Large-workspace controllable stack device

A technology of working space and palletizing device, applied in the field of controllable palletizing device in large working space, can solve the problems of joint error accumulation, heavy arm, poor rigidity, etc., and achieve small motion inertia, flexible trajectory, and easy remote control. Effect

Inactive Publication Date: 2013-03-27
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 device with a large working space. All driving motors are installed on the frame, which can solve the problem that the motors of the traditional open-chain series palletizing robot ar

Method used

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  • Large-workspace controllable stack device

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[0025] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] control figure 1 , 7 , 8, 9 and 10, a large working space controllable palletizing device, including a large arm swinging branch chain, a middle arm swinging branch chain, a small arm swinging branch chain, a posture maintaining branch chain, an end effector and a frame. The frame is installed on the rotary platform to realize the handling and stacking work of the entire robot's large working space.

[0027] control figure 1 , 2 , the big arm swing chain is connected by the first linear drive 4, the big arm 7, the middle arm 9, the small arm 11, the end effector 30 and the frame 2, and one end of the first linear drive 4 passes through the first The rotating pair 3 is connected to the frame 2, and the other end is connected to the boom 7 through the second rotating pair 5. One end of the boom 7 is connected to the fra...

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Abstract

The invention relates to a large-workspace controllable stack device. The stack device comprises a large arm swing branched chain, a middle arm swing branched chain, a small arm swing branched chain, a posture maintaining branched chain, an end actuator and a rack. A robot completes work of the carrying stack with large workspace and flexible track output through combined motion of the large arm swing branched chain, the middle arm swing branched chain and the small arm swing branched chain. During operation, three groups of parallelogram structures of the posture maintaining branched chain can guarantee the end actuator to be in a horizontal state. All servo motors are installed on the rack, bars are light, the motion inertia of the robot is small, the dynamics performance is good, and the requirement for the high-speed overload carrying stack can be better satisfied.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a controllable palletizing device with a large working space. Background technique [0002] Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, automatic production lines of stamping machines, automatic assembly lines, handling and palletizing, and containers. The 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 palletizing robots because of its compact structure, flexible movements, small footprint, and large working space. However, the drive motors of such traditional open-chain tandem-structured palletizing robots need to be installed at the joints, resulting in problems such as heavy robot arm weight, poor rigidity, large inerti...

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Application Information

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IPC IPC(8): B25J9/02B25J9/06B25J18/02B65G61/00
Inventor 蔡敢为张金玲潘宇晨高德中王小纯
Owner GUANGXI UNIV
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