CN107932477B - Space full-freedom metamorphic mechanism type stacking robot mechanism - Google Patents
Space full-freedom metamorphic mechanism type stacking robot mechanism Download PDFInfo
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- CN107932477B CN107932477B CN201711082332.9A CN201711082332A CN107932477B CN 107932477 B CN107932477 B CN 107932477B CN 201711082332 A CN201711082332 A CN 201711082332A CN 107932477 B CN107932477 B CN 107932477B
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
The utility model provides a full degree of freedom metamorphic mechanism formula pile up neatly machine people mechanism in space, includes platform, plane positioning mechanism, space actuating mechanism and manipulator assembly body, the equal fixed mounting of first controllable motor and second controllable motor is on the platform, and the platform dead lever is fixed on the platform, realizes the assembly of plane positioning mechanism and platform, and the spout is fixed on the platform, realizes the assembly of space actuating mechanism and platform, and the level output dead lever level is fixed on the vertical pole, realizes the assembly of space actuating mechanism and plane positioning mechanism, and the horizontal rotation slider cover is on the level output slide bar, realizes the assembly of manipulator assembly body and space actuating mechanism. The invention has simple structure, is convenient for processing, manufacturing and installation, can realize full-freedom positioning in space according to the functional requirements or the change of environment, and can deal with different work tasks in different work occasions.
Description
Technical Field
The invention relates to the field of robot design, in particular to a space full-freedom metamorphic mechanism type stacking robot mechanism.
Background
Along with the improvement of the mechanical automation level, the palletizing robot has the characteristics of wide application range, strong flexibility, low cost, convenience in maintenance and the like, and is widely applied to automatic production enterprises such as food production, electrical operation, machining and the like. Most of existing robot palletizers have bases with large weight and size, installation procedures are complex, movement space is limited, and working requirements of various working occasions under different working task conditions are difficult to meet. Chinese patent 201510310666.1 discloses a variable-configuration large-space palletizing robot mechanism, but the mechanism can only complete configuration change at a fixed position, and is difficult to meet the working requirements of different working occasions facing different working tasks; chinese patent 201410829333.5 discloses a metamorphic parallel palletizing robot mechanism, but the positioning in three-dimensional space can be completed only by using a rotary platform, the rotary platform needs to bear the weight of the whole mechanism, the structure is complex, and the manufacturing cost is high. At present, a robot palletizer mechanism which has a simple structure and low manufacturing cost, can realize three-dimensional space full-freedom-degree positioning and can complete palletizing work under the conditions of dealing with different work tasks in different work occasions is not available. The metamorphic mechanism is applied to the design of the palletizing robot, a novel space full-freedom metamorphic mechanism type palletizing robot mechanism is generated, and the palletizing robot can play a role greatly.
Disclosure of Invention
The invention aims to provide a space full-freedom metamorphic mechanism type palletizing robot mechanism which can overcome the defects of the existing palletizing robot mechanism, can realize full-freedom positioning in a three-dimensional space according to the change of functional requirements or environments and the like, has a simple structure and various configurations, and can adapt to different working tasks.
