fig. 2 and Fig. 5, the rotary frame 1, the first driving lever 4, the first pole 5, supporting rod 6 pass through the 3rd
Revolute pair 25, the 4th revolute pair 26, the 5th revolute pair 27 and the 9th revolute pair 31 form first parallelogram sturcutre, its
In, in machine man-hour, the 3rd revolute pair 25 and the 9th revolute pair 31 are fixed not with the relative position between rotary frame 1
Become.
Compares figure 1, Fig. 3, first pole 5, the first balancing pole 7, the second pole 8, supporting rod 6 pass through the 5th revolute pair
27th, the 6th revolute pair 28, the 7th revolute pair 29 and the 8th revolute pair 30 form second parallelogram sturcutre.
Compares figure 1, Fig. 2, Fig. 3, second pole 8, the second balancing pole 9, translation retainer 10, cross bar 12 pass through the 8th
Revolute pair 30, the tenth revolute pair 32, the 11st revolute pair 33, the 12nd revolute pair 34 and the 13rd revolute pair 35 form the 3rd
Parallelogram sturcutre, wherein, 35 corotation shaft of the 8th revolute pair 30 and the 13rd revolute pair.
Operation principle and process：
Compares figure 1 is at work, electric in servo to Fig. 7, the ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom
Under machine driving, by the aggregate motion of programming Control arm lifting mechanism, posture holding mechanism, the sky of end effector 11 is realized
Between mobile operating mode and spatial rotational operating mode, space movement operating mode is accomplished by the following way：In the driving of the second servomotor 17
Under control, the first driving lever 4 rotates around the 3rd revolute pair 25 and drives the first pole 5 to rotate by the 4th revolute pair 26, the
One pole 5 drives supporting rod 6 to rotate by the 5th revolute pair 27, and under the drive control of the 3rd servomotor 19, second actively
Bar 14 rotates around the 16th revolute pair 38 and drives second connecting rod 13 to rotate by the 15th revolute pair 37, supporting rod 6 and the
Two connecting rods 13 drive cross bar 12 to move jointly, then the connection by the retainer 10 that is translatable so that on translation retainer 10
End effector 11 can move up and down, meanwhile, under the drive control of the first servomotor 15, rotary frame surrounds
The first revolute pair 23 and the second revolute pair 24 of corotation shaft rotate, and realize the integral-rotation of multi link controllable mechanism so that end
End actuator 11 can move back and forth, so that end effector 11 can arbitrarily move in the range of certain space, in addition,
Rotary frame 1, the first driving lever 4, the first pole 5, supporting rod 6 are rotated by the 3rd revolute pair 25, the 4th revolute pair the 26, the 5th
Secondary 27, the 9th revolute pair 31 forms first parallelogram sturcutre, wherein, in machine man-hour, the 3rd revolute pair 25 with
9th revolute pair 31 immobilizes with the relative position between rotary frame 1, the first pole 5, the first balancing pole 7, the second pole
8th, supporting rod 6 forms second by the 5th revolute pair 27, the 6th revolute pair 28, the 7th revolute pair 29, the 8th revolute pair 30 and puts down
Row quadrilateral structure, the second pole 8, the second balancing pole 9, translation retainer 10, cross bar 12 by the 8th revolute pair 30, the tenth turn
The 32, the 11st revolute pair 33 of dynamic pair, the 12nd revolute pair 34, the 13rd revolute pair 35 form the 3rd parallelogram sturcutre,
Wherein, the 8th revolute pair 30,35 corotation shaft of the 13rd revolute pair, these three specific parallelogram sturcutres cause translation to protect
Hold frame 10 and remain horizontality in robot motion's output procedure, beneficial to the horizontal stability for being handled upside down article；Space
Operating mode is rotated to be accomplished by the following way：Under the drive control of the 4th servomotor 21, end effector 11 surrounds rotation axis
The 17th vertical revolute pair 39 of line rotates, so as to fulfill the spatial rotational of end effector 11.When translation retainer 10 moves
When needing to be crawled to article or being piled up the top of position, by controlling end effector 11 to clamp, unclamp or rotate article,
Realize the robot high speed of article is carried, palletizing operation.
