CN204712038U - A kind of high accuracy automobile robot palletizer - Google Patents
A kind of high accuracy automobile robot palletizer Download PDFInfo
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- CN204712038U CN204712038U CN201520298210.3U CN201520298210U CN204712038U CN 204712038 U CN204712038 U CN 204712038U CN 201520298210 U CN201520298210 U CN 201520298210U CN 204712038 U CN204712038 U CN 204712038U
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Abstract
A kind of high accuracy automobile robot palletizer, comprises series connection piling main chain, a rocking arm vernier control subchain and executing agency's subchain.Described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and is arranged in large arm, carries out vernier control by four-bar mechanism to main chain; Described executing agency subchain supports large arm and regulates.The utility model is by the connection of multiple mechanical arm and fuselage, thus the six degree of freedom realizing end orbit exports, this mechanism have agile, precision is high, movement inertia is little, power performance is good, and compact conformation, working space are large, carrying is large, multi-motion track exports, it is simple to control, and can apply to the multiple occasion of piling.
Description
Technical field
The present invention relates to automobile robot field, particularly a kind of high accuracy automobile robot palletizer.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, but along with the development and progress of society, the raising of living standards of the people, requirement for automobile is also more and more higher, the shortcoming of traditional serial manipulator displays gradually, the development need of modern society can not be met, be therefore badly in need of wanting a kind of brand-new automobile palletizing apparatus.Now emerging parallel robot is compared with traditional serial manipulator; have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end piling actuator inertia is little etc. feature; drive unit can be placed on fixed platform or close to the position of fixed platform; such motion parts is lightweight; speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.
A kind of high accuracy automobile robot palletizer provided by the utility model, comprise a series connection piling main chain and a rocking arm vernier control subchain, described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and be arranged in large arm, carry out vernier control by four-bar mechanism to main chain, mechanism has lightweight, compact conformation, good rigidity, bearing capacity is large, and working space is large, can not only meet automobile palletizing operation, also save a large amount of labours simultaneously, cut down expenses.The automobile robot palletizer of this rocking arm vernier control subchain has good controlling functions, and can be operated by single, reliability is high, mechanism has compact conformation, and control simple advantage, working space is large, move after making mechanism's center of gravity, more occasions can be applied to.
Summary of the invention
The object of the present invention is to provide a kind of high accuracy automobile robot palletizer; comprise series connection piling main chain, a rocking arm vernier control subchain and executing agency's subchain, described series connection piling main chain can control the motion that this automobile robot carries out six degree of freedom in space; Described rocking arm vernier control subchain forms four-bar mechanism by two rocking arms and two connecting rods, and is arranged in large arm, carries out vernier control by four-bar mechanism to main chain; Described executing agency subchain supports large arm and regulates, the present invention is by the connection of multiple mechanical arm and fuselage, thus the six degree of freedom realizing end orbit exports, this mechanism have agile, precision is high, movement inertia is little, power performance is good, and compact conformation, working space are large, carrying is large, multi-motion track exports, it is simple to control, and can apply to the multiple occasion of piling, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs: a kind of high accuracy automobile robot palletizer, and be made up of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain, its structure and connected mode are:
Described series connection piling main chain is by car body, principal arm, large arm, second rocking arm, shoulder arm, bracket and piling arm are formed by connecting, column first link is connected with car body by the 12 revolute pair, column second link is connected with principal arm one end by the first revolute pair, the principal arm other end is connected with large arm first link by the first ball pair, large arm second link is connected by the second revolute pair and the second rocking arm first link, second second, rocking arm link is connected with shoulder arm one end by the 3rd revolute pair, the shoulder arm other end is connected with bracket one end by the 4th revolute pair, the bracket other end is connected with piling arm by the 5th revolute pair.
Described rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, first first, rocking arm link is connected by the 6th revolute pair and large arm the 3rd link, first second, rocking arm link is connected with first connecting rod one end by the 7th revolute pair, the first connecting rod other end is connected by the 8th revolute pair and the second rocking arm second link, first rocking arm the 3rd link is connected with second connecting rod one end by the 9th revolute pair, and the second connecting rod other end is connected by the tenth revolute pair and the second rocking arm the 3rd link.
