CN203006510U - Transportation stacking mechanism - Google Patents
Transportation stacking mechanism Download PDFInfo
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- CN203006510U CN203006510U CN 201220731127 CN201220731127U CN203006510U CN 203006510 U CN203006510 U CN 203006510U CN 201220731127 CN201220731127 CN 201220731127 CN 201220731127 U CN201220731127 U CN 201220731127U CN 203006510 U CN203006510 U CN 203006510U
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Abstract
A transportation stacking mechanism comprises a base, a rotating machine support, an arm lifting mechanism, an end effector translation retaining mechanism and a flange plate, wherein the rotating machine support is connected on the base through a rotating pair. The arm lifting mechanism comprises a big arm, a small arm, a first driving rod, a first connection rod, a second connection rod, a third connection rod, a second driving rod and a fourth connection rod, wherein the big arm, the small arm, the second connection rod and the third connection rod form a parallelogram mechanism, and all the rod pieces are connected through hinges. The end effector translation retaining mechanism comprises a parallelogram mechanism composed of the big arm, a first auxiliary connection rod, a triangle auxiliary frame and the rotating machine frame and a parallelogram mechanism composed of the small arm, a second auxiliary connection rod, the triangle auxiliary frame and an end effector translation retainer, wherein all the rod pieces are connected through hinges. The flange plate is connected on the end effector translation retainer through the rotating pair. Different end effectors can be installed according to actual requirements.
Description
Technical field
The utility model relates to robot for carrying and piling field, particularly a kind of carrying and piling structure.
Background technology
Raising along with the mechanical automation level, robot palletizer is widely used in the operations such as the obtaining of workpiece in enormous quantities, carrying, piling, de-stacking, packing, is the high-new electronic product that integrates the subjects such as machinery, electronics, information, intellectual technology, computer science.The robot palletizer technology is solving manpower shortage, is improving labor productivity, is reducing production costs, reducing labor strength, is improving the aspect such as production environment and have very large potentiality.Existing robot palletizer mostly is the joint type open chain mechanism, have the advantages such as compact conformation, flexible movements, working space be large, but drive motor is placed on joint of robot, increased the carrying of robot, poor rigidity, inertia is large, error accumulation is large, easily produces and impacts, and makes the robot palletizer bumpy motion, the piling accuracy is low, and be difficult to satisfy at a high speed, heavily loaded, accurate etc. carried the piling requirement.
Summary of the invention
The purpose of this utility model is to provide a kind of carrying and piling structure, the employing servomotor is controlled, all motors are installed on frame, the deficiency such as can overcome conventional code stack machine device person joint heaviness, poor rigidity, inertia is large, error accumulation is large, have that controlled, adjustable, function admirable, output are flexible, the dynamo-electric performance that merges, and can be according to actual needs, soft readjustment path of motion realizes that accurately hand is grabbed the location and carrying is moved.
The utility model achieves the above object by the following technical programs:
Described rotary frame is connected on base by the first revolute, is controlled by the first servomotor, realizes rotation at vertical direction by programming.
described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, the 4th connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with second connecting rod one end by the 5th fraising, the second connecting rod other end is hinged with forearm one end by the 6th fraising, the second connecting rod middle-end is hinged with third connecting rod one end by the 7th fraising, the third connecting rod other end is hinged with large arm one end and rotary frame by the 8th fraising, the second driving lever one end is hinged with rotary frame by the 9th fraising, the other end is hinged with the 4th connecting rod one end by the tenth fraising, the 4th connecting rod other end is hinged with large arm middle-end by the 11 fraising, large arm, forearm, second connecting rod, third connecting rod consists of a parallel-crank mechanism, the first driving lever is controlled by the second servomotor, the second driving lever is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane by programming.
described end-effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end-effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 12 fraising, the other end is hinged with triangle auxiliary frame one end by the 13 fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 14 fraising, the second auxiliary connecting rod other end is hinged with end-effector translation retainer one end by the 15 fraising, the end-effector translation retainer other end is hinged with forearm one end by the 16 fraising, two parallelogram mechanisms in series, make end-effector remain translation.
