Multi-freedom degree controllable mechanism type mobile stacking robot

Abstract

The invention provides a multi-freedom degree controllable mechanism type mobile stacking robot. The stacking robot comprises a moveable platform, a rotary machine frame, an arm lifting mechanism, a tail end executor translation keeping mechanism and a flanged disc, wherein the rotary machine frame is connected to the moveable platform through a rotary pair; the arm lifting mechanism comprises a big arm, a small arm, a first driving rod, a first connecting rod, a second connecting rod, a third connecting rod, a second driving rod and a fourth connecting rod; each rod is connected through a hinge; the tail end executor translation keeping mechanism comprises a parallelogram mechanism consisting of a big arm, a first auxiliary connecting rod, a triangular auxiliary frame and a rotary machine frame and a parallelogram mechanism consisting of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and a tail end executor translation keeper. The stacking robot is high in bearing capacity, large in working space and flexible in operation, intelligence and numerical control can be realized under the driving control of a servo motor, and the stacking robot is compact in structure, high in rigidity and better in reliability and dynamic stability.

Description

【Technical field】 [0001] The invention relates to the field of industrial robots, in particular to a multi-degree-of-freedom controllable mechanism mobile 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, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the main structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of this type of palletizing robot with traditional open-chain series structure must be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumul...

AI Technical Summary

Problems solved by technology

[0004] In view of the various problems faced in the background technology, the purpose of the present invention is to provide a multi-degree-of-freedom controllable mechanism mobile palletizing robot, all driving motors are installed on the frame, which can solve the problem of the traditional open-chain serial robot. Installed at the hinge, resulting in problems such as bulky arms, poor rigidity, large inertia, and accumulated joint errors. The robot has good dynamic performance and can better meet the requirements of high-speed and heavy-duty handling and palletizing.

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