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Four-freedom-degree ten-rod controllable mechanism type stacking robot

A palletizing robot and mechanism technology, applied in the direction of program control manipulators, manipulators, chucks, etc., can solve the problems of poor mechanism dynamics, accumulation of joint errors, cumbersome arms, etc., to achieve less accumulation of joint errors, and improve speed and power. good academic performance

Active Publication Date: 2016-10-26
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Industrial robots can replace humans in some monotonous, frequent and repetitive long-term tasks in industrial production. Most of the drive motors of the current serial manipulators need to be installed at the joints, which will lead to bulky arms, poor rigidity, large inertia, and accumulation of joint errors. , Poor dynamic performance of the mechanism, etc.

Method used

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  • Four-freedom-degree ten-rod controllable mechanism type stacking robot
  • Four-freedom-degree ten-rod controllable mechanism type stacking robot
  • Four-freedom-degree ten-rod controllable mechanism type stacking robot

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Embodiment Construction

[0026] control Figure 1 to Figure 7 , the four-degree-of-freedom ten-rod controllable mechanism palletizing robot of the present invention includes an arm lifting mechanism, a posture maintaining mechanism, a slewing bearing 2, a base 3, an end effector 11, a first servo motor 15, and a second servo motor 17. The third servo motor 19, the fourth servo motor 21, the first reducer 16, the second reducer 18, the third reducer 20, and the fourth reducer 22. The specific structure and connection method are:

[0027] control figure 1 and figure 2 , the arm lifting mechanism includes a rotating frame 1 , a first active rod 4 , a first folding rod 5 , a support rod 6 , a cross bar 12 , a second connecting rod 13 and a second active rod 14 .

[0028] control figure 1 and image 3 , the posture maintaining mechanism includes a first balance bar 7 , a second folding bar 8 , a second balance bar 9 and a translation cage 10 .

[0029] control figure 1 , Figure 4 and Figure 5 , ...

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Abstract

A four-freedom-degree ten-rod controllable mechanism type stacking robot comprises an arm lifting mechanism, a posture keeping mechanism, a slewing bearing, a base, an end effector, servo motors and speed reducers. The arm lifting mechanism comprises a rotation rack, a first drive rod, a first folding rod, a supporting rod, a transverse rod, a second connecting rod and a second drive rod. The posture keeping mechanism comprises a first balance rod, a second folding rod, a second balance rod and a translation holder, and the rotation rack is connected with the base through the slewing bearing. The end effector is connected to the translation holder. According to the four-freedom-degree ten-rod controllable mechanism type stacking robot, a multi-connecting-rod controllable mechanism is adopted, the servo motors installed on the rotation rack are used for conducting driving, the four-freedom-degree ten-rod controllable mechanism type stacking robot has the beneficial effects of being high in rigidity, small in motion inertia, high in bearing capability, accurate in posture control and good in dynamic characteristic, and the requirement for high-speed and heavy-load carrying stacking is met.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a four-degree-of-freedom ten-rod controllable mechanism palletizing robot. Background technique [0002] Industrial robots can replace humans in some monotonous, frequent and repetitive long-term tasks in industrial production. Most of the drive motors of the current serial manipulators need to be installed at the joints, which will lead to bulky arms, poor rigidity, large inertia, and accumulation of joint errors. , Poor dynamic performance of the mechanism, etc. [0003] The multi-link controllable mechanism combines the traditional parallel mechanism with good rigidity, high running speed, strong bearing capacity and good flexibility of the series mechanism, and the driving motor is installed on the frame, and the driving mode is external drive, so the multi-link can be The control mechanism has good stiffness performance, strong bearing capacity, small motion inertia, le...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/04B25J15/02
CPCB25J9/04B25J15/0206
Inventor 蔡敢为李荣康唐剑波任华丽吴承亮李洪汉叶兵
Owner GUANGXI UNIV