Described flange is connected on end-effector translation retainer by the second revolute, and different end-effectors is installed according to actual needs.
The utility model outstanding advantages is:
1, adopt servomotor to control, flexible operation, by programming, the output movement track of regulating mechanism, have flexibility preferably according to actual needs, can accurately realize the various carrying piling actions in working space.
2, adopt two parallelogram mechanisms in series to form end-effector translation maintaining bodies, make end-effector remain translation, can realize reposefully the actions such as the crawl of object and carrying.
3, in power input mechanism, adopt large arm, forearm, second connecting rod, third connecting rod to form a parallel-crank mechanism, make structure more stable, increased its rigidity, improved its load-carrying capacity.
Description of drawings
Fig. 1 is the structural representation of a kind of carrying and piling structure described in the utility model.
Fig. 2 is the arm lifting mechanism schematic diagram of a kind of carrying and piling structure described in the utility model.
Fig. 3 is the end-effector translation maintaining body schematic diagram of a kind of carrying and piling structure described in the utility model.
Fig. 4 is the first work schematic diagram of a kind of carrying and piling structure described in the utility model.
Fig. 5 is the second work schematic diagram of a kind of carrying and piling structure described in the utility model.
Fig. 6 is the 3rd work schematic diagram of a kind of carrying and piling structure described in the utility model.
Fig. 7 is the 4th work schematic diagram of a kind of carrying and piling structure described in the utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described further.
A kind of carrying and piling structure described in the utility model comprises base, rotary frame, arm lifting mechanism, end-effector translation maintaining body, flange.
Contrast Fig. 1, described rotary frame 3 is connected on base 1 by the first revolute 2, is controlled by the first servomotor, realizes rotation at vertical direction by programming.
contrast Fig. 1, Fig. 2, described arm lifting mechanism is by large arm 10, forearm 11, the first driving lever 30, first connecting rod 29, second connecting rod 23, third connecting rod 26, the second driving lever 5, the 4th connecting rod 8 forms, large arm 10 1 ends are hinged with rotary frame 3 by the first fraising 7, the other end is hinged with forearm 11 middle-ends by the second fraising 19, the first driving lever 30 1 ends are hinged with rotary frame 3 by the 3rd fraising 31, the other end is hinged with first connecting rod 29 1 ends by the 4th fraising 32, first connecting rod 29 other ends are hinged with second connecting rod 23 1 ends by the 5th fraising 28, second connecting rod 23 other ends are hinged with forearm 11 1 ends by the 6th fraising 22, second connecting rod 23 middle-ends are hinged with third connecting rod 26 1 ends by the 7th fraising 27, third connecting rod 26 other ends are hinged with large arm 10 1 ends and rotary frame 3 by the first fraising 7, the second driving lever 5 one ends are hinged with rotary frame 3 by the 8th fraising 4, the other end is hinged by the 9th fraising the 6 and the 4th connecting rod 8 one ends, the 4th connecting rod 8 other ends are hinged with large arm 10 middle-ends by the tenth fraising 9, large arm 10, forearm 11, second connecting rod 23, third connecting rod 26 consists of a parallel-crank mechanism, the first driving lever 30 is controlled by the second servomotor, the second driving lever 5 is controlled by the 3rd servomotor, realize lifting in the arm lifting mechanism plane space by programming.
contrast Fig. 1, Fig. 3, described end-effector translation maintaining body comprises by large arm 10, the first auxiliary connecting rod 24, triangle auxiliary frame 20, the parallel-crank mechanism that rotary frame 3 forms and by forearm 11, the second auxiliary connecting rod 17, triangle auxiliary frame 20, the parallel-crank mechanism that end-effector translation retainer 13 forms, the first auxiliary connecting rod 24 1 ends are hinged with rotary frame 3 by the 11 fraising 25, the other end is hinged with triangle auxiliary frame 20 1 ends by the 12 fraising 21, triangle auxiliary frame 20 second ends are hinged with large arm 10 and forearm 11 by the second fraising 19, triangle auxiliary frame 20 the 3rd end is hinged by the 13 fraising the 18 and second auxiliary connecting rod 17, second auxiliary connecting rod 17 other ends are hinged with end-effector translation retainer 13 1 ends by the 14 fraising 16, end-effector translation retainer 13 other ends are hinged with forearm 11 1 ends by the 15 fraising 12, two parallelogram mechanisms in series, make end-effector remain translation.
