Carrying stacking mechanism

Abstract

A carrying stacking mechanism comprises a base seat, a rotary machine frame, an arm lifting mechanism, an end effector translation maintaining mechanism and a flange plate, wherein the rotary machine frame is connected on the base seat through a rotary pair, the arm lifting mechanism comprises a parallelogram mechanism, a first driving rod, a first connection rod, a second driving rod and a fourth connection rod, the parallelogram mechanism is composed of a large arm, a small arm, a second connection rod and a third connection rod, all the rod pieces are connected through hinges, the end effector translation maintaining mechanism comprises a parallelogram mechanism I and a parallelogram mechanism II, the parallelogram mechanism I is composed of a large arm, a first auxiliary connecting rod, a triangular auxiliary frame and the rotary machine frame, the parallelogram mechanism II is composed of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and an end effector translation maintaining device, all the rod pieces are connected through hinges, and the flange plate is connected on the end effector translation maintaining device through a rotary pair. The carrying stacking mechanism is simple in structure, is large in work space, is flexible to operate, is controlled through the driving of a servo motor, and can achieve intellectualization and numerical control.

Description

technical field [0001] The invention relates to the field of handling and stacking robots, in particular to a handling and stacking mechanism. 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. Large, easy to produce impact, so th...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a transporting and palletizing mechanism, which is controlled by servo motors, and all motors are installed on the frame, which can overcome the shortcomings of traditional palletizing robots such as bulky joints, poor stiffness, large inertia, and large error accumulation. Controllable, adjustable, excellent performance, flexible output, electromechanical fusion performance, and can flexibly adjust the motion trajectory according to actual needs, and accurately realize hand positioning and moving actions

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