Claims (2)
1. a kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom, including arm lifting mechanism, posture holding mechanism, revolution
Supporting, base, end effector, the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, first
Retarder, the second retarder, the 3rd retarder and the 4th retarder, it is characterised in that concrete structure and connection mode are：
The arm lifting mechanism include rotary frame, the first driving lever, the first pole, supporting rod, cross bar, second connecting rod and
Second driving lever,
The posture holding mechanism includes the first balancing pole, the second pole, the second balancing pole and translation retainer,
First servomotor is connected on the first retarder, and the first retarder is installed on base, and the first retarder passes through
First revolute pair is connected with rotary frame, and pivoting support is installed on base, and pivoting support passes through the second revolute pair and whirler
Frame connects, wherein, the first revolute pair and the second revolute pair corotation shaft,
Second servomotor is connected on the second retarder, and the installation of the second retarder on the rotating gantry and passes through the 3rd turn
Dynamic pair is connected with one end of the first driving lever, and the other end of the first driving lever passes through the 4th revolute pair and the first end of the first pole
Connection, the second end of the first pole are connected by the 5th revolute pair and the intermediate ends of supporting rod, and the 3rd end of the first pole passes through
6th revolute pair is connected with one end of the first balancing pole, and the other end of the first balancing pole passes through the 7th revolute pair and the second pole
First end connects, and the second end of the second pole is connected by one end of the 8th revolute pair and supporting rod, and the 3rd end of supporting rod leads to
Cross the 9th revolute pair to be connected with rotary frame, the 3rd end of the second pole is connected by one end of the tenth revolute pair and the second balancing pole
Connect, the other end of the second balancing pole is connected by the 11st revolute pair with the one end for the retainer that is translatable, the retainer that is translatable it is another
End is connected by one end of the 12nd revolute pair and cross bar, and the intermediate ends of cross bar pass through the 13rd revolute pair and one end of supporting rod
Connection, the 3rd end of cross bar are connected by one end of the 14th revolute pair and second connecting rod, and the other end of second connecting rod passes through the
15 revolute pairs are connected with one end of the second driving lever, and the other end of the second driving lever is slowed down by the 16th revolute pair and the 3rd
Device connects,
First pole, the first balancing pole, the second pole, supporting rod are rotated by the 5th revolute pair, the 6th revolute pair, the 7th
Secondary and the 8th revolute pair forms second parallelogram sturcutre,
Second pole, the second balancing pole, translation retainer, cross bar by the 8th revolute pair, the tenth revolute pair, the 11st turn
Dynamic secondary, the 12nd revolute pair and the 13rd revolute pair form the 3rd parallelogram sturcutre, wherein, the 8th revolute pair and the tenth
Three revolute pair corotation shafts,
Linkage with three specific parallelogram sturcutres is applied to gesture stability so that translation retainer is in machine
Horizontality is remained during people's movement output, is reduced the difficulty of robot control programming, is conducive to handled thing
Product carry out accurate gesture stability,
3rd servomotor is connected on the 3rd retarder, and the installation of the 3rd retarder on the rotating gantry and passes through the 16th
Revolute pair is connected with the second driving lever,
4th servomotor is connected on the 4th retarder, and the 4th retarder is installed on translation retainer and passes through rotation
17th revolute pair of axis vertical is connected with end effector.
2. ten bar controllable-mechanism type robot palletizer of a kind of four-degree-of-freedom according to claim 1, it is characterised in that described
Rotary frame, the first driving lever, the first pole, supporting rod pass through the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair and the 9th
Revolute pair forms first parallelogram sturcutre, wherein, in machine man-hour, the 3rd revolute pair is with the 9th revolute pair with rotation
Relative position between favourable turn frame immobilizes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464989.0A CN106041902B (en) | 2016-06-23 | 2016-06-23 | A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom |
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| CN201610464989.0A CN106041902B (en) | 2016-06-23 | 2016-06-23 | A kind of ten bar controllable-mechanism type robot palletizer of four-degree-of-freedom |
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| CN106313091B (en) * | 2016-11-04 | 2018-05-18 | 南通艾特软件有限公司 | A kind of workpiece clamping device |
| CN107309904A (en) * | 2017-07-04 | 2017-11-03 | 广西大学 | A kind of multiple degrees of freedom clamps arm robot |
| CN107116322A (en) * | 2017-07-04 | 2017-09-01 | 广西大学 | A kind of lightweight Six-freedom-degree space controllable-mechanism type high-speed welding robot |
| CN108098740A (en) * | 2017-12-27 | 2018-06-01 | 东北大学 | A kind of loading and unloading link robot manipulator with end turn over function |
| CN108031827B (en) * | 2018-01-08 | 2024-03-22 | 安徽理工大学 | Auxiliary operation robot for casting |
| CN109760017B (en) * | 2018-12-24 | 2020-07-10 | 燕山大学 | Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4022461B2 (en) * | 2002-10-11 | 2007-12-19 | 株式会社ジェーイーエル | Transfer arm |
| CN101919739B (en) * | 2010-09-07 | 2011-10-26 | 天津大学 | Minimally invasive robot mechanical arm having large movement space and high structural rigidity |
| CN102407524A (en) * | 2010-09-21 | 2012-04-11 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104476535A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism |
| CN104476538B (en) * | 2014-12-12 | 2016-03-30 | 广西大学 | One has ten connecting rod five degree of freedom controllable-mechanism type mobile mechanical arms |
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