Spatial four-degree-of-freedom controllable palletizing robot

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...

AI Technical Summary

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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