CN103707288A - Multi-degree-of-freedom palletizing robot - Google Patents

Abstract

A multi-degree-of-freedom palletizing robot includes multiple parallel mechanism closed-loop actuator sub-chains and a serial actuator main chain. The closed-loop sub-chain of the mechanism can control the movement of the connecting rod of the main chain in the plane where the closed-loop sub-chain of the four-bar mechanism is located, and the movement of multiple parallel-connected sub-chains and the fuselage can realize the spatial movement of the moving platform. The present invention realizes the control through the synthetic motion of four closed-loop sub-chains and the fuselage, and realizes the spatial movement of the end effector through the connection of multiple connecting rods with the fuselage. The end effector has small motion inertia, good dynamic performance and reliability. High performance, the mechanism has the advantages of compact structure and simple control. The rod can be made into a light rod, and the working space of the mechanism is large, so that the center of gravity of the mechanism can be moved back, and the balance of the mechanism can be maintained, which can be used in more occasions.

Description

A multi-degree-of-freedom palletizing robot

technical field

The invention relates to the field of robots, in particular to a multi-degree-of-freedom palletizing robot.

Background technique

The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; However, the obvious disadvantages of parallel robots are small working space and complex structure. The existing manipulators with partial closed chains in engineering, such as MOTOMAN-K10, did not solve the problems of industrial robots, but the performance of parallel robots with closed-loop sub-chains with symmetrical mechanisms is superior to that of ordinary parallel mechanisms. With the advantages of large space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector, it can be used in complex operations such as welding, spraying, handling, loading and unloading, assembly, palletizing, etc., effectively improving labor efficiency and improving product quality. and stability have been greatly improved. Cylindrical coordinate and joint coordinate manipulators can effectively and quickly control the end mechanism, and this kind of mechanism has good structural rigidity, high mechanical transmission precision, large working space, small mechanical transmission loss, and large output without cumulative error. The power, has a good control function. The robot with parallel closed-loop sub-chains adopts an indirect drive mode, which can effectively reduce the torque required to drive the joints.

Contents of the invention

The purpose of the present invention is to provide a multi-degree-of-freedom palletizing robot, which solves the shortcomings of traditional serial robots about large torque required, low rigidity and small working space.

The present invention achieves the above object through the following technical solutions: a multi-degree-of-freedom palletizing robot, its structure and connection method are:

