CN107127743A - A kind of four-degree-of-freedom controllable-mechanism type robot palletizer - Google Patents
A kind of four-degree-of-freedom controllable-mechanism type robot palletizer Download PDFInfo
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- CN107127743A CN107127743A CN201710538888.8A CN201710538888A CN107127743A CN 107127743 A CN107127743 A CN 107127743A CN 201710538888 A CN201710538888 A CN 201710538888A CN 107127743 A CN107127743 A CN 107127743A
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- revolute pair
- sliding sleeve
- follower lever
- final stage
- primary
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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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of four-degree-of-freedom controllable-mechanism type robot palletizer, first servomotor drives the first final stage to slide over and moved forward and backward on forearm by the driving-chain including the first driving lever, second servomotor drives the second final stage to slide over and moved up and down on the first guide rod by the driving-chain including the second driving lever, 3rd servomotor drives the 3rd final stage to slide over and moved forward and backward on forearm by the driving-chain including the 3rd driving lever, first final stage sliding sleeve, the motion of 3rd final stage sliding sleeve and the 3rd final stage sliding sleeve synthesizes the holding action of the first clamping limb and the second clamping limb by driving-chain, 4th servomotor controls rotating shaft to be acted relative to the rising height centered on revolute pair four by the driving-chain including the 4th driving lever, control the rising height of the first clamping limb and the second clamping limb.Motor and decelerator are arranged on joint instant invention overcomes existing welding robot, produced movement inertia is big, residual oscillation obvious and the low shortcoming of high speed operation positioning precision.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of four-degree-of-freedom controllable-mechanism type robot palletizer.
Background technology
Since 1980s, people wish to reduce the quality of robot motion's part always to improve its dynamic
Can, and achieve gratifying achievement.But these work are all around the rod member quality expansion of mitigation robot.And installed in cascade machine
Motor, decelerator at device person joint is actually very big to Robotic Dynamic performance impact.Moreover, in order to ensure that motor output is big
Power, its output speed is very high, it is necessary to which the decelerator of big speed ratio is decelerated to the speed of suitable robot work.And grind
Small volume processed, the speed reducer with high transmission ratio of light weight are also the comparison stubborn problem that robot of China industry runs into.At present, state
Robot motor and one of decelerator and the robot motor of international most advanced level, the gap of decelerator are produced, is exactly quality
(weight) and volume are big, and this can cause, and the rotary inertia of robot is big, Robotic Dynamic performance is not good, be also easy to produce larger vibration etc.
Problem.If motor, decelerator can be arranged in frame, joint is not mounted within manipulator motion, then is not rotated
Big the brought various problems of inertia.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of four-degree-of-freedom controllable-mechanism type robot palletizer.
To achieve these goals, present invention employs following technical scheme：
A kind of four-degree-of-freedom controllable-mechanism type robot palletizer, including first support bar, second support bar, the 3rd support
Bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever, the second driving lever, the 3rd driving lever,
Four driving levers, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever, the 4th primary follower lever, the first primary
Sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, first level follower lever, second subprime follower lever, the
Three level follower levers, the 4th level follower lever, the first triangle part, the second triangle part, the 3rd triangle part, the 4th triangle part, five
Triangle part, the first three-level follower lever, the second three-level follower lever, the 3rd three-level follower lever, first level sliding sleeve, second subprime are slided
Set, third time level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage follower lever, first level sliding sleeve,
Secondary stage sliding sleeve, third time level sliding sleeve, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage sliding sleeve,
5th final stage sliding sleeve, the first contiguous block, the second contiguous block, the 3rd contiguous block, the first guide rod, the second guide rod, the 3rd guide rod, first
Clamping limb, the second clamping limb, forearm, frame and rotating shaft,
Concrete structure and annexation are as follows：
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part
First jiao and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40；
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part
First jiao and the connection of second large arm one end, the middle part of the second large arm is connected in rotating shaft by revolute pair 41, second largest
The arm other end is connected by revolute pair 18 with forearm one end,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part
First jiao and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42；
4th support bar lower end is fixed in frame, and the 4th post upper passes through the triangle part first of revolute pair four and the 4th
Angle is connected；
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve is sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar；
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve is sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm；
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven；
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part；
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11；
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45；
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part；
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49,
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53；
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part；
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61；
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64；
First contiguous block is connected on the first final stage sliding sleeve by revolute pair 13,
Second contiguous block is connected on the second final stage sliding sleeve by revolute pair 14,
3rd contiguous block is connected on the 3rd final stage sliding sleeve by revolute pair 16,
5th final stage sliding sleeve is connected on the 4th final stage sliding sleeve by revolute pair 17,
First guide rod is fixedly connected on the first contiguous block,
Second guide rod is fixedly connected on the second contiguous block,
3rd guide rod is fixedly connected on the 3rd contiguous block,
3rd final stage sliding sleeve and the first final stage sliding sleeve are all sleeved on forearm,
Second final stage sliding sleeve is sleeved on the 3rd guide rod,
4th final stage sliding sleeve is sleeved on the first guide rod,
5th final stage sliding sleeve is sleeved on the second guide rod,
First clamping limb one end is fixedly connected on the first contiguous block,
Second clamping limb one end is fixedly connected on the 3rd contiguous block,
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 15；
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50；
The second final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 66,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58；
The 3rd final stage follower lever other end is connected on the 3rd contiguous block by revolute pair 25.
