Multi-degree-of-freedom controllable mechanism type stacking robot

Abstract

The invention discloses a multi-degree-of-freedom controllable mechanism type stacking robot, which comprises a pedestal, a rotary rack, an arm lifting mechanism, an end effector translation retaining mechanism and a flange, wherein the rotary rack is connected to the pedestal through a rotary pair; the arm lifting mechanism comprises a large arm, a small arm, a first driving rod, a first connecting rod, a second driving rod and a second connecting rod; all the rods are connected through hinges; the end effector translation retaining mechanism comprises a parallelogram mechanism consisting of the large arm, a first auxiliary connecting rod, a triangular auxiliary rack and the rotary rack and a parallelogram mechanism consisting of the small arm, a second auxiliary connecting rod, a triangular auxiliary rack and an end effector translation retainer; all the rods are connected through hinges; the flange is connected to the end effector translation retainer through the rotary pair; and different end effectors can be arranged according to actual requirements. The multi-degree-of-freedom controllable mechanism type stacking robot has the advantages of simple structure, high bearing capacity, large working space, flexibility in operation, capabilities of driving through a servo motor for control, realizing intelligence and digital control and meeting handling and stacking requirements of high speed, heavy load, precision and the like and extremely broad application prospect.

Description

technical field [0001] The invention relates to the field of handling and palletizing robots, in particular to a multi-degree-of-freedom controllable mechanism palletizing robot. Background technique [0002] With the improvement of mechanical automation level, palletizing robots are widely used in the acquisition, handling, palletizing, depalletizing, packaging and other operations of large quantities of workpieces. high-tech electromechanical products. Palletizing robot technology has great potential in solving labor shortage, improving labor production efficiency, reducing production cost, reducing labor intensity of workers, and improving production environment. Most of the existing palletizing robots are joint-type open-chain mechanisms, which have the advantages of compact structure, flexible movement, and large work space. However, the drive motor is placed on the robot joints, which increases the robot's load, poor stiffness, large inertia, and error accumulation. ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom controllable mechanism palletizing robot, which is controlled by servo motors, and all motors are installed on the frame, which can overcome the bulky joints, poor stiffness, large inertia and error accumulation of traditional palletizing robots Large and other shortcomings, with controllable, adjustable, excellent performance, flexible output, electromechanical integration performance, and can flexibly adjust the motion trajectory according to actual needs, and accurately realize the positioning and handling of hands

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