Wrist transmission mechanism of stacking robots

A stacking robot and transmission mechanism technology, which is applied in the field of stacking robot wrist transmission mechanism, can solve the problems of high cost and complex structure of wrist transmission mechanism, and achieve the effect of low cost, simple structure and easy conversion

Inactive Publication Date: 2010-06-16
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problems of the existing cylindrical coordinate stacking robot and its wrist transmission mechanism with complex structure and high cost, the present invention proposes the following technical solutions

Method used

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  • Wrist transmission mechanism of stacking robots
  • Wrist transmission mechanism of stacking robots
  • Wrist transmission mechanism of stacking robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0091] On the beer production line, the stacking robot is required to pick up the arranged beer cases from the input line and put them on the output line to stack them into stacks. Since the movement direction of finished products on the input and output lines is arranged vertically on the horizontal plane, the robot arm is required to rotate 90 degrees during the handling process. In order to ensure the stability of the movement, the grab box part at the lower part of the robot wrist is required to perform translational movement during the movement; that is, during the handling process of the robot arm rotating 90 degrees, the robot wrist rotates 90 degrees in the opposite direction relative to the swing arm, so that the beer box Only movement occurs, no rotation occurs.

[0092] The specific application of mechanism of the present invention is as follows Figure 7 : the label 101 in the figure is the main body of the stacking robot. The arranged beer cases 104 are input from...

Embodiment 2

[0097] When the input and output pipelines are arranged in parallel, the specific application is as follows (see Figure 9 ): the number 101 in the figure is the main body of the stacking robot. The arranged materials 104 are transported from the input assembly line 102 to the designated position, and are transported by the stacker to the pallet 105 of the output assembly line 103, and finally the whole stack is output; the inventive mechanism is applied to the stacker, and the number of gear teeth Meet Z 2 = Z 6 ,Z 3 = Z 5 (the number of teeth of the first bevel gear (2) is Z 2 , the number of teeth of the second bevel gear (3) is Z 3 , the number of teeth of the third bevel gear (5) is Z 5 , the number of teeth of the fourth bevel gear (6) is Z 6 ), the rotation direction of the wrist rotation axis 7 relative to the swing arm is opposite to the rotation direction of the active rotation axis 9; the movement process of the mechanical arm is shown in Figure 10 , the me...

Embodiment 3

[0099] In some production lines, it is necessary for the grabbing part of the robot to rotate at a certain angle during the movement of the mechanical arm to meet the requirements of the next process, and the transmission ratio of the two pairs of bevel gears can be changed to meet the requirements.

[0100] For example, the number of gear teeth satisfies Z 2 = Z 3 ,Z 5 =1 / 2Z 6 (the number of teeth of the first bevel gear (2) is Z 2 , the number of teeth of the second bevel gear (3) is Z 3 , the number of teeth of the third bevel gear (5) is Z 5 , the number of teeth of the fourth bevel gear (6) is Z 6 ), the mechanical arm rotates 180 degrees counterclockwise. During the movement, the material rotates accordingly. When it reaches the end position, the material rotates 90 degrees counterclockwise.

[0101] Figure 11 It is a three-dimensional schematic diagram of the application of this embodiment on the assembly line, Figure 12 It is the trajectory diagram of the mec...

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Abstract

The invention relates to the field of mechanical transmission, and discloses a wrist transmission mechanism of stacking robots. In order to solve the problems such as complex structure, high cost and the like, the wrist transmission mechanism provides the following technical scheme which is characterized in that the right part of a swing arm (8) is in rotary connection with a bracket (1); a driving rotor (9) is fixedly connected with the right part of the swing arm (8); the right part of a transmission shaft passes through and is in rotary connection with a first bearing pedestal (10), while the left part passes through and is in rotary connection with a second bearing pedestal (10-1); the bottoms of the bearing pedestals are fixedly connected with the swing arm (8); a wrist rotor (7) is in rotary connection with the left end of the swing arm (8); the top of the wrist rotor (7) is fixedly connected with a fourth bevel gear (6), a first bevel gear (2) and the bracket (1); a second bevel gear (3) is fixedly connected with the right end of the transmission shaft (4) and is in meshed connection with the first bevel gear (2); and a third bevel gear (5) is fixedly connected with the left end of the transmission shaft (4) and is in meshed connection with the fourth bevel gear (6). The wrist transmission mechanism has the advantages of simple structure and low cost.

Description

technical field [0001] The invention relates to the field of mechanical transmission, in particular to a wrist transmission mechanism of a stacking robot. Background technique [0002] Stacking (also known as palletizing) is to stack single materials into stacks according to a certain pattern according to the idea of ​​integrated units, so as to realize storage, handling, loading and unloading transportation and other logistics activities. [0003] Stacking robots are often seen as pick-and-place systems that pick up one or more boxes from one location and place them on a pallet at pre-set locations. The common stacking modes are: grabbing, lifting and rotating objects from the production line, and then lowering them to the position of the next process, or lowering them to the position where they are stacked into stacks. In the above process, the main actions are: descending, rotating, grabbing and clamping objects, rotating, ascending or descending, releasing and placing o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G61/00B25J17/00B25J17/02F16H1/20
Inventor 毛立民邹剑杨琳
Owner DONGHUA UNIV
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