The invention achieves the above purpose by the following technical scheme:
the utility model provides a full degree of freedom metamorphic mechanism formula pile up neatly machine people mechanism in space, includes platform, plane positioning mechanism, space drive mechanism and manipulator assembly body, and concrete structure and relation of connection are:
the plane positioning mechanism comprises a first controllable motor, a second controllable motor, a platform fixing rod, a first input rod, a second input rod, a first auxiliary input rod, a smooth cylindrical hinge at the lower end of the first auxiliary input rod, a right-angle rod, a smooth cylindrical hinge at the horizontal extending end of the right-angle rod, a smooth cylindrical hinge at the right-angle end of the right-angle rod, a first connecting rod, a smooth cylindrical hinge at the vertical extending end of the right-angle rod, a first auxiliary connecting rod, a smooth cylindrical hinge at the upper end of the second input rod, a second connecting rod, a vertical rod, a smooth cylindrical hinge at the upper end of the vertical rod and a smooth cylindrical hinge at the lower end of the vertical rod, wherein the first controllable motor and the second controllable motor are both fixedly arranged on the platform, the platform fixing rod is fixed on the platform, a transmission shaft of the first controllable motor penetrates through the platform fixing rod to be fixed with the lower end of the first input rod, a transmission shaft of the second controllable motor, the lower end of the first auxiliary input rod is connected with the left end of the platform fixing rod through a smooth cylindrical hinge at the lower end of the first auxiliary input rod, the horizontal extending end of the right-angle rod is connected with the upper end of the first auxiliary input rod through a smooth cylindrical hinge at the horizontal extending end of the right-angle rod, the right-angle end of the right-angle rod is connected with the upper end of the first input rod through a smooth cylindrical hinge at the right-angle end of the right-angle rod, the lower end of the first connecting rod is connected with the lower end of the first auxiliary connecting rod through a smooth cylindrical hinge at the vertical extending end of the right-angle rod, the upper end of the second input rod is connected with the lower end of the second connecting rod through a smooth cylindrical hinge at the upper end of the second input rod, the upper end of the vertical rod is connected with the upper end of the first auxiliary connecting rod through a smooth cylindrical hinge at the upper end of, the upper ends of the second connecting rods are connected;
the space driving mechanism comprises a sliding chute, a third controllable motor, a motor base, a third input rod, a third connecting rod, a smooth cylindrical hinge at the lower end of the third connecting rod, a smooth cylindrical hinge at the upper end of the third connecting rod, a horizontal output sliding block, a horizontal output fixing rod and a horizontal output sliding rod, wherein the sliding chute is fixed on the platform;
the manipulator assembly comprises a horizontal rotating slide block, a horizontal rotating slide block hinge, a horizontal rotating connecting rod, a horizontal rotating cross rod, a first smooth cylindrical hinge of the horizontal rotating cross rod, a horizontal rotating output rod, a second smooth cylindrical hinge of the horizontal rotating cross rod, a vertical rotating plate, a smooth cylindrical hinge of the horizontal rotating output rod, a vertical rotating slide block, a hinge of the vertical rotating block, a smooth cylindrical hinge at the rear end of the vertical rotating connecting rod, a hinge of the vertical rotating plate, a smooth cylindrical hinge at the front end of the vertical rotating connecting rod, a rotating motor, a rotating plate, a rotating moving chute and a manipulator claw, wherein the horizontal rotating slide block is sleeved on the horizontal rotating slide rod, the upper end of the horizontal rotating slide block is connected with the rear end of the horizontal rotating connecting rod through the horizontal rotating slide block hinge, one end of the horizontal rotating cross rod is connected with, the other end of the horizontal rotating cross rod is vertically fixed with the rear end of the horizontal rotating output rod, the rear end of the horizontal rotating output rod is connected with the horizontal output slide rod through a second smooth cylindrical hinge of the horizontal rotating cross rod, the front end of the horizontal rotating output rod is connected with the rear end of the vertical rotating plate through a smooth cylindrical hinge of the horizontal rotating output rod, the vertical rotating slide block is sleeved on the horizontal output slide rod, the lower end of the vertical rotating block hinge is vertically installed on the vertical rotating slide block, the upper end of the vertical rotating block hinge is connected with the rear end of the vertical rotating connecting rod through a smooth cylindrical hinge at the rear end of the vertical rotating connecting rod, the lower end of the vertical rotating plate hinge is vertically installed on the vertical rotating plate, the upper end of the vertical rotating plate hinge is connected with the front end of the vertical rotating connecting rod through a smooth cylindrical hinge at the front end of the vertical rotating connecting rod, the rotating motor is fixedly installed, the rotary moving chute is fixedly arranged on the rotating plate, and the mechanical gripper is arranged in the rotary moving chute.