Described executing agency subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and slide block, slide block one end is connected by the first moving sets and principal post the 3rd link chute, the slide block other end is connected with crank arm one end by the 11 revolute pair, the crank arm other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with large arm the 4th link by the second ball pair.
In said structure, by the resultant motion of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain, reach the control of the change in location to mechanism, thus realize the palletizing operation of automobile.
Outstanding advantages of the present invention is:
1, type of drive of the present invention is flexible and changeable, is conducive to the control of robot palletizer;
2, the multiple mechanical arm of the present invention is connected with connecting rod, and control simple, reliability is high, and accumulated error is little, considerably increases mechanism's rigidity;
3, the present invention adopts four-bar mechanism to close chaindriven form, effective weight reducing each component, has that movement inertia is little, track exports flexibly, reliable operation, precision advantages of higher;
4 and the design of rocking arm movable type improves the working space of robot greatly, can avoid the dead-centre position of mechanism, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
5, lighter bar made by rod member, and mechanism kinematic inertia is little, and dynamic performance is good.
Accompanying drawing explanation
Fig. 1 is the first operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 2 is the first work rearview of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 3 is the second operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 4 is the 3rd operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 5 is the 4th operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 6 is the 5th operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 7 is the 6th operating diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Fig. 8 is the slide block structure schematic diagram of a kind of high accuracy automobile robot palletizer of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, a kind of high accuracy automobile robot palletizer, its structure and connected mode are:
Described series connection piling main chain is by car body 1, principal arm 2, large arm 3, second Rocker arm 5, shoulder arm 8. bracket 9 and piling arm 10 are formed by connecting, column 30 first links are connected with car body 1 by the 12 revolute pair 29, column 2 second links are connected with principal arm 2 one end by the first revolute pair 13, principal arm 2 other end is connected with large arm 3 first links by the first ball secondary 14, large arm 3 second is connected and is connected by the second revolute pair 16 and the second Rocker arm 5 first link, second Rocker arm 5 second link is connected with shoulder arm 8 one end by the 3rd revolute pair 21, shoulder arm 8 other end is connected with bracket 9 one end by the 4th revolute pair 22, bracket 9 other end is connected with piling arm 10 by the 5th revolute pair 23.
Described rocking arm vernier control subchain is by the first Rocker arm 4, second Rocker arm 5, first connecting rod 6 and second connecting rod 7 are formed by connecting, first Rocker arm 4 first link is connected by the 6th revolute pair 15 and large arm 3 the 3rd link, first Rocker arm 4 second link is connected with first connecting rod 6 one end by the 7th revolute pair 17, first connecting rod 6 other end is connected by the 8th revolute pair 18 and the second Rocker arm 5 second link, first Rocker arm 4 the 3rd link is connected with second connecting rod 7 one end by the 9th revolute pair 19, second connecting rod 7 other end is connected by the tenth revolute pair 20 and the second Rocker arm 5 the 3rd link.
Described executing agency subchain is formed by connecting by car body 1, crank arm 12, third connecting rod 11, large arm 3 and slide block 26, slide block 26 one end is connected by the first moving sets 28 and column 30 the 3rd link chute, slide block 26 other end is connected with crank arm 12 one end by the 11 revolute pair 27, crank arm 12 other end is connected with third connecting rod 11 one end by the 11 revolute pair 25, and third connecting rod 11 other end is connected with large arm 3 the 4th link by the second ball secondary 24.
In said structure, realized the palletizing operation of automobile by the change in location of connect piling main chain and this Liang Ge mechanism of rocking arm vernier control subchain.
As depicted in figs. 1 and 2, the present invention is in the first work, and principal arm and large arm are in preparation state.
As shown in Figure 3, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in lower position part.
As shown in Figure 4, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in anterior locations part.
As shown in Figure 5, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation of place's back location part.
As shown in Figure 6, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in leftward position part.
As shown in Figure 7, the present invention, under the control of principal arm, large arm, rocking arm and shoulder arm, completes the palletizing operation to being in top position part.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, a kind of high accuracy automobile robot palletizer of the present invention's design can complete the palletizing operation in six orientation, space such as mobile and upset.