The actuator chain is composed of the fuselage 2, the first connecting rod 3, the second connecting rod 5, the third connecting rod 24, the fourth connecting rod 20, the fifth connecting rod 22, the sixth connecting rod 39, the seventh connecting rod 38. The eighth connecting rod 18, the ninth connecting rod 11, the tenth connecting rod 16, the eleventh connecting rod 13, the twelfth connecting rod 14, the thirteenth connecting rod 25, the fourteenth connecting rod 26, the tenth connecting rod The five connecting rods 28, the end effector and the frame are connected. The first connection end 31 of the fuselage 2 is connected to the frame 1 through the first rotating pair 31. The fuselage 2 is driven by the first rotating pair 31. The first The rotating pair 31 is driven by a motor, the second connecting end 32 of the fuselage 2 is connected to one end of the first connecting rod 3 through the second rotating pair 32, the first connecting rod 3 is driven by the second rotating pair 32, and the first connecting rod 3 is connected to one end of the first connecting rod 3 through the second rotating pair 32 One end is connected with the first connecting end 4 of the second connecting rod 5 through the third rotating pair 4, and the second connecting end 6 of the second connecting rod 5 is connected with one end of the third connecting rod 24 through the fourth rotating pair 6, and the third connecting rod 5 is connected with one end of the third connecting rod 24 through the fourth rotating pair 6. The other end of the rod 24 is connected to the first connecting end 23 of the fourth connecting rod 20 through the fifth rotating pair 23, and the second connecting end 33 of the fourth connecting rod 20 is connected to the first connecting end 33 of the fifth connecting rod 22 through the sixth rotating pair 33. The connecting end 33 is connected, the third connecting end 19 of the fourth connecting rod 20 is connected with the third connecting end 19 of the eighth connecting rod 18 through the seventh rotating pair 19, and the second connecting end 8 of the eighth connecting rod 18 is connected through the eighth The rotating pair 8 is connected to the third connecting end 8 of the fuselage 2, the first connecting end 9 of the eighth connecting rod 18 is connected to the third connecting end 9 of the second connecting rod 5 through the ninth rotating pair 9, and the eighth connecting rod 18 The fourth connecting end 34 is connected to the first connecting end 34 of the ninth connecting rod 11 through the tenth rotating pair 34, and the second connecting end 10 of the ninth connecting rod 11 is connected to the sixth connecting rod through the eleventh rotating pair 10 39 is connected at one end, the other end of the sixth connecting rod 39 is connected with the second connecting end of the fifth connecting rod 22 through the twelfth rotating pair 7, and the third connecting end 12 of the ninth connecting rod 11 is connected with the third connecting end 12 through the thirteenth rotating pair 12 One end of the seventh connecting rod 38 is connected, the other end of the seventh connecting rod 38 is connected to the third connecting end 21 of the fifth connecting rod 22 through the fourteenth rotating pair 21, and the second connecting end 10 of the ninth connecting rod 11 is connected through the tenth A rotating pair 10 is connected to one end of the eleventh connecting rod 13, and the other end of the eleventh connecting rod 13 is connected to the second connecting end 15 of the tenth connecting rod 16 through the fifteenth rotating pair 15, and the ninth connecting rod 11 is connected to the third end. The first connecting end 12 is connected to one end of the twelfth connecting rod 14 through the thirteenth rotating pair 12, and the other end of the twelfth connecting rod 14 is connected to the third connecting end 17 of the tenth connecting rod 16 through the sixteenth rotating pair 17, The first connecting end of the tenth connecting rod 16 is connected to the fifth connecting end of the eighth connecting rod through the seventeenth rotating pair, and the fourth connecting end 36 of the tenth connecting rod 16 is rigidly connected to one end of the thirteenth connecting rod 25 The other end of the thirteenth connecting rod 25 is connected to one end of the fourteenth connecting rod 26 through the eighteenth rotating pair 37, the fourteenth connecting rod 26 is driven by the eighteenth rotating pair 37, and the eighteenth rotating pair 37 is driven by the motor Drive, the other end of the fourteenth connecting rod 26 is connected with one end of the fifteenth connecting rod 28 through the nineteenth rotating pair 27, the fourteenth connecting rod 2 6 is driven by the nineteenth rotating pair 27, the nineteenth rotating pair 27 is driven by a motor, the other end of the fifteenth connecting rod 28 is connected with the end effector 30 through the twentieth rotating pair 29, and the end effector 30 is connected by the twenty The revolving pair 29 is driven, and the twentieth revolving pair 29 is driven by a motor,

The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, the thirteenth revolving pair, the fourteenth revolving pair, the fifteenth revolving pair, the sixteenth revolving pair and the seventeenth revolving pair parallel.

The outstanding advantages of the present invention are:

1. Through two parallel closed-loop sub-chains, the rigidity of the robot mechanism is improved, and the design of the closed-loop sub-chain mechanism greatly improves the working space of the robot, which can avoid the dead point position of the mechanism, and the fine-tuning device can make the robot have a larger range of action , and can better maintain the balance of the organization;

2. Compared with the traditional industrial robot whose motor is installed at each joint, the motor of the robot whose mechanism is connected by two parallel closed-loop sub-chains is installed on the joint of the four-bar mechanism, driven by the motion pair on the four-bar mechanism Closed-loop chain movement, thereby indirectly driving the end link, making the end effector more movable and moving space, and can reduce the active moment;

3. Compared with the same type of robot mechanism, it can do more work under the same power;

4. The motor is installed behind the fifth connecting rod, which lowers the center of gravity of the whole mechanism, and a motor with a larger power can be installed on the mechanism, so that the end effector can be used in welding, spraying, handling, loading and unloading, assembly, and stacking and other complex operations;

5. The robot mechanism is controlled by the mechanism at the end effector, which can make the precision higher;

6. A hinged connecting rod is used to connect the mechanism and the end effector to the end effector, which makes the actuator more flexible, and the working space is larger than the previous robot, and the hinged connecting rod is made into a light rod , can make the dynamic performance of the whole mechanism better and easy to control, and can make the end effector rotate 360 degrees in a small range, so that the mechanism can be applied to more occasions;