The vertical rotating block hinge can rotate on the vertical rotating slide block along the axis of the vertical rotating slide block.
The vertical rotation plate hinge can rotate on the vertical rotation plate along an axis thereof.
The mechanical gripper is two, and the symmetry is installed at the both ends of swivelling movement spout, can only remove along the swivelling movement spout.
The motor cabinet can only slide along the sliding groove and cannot slide away from the sliding groove.
The horizontal output sliding rod can slide or be fixed on the horizontal output fixing rod, and the horizontal output sliding rod can only slide along the horizontal output fixing rod and cannot slide away from the horizontal output fixing rod.
The horizontal rotating sliding block can slide or be fixed on the horizontal output sliding rod, and the horizontal rotating sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod.
The vertical rotating sliding block can slide or be fixed on the horizontal output sliding rod, and the vertical rotating sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod.
The horizontal output sliding block can slide or be fixed on the horizontal output sliding rod, the horizontal output sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod, and the horizontal output sliding block can be fixed or separated from the horizontal rotating sliding block and the vertical rotating sliding block.
The distance between the horizontal extending end of the right-angle rod and the right-angle end is the distance between the smooth cylindrical hinge at the lower end of the first auxiliary input rod and the transmission shaft of the first controllable motor.
The distance between the vertical extending end and the right-angle end of the right-angle rod is equal to the length of the vertical rod.
The length of the first input rod is equal to that of the first auxiliary input rod.
The length of the first connecting rod is equal to that of the first auxiliary connecting rod.
The right-angle rod is in a right-angle shape. The vertical rod is ensured to be vertical to the plane of the platform in the moving process.
The invention has the outstanding advantages that:
1. the space full-freedom metamorphic mechanism type palletizing robot mechanism has three construction states during working, can realize six-freedom-degree positioning in space, and is flexibly applied to different occasions and different working objects. When the mechanical gripper is in the first configuration, the mechanical gripper moves in the horizontal direction; when the mechanical gripper is in the second configuration, the mechanical gripper rotates in the horizontal direction; when the invention is in the third configuration, the mechanical gripper rotates vertically. The first controllable motor and the second controllable motor realize the positioning of the mechanical gripper on a vertical plane, and the rotating motor realizes the rotation of the mechanical gripper along the rotating plate, so that the positioning of the mechanical gripper in six degrees of freedom in space is realized.
2. The invention can realize accurate positioning in three-dimensional space. The first input rod and the second input rod are respectively driven to rotate by the first controllable motor and the second controllable motor, so that the mechanical gripper is positioned in a vertical plane; and the third controllable motor drives the third input rod to rotate, so that the mechanical gripper moves back and forth. The positioning mode has a simple structure, and the accurate positioning of the three-dimensional space in the space can be completed without rotating the platform structure.
3. The invention has simple realization condition of configuration transformation, simple overall structure and convenient processing, manufacturing, debugging and installation.
Drawings
Fig. 1 is a schematic front view structure diagram of a space full-freedom metamorphic mechanism type robot palletizer mechanism according to the invention.
Fig. 2 is a schematic diagram of a right-side view structure of the space full-freedom metamorphic mechanism type robot palletizer mechanism.
Fig. 3 is a schematic rear view of the space full-freedom metamorphic mechanism type robot palletizer mechanism according to the present invention.
Fig. 4 is a schematic structural diagram of a mechanical claw rotating horizontally when the space full-freedom metamorphic mechanism type robot palletizer mechanism works.