Claims (1)
1. a high accuracy automobile robot palletizer, is made up of series connection piling main chain, rocking arm vernier control subchain and executing agency's subchain, it is characterized in that:
Described series connection piling main chain is by car body, principal arm, large arm, second rocking arm, shoulder arm, bracket and piling arm are formed by connecting, column first link is connected with car body by the 12 revolute pair, column second link is connected with principal arm one end by the first revolute pair, the principal arm other end is connected with large arm first link by the first ball pair, large arm second link is connected by the second revolute pair and the second rocking arm first link, second second, rocking arm link is connected with shoulder arm one end by the 3rd revolute pair, the shoulder arm other end is connected with bracket one end by the 4th revolute pair, the bracket other end is connected with piling arm by the 5th revolute pair,
Described rocking arm vernier control subchain is formed by connecting by the first rocking arm, the second rocking arm, first connecting rod and second connecting rod, first first, rocking arm link is connected by the 6th revolute pair and large arm the 3rd link, first second, rocking arm link is connected with first connecting rod one end by the 7th revolute pair, the first connecting rod other end is connected by the 8th revolute pair and the second rocking arm second link, first rocking arm the 3rd link is connected with second connecting rod one end by the 9th revolute pair, the second connecting rod other end is connected by the tenth revolute pair and the second rocking arm the 3rd link
Described executing agency subchain is formed by connecting by car body, crank arm, third connecting rod, large arm and slide block, slide block one end is connected by the first moving sets and principal post the 3rd link chute, the slide block other end is connected with crank arm one end by the 11 revolute pair, the crank arm other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with large arm the 4th link by the second ball pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520298210.3U CN204712038U (en) | 2015-05-11 | 2015-05-11 | A kind of high accuracy automobile robot palletizer |
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| CN201520298210.3U CN204712038U (en) | 2015-05-11 | 2015-05-11 | A kind of high accuracy automobile robot palletizer |
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| CN204712038U true CN204712038U (en) | 2015-10-21 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105291100A (en) * | 2015-11-20 | 2016-02-03 | 覃煦 | Mechanical arm working at multiple angles |
| CN105369840A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm |
| CN105369839A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Six-rod and twelve-pair excavating mechanism working at many angles |
| CN105364923A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Controllable mechanism type mechanical arm |
| CN105397803A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Multi-degree-of-freedom mechanical arm |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
-
2015
- 2015-05-11 CN CN201520298210.3U patent/CN204712038U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105369840B (en) * | 2015-11-10 | 2017-11-07 | 南宁邃丛赋语科技开发有限责任公司 | A kind of multiple degrees of freedom becomes born of the same parents' palletizing mechanical arm in parallel |
| CN105369840A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm |
| CN105369839A (en) * | 2015-11-10 | 2016-03-02 | 南宁邃丛赋语科技开发有限责任公司 | Six-rod and twelve-pair excavating mechanism working at many angles |
| CN105252523A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Controllable mechanism type industrial robot manipulator |
| CN105291100A (en) * | 2015-11-20 | 2016-02-03 | 覃煦 | Mechanical arm working at multiple angles |
| CN105364923A (en) * | 2015-11-20 | 2016-03-02 | 覃珠强 | Controllable mechanism type mechanical arm |
| CN105397803A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Multi-degree-of-freedom mechanical arm |
| CN105397804A (en) * | 2015-11-20 | 2016-03-16 | 覃珠强 | Industrial robot manipulator capable of achieving multi-angle working |
| CN105252523B (en) * | 2015-11-20 | 2017-10-20 | 广州慧谷自动化设备有限公司 | Controllable-mechanism type industrial robot manipulator |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
| CN105397803B (en) * | 2015-11-20 | 2017-12-08 | 重庆妙坤生物科技有限责任公司 | Multi-degree-of-freemechanical mechanical arm |
| CN105364923B (en) * | 2015-11-20 | 2018-04-24 | 肖珍兵 | Controllable-mechanism type mechanical arm |
| CN105252521B (en) * | 2015-11-20 | 2018-05-01 | 南宁邃丛赋语科技开发有限责任公司 | Multiple degrees of freedom industrial robot manipulator |
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| 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: 20151021 Termination date: 20160511 |
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| CF01 | Termination of patent right due to non-payment of annual fee |