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Large-work-space controllable-mechanism stacker crane

A workspace and mechanism-based technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as joint error accumulation, heavy arms, poor rigidity, etc., and achieve small motion inertia, flexible and changeable trajectory, and easy remote control Effect

Inactive Publication Date: 2013-04-24
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a large working space controllable mechanism type palletizer, all driving motors are installed on the frame, which can solve the problem that the motor of the traditional open-chain serial palletizing robot is installed at its hinge, which causes the arm Due to problems such as bulkiness, poor rigidity, large inertia, and accumulation of joint errors, the robot has good dynamic performance and can better meet the requirements of high-speed and heavy-duty handling and palletizing

Method used

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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, a controllable mechanism palletizer with a large working space, including a large arm swing branch chain, a middle arm swing branch chain, a small arm swing branch chain, an attitude maintaining branch chain, an end effector and a 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 composed of boom 2, middle arm 4, small arm 6 and frame 35, one end of boom 2 is connected to the frame 35 through the first rotating pair 1, and the middle arm 4 is folded Rod, the middle bending part has a second swivel pair 3, the other end of the boom 2 is connected to the middle arm 4 through the second swivel pair 3, and one end of the middl...

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Abstract

The invention relates to a large-work-space controllable-mechanism stacker crane. The stacker crane comprises a large-arm swing branch chain, a mid-arm swing branch chain, a small-arm swing branch chain, a posture keeping branch chain, an end executor and a rack. A robot completes carrying stacking operations with large work space and flexible changeable track output through the combined movement of the large-arm swing branch chain, the mid-arm swing branch chain and the small-arm swing branch chain. Three groups of parallelogram structures of the posture keeping branch chain can guarantee that the end executor keeps a horizontal state constantly in a working process, and all servo motors are mounted on the rack, bars can be made into light bars, the robot moving inertia is small, the dynamic performance is good, and requirements for high-speed and heavy-duty carrying and stacking can be well met. According to the stacker crane, a novel connection rod mechanism is utilized, so that the carrying and stacking work space is large, the connection rod transmission mechanism is simple, stresses on the bars are improved, and the manufacture of large stacker crane is applicable.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a large working space controllable mechanism palletizer. 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 join...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B65G61/00
Inventor 蔡敢为张金玲潘宇晨高德中王小纯
Owner GUANGXI UNIV
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