Further,
The revolute pair one, revolute pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, turn
Dynamic pair eight, revolute pair nine, revolute pair ten, revolute pair 11, revolute pair 12, revolute pair 13, revolute pair 14, revolute pair ten
5th, revolute pair 16, revolute pair 17, revolute pair 18, revolute pair 25, revolute pair 40, revolute pair 41, rotation
Pair 42, revolute pair 43, revolute pair 44, revolute pair 45, revolute pair 46, revolute pair 47, turn
Dynamic pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 52, revolute pair 53, turn
Dynamic pair 54, revolute pair 55, revolute pair 56, revolute pair 57, revolute pair 58, revolute pair 59,
Revolute pair 60, revolute pair 61, revolute pair 62, revolute pair 63, revolute pair 64 and revolute pair 66
Rotational plane be parallel with each other and with the axial cross section of forearm.
Further,
Also include the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair five by
First servomotor is driven, and revolute pair 43 is driven by the second servomotor, and revolute pair 51 is driven by the 3rd servomotor
Dynamic, revolute pair 59 is driven by the 4th servomotor.
Compared with prior art, the beneficial effect that the present invention possesses：
The present invention realizes that the centre of gravity lightweight structure being installed to whole motors and decelerator near pedestal is designed, motor
Large Amplitude Motion is not done with decelerator with motion rod member.Overcome existing robot palletizer and motor and decelerator are arranged on pass
On section, produced movement inertia is big, residual oscillation obvious and the low shortcoming of high speed operation positioning precision, with structural reliability
High, stability is good and the low feature of cost.Overcoming existing most of linkage can only plane driving transmission and space stiffness
Poor the shortcomings of, with motor and decelerator need not be installed on joint, the characteristics of being achieved that space driving transmission.
Brief description of the drawings
Fig. 1 is the overall structure diagram one of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention.
Fig. 2 is the overall structure diagram two of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention.
Fig. 3 is the partial structural diagram one of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention.
Fig. 4 is the partial structural diagram two of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention.
Fig. 5 is the partial structural diagram three of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention.
Fig. 6 moves for the first final stage of control follower lever of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation one of driving-chain.
Fig. 7 moves for the first final stage of control follower lever of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation two of driving-chain.
Fig. 8 moves for the second final stage of control follower lever of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation one of driving-chain.
Fig. 9 moves for the second final stage of control follower lever of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation two of driving-chain.
Figure 10 moves for the final stage follower lever of control the 3rd of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
Driving-chain structural representation one.
Figure 11 moves for the final stage follower lever of control the 3rd of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
Driving-chain structural representation two.
The biography that Figure 12 moves for the triangle part of control the 4th of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation one of dynamic chain.
The biography that Figure 13 moves for the triangle part of control the 4th of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention
The structural representation two of dynamic chain.
Figure 14 is the clamping limb of control first of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention and the second folder
The structural representation one of the transmission mechanism of gripping arm motion.
Figure 15 is the clamping limb of control first of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention and the second folder
The structural representation two of the transmission mechanism of gripping arm motion.
Figure 16 is the clamping limb of control first of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention and the second folder
The structural representation three of the transmission mechanism of gripping arm motion.
