Parallel-connection stacking mechanical arm capable of rotating in complete circle

A manipulator and palletizing technology, which is applied in the field of industrial robots, can solve the problems of heavy robot arm, poor dynamic performance of the mechanism, accumulation of joint errors, etc., and achieve good kinematics and dynamic performance, small inertia of the manipulator, and light weight of the mechanism Effect

Inactive Publication Date: 2014-04-09
JIANGXI MECHANICAL SCI RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

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,

Method used

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  • Parallel-connection stacking mechanical arm capable of rotating in complete circle
  • Parallel-connection stacking mechanical arm capable of rotating in complete circle

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[0016] The technical scheme of the present invention will be further described below in conjunction with the drawings and embodiments.

[0017] Control figure 1 , A parallel palletizing manipulator that rotates around the whole circle, comprising a frame 1, a restraining branch, a first active branch, a second active branch and a third active branch.

[0018] The restraining branch chain is composed of a turntable 2, a first connecting rod 3, a second connecting rod 4, a moving platform 5, a third connecting rod 6, a holder 7 and a fourth connecting rod 8. The turntable 2 passes through the first rotating pair 15 Connected to the frame 1, the turntable 2 is connected to the first connecting rod 3 through the second rotating pair 16, the first connecting rod 3 is connected to the second connecting rod 4 through the third rotating pair 17, and the second connecting rod 4 is rotated through the fourth The pair 18 is connected to the moving platform 5, the third link 6 is connected to ...

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Abstract

A parallel-connection stacking mechanical arm capable of rotating in a complete circle comprises a rack, a restrain branch chain, a first driving branch chain, a second driving branch chain and a third driving branch chain. The restrain branch chain is a driven moving branch chain having three spacial freedom degrees, and motions can be driven to be completed through the three driving branch chains. The parallel-connection stacking mechanical arm capable of rotating in the complete circle has the advantages of being simple in structure, light in structural motion mass, good in rigidity, small in inertia, good in dynamic performance and strong in load capacity compared with like products.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a parallel palletizing manipulator that rotates around a full circle. 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 include structural types such as rectangular 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 ...

Claims

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Application Information

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IPC IPC(8): B25J9/02B25J9/06B65G61/00
Inventor 郑小民王红州邹晓晖
Owner JIANGXI MECHANICAL SCI RES INST
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