Fig. 5 is a schematic structural view of the mechanical claw rotating vertically when the space full-freedom metamorphic mechanism type robot palletizer mechanism works according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, and it is to be understood that the embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the space full-freedom metamorphic mechanism type palletizing robot mechanism according to the present invention includes a platform 1, a plane positioning mechanism, a space driving mechanism and a manipulator assembly, and the specific structure and connection relationship are as follows:
the plane positioning mechanism comprises a first controllable motor 7, a second controllable motor 5, a platform fixing rod 6, a first input rod 12, a second input rod 4, a first auxiliary input rod 10, a smooth cylindrical hinge 8 at the lower end of the first auxiliary input rod, a right-angle rod 14, a smooth cylindrical hinge 11 at the horizontally extending end of the right-angle rod, a smooth cylindrical hinge 13 at the right-angle end of the right-angle rod, a first connecting rod 16, a smooth cylindrical hinge 15 at the vertically extending end of the right-angle rod, a first auxiliary connecting rod 17, a smooth cylindrical hinge 3 at the upper end of the second input rod, a second connecting rod 2, a vertical rod 19, a smooth cylindrical hinge 20 at the upper end of the vertical rod and a smooth cylindrical hinge 18 at the lower end of the vertical rod, wherein the first controllable motor 7 and the second controllable motor 5 are both fixedly arranged on the platform 1, the platform fixing rod 6 is fixed on the platform 1, a transmission shaft of the first controllable motor 7 penetrates through the platform fixing rod 6 to be fixed, the right end of a transmission shaft of a second controllable motor 5 penetrates through a platform fixing rod 6 to be fixed with the lower end of a second input rod 4, the lower end of a first auxiliary input rod 10 is connected with the left end of the platform fixing rod 6 through a smooth cylindrical hinge 8 at the lower end of the first auxiliary input rod, the horizontal extending end of a right-angle rod 14 is connected with the upper end of the first auxiliary input rod 10 through a smooth cylindrical hinge 11 at the horizontal extending end of the right-angle rod, the right-angle end of the right-angle rod 14 is connected with the upper end of a first input rod 12 and the lower end of a first connecting rod 16 through a smooth cylindrical hinge 13 at the right-angle end of the right-angle rod 14, the vertical extending end of the right-angle rod 14 is connected with the lower end of the first auxiliary connecting rod 17 through a smooth cylindrical hinge 15 at the vertical extending end of the right-angle rod, the upper end of the second input rod 4 is connected with the lower end of a second connecting rod 2 through a smooth cylindrical hinge 3 at the upper, the lower end of the vertical rod 19 is connected with the upper end of the first connecting rod 16 and the upper end of the second connecting rod 2 through a smooth cylindrical hinge 18 at the lower end of the vertical rod;
the space driving mechanism comprises a sliding chute 21, a third controllable motor 22, a motor base 23, a third input rod 24, a third connecting rod 26, a smooth cylindrical hinge 25 at the lower end of the third connecting rod, a smooth cylindrical hinge 27 at the upper end of the third connecting rod, a horizontal output sliding block 9, a horizontal output fixing rod 48 and a horizontal output sliding rod 28, wherein the sliding chute 21 is fixed on the platform 1, the third controllable motor 22 is fixedly arranged on the motor base 23, the motor base 23 is arranged in the sliding chute 21, a transmission shaft of the third controllable motor 22 is fixed with the lower end of the third input rod 24, the lower end of the third connecting rod 26 is connected with the upper end of the third input rod 24 through the smooth cylindrical hinge 25 at the lower end of the third connecting rod, the upper end of the third connecting rod 26 is connected with the horizontal output sliding block 9 through the smooth cylindrical hinge 27 at the upper end of the third connecting rod, the horizontal output fixing rod 48 is horizontally fixed on the vertical rod 19, the horizontal output sliding block 9 is sleeved on the horizontal output sliding rod 28;