Figure 17 is the clamping limb of control first of four-degree-of-freedom controllable-mechanism type robot palletizer of the present invention and the second folder
The structural representation four of the transmission mechanism of gripping arm motion.
In figure：
First servomotor 1a, the second servomotor 2a, the 3rd servomotor 3a, the 4th servomotor 4a,
First support bar 1b, second support bar 2b, the 3rd support bar 3b, the 4th support bar 4b,
First large arm 1c, the second large arm 2c, the third-largest arm 3c,
First driving lever 1d, the second driving lever 2d, the 3rd driving lever 3d, the 4th driving lever 4d,
First primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever 3e, the 4th primary follower lever 4e,
First primary sliding sleeve 1f, the second primary sliding sleeve 2f, the 3rd primary sliding sleeve 3f, the 4th primary sliding sleeve 4f,
First level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g,
First triangle part 1h, the second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h,
First three-level follower lever 1i, the second three-level follower lever 2i, the 3rd three-level follower lever 3i,
First level sliding sleeve 1j, second subprime sliding sleeve 2j, third time level sliding sleeve 3j,
First final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k,
First level sliding sleeve 1j, second subprime sliding sleeve 2j, third time level sliding sleeve 3j,
First final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p,
4th final stage sliding sleeve 4p, the 5th final stage sliding sleeve 5p,
First contiguous block 1n, the second contiguous block 2n, the 3rd contiguous block 3n,
First guide rod 1q, the second guide rod 2q, the 3rd guide rod 3q,
First clamping limb 1m, the second clamping limb 2m,
Forearm 100, frame 99, rotating shaft 97.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of four-degree-of-freedom controllable-mechanism type robot palletizer, including first support bar 1b, second support bar 2b, the 3rd
Strut 3b, the 4th support bar 4b, the first large arm 1c, the second large arm 2c, the third-largest arm 3c, the first driving lever 1d, the second driving lever
2d, the 3rd driving lever 3d, the 4th driving lever 4d, the first primary follower lever 1e, the second primary follower lever 2e, the 3rd primary follower lever
3e, the 4th primary follower lever 4e, the first primary sliding sleeve 1f, the second primary sliding sleeve 2f, the 3rd primary sliding sleeve 3f, the 4th primary sliding sleeve
4f, first level follower lever 1g, second subprime follower lever 2g, third time level follower lever 3g, the 4th level follower lever 4g, the one or three
Corner fittings 1h, the second triangle part 2h, the 3rd triangle part 3h, the 4th triangle part 4h, the 5th triangle part 5h, the first three-level follower lever 1i,
Second three-level follower lever 2i, the 3rd three-level follower lever 3i, first level sliding sleeve 1j, second subprime sliding sleeve 2j, third time level sliding sleeve
3j, the first final stage follower lever 1k, the second final stage follower lever 2k, the 3rd final stage follower lever 3k, first level sliding sleeve 1j, second subprime
Sliding sleeve 2j, third time level sliding sleeve 3j, the first final stage sliding sleeve 1p, the second final stage sliding sleeve 2p, the 3rd final stage sliding sleeve 3p, the 4th final stage are slided
Set 4p, the 5th final stage sliding sleeve 5p, the first contiguous block 1n, the second contiguous block 2n, the 3rd contiguous block 3n, the first guide rod 1q, second are led
Bar 2q, the 3rd guide rod 3q, the first clamping limb 1m, the second clamping limb 2m, forearm 100, frame 99 and rotating shaft 97,
Concrete structure and annexation are as follows：
As seen in figures 3-5：
First support bar 1b lower ends are fixed in frame 99, first support bar 1b upper ends by revolute pair 1 simultaneously with
First first jiao of triangle part 1h and the connection of first large arm 1c one end, the first large arm 1c middle part is connected by revolute pair 40
It is connected in rotating shaft 97；
Second support bar 2b lower ends are fixed in frame 99, second support bar 2b upper ends by revolute pair 2 102 simultaneously with
Second first jiao of triangle part 2h and the connection of second large arm 2c one end, the second large arm 2c middle part passes through revolute pair 41
