A metamorphic palletizing robot mechanism with full degrees of freedom in space

Abstract

A full-degree-of-spatial-freedom metamorphic mechanism type palletizing robot mechanism comprises a platform, a planar locating mechanism, a spatial driving mechanism and a manipulator assembly, wherein a first controllable motor and a second controllable motor are fixedly mounted on the platform; a platform fixing rod is fixed on the platform to realize assembly of the planar locating mechanism and the platform; a chute is fixed on the platform to realize assembly of the spatial driving mechanism and the platform; a horizontal output fixing rod is horizontally fixed on a vertical rod to realize assembly of the spatial driving mechanism and the planar locating mechanism; and a horizontal rotary slider sleeves a horizontal output slide rod to realize assembly of the manipulator assembly andthe spatial driving mechanism. The full-degree-of-spatial-freedom metamorphic mechanism type palletizing robot mechanism is simple in structure and convenient to machine, manufacture and mount, can realize full-degree-of-spatial-freedom location according to functional demands or environmental changes, and can deal with different work tasks under different working occasions.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a space full-degree-of-freedom metamorphic mechanism type palletizing robot mechanism. Background technique [0002] With the improvement of mechanical automation level, palletizing robots have the characteristics of wide application range, strong flexibility, low cost and convenient maintenance, and are widely used in food production, electrical operations, mechanical processing and other automated production enterprises. Most of the existing palletizing robot mechanisms have a base with a large weight and volume, the installation procedure is complicated, and the movement space is limited, so it is difficult to meet the work requirements of different work tasks in various workplaces. Chinese patent 201510310666.1 discloses a variable-configuration large-space palletizing robot mechanism, but it can only complete the configuration transformation at a fixed position, which is difficul...

AI Technical Summary

Problems solved by technology

Most of the existing palletizing robot mechanisms have a base with a large weight and volume, the installation procedure is complicated, and the movement space is limited, so it is difficult to meet the work requirements of different work tasks in various workplaces

Chinese patent 201510310666.1 discloses a variable-configuration large-space palletizing robot mechanism, but it can only complete the configuration transformation at a fixed position, which is difficult to meet the work requirements of different workplaces facing different tasks; Chinese patent 201410829333.5 discloses A metamorphic parallel palletizing robot mechanism, but the positioning in three-dimensional space must be completed by using a rotary platform. The rotary platform needs to bear the weight of the entire mechanism, the structure is complex, and the manufacturing cost is high.

At present, there is no palletizing robot mechanism that has a simple structure, low manufacturing cost, can realize full-degree-of-freedom positioning in three-dimensional space, and can complete the palletizing work in response to different tasks in different workplaces.

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