Four-degree-of-freedom controllable mechanism-type palletizing robot

Abstract

The invention discloses a four-degree-of-freedom controllable mechanism-type palletizing robot. A first servo motor drives a first final-stage sliding sleeve to move back and forth on a small arm through a transmission chain containing a first driving rod; a second servo motor drives a second final-stage sliding sleeve to move up and down on a first guide rod through a transmission chain containing a second driving rod; a third servo motor drives a third final-stage sliding sleeve to move back and forth on the small arm through a transmission chain containing a third driving rod; movement of the first final-stage sliding sleeve, the second final-stage sliding sleeve and the third final-stage sliding sleeve is synthesized into clamping actions of a first clamping arm and a second clamping arm through the transmission chains; and a fourth servo motor controls a rotating shaft to act relative to the rising height employing a rotating pair IV as the center through a transmission chain containing a fourth driving rod, that is to say, the rising heights of the first clamping arm and the second clamping arm are controlled. The defects of large movement inertia, obvious residual oscillation and low high-speed work orientation accuracy due to the fact that a motor and a speed reducer are arranged on a joint in an existing welding robot are overcome.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a four-degree-of-freedom controllable mechanism palletizing robot. Background technique [0002] Since the 1980s, people have been hoping to reduce the mass of the robot's moving parts to improve its dynamic performance, and achieved promising results. But these works are all around reducing the mass of robot rods. The motors and reducers installed at the joints of the serial robot actually have a great influence on the dynamic performance of the robot. Moreover, in order to ensure that the motor outputs high power and its output speed is very high, a reducer with a large transmission ratio is required to decelerate it to a speed suitable for the robot to work. And the development of a large transmission ratio reducer with small size and light weight is also a difficult problem encountered by my country's robot industry. At present, one of the gaps between domestic robot motors and re...

AI Technical Summary

Problems solved by technology

At present, one of the gaps between domestic robot motors and reducers and international advanced robot motors and reducers is that the mass (weight) and volume are large, which will lead to large moment of inertia of the robot, poor dynamic performance of the robot, and easy Problems such as large vibration

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