It is connected in rotating shaft 97, the second large arm 2c other ends are connected by revolute pair 18 with the one end of forearm 100,
3rd support bar 3b lower ends are fixed in frame 99, the 3rd support bar 3b upper ends by revolute pair 3 103 simultaneously with
3rd first jiao of triangle part 3h and the connection of the third-largest arm 3c one end, the third-largest arm 3c middle part passes through revolute pair 42
It is connected in rotating shaft 97；
4th support bar 4b lower ends are fixed in frame 99, and the 4th support bar 4b upper ends pass through revolute pair 4 104 and the 4th
First jiao of connection of triangle part 4h；
As shown in Figure 3：
First primary sliding sleeve 1f is sleeved on first support bar 1b,
Second primary sliding sleeve 2f is sleeved on second support bar 2b,
3rd primary sliding sleeve 3f is sleeved on the 3rd support bar 3b,
4th primary sliding sleeve 4f is sleeved on the 4th support bar 4b；
First time level sliding sleeve 1j is sleeved on the first large arm 1c,
Second subprime sliding sleeve 2j is sleeved on the second large arm 2c,
Third time level sliding sleeve 3j is sleeved on the third-largest arm 3c；
As shown in Figures 6 and 7：
First driving lever 1d one end is connected in frame 99 by revolute pair 5 105,
The first driving lever 1d other ends are connected by revolute pair 6 106 with first primary follower lever 1e one end,
The first primary follower lever 1e other ends are connected on the first primary sliding sleeve 1f by revolute pair 7 107；
First level follower lever 1g one end is connected to the first primary sliding sleeve 1f by revolute pair 8 108,
First level follower lever 1g other end is connected by second jiao of revolute pair 9 109 and the first triangle part 1h；
First three-level follower lever 1i one end is connected by revolute pair 10 with the first triangle part 1h the third angle,
The first three-level follower lever 1i other ends are connected on first level sliding sleeve 1j by revolute pair 11；
As shown in FIG. 8 and 9：
Second driving lever 2d one end is connected in frame 99 by revolute pair 43,
The second driving lever 2d other ends are connected by revolute pair 44 with second primary follower lever 2e one end,
The second primary follower lever 2e other ends are connected on the second primary sliding sleeve 2f by revolute pair 45；
Second subprime follower lever 2g one end is connected to the second primary sliding sleeve 2f by revolute pair 46,
The second subprime follower lever 2g other ends are connected by second jiao of revolute pair 47 and the second triangle part 2h；
Second three-level follower lever 2i one end is connected by revolute pair 48 with the second triangle part 2h the third angle,
The second three-level follower lever 2i other ends are connected on second subprime sliding sleeve 2j by revolute pair 49,
As shown in FIG. 10 and 11：
3rd driving lever 3d one end is connected in frame 99 by revolute pair 51,
The 3rd driving lever 3d other ends are connected by revolute pair 52 with the 3rd primary follower lever 3e one end,
The 3rd primary follower lever 3e other ends are connected on the 3rd primary sliding sleeve 3f by revolute pair 53；
Third time level follower lever 3g one end is connected to the 3rd primary sliding sleeve 3f by revolute pair 54,
The third time level follower lever 3g other ends are connected by second jiao of revolute pair 55 and the 3rd triangle part 3h；
3rd three-level follower lever 3i one end is connected by revolute pair 56 with the 3rd triangle part 3h the third angle,
The 3rd three-level follower lever 3i other ends are connected on third time level sliding sleeve 3j by revolute pair 57,
Shown in Figure 12 and 13：
4th driving lever 4d one end is connected in frame 99 by revolute pair 59,
The 4th driving lever 4d other ends are connected by revolute pair 60 with the 4th primary follower lever 4e one end,
The 4th primary follower lever 4e other ends are connected on the 4th primary sliding sleeve 4f by revolute pair 61；
4th level follower lever 4g one end is connected to the 4th primary sliding sleeve 4f by revolute pair 62,
The 4th level follower lever 4g other end is connected by second jiao of revolute pair 63 and the 4th triangle part 4h,
