Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm

Abstract

The invention discloses a palletizer provided with a ten-rod four-freedom-degree controllable mechanism type moving mechanical arm. The palletizer comprises a moving operation platform, a linear driver, driving rods, supporting frames, connecting rods, a motor and a grasping hand. The linear driver and the first, second and third driving rods are installed on the moving operation platform. One end of the first supporting frame is connected with the linear driver and the first driving rod. The other end of the first supporting frame is connected with the first connecting rod and a first pull rod. The other end of the first connecting rod and the other end of the first pull rod are connected with the second supporting frame. The other end of the second supporting frame is connected with a second pull rod and the third connecting rod. The other end of the second pull rod and the other end of the third connecting rod are connected with the third supporting frame. A multi-freedom-degree controllable mechanism with the motor installed on the moving operation platform is adopted for replacing a serial mechanism with an original motor installed on the mechanical arm, and therefore the problems that an original mechanical arm is large in weight and poor in dynamic property are solved; the moving operation mechanical arm technology is applied to the palletizer, and therefore various mechanical palletizers and other engineering machines can be manufactured.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a palletizing mobile mechanical arm with a ten-rod four-degree-of-freedom controllable mechanism. 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 most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the driving motors of this kind of palletizing robot with traditional open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight of t...

AI Technical Summary

Problems solved by technology

However, the driving motors of this kind of palletizing robot with traditional open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight of the robot arm, large moment of inertia, poor dynamic performance, and accumulation of joint errors. The arm is generally fixed on an immovable frame, which greatly limits its working range and is difficult to meet the requirements of high-speed and heavy-duty handling and palletizing

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