7. On the two parallel closed-loop sub-chains, the rods are made of light rods, the mechanism has a small moment of inertia and good dynamic performance;

8. The fine-tuning device on the mechanism is compared with the traditional manipulator with partial closed chain, the center of gravity is concentrated on the fine-tuning device, the mechanism is well balanced, and the robot mechanism can bear greater force and moment;

9. Six degrees of freedom enable the mechanism to be applied to more occasions;

Description of drawings

Fig. 1 is a schematic diagram of the first structure of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 2 is a schematic diagram of the fuselage structure of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 3 is a schematic diagram of the second connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 4 is a schematic diagram of the eighth connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 5 is a schematic diagram of the fifth link of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 6 is a schematic diagram of the ninth connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 7 is a schematic diagram of the tenth connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 8 is a schematic diagram of the fourteenth connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 9 is a schematic diagram of the fifteenth connecting rod of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 10 is a diagram of the mechanism connection of a multi-degree-of-freedom palletizing robot according to the present invention.

Fig. 11 is a working schematic diagram of a multi-degree-of-freedom palletizing robot according to the present invention.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Figure 1, Figure 2, Figure 3, Figure 4, Figure 5 and Figure 6, a multi-degree-of-freedom palletizing robot, its structure and connection methods are:

The actuator chain is composed of the fuselage 2, the first connecting rod 3, the second connecting rod 5, the third connecting rod 24, the fourth connecting rod 20, the fifth connecting rod 22, the sixth connecting rod 39, the seventh connecting rod 38. The eighth connecting rod 18, the ninth connecting rod 11, the tenth connecting rod 16, the eleventh connecting rod 13, the twelfth connecting rod 14, the thirteenth connecting rod 25, the fourteenth connecting rod 26, the tenth connecting rod The five connecting rods 28, the end effector and the frame are connected. The first connection end 31 of the fuselage 2 is connected to the frame 1 through the first rotating pair 31. The fuselage 2 is driven by the first rotating pair 31. The first The rotating pair 31 is driven by a motor, the second connecting end 32 of the fuselage 2 is connected to one end of the first connecting rod 3 through the second rotating pair 32, the first connecting rod 3 is driven by the second rotating pair 32, and the first connecting rod 3 is connected to one end of the first connecting rod 3 through the second rotating pair 32 One end is connected with the first connecting end 4 of the second connecting rod 5 through the third rotating pair 4, and the second connecting end 6 of the second connecting rod 5 is connected with one end of the third connecting rod 24 through the fourth rotating pair 6, and the third connecting rod 5 is connected with one end of the third connecting rod 24 through the fourth rotating pair 6. The other end of the rod 24 is connected to the first connecting end 23 of the fourth connecting rod 20 through the fifth rotating pair 23, and the second connecting end 33 of the fourth connecting rod 20 is connected to the first connecting end 33 of the fifth connecting rod 22 through the sixth rotating pair 33. The connecting end 33 is connected, the third connecting end 19 of the fourth connecting rod 20 is connected with the third connecting end 19 of the eighth connecting rod 18 through the seventh rotating pair 19, and the second connecting end 8 of the eighth connecting rod 18 is connected through the eighth The rotating pair 8 is connected to the third connecting end 8 of the fuselage 2, the first connecting end 9 of the eighth connecting rod 18 is connected to the third connecting end 9 of the second connecting rod 5 through the ninth rotating pair 9, and the eighth connecting rod 18 The fourth connecting end 34 is connected to the first connecting end 34 of the ninth connecting rod 11 through the tenth rotating pair 34, and the second connecting end 10 of the ninth connecting rod 11 is connected to the sixth connecting rod through the eleventh rotating pair 10 39 is connected at one end, the other end of the sixth connecting rod 39 is connected with the second connecting end of the fifth connecting rod 22 through the twelfth rotating pair 7, and the third connecting end 12 of the ninth connecting rod 11 is connected with the third connecting end 12 through the thirteenth rotating pair 12 One end of the seventh connecting rod 38 is connected, the other end of the seventh connecting rod 38 is connected to the third connecting end 21 of the fifth connecting rod 22 through the fourteenth rotating pair 21, and the second connecting end 10 of the ninth connecting rod 11 is connected through the tenth A rotating pair 10 is connected to one end of the eleventh connecting rod 13, and the other end of the eleventh connecting rod 13 is connected to the second connecting end 15 of the tenth connecting rod 16 through the fifteenth rotating pair 15, and the ninth connecting rod 11 is connected to the third end. The first connecting end 12 is connected to one end of the twelfth connecting rod 14 through the thirteenth rotating pair 12, and the other end of the twelfth connecting rod 14 is connected to the third connecting end 17 of the tenth connecting rod 16 through the sixteenth rotating pair 17, The first connecting end of the tenth connecting rod 16 is connected to the fifth connecting end of the eighth connecting rod through the seventeenth rotating pair, and the fourth connecting end 36 of the tenth connecting rod 16 is rigidly connected to one end of the thirteenth connecting rod 25 The other end of the thirteenth connecting rod 25 is connected to one end of the fourteenth connecting rod 26 through the eighteenth rotating pair 37, the fourteenth connecting rod 26 is driven by the eighteenth rotating pair 37, and the eighteenth rotating pair 37 is driven by the motor Drive, the other end of the fourteenth connecting rod 26 is connected with one end of the fifteenth connecting rod 28 through the nineteenth rotating pair 27, the fourteenth connecting rod 2 6 is driven by the nineteenth rotating pair 27, the nineteenth rotating pair 27 is driven by a motor, the other end of the fifteenth connecting rod 28 is connected with the end effector 30 through the twentieth rotating pair 29, and the end effector 30 is connected by the twenty The revolving pair 29 is driven, and the twentieth revolving pair 29 is driven by a motor,