4th triangle part 4h the third angle is connected in rotating shaft 97 by revolute pair 64；
As shown in 14,15,16,17 figures：
First contiguous block 1n is connected on the first final stage sliding sleeve 1p by revolute pair 13,
Second contiguous block 2n is connected on the second final stage sliding sleeve 2p by revolute pair 14,
3rd contiguous block 3n is connected on the 3rd final stage sliding sleeve 3p by revolute pair 16,
5th final stage sliding sleeve 5p is connected on the 4th final stage sliding sleeve 4p by revolute pair 17,
First guide rod 1q one end is fixedly connected on the first contiguous block 1n,
Second guide rod 2q one end is fixedly connected on the second contiguous block 2n,
3rd guide rod 3q one end is fixedly connected on the 3rd contiguous block 3n,
3rd final stage sliding sleeve 3p and the first final stage sliding sleeve 1p are sleeved on forearm 100,
Second final stage sliding sleeve 2p is sleeved on the 3rd guide rod 3q,
4th final stage sliding sleeve 4p is sleeved on the first guide rod 1q,
5th final stage sliding sleeve 5p is sleeved on the second guide rod 2q,
First clamping limb 1m one end is fixedly connected on the first contiguous block 1n,
Second clamping limb 2m one end is fixedly connected on the 3rd contiguous block 3n,
First final stage follower lever 1k one end is connected on first level sliding sleeve 1j by revolute pair 12,
The first final stage follower lever 1k other ends are connected on the first final stage sliding sleeve 1p by revolute pair 15；
Second final stage follower lever 2k one end is connected on second subprime sliding sleeve 2j by revolute pair 50；
The second final stage follower lever 2k other ends are connected on the second final stage sliding sleeve 2p by revolute pair 66,
3rd final stage follower lever 3k one end is connected on third time level sliding sleeve 3j by revolute pair 58；
The 3rd final stage follower lever 3k other ends are connected on the 3rd contiguous block 3n by revolute pair 25.
Further,
Revolute pair 1, revolute pair 2 102, revolute pair 3 103, revolute pair 4 104, revolute pair 5 105, revolute pair six
106th, revolute pair 7 107, revolute pair 8 108, revolute pair 9 109, revolute pair 10, revolute pair 11, revolute pair 12
112nd, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 16, revolute pair 17, turn
Dynamic pair 18, revolute pair 25, revolute pair 40, revolute pair 41, revolute pair 42, turn
Dynamic pair 43, revolute pair 44, revolute pair 45, revolute pair 46, revolute pair 47
147th, revolute pair 48, revolute pair 49, revolute pair 50, revolute pair 51, revolute pair 50
2 152, revolute pair 53, revolute pair 54, revolute pair 55, revolute pair 56, revolute pair
57, revolute pair 58, revolute pair 59, revolute pair 60, revolute pair 61, rotation
Pair 62, revolute pair 63, revolute pair 64 and the rotational plane of revolute pair 66 are mutually equal
Go and parallel to the axial cross section of forearm.
Further,
Also include the first servomotor 1a, the second servomotor 2a, the 3rd servomotor 3a and the 4th servomotor 4a,
Revolute pair 5 105 is driven by the first servomotor 1a,
Revolute pair 43 is driven by the second servomotor 2a,
Revolute pair 51 is driven by the 3rd servomotor 3a,
Revolute pair 59 is driven by the 4th servomotor 4a.
First servomotor drives the first final stage to slide over and does front and rear on forearm by the driving-chain including the first driving lever
Motion, the second servomotor is driven above and below the second final stage slides over and done on the first guide rod by driving-chain including the second driving lever
Motion, the 3rd servomotor drives the 3rd final stage to slide over and front and rear fortune is done on forearm by the driving-chain including the 3rd driving lever
It is dynamic, the motion of the first final stage sliding sleeve, the 3rd final stage sliding sleeve and the 3rd final stage sliding sleeve by driving-chain synthesize the first clamping limb and
The holding action of second clamping limb, the 4th servomotor controls rotating shaft relative to rotation by the driving-chain including the 4th driving lever
Rising height action centered on pair four, that is, control the rising height of the first clamping limb and the second clamping limb.
