Metamorphic parallel-connection robot palletizer mechanism
A palletizing robot and parallel technology, applied in the field of palletizing robots, can solve the problems of difficult to meet the requirements of high-speed and high-precision positioning and palletizing, poor mechanical dynamic performance, accumulation of joint errors, etc., to meet the requirements of high-speed and high-precision palletizing work. , the effect of small motion inertia and small error accumulation
Active Publication Date: 2015-04-08
GUANGXI UNIV
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[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 l
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[0018] The technical scheme of the present invention will be further described below with the accompanying drawings.
[0019] A metamorphic parallel palletizing robot mechanism includes a frame 2, a rotating platform 1, a first active rod 12, a fourth connecting rod 20, a seventh connecting rod 21, a second active rod 17, a fifth connecting rod 19, and a A connecting rod 4, a second connecting rod 10, a third connecting rod 14, a sixth connecting rod 8, a seventh connecting rod 21, an end effector 24 and a spring 6;
[0020] The frame 2 is installed on the slewing platform 1;
[0021] One end of the first active rod 12 is connected to the frame 2 through the first rotating pair 11, the other end of the first active rod 12 is connected to one end of the fourth link 20 through a compound hinge 13, and the other end of the fourth link 20 passes through the tenth link. The rotating pair 22 is connected to the seventh connecting rod 21;
[0022] One end of the second active rod 17 is conn...
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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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Inventor 蔡敢为李俊明张林
Owner GUANGXI UNIV
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