Spatial four-degree-of-freedom controllable palletizing robot

A palletizing robot and four-degree-of-motion technology, which is applied in the field of four-degree-of-space controllable palletizing robots, can solve problems such as joint error accumulation, bulky arms, and poor rigidity, and achieve small error accumulation, flexible trajectory, and load-carrying. powerful effect

Active Publication Date: 2013-02-06
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a controllable palletizing robot with four activities in space. All driving motors are installed on the frame, which can solve the problem that the motors of the traditional open-chain serial palletizing robot are installed at its hinges, resulting in bulky arms. , poor rigidity, large inertia, joint error accumulation and other problems, the robot has good dynamic performance, and can better meet the requirements of high-speed heavy-duty handling and palletizing

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  • Spatial four-degree-of-freedom controllable palletizing robot
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  • Spatial four-degree-of-freedom controllable palletizing robot

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Embodiment Construction

[0026] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] control figure 1 , 8 , 9, 10 and 11, a controllable palletizing robot with four degrees of activity in space, including a two-degree-of-freedom controllable five-bar mechanism branch chain, a four-bar mechanism branch chain, an attitude maintaining branch chain, a rotation angle adjustment branch chain, a moving platform, Electromagnetic clamping device and frame. The frame is installed on the rotary platform to realize the handling and stacking work of the five-degree activities in the entire robot space.

[0028] control figure 1 , 2 , the branch chain of the two-degree-of-freedom controllable five-bar mechanism is formed by connecting the first active rod 1 , the second active rod 4 , the first connecting rod 2 , the second connecting rod 3 and the frame 15 . One end of the first active rod 1 is connected to the...

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Abstract

The invention relates to a spatial four-degree-of-freedom controllable palletizing robot which comprises a two-degree-of-freedom controllable five-rod mechanism branch, a four-rod mechanism branch, a posture maintaining branch, a corner adjusting branch, a movable platform, an electromagnetic clamping device and a frame. The robot finishes the carrying / palletizing work of large working space and flexible variable-track output through the combined movement of the two-degree-of-freedom controllable five-rod mechanism and the four-rod mechanism. In the working process, three groups of parallelogram structures of the posture maintaining branch can ensure that the platform is always kept in a horizontal state; and moreover, all servo motors are mounted on the frame, the rod member can be made into a light rod, and the robot has the advantages of small motion inertia and good dynamic performance, and can preferably meet the requirements of high-speed heavy-load carrying / palletizing.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a palletizing robot with controllable four-degree-of-space activities. Background technique [0002] Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of such traditional palletizing robots with an open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G61/00B25J9/08B25J13/00
Inventor 蔡敢为潘宇晨王红州张林陈渊温芳李岩舟王汝贵
Owner GUANGXI UNIV
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