the manipulator assembly comprises a horizontal rotating slider 29, a horizontal rotating slider hinge 30, a horizontal rotating connecting rod 31, a horizontal rotating cross rod 40, a first smooth cylindrical hinge 36 of the horizontal rotating cross rod, a horizontal rotating output rod 41, a second smooth cylindrical hinge 47 of the horizontal rotating cross rod, a vertical rotating plate 38, a smooth cylindrical hinge 42 of the horizontal rotating output rod, a vertical rotating slider 39, a vertical rotating block hinge 32, a smooth cylindrical hinge 33 at the rear end of the vertical rotating connecting rod, a vertical rotating connecting rod 34, a vertical rotating plate hinge 37, a smooth cylindrical hinge 35 at the front end of the vertical rotating connecting rod, a rotating motor 43, a rotating plate 44, a rotating moving chute 45 and a mechanical claw 46, wherein the horizontal rotating slider 29 is sleeved on the horizontal rotating slider 28, the upper end of the horizontal rotating slider 29 is connected with the rear end of the horizontal rotating connecting rod 31 through the horizontal rotating slider hinge 30, one end of the horizontal rotating cross rod 40 is connected with the front end of the horizontal rotating connecting rod 31 through The other end of the horizontal rotating cross bar 40 is vertically fixed with the rear end of the horizontal rotating output bar 41, the rear end of the horizontal rotating output bar 41 is connected with the horizontal output slide bar 28 through a horizontal rotating cross bar second smooth cylindrical hinge 47, the front end of the horizontal rotating output bar 41 is connected with the rear end of the vertical rotating plate 38 through a horizontal rotating output bar smooth cylindrical hinge 42, the vertical rotating slider 39 is sleeved on the horizontal output slide bar 28, the lower end of the vertical rotating block hinge 32 is vertically installed on the vertical rotating slider 39, the upper end of the vertical rotating block hinge 32 is connected with the rear end of the vertical rotating connecting rod 34 through a vertical rotating connecting rod rear end smooth cylindrical hinge 33, the lower end of the vertical rotating plate hinge 37 is vertically installed on the vertical rotating plate 38, the upper end of the vertical rotating plate hinge 37 is connected with the front end of the vertical rotating connecting rod 34 through a vertical rotating connecting rod front end smooth cylindrical hinge 35, the rotating motor 43 is fixedly installed at the front end of the vertical rotating plate 38, a transmission shaft of the rotating motor 43 is fixed with the central axis of the rotating plate 44, the rotating moving chute 45 is fixedly installed on the rotating plate 44, and the mechanical gripper 46 is installed in the rotating moving chute 45.
The vertical rotation block hinge 32 is rotatable on a vertical rotation slider 39 along its axis.
The vertical rotation plate hinge 37 can rotate on the vertical rotation plate 38 along its axis.
The two mechanical claws 46 are symmetrically installed at two ends of the rotating and moving chute 45 and can only move along the rotating and moving chute 45.
The motor base 23 can only slide along the sliding groove 21 and cannot slide away from the sliding groove 21.
The horizontal output sliding bar 28 can slide or be fixed on the horizontal output fixing rod 48, and the horizontal output sliding bar 28 can only slide along the horizontal output fixing rod 48 and cannot slide away from the horizontal output fixing rod 48.
The horizontal rotation sliding block 29 can slide or be fixed on the horizontal output sliding rod 28, and the horizontal rotation sliding block 29 can only slide along the horizontal output sliding rod 28 and can not slide away from the horizontal output sliding rod 28.
The vertical rotary slide block 39 can slide or be fixed on the horizontal output slide bar 28, and the vertical rotary slide block 39 can only slide along the horizontal output slide bar 28 and can not slide away from the horizontal output slide bar 28.
The horizontal output sliding block 9 can slide or be fixed on the horizontal output sliding rod 28, the horizontal output sliding block 9 can only slide along the horizontal output sliding rod 28 and cannot slide away from the horizontal output sliding rod 28, and the horizontal output sliding block 9, the horizontal rotating sliding block 29 and the vertical rotating sliding block 39 can be fixed or separated from each other.
The distance between the horizontal extension end and the right-angle end of the right-angle rod 14 is equal to the distance between the smooth cylindrical hinge 8 at the lower end of the first auxiliary input rod and the transmission shaft of the first controllable motor 7.
