Controllable multi-connecting rod stacking robot

Abstract

The invention relates to a controllable multi-connecting rod stacking robot. One end of a first driving rod of the stacking robot is connected with a rotary frame, the other end of the driving rod is connected with one end of a first connecting rod, the other end of the first connecting rod is connected with one end of a small arm, the other end of the small arm is connected with a tail executer translation retaining device, the lower end of a large arm is connected with the rotary frame through a first rotary pair, the upper end of the large arm is connected with the small arm through a composite hinge, the upper end of the large arm is connected with a first end of a triangular auxiliary frame through the composite hinge, one end of a first auxiliary connecting rod is connected with the rotary frame, the other end of the first auxiliary connecting rod is connected with a second connecting end of the triangular auxiliary frame, a second auxiliary connecting rod is connected with a third connecting end of the triangular auxiliary frame, and the other end of the auxiliary connecting rod is connected with the tail executer translation retaining device. The controllable multi-connecting rod stacking robot has the advantages that the structure is more stable, the carrying capability is high, the handling and stacking operation in space is realized by the output of combined movement, the track is flexible and diversified, and the robot has stronger flexible output capability.

Description

Technical field [0001] The invention relates to the field of industrial robots, in particular to a controllable multi-link palletizing robot. 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, handling palletizing, and containers. The existing palletizing robots mainly have three structure types: rectangular coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the main structure of the palletizing robot because of its compact structure, flexible action, small footprint, and large working space. However, the drive motors of such traditional open-chain tandem palletizing robots must be installed at the joints, causing problems such as large weight, poor rigidity, large inertia, and accumulated joint errors of the robot arm, and poor dynamic perform...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a controllable multi-link palletizing robot, all driving motors are installed on the frame, which can solve the problem that the motors of traditional open-chain series robots are installed at the hinges, resulting in heavy arms, poor rigidity, and low inertia. The robot has better dynamic performance and can better meet the requirements of high-speed heavy-duty handling and palletizing.

Images