Claims (3)
1. a kind of four-degree-of-freedom controllable-mechanism type robot palletizer, it is characterised in that including first support bar, second support bar,
3rd support bar, the 4th support bar, the first large arm, the second large arm, the third-largest arm, the first driving lever, the second driving lever, the 3rd master
Lever, the 4th driving lever, the first primary follower lever, the second primary follower lever, the 3rd primary follower lever, the 4th primary follower lever,
First primary sliding sleeve, the second primary sliding sleeve, the 3rd primary sliding sleeve, the 4th primary sliding sleeve, first level follower lever, second subprime from
Lever, third time level follower lever, the 4th level follower lever, the first triangle part, the second triangle part, the 3rd triangle part, the 4th triangle
Part, the 5th triangle part, the first three-level follower lever, the second three-level follower lever, the 3rd three-level follower lever, first level sliding sleeve, second
Secondary sliding sleeve, third time level sliding sleeve, the first final stage follower lever, the second final stage follower lever, the 3rd final stage follower lever, first level are slided
Set, second subprime sliding sleeve, third time level sliding sleeve, the first final stage sliding sleeve, the second final stage sliding sleeve, the 3rd final stage sliding sleeve, the 4th final stage
Sliding sleeve, the 5th final stage sliding sleeve, the first contiguous block, the second contiguous block, the 3rd contiguous block, the first guide rod, the second guide rod, the 3rd lead
Bar, the first clamping limb, the second clamping limb, forearm, frame and rotating shaft,
Concrete structure and annexation are as follows：
First support bar lower end is fixed in frame, first support bar upper end by revolute pair one simultaneously with the first triangle part first
Angle and the connection of first large arm one end, the middle part of the first large arm is connected in rotating shaft by revolute pair 40；
Second support bar lower end is fixed in frame, second support bar upper end by revolute pair two simultaneously with the second triangle part first
Angle and the connection of second large arm one end, the middle part of the second large arm are connected in rotating shaft by revolute pair 41, and the second large arm is another
One end is connected by revolute pair 18 with forearm one end,
3rd support bar lower end is fixed in frame, and the 3rd post upper passes through revolute pair San Tong method and the 3rd triangle part first
Angle and the connection of the third-largest arm one end, the middle part of the third-largest arm is connected in rotating shaft by revolute pair 42；
4th support bar lower end is fixed in frame, and the 4th post upper passes through four and the 4th triangle part of revolute pair, first jiao of company
Connect；
First primary sliding sleeve is sleeved in first support bar,
Second primary sliding sleeve is sleeved in second support bar,
3rd primary sliding sleeve is sleeved on the 3rd support bar,
4th primary sliding sleeve is sleeved on the 4th support bar；
First time level sliding sleeve is sleeved in the first large arm,
Second subprime sliding sleeve is sleeved in the second large arm,
Third time level sliding sleeve is sleeved on the third-largest arm；
First driving lever one end is connected in frame by revolute pair five,
The first driving lever other end is connected by revolute pair six with first primary follower lever one end,
The first primary follower lever other end is connected on the first primary sliding sleeve by revolute pair seven；
First level follower lever one end is connected to the first primary sliding sleeve by revolute pair eight,
First level follower lever other end is connected by second jiao of revolute pair nine and the first triangle part；
First three-level follower lever one end is connected by revolute pair ten with the third angle of the first triangle part,
The first three-level follower lever other end is connected on first level sliding sleeve by revolute pair 11；
Second driving lever one end is connected in frame by revolute pair 43,
The second driving lever other end is connected by revolute pair 44 with second primary follower lever one end,
The second primary follower lever other end is connected on the second primary sliding sleeve by revolute pair 45；
Second subprime follower lever one end is connected to the second primary sliding sleeve by revolute pair 46,
The second subprime follower lever other end is connected by second jiao of revolute pair 47 and the second triangle part；
Second three-level follower lever one end is connected by revolute pair 48 with the third angle of the second triangle part,
The second three-level follower lever other end is connected on second subprime sliding sleeve by revolute pair 49,
3rd driving lever one end is connected in frame by revolute pair 51,
The 3rd driving lever other end is connected by revolute pair 52 with the 3rd primary follower lever one end,
The 3rd primary follower lever other end is connected on the 3rd primary sliding sleeve by revolute pair 53；
Third time level follower lever one end is connected to the 3rd primary sliding sleeve by revolute pair 54,
