High-precision car stacking robot

Abstract

The invention provides a high-precision car stacking robot. The robot comprises a series-connection stacking main chain, a rocker arm fine adjustment control subchain and an execution mechanism subchain; the series-connection stacking main chain can control the car robot to carry out six-freedom-degree motion in the space; the rocker arm fine adjustment control subchain forms a four-rod mechanismcomposed of two rocker arms and two connecting rods, the four-rod mechanism is arranged on a large arm, and the main chain is subject to fine adjustment control through the four-rod mechanism; the execution mechanism subchain carries out supporting and adjusting on the large arm. Multiple mechanical arms are connected with a robot body, six-freedom-degree output of a tail end track can be achieved, and the robot has the beneficial effects of being rapid in action, high in precision, small in movement inertia, good in power performance, compact in structure, large in work space, large in bearing load, capable of achieving multi-motion-track output, simple in control and capable of being applied to multiple stacking occasions.

Description

technical field [0001] The invention relates to the field of automobile robots, in particular to a high-precision automobile palletizing robot. Background technique [0002] Traditional tandem robots have the advantages of simple structure, low cost, and large working space. However, with the development and progress of society and the improvement of people's living standards, the requirements for cars are getting higher and higher. The shortcomings of traditional tandem robots are gradually emerging. out, can not meet the development needs of modern society, so there is an urgent need for a new car palletizing device. Compared with the traditional serial robot, the emerging parallel robot has the characteristics of no cumulative error, high precision, compact structure, large carrying capacity, high rigidity and small inertia of the end palletizing actuator. The driving device can be placed on a fixed platform. Or close to the position of the fixed platform, so that the mo...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a high-precision automobile palletizing robot, including a serial palletizing main chain, a rocker fine-tuning control sub-chain and an actuator sub-chain, and the serial palletizing main chain can control the automobile robot Six-degree-of-freedom movement in space; the rocker arm fine-tuning control sub-chain consists of two rocker arms and two connecting rods to form a four-bar mechanism, which is installed on the boom, and the main chain is fine-tuned and controlled through the four-bar mechanism ; The sub-chain of the actuator supports and adjusts the boom. The present invention realizes the six-degree-of-freedom output of the terminal trajectory through the connection of multiple mechanical arms and the fuselage. , good dynamic performance, and compact structure, large working space, large load capacity, multiple motion trajectory output, simple control, can be applied to various occasions of palletizing, and solve the problem of large torque required, low rigidity and working space of traditional serial robots small disadvantage

Images