The distance between the vertically elongated end of the right-angled bar 14 and the right-angled end is equal to the length of the vertical bar 19.
The length of the first input lever 12 is equal to the length of the first auxiliary input lever 10.
The length of the first link 16 is equal to the length of the first auxiliary link 17.
The right-angle rod 14 is in a right-angle shape. Ensuring that the vertical rod 19 is perpendicular to the plane of the platform 1 during its movement.
When the space metamorphic mechanism type palletizing robot mechanism works, when the first controllable motor 7 and the second controllable motor 5 are in a starting state, the first input rod 12 and the second input rod 4 are respectively driven to rotate, and the mechanical claw 46 is positioned in a vertical plane. When the third controllable motor 22 is in a starting state, the horizontal output sliding block 9, the horizontal output fixing rod 48, the horizontal rotating sliding block 29 and the vertical rotating sliding block 39 are all fixed with the horizontal output sliding rod 28, the third controllable motor 22 drives the third input rod 24 to rotate, so that the horizontal output sliding rod 28 is driven to slide along the horizontal output fixing rod 48, the mechanical gripper 46 is moved, and the mechanical gripper is in a first configuration at the moment; when the horizontal output sliding rod 28 and the horizontal output fixing rod 48 are fixed to each other, the vertical rotating slide block 39 and the horizontal output sliding rod 28 are fixed to each other, and the horizontal output slide block 9 and the horizontal rotating slide block 29 are fixed to each other, the third controllable motor 22 drives the third input rod 24 to rotate, so that the horizontal rotating slide block 29 is driven to move along the horizontal output sliding rod 28, and therefore the rotation of the mechanical gripper 46 in the horizontal direction is achieved, and at the time, the present invention is in the second configuration; when the horizontal output sliding rod 28 and the horizontal output fixing rod 48 are fixed to each other, the horizontal rotating slide block 29 and the horizontal output sliding rod 28 are fixed to each other, and the horizontal output slide block 9 and the vertical rotating slide block 39 are fixed to each other, the third controllable motor 22 drives the third input rod 24 to rotate, so that the vertical rotating slide block 39 is driven to move along the horizontal output sliding rod 28, and the rotation of the mechanical gripper 46 in the vertical direction is realized, and at the moment, the invention is in a third configuration; when the rotating motor 43 rotates, the rotating plate 44 is rotated, so that the mechanical gripper 46 rotates 360 degrees in the axial direction of the rotating plate 44. The gripping and releasing of the gripper fingers 46 is accomplished by pneumatic cylinder actuation.
Claims (3)
1. The utility model provides a full degree of freedom metamorphic mechanism formula pile up neatly machine people mechanism in space, includes platform, plane positioning mechanism, space drive mechanism and manipulator assembly body, its characterized in that, concrete structure and connection are:
the plane positioning mechanism comprises a first controllable motor, a second controllable motor, a platform fixing rod, a first input rod, a second input rod, a first auxiliary input rod, a smooth cylindrical hinge at the lower end of the first auxiliary input rod, a right-angle rod, a smooth cylindrical hinge at the horizontal extending end of the right-angle rod, a smooth cylindrical hinge at the right-angle end of the right-angle rod, a first connecting rod, a smooth cylindrical hinge at the vertical extending end of the right-angle rod, a first auxiliary connecting rod, a smooth cylindrical hinge at the upper end of the second input rod, a second connecting rod, a vertical rod, a smooth cylindrical hinge at the upper end of the vertical rod and a smooth cylindrical hinge at the lower end of the vertical rod, wherein the first controllable motor and the second controllable motor are both fixedly arranged on the platform, the platform fixing rod is fixed on the platform, a transmission shaft of the first controllable motor penetrates through the platform fixing rod to be fixed with the lower end of the first input rod, a transmission shaft of the second controllable motor, the lower end of the first auxiliary input rod is connected with the left end of the platform fixing rod through a smooth cylindrical hinge at the lower end of the first auxiliary input rod, the horizontal extending end of the right-angle rod is connected with