The third time level follower lever other end is connected by second jiao of revolute pair 55 and the 3rd triangle part；
3rd three-level follower lever one end is connected by revolute pair 56 with the third angle of the 3rd triangle part,
The 3rd three-level follower lever other end is connected on third time level sliding sleeve by revolute pair 57,
4th driving lever one end is connected in frame by revolute pair 59,
The 4th driving lever other end is connected by revolute pair 60 with the 4th primary follower lever one end,
The 4th primary follower lever other end is connected on the 4th primary sliding sleeve by revolute pair 61；
4th level follower lever one end is connected to the 4th primary sliding sleeve by revolute pair 62,
The 4th level follower lever other end is connected by second jiao of revolute pair 63 and the 4th triangle part,
The third angle of 4th triangle part is connected in rotating shaft by revolute pair 64；
First contiguous block is connected on the first final stage sliding sleeve by revolute pair 13,
Second contiguous block is connected on the second final stage sliding sleeve by revolute pair 14,
3rd contiguous block is connected on the 3rd final stage sliding sleeve by revolute pair 16,
5th final stage sliding sleeve is connected on the 4th final stage sliding sleeve by revolute pair 17,
First guide rod is fixedly connected on the first contiguous block,
Second guide rod is fixedly connected on the second contiguous block,
3rd guide rod is fixedly connected on the 3rd contiguous block,
3rd final stage sliding sleeve and the first final stage sliding sleeve are all sleeved on forearm,
Second final stage sliding sleeve is sleeved on the 3rd guide rod,
4th final stage sliding sleeve is sleeved on the first guide rod,
5th final stage sliding sleeve is sleeved on the second guide rod,
First clamping limb one end is fixedly connected on the first contiguous block,
Second clamping limb one end is fixedly connected on the 3rd contiguous block,
First final stage follower lever one end is connected on first level sliding sleeve by revolute pair 12,
The first final stage follower lever other end is connected on the first final stage sliding sleeve by revolute pair 15；
Second final stage follower lever one end is connected on second subprime sliding sleeve by revolute pair 50；
The second final stage follower lever other end is connected on the second final stage sliding sleeve by revolute pair 66,
3rd final stage follower lever one end is connected on third time level sliding sleeve by revolute pair 58；
The 3rd final stage follower lever other end is connected on the 3rd contiguous block by revolute pair 25.
2. four-degree-of-freedom controllable-mechanism type robot palletizer as claimed in claim 1, it is characterised in that the revolute pair one, turn
Dynamic pair two, revolute pair three, revolute pair four, revolute pair five, revolute pair six, revolute pair seven, revolute pair eight, revolute pair nine, revolute pair
Tenth, revolute pair 11, revolute pair 12, revolute pair 13, revolute pair 14, revolute pair 15, revolute pair 16, revolute pair ten
7th, revolute pair 18, revolute pair 25, revolute pair 40, revolute pair 41, revolute pair 42, revolute pair 43,
Revolute pair 44, revolute pair 45, revolute pair 46, revolute pair 47, revolute pair 48, revolute pair 40
9th, revolute pair 50, revolute pair 51, revolute pair 52, revolute pair 53, revolute pair 54, revolute pair 50
5th, revolute pair 56, revolute pair 57, revolute pair 58, revolute pair 59, revolute pair 60, revolute pair 60
First, the rotational plane of revolute pair 62, revolute pair 63, revolute pair 64 and revolute pair 66 is parallel to each other and flat
Row is in the axial cross section of forearm.
3. four-degree-of-freedom controllable-mechanism type robot palletizer as claimed in claim 1, it is characterised in that also including the first servo electricity
Machine, the second servomotor, the 3rd servomotor and the 4th servomotor, revolute pair five are driven by the first servomotor, revolute pair
43 are driven by the second servomotor, and revolute pair 51 is driven by the 3rd servomotor, and revolute pair 59 is watched by the 4th
Take motor driving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710538888.8A CN107127743A (en) | 2017-07-04 | 2017-07-04 | A kind of four-degree-of-freedom controllable-mechanism type robot palletizer |
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| CN201710538888.8A CN107127743A (en) | 2017-07-04 | 2017-07-04 | A kind of four-degree-of-freedom controllable-mechanism type robot palletizer |
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| CN109605336A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of both arms drink robot and its multi-point radiant type action planning method |
| CN111601685A (en) * | 2018-01-15 | 2020-08-28 | 康格尼博提克斯股份公司 | Industrial robot arm |
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| CN103521381A (en) * | 2013-09-09 | 2014-01-22 | 江苏长虹智能装备集团有限公司 | Rotary table upright type five-freedom-degree mixed-connecting spray painting robot |
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| CN111601685B (en) * | 2018-01-15 | 2021-08-06 | 康格尼博提克斯股份公司 | Industrial robot arm |
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