Robot palletizer for carrying

Abstract

The invention relates to a robot palletizer for carrying. The robot palletizer comprises a base, a rotary rack, a large arm parallelogram mechanism, a wrist horizontal posture keeping parallelogram mechanism, an arm parallelogram mechanism, a wrist and an inclined guide rail, wherein the rotary rack is arranged on the base, the large arm parallelogram mechanism is arranged on the rotary rack, the arm parallelogram mechanism is connected with the large arm parallelogram mechanism and the wrist horizontal posture keeping parallelogram mechanism, the wrist is connected with the arm parallelogram mechanism, the inclined guide rail is arranged on the rotary rack, a sliding block driven by a linear driving element is arranged on the inclined guide rail and is movably connected with a fixed connecting piece at the lower end of a large arm below the wrist horizontal posture keeping parallelogram mechanism, the lower end of a large arm above the large arm parallelogram mechanism is coaxially connected with the upper end of the linear driving element, and the lower end of the linear driving element is connected with the rotary rack by a rotary hinge. According to the robot palletizer, the machinery structure of the robot palletizer is simplified, and the stress mode of the mechanism is optimized, so that the structure is compact, the energy loss is saved, and the manufacturing cost is low.

Description

technical field [0001] The invention relates to an industrial robot, especially a handling and stacking robot whose main kinematic joints are driven by linear elements to form a parallel kinematic mechanism. technical background [0002] At present, there are several series of mature palletizing robots, such as KUKA series in Germany, ABB series in Sweden and FANUC, OKURA, FUJI series in Japan. The above-mentioned series of palletizing robots almost occupy the global market share. These commonly used palletizing robots can be divided into two categories in terms of structural characteristics. One is a traditional articulated robot represented by ABB's IRB660. Each joint of this robot is connected to a motor through a reducer to form a so-called serial robot. The other is represented by the Ace series developed by FUJI Corporation. The main structure uses a parallelogram mechanism to form a parallel mechanism. Its drive uses linear drive elements such as ball screws and rol...

AI Technical Summary

Problems solved by technology

The robot disclosed in Chinese patent CN200610113034.7B consists of two crank rocker mechanisms supporting the big arm and the small arm by the linear drive element of the screw nut. system may be unstable

Its shortcomings mainly include: when the linear drive unit in the horizontal direction is at a large angle with the boom, the force on the linear drive unit is too large, but it cannot be adjusted by changing the driving direction; the linear drive in the vertical direction needs to be guided by the vertical guide rail , increasing the complexity of the mechanism, the important thing is that its motion direction is not consistent with the driving direction, which does not conform to the transmission method and principle of effective force

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