the upper end of the first auxiliary input rod through a smooth cylindrical hinge at the horizontal extending end of the right-angle rod, the right-angle end of the right-angle rod is connected with the upper end of the first input rod through a smooth cylindrical hinge at the right-angle end of the right-angle rod, the lower end of the first connecting rod is connected, the vertical extending end of the right-angle rod is connected with the lower end of the first auxiliary connecting rod through a smooth cylindrical hinge at the vertical extending end of the right-angle rod, the upper end of the second input rod is connected with the lower end of the second connecting rod through a smooth cylindrical hinge at the upper end of the second input rod, the upper end of the vertical rod is connected with the upper end of the first auxiliary connecting rod through a smooth cylindrical hinge at the upper end of the vertical rod, and the lower end of the vertical rod is connected with the upper end of the first connecting rod and the upper end of the second connecting rod through a smooth cylindrical hinge at;
the space driving mechanism comprises a sliding chute, a third controllable motor, a motor base, a third input rod, a third connecting rod, a smooth cylindrical hinge at the lower end of the third connecting rod, a smooth cylindrical hinge at the upper end of the third connecting rod, a horizontal output sliding block, a horizontal output fixing rod and a horizontal output sliding rod, the sliding chute is fixed on the platform, the third controllable motor is fixedly installed on the motor base, the motor base is installed in the sliding chute, a transmission shaft of the third controllable motor is fixed with the lower end of the third input rod, the lower end of the third connecting rod is connected with the upper end of the third input rod through a smooth cylindrical hinge at the lower end of the third connecting rod, the upper end of the third connecting rod is connected with the horizontal output sliding block through a smooth cylindrical hinge at the upper end of the third connecting rod, the horizontal output fixing rod is horizontally fixed on the vertical rod, the horizontal output sliding rod is sleeved on the horizontal output fixing rod, and the horizontal output sliding block is sleeved on the horizontal output sliding rod;
the manipulator assembly comprises a horizontal rotating slide block, a horizontal rotating slide block hinge, a horizontal rotating connecting rod, a horizontal rotating cross rod, a first smooth cylindrical hinge of the horizontal rotating cross rod, a horizontal rotating output rod, a second smooth cylindrical hinge of the horizontal rotating cross rod, a vertical rotating plate, a smooth cylindrical hinge of the horizontal rotating output rod, a vertical rotating slide block, a hinge of the vertical rotating block, a smooth cylindrical hinge at the rear end of the vertical rotating connecting rod, a hinge of the vertical rotating plate, a smooth cylindrical hinge at the front end of the vertical rotating connecting rod, a rotating motor, a rotating plate, a rotating moving chute and a manipulator claw, wherein the horizontal rotating slide block is sleeved on the horizontal rotating slide rod, the upper end of the horizontal rotating slide block is connected with the rear end of the horizontal rotating connecting rod through the horizontal rotating slide block hinge, one end of the horizontal rotating cross rod is connected with, the other end of the horizontal rotating cross rod is vertically fixed with the rear end of the horizontal rotating output rod, the rear end of the horizontal rotating output rod is connected with the horizontal output slide rod through a second smooth cylindrical hinge of the horizontal rotating cross rod, the front end of the horizontal rotating output rod is connected with the rear end of the vertical rotating plate through a smooth cylindrical hinge of the horizontal rotating output rod, the vertical rotating slide block is sleeved on the horizontal output slide rod, the lower end of the vertical rotating block hinge is vertically installed on the vertical rotating slide block, the upper end of the vertical rotating block hinge is connected with the rear end of the vertical rotating connecting rod through a smooth cylindrical hinge at the rear end of the vertical rotating connecting rod, the lower end of the vertical rotating plate hinge is vertically installed on the vertical rotating plate, the upper end of the vertical rotating plate hinge is connected with the front end of the vertical rotating connecting rod through a smooth cylindrical hinge at the front end of the vertical rotating connecting rod, the rotating motor is fixedly installed, the rotary moving chute is fixedly arranged on the rotary plate, the mechanical gripper is arranged in the rotary moving chute,
