Multi-degree-of-freedom palletizing robot

A technology of palletizing robots and degrees of freedom, applied in the field of robotics, can solve the problems of large required torque, small working space, and low rigidity, and achieve the effects of reducing active torque, large working space, and high flexibility

Inactive Publication Date: 2014-04-09
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom palletizing robot, which solves

Method used

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  • Multi-degree-of-freedom palletizing robot
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Example Embodiment

[0028] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments.

[0029] Control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 with Image 6 , A multi-degree-of-freedom palletizing robot, its structure and connection mode are:

[0030] The actuator chain consists of the fuselage 2, the first link 3, the second link 5, the third link 24, the fourth link 20, the fifth link 22, the sixth link 39, and the seventh link. 38, eighth link 18, ninth link 11, tenth link 16, eleventh link 13, twelfth link 14, thirteenth link 25, fourteenth link 26, tenth The five connecting rod 28, the end effector and the frame are connected. The first connecting end 31 of the fuselage 2 is connected to the frame 1 through the first rotating pair 31, and the fuselage 2 is driven by the first rotating pair 31. The rotating pair 31 is driven by a motor. The second connecting end 32 of the fuselage 2 is connected to one end of t...

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Abstract

The invention discloses a multi-degree-of-freedom palletizing robot. The palletizing robot comprises a plurality of parallel mechanism closed-loop executing mechanism branch chains and a serial executing mechanism main chain. The mechanism closed-loop branch chains can be used for controlling a main chain connecting rod to move in a plane where a four-rod mechanism closed-loop branch chain is positioned, and spatial movement of a movable platform can be realized via movement of a plurality of parallel connecting rod branch chains and a machine body. Control is realized via composite motion of four closed-loop branch chains and the machine body, and a plurality of connecting rods are connected with the machine body, thereby realizing spatial movement of a tail end executer, small motion inertia of the tail end executer, high dynamics performance and high reliability. The mechanism has the advantages of compact structure and easiness in controlling. Rod pieces can be designed as light rods, the working space of the mechanism is large, and the gravity center of the mechanism is moved backward, thereby keeping the mechanism in a balanced state, and allowing the palletizing robot to be applied to more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom palletizing robot. Background technique [0002] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems of indu...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/04B65G61/00
Inventor 蔡敢为胥刚张林高德中于腾丁侃
Owner GUANGXI UNIV
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