Palletizing robot with large working space

A palletizing robot and working space technology, applied in the stacking of objects, de-stacking, transportation and packaging of objects, etc., can solve the problems of joint error accumulation, heavy arm, poor rigidity, etc., and achieve small motion inertia and flexible trajectory. Versatile, easy-to-control effects

Inactive Publication Date: 2013-04-10
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a palletizing robot with a large working space. All driving motors are installed on the frame, which can solve the problem of heavy arms, poor rigidity, and inertia caused by the installation of the motors of the traditional open-chain serial palletizing robot at its hinges. The robot has better dynamic performance and can better meet the requirements of high-speed heavy-load handling and palletizing.

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  • Palletizing robot with large working space
  • Palletizing robot with large working space
  • Palletizing robot with large working space

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Embodiment Construction

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

[0026] control figure 1 , 7 , 8, 9 and 10, large working space palletizing robot, including large arm swing branch chain, middle arm swing branch chain, small arm swing branch chain, attitude maintaining branch chain, end effector and frame. The frame is installed on the rotary platform to realize the handling and palletizing work in the large working space of the entire robot.

[0027] control figure 1 , 2 , the boom swing branch chain is formed by connecting the first linear driver 4, the boom 7, the middle arm 9, the small arm 11, the end effector 32 and the frame 2, and one end of the first linear driver 4 passes through the first The swivel pair 3 is connected to the frame 2, and the other end is connected to the boom 7 through the second swivel pair 5. One end of the boom 7 is connected to the frame 2 through the thi...

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Abstract

The invention relates to a palletizing robot with large working space. The palletizing robot comprises a big arm swinging branch chain, a middle arm swinging branch chain, a small arm swinging branch chain, a posture maintaining branch chain, a terminal executor and a rack. Carrying and palletizing operation output along a flexible and changeable trajectory in the large working space is completed by the robot through combined movement of the big arm swinging branch chain, the middle arm swinging branch chain and the small arm swinging branch chain. In the working process, three groups of parallelogram structures of the posture maintaining branch chain can guarantee that the terminal executor throughout keeps a horizontal state. All servo motors are mounted on the rack, all levers can be manufactured into light levers, and the robot has small movement inertia and good dynamics performance and can better satisfy the requirement of high-speed heavy-load carrying and palletizing.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to palletizing robots with large working spaces. 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 accumulation of joint errors. T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G61/00B65G57/00
Inventor 蔡敢为张金玲潘宇晨高德中王小纯
Owner GUANGXI UNIV
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