Metamorphic parallel-connection robot palletizer mechanism

Abstract

The invention discloses a metamorphic parallel-connection robot palletizer mechanism. One end of a first driving rod of the metamorphic parallel-connection robot palletizer mechanism is connected with a rack; the other end of the first driving rod is connected with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected with a seventh connecting rod; one end of a second driving rod is connected with the other end of the rack; the other end of the second driving rod is connected with one end of a fifth connecting rod; the other end of the fifth connecting rod is connected with the fourth connecting rod; one end of a first connecting rod is connected with the rack; the other end of the first connecting rod is connected with one end of a second connecting rod and is also connected with the first driving rod, the fourth connecting rod and a third connecting rod; one end of the third connecting rod is connected with the first driving rod, the fourth connecting rod and the second connecting rod simultaneously; the other end of the third connecting rod is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected with one end of the seventh connecting rod; the other end of the seventh connecting rod is connected with a tail end implanter; one end of a spring is connected with the second connecting rod; the other end of the spring is connected with the third connecting rod. Compared with a conventional open-chain type parallel-connection robot palletizer, the metamorphic parallel-connection robot palletizer mechanism has the advantages of high rigidity, high bearing property, small error accumulation, and the like.

Description

technical field [0001] The invention relates to the field of palletizing robots, in particular to a metamorphic parallel palletizing robot mechanism. Background technique [0002] Palletizing robot is an industrial robot that packs, transports, and arranges finished products of various shapes such as cartons, bags, cans, and bottles in an orderly manner. It can replace humans in certain monotonous, frequent, and repetitive tasks in industrial production. For long-term operations, the traditional palletizing robot generally adopts an open-chain series mechanism. The open-chain series robot has the advantages of simple structure, flexible movement, small footprint, and large working space. It is widely used in petroleum, chemical, food processing, beverage, logistics and other fields. Insufficient for large load occasions. Due to the limitations of its own structure, the open-chain serial structure robot needs to install the drive motor at the hinge, which will lead to probl...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a mechanism of variable cell parallel palletizing robot, which realizes the variable cell function of the mechanism by means of force variable cell, and solves the problem that the traditional open-chain serial structure palletizing robot has a small load capacity and the motor is installed at the hinge. This leads to problems such as heavy arm weight, poor rigidity, large inertia, joint error accumulation, poor mechanism dynamic performance, and difficulty in meeting the requirements of high-speed and high-precision positioning and palletizing operations.

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