Series-parallel four-degree-of-freedom transferring and stacking robot

Abstract

The invention discloses a series-parallel four-degree-of-freedom transferring and stacking robot which is used for transferring and stacking in a production line. The series-parallel four-degree-of-freedom transferring and stacking robot is characterized by mainly comprising a support mechanism, a welding frame, an arm mechanism and a wrist, the support mechanism is a base of the robot and is composed of a waist servo motor, a harmonic speed reducer, support legs, a waist baseplate and a rotating baseplate, and the arm mechanism comprises a front big arm, a rear big arm and a small arm and has two translational degrees of freedom in the vertical direction in a plane. The series-parallel four-degree-of-freedom transferring and stacking robot has moving ability of four degrees of freedom, can realize high-speed transferring and stacking at the tail end of a grain production line, has the advantages of high transferring efficiency and stability in moving, can be combined with sensing technology to realize automatic judgment of whether package grabbing needs to be performed or not, and plays an important role in setting up an unmanned production line in the future.

Description

technical field [0001] The invention relates to a stacking machine for bag handling, in particular to a stacking robot applied to the end of a grain production line, a series-parallel four-degree-of-freedom handling and stacking robot. Background technique [0002] At present, most of the known palletizing robots are complex motion trajectories with double coupling input and nonlinear output. The working space is composed of multiple arcs. The fulcrum bears a lot of force, and it is generally necessary to add a balance weight to reduce the burden on the motor. The number of parts is large, the structure is complex, and adjustment is difficult. The rigidity of the robot body is poor, high-speed motion cannot be achieved, and failures are prone to occur. At the same time, the waist structure of general palletizing robots often has the problem of difficult wiring. When the robot rotates around the waist as a whole, the rotation range of the waist wires cannot be very large. C...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the known palletizing robots are complex motion trajectories with double coupling input and nonlinear output. The working space is composed of multiple arcs. The fulcrum bears a lot of force, and it is generally necessary to add a balance weight to reduce the burden on the motor. The number of parts is large, the structure is complex, and adjustment is difficult. The rigidity of the robot body is poor, high-speed motion cannot be achieved, and failures are prone to occur.

At the same time, the waist structure of general palletizing robots often has the problem of difficult wiring. When the robot rotates around the waist as a whole, the rotation range of the waist wires cannot be very large.

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