Cable-driven series-parallel palletizing robot with characteristics of light weight and high bearing capacity

Abstract

The invention discloses a cable-driven series-parallel palletizing robot with the characteristics of light weight and high bearing capacity. The cable-driven series-parallel palletizing robot comprises a base, an upper connecting rod, a lower connecting rod, a connecting plate, a shoulder joint cable-driven branch chain, an elbow joint cable-driven branch chain, a wrist joint cable-driven branch chain and a mechanical grabbing device. A rotary driving assembly is mounted on the base and drives the base to rotate horizontally; the upper end of the upper connecting rod is connected with the base in a swinging manner through a shoulder joint; the upper end of the lower connecting rod is swingably connected with the lower end of the upper connecting rod through an elbow joint; the connecting plate is swingably connected with the lower end of the lower connecting rod through the wrist joint; the shoulder joint cable driving branch chain drives the upper connecting rod to swing around the shoulder joint; the elbow joint cable driving branch chain drives the lower connecting rod to swing around the elbow joint; the wrist joint cable drives the branch chain to drive the connecting plate to swing around the wrist joint; the mechanical grabbing device is connected with the lower surface of the connecting plate and can rotate. The robot is simple in structure, large in movement range, low in cost and capable of achieving high-speed grabbing and sorting.

Description

Technical field [0001] The present invention relates to the field of parallel robots, in particular, relating to a rope-driven mixed probular robot having a lightweight high bearer characteristic. Background technique [0002] In the industrial production process, the pallet is mainly referring to some of the shapes, the size of the product is placed in a particular location, effectively enhances the space utilization, easy to transport and store, and improve the safety of goods. For some products with large shape dimensions, podium functions can be realized by tray operating machines or robot, but this traditional palletizing mode has not been able to adapt to fast rhythm production. In order to further improve the podi, reduce the working strength of the workers, the palletizing robot should be born. [0003] The existing industrial palletizing robots can be divided into the following five types: truss stitch robots, cylindrical coordinate probi robots, spherical coordinate pal...

AI Technical Summary

Problems solved by technology

The structure of the truss palletizing robot is flexible, the load and stroke are easy to adjust, and there is no need for complex algorithm control, but it has the disadvantages of large footprint, slow running speed, long installation cycle, and difficult maintenance; the working space of the cylindrical coordinate palletizing robot It is a cylinder, which occupies a small space, has a compact structure, a large working range, and strong intuitive movement, but generally cannot grab materials with a small height from the ground; the working space of the spherical coordinate palletizing robot forms a part of the spherical surface, which can be completed The task of extracting workpieces from the ground, but the disadvantage is that the movement is not intuitive, the structure is more complicated, and the position error will increase with the increase of the arm length; the parallel palletizing robot is driven in parallel, with simple structure, high rigidity and strong movement ability , but the working space is limited, the probability of manipulator collision is high, and the drive control is also relatively complicated; the multi-joint palletizing robot is composed of multiple swing or rotary mechanisms, and the basic structure generally includes a base, a large arm and a small arm, etc. It is the smallest and has the largest working range. In addition, it can bypass obstacles to pick up and transport workpieces. It is currently the most common type of palletizing robot. However, since each joint needs to be equipped with motors and drive mechanisms, it has the disadvantages of large overall mass, small load, and Disadvantages of poor dynamic performance and high energy consumption

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