when a first controllable motor (7) and a second controllable motor (5) are in a starting state, a first input rod (12) and a second input rod (4) are respectively driven to rotate, so that the positioning of a mechanical gripper (46) in a vertical plane is realized, when a third controllable motor (22) is in a starting state, a horizontal output sliding block (9), a horizontal output fixing rod (48), a horizontal rotating sliding block (29) and a vertical rotating sliding block (39) are all fixed with a horizontal output sliding rod (28), the third controllable motor (22) drives a third input rod (24) to rotate, so that the horizontal output sliding rod (28) is driven to slide along the horizontal output fixing rod (48), the movement of the mechanical gripper (46) is realized, and the mechanical gripper is in a first configuration state at the moment; when the horizontal output sliding rod (28) and the horizontal output fixing rod (48) are fixed with each other, the vertical rotating sliding block (39) and the horizontal output sliding rod (28) are fixed with each other, and the horizontal output sliding block (9) and the horizontal rotating sliding block (29) are fixed with each other, the third controllable motor (22) drives the third input rod (24) to rotate, so that the horizontal rotating sliding block (29) is driven to move along the horizontal output sliding rod (28), the rotation of the mechanical claw (46) in the horizontal direction is realized, and the mechanical claw is in a second configuration state at the moment; when the horizontal output sliding rod (28) and the horizontal output fixing rod (48) are fixed with each other, the horizontal rotating sliding block (29) and the horizontal output sliding rod (28) are fixed with each other, and the horizontal output sliding block (9) and the vertical rotating sliding block (39) are fixed with each other, the third controllable motor (22) drives the third input rod (24) to rotate, so that the vertical rotating sliding block (39) is driven to move along the horizontal output sliding rod (28), the rotation of the mechanical claw (46) in the vertical direction is realized, and the mechanical claw is in a third configuration state at the moment; when the rotating motor (43) rotates, the rotating plate (44) is driven to rotate, so that the mechanical gripper (46) can rotate in 360 degrees in the axial direction of the rotating plate (44);
the motor base can only slide along the sliding groove and cannot slide away from the sliding groove; the horizontal output sliding rod can slide or be fixed on the horizontal output fixing rod, and the horizontal output sliding rod can only slide along the horizontal output fixing rod and cannot slide away from the horizontal output fixing rod; the horizontal rotating sliding block can slide or be fixed on the horizontal output sliding rod, and the horizontal rotating sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod; the vertical rotating sliding block can slide or be fixed on the horizontal output sliding rod, and the vertical rotating sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod; the horizontal output sliding block can slide or be fixed on the horizontal output sliding rod, and the horizontal output sliding block can only slide along the horizontal output sliding rod and cannot slide away from the horizontal output sliding rod.
2. The space full-degree-of-freedom metamorphic robot palletizer mechanism according to claim 1, wherein the vertical rotating block hinge is rotatable on a vertical rotating slider along an axis thereof; the vertical rotation plate hinge can rotate on the vertical rotation plate along an axis thereof.
3. The space full-freedom metamorphic mechanism type palletizing robot mechanism as claimed in claim 1, wherein the number of the mechanical claws is two, and the mechanical claws are symmetrically arranged at two ends of the rotary moving chute and can only move along the rotary moving chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082332.9A CN107932477B (en) | 2017-11-07 | 2017-11-07 | Space full-freedom metamorphic mechanism type stacking robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082332.9A CN107932477B (en) | 2017-11-07 | 2017-11-07 | Space full-freedom metamorphic mechanism type stacking robot mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN107932477A CN107932477A (en) | 2018-04-20 |
| CN107932477B true CN107932477B (en) | 2020-02-11 |
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