Contrast Fig. 1, described flange 15 is connected on end-effector translation retainer 13 by the second revolute 14, and different end-effectors is installed according to actual needs, is controlled by the 4th servomotor, realizes rotation at vertical direction by programming.
Contrast Fig. 4, described a kind of carrying and piling structure is at the working state schematic representation of realizing the dead ahead carrying uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.
Contrast Fig. 5, described a kind of carrying and piling structure realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead at a distance under driving.
Contrast Fig. 6, described a kind of carrying and piling structure realizes in uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor the working state schematic representation that carry in the dead ahead nearby under driving.
Contrast Fig. 7, described a kind of carrying and piling structure is at the working state schematic representation of realizing dead ahead eminence carrying uniting of the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor under driving.
Claims (1)
1. a carrying and piling structure, is characterized in that, comprises base, rotary frame, arm lifting mechanism, end-effector translation maintaining body, flange, and its structure and connection mode are:
Described rotary frame is connected on base by the first revolute,
described arm lifting mechanism is by large arm, forearm, the first driving lever, first connecting rod, second connecting rod, third connecting rod, the second driving lever, the 4th connecting rod forms, large arm one end is hinged with rotary frame by the first fraising, the other end is hinged with the forearm middle-end by the second fraising, the first driving lever one end is hinged with rotary frame by the 3rd fraising, the other end is hinged with first connecting rod one end by the 4th fraising, the first connecting rod other end is hinged with second connecting rod one end by the 5th fraising, the second connecting rod other end is hinged with forearm one end by the 6th fraising, the second connecting rod middle-end is hinged with third connecting rod one end by the 7th fraising, the third connecting rod other end is hinged with large arm one end and rotary frame by the 8th fraising, the second driving lever one end is hinged with rotary frame by the 9th fraising, the other end is hinged with the 4th connecting rod one end by the tenth fraising, the 4th connecting rod other end is hinged with large arm middle-end by the 11 fraising,
described end-effector translation maintaining body comprises by large arm, the first auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that rotary frame forms and by forearm, the second auxiliary connecting rod, the triangle auxiliary frame, the parallel-crank mechanism that end-effector translation retainer forms, the first auxiliary connecting rod one end is hinged with rotary frame by the 12 fraising, the other end is hinged with triangle auxiliary frame one end by the 13 fraising, triangle auxiliary frame the second end is hinged with large arm and forearm by the second fraising, triangle auxiliary frame the 3rd end is hinged with the second auxiliary connecting rod by the 14 fraising, the second auxiliary connecting rod other end is hinged with end-effector translation retainer one end by the 15 fraising, the end-effector translation retainer other end is hinged with forearm one end by the 16 fraising,
Described flange is connected on end-effector translation retainer by the second revolute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731127 CN203006510U (en) | 2012-12-27 | 2012-12-27 | Transportation stacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220731127 CN203006510U (en) | 2012-12-27 | 2012-12-27 | Transportation stacking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203006510U true CN203006510U (en) | 2013-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220731127 Expired - Fee Related CN203006510U (en) | 2012-12-27 | 2012-12-27 | Transportation stacking mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN203006510U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN104552275A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Simple controllable mechanical mobile manipulator |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104647335A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod transfer robot |
| CN104647334A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod mobile manipulator |
-
2012
- 2012-12-27 CN CN 201220731127 patent/CN203006510U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN104552275A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Simple controllable mechanical mobile manipulator |
| CN104647354A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Multi-freedom-degree controllable mechanism type hybrid carrying robot |
| CN104647335A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod transfer robot |
| CN104647334A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable multi-connecting-rod mobile manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20151227 |
|
| EXPY | Termination of patent right or utility model |