The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, the thirteenth revolving pair, the fourteenth revolving pair, the fifteenth revolving pair, the sixteenth revolving pair and the seventeenth revolving pair parallel.

Referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the movement of the fuselage and the first connecting rod in the plane can realize the spatial movement of the end effector.

Claims (1)

1. A multi-degree-of-freedom palletizing robot, its structure and connection method are: The actuator chain consists of the fuselage, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod, the Nine connecting rods, tenth connecting rods, eleventh connecting rods, twelfth connecting rods, thirteenth connecting rods, fourteenth connecting rods, fifteenth connecting rods, end effectors and racks are connected. The first connecting end of the body is connected to the frame through the first rotating pair, the body is driven by the first rotating pair, the first rotating pair is driven by the motor, and the second connecting end of the fuselage is connected to the first connecting end through the second rotating pair. One end of the rod is connected, the first connecting rod is driven by the second rotating pair, the other end of the first connecting rod is connected to the first connecting end of the second connecting rod through the third rotating pair, and the second connecting end of the second connecting rod is passed through the fourth The rotating pair is connected to one end of the third connecting rod, the other end of the third connecting rod is connected to the first connecting end of the fourth connecting rod through the fifth rotating pair, and the second connecting end of the fourth connecting rod is connected to the fifth connecting rod through the sixth rotating pair. The first connecting end of the connecting rod is connected, the third connecting end of the fourth connecting rod is connected to the third connecting end of the eighth connecting rod through the seventh rotating pair, and the second connecting end of the eighth connecting rod is connected to the third connecting end through the eighth rotating pair The third connecting end of the fuselage is connected, the first connecting end of the eighth connecting rod is connected with the third connecting end of the second connecting rod through the ninth rotating pair, and the fourth connecting end of the eighth connecting rod is connected with the third connecting end through the tenth rotating pair The first connecting end of the ninth connecting rod is connected, the second connecting end of the ninth connecting rod is connected with one end of the sixth connecting rod through the eleventh rotating pair, and the other end of the sixth connecting rod is connected with the fifth connecting rod through the twelfth rotating pair. The second connecting end of the rod is connected, the third connecting end of the ninth connecting rod is connected with one end of the sixth connecting rod through the thirteenth rotating pair, and the other end of the seventh connecting rod is connected with the third connecting rod of the fifth connecting rod through the fourteenth rotating pair. The second connecting end of the ninth connecting rod is connected to one end of the eleventh connecting rod through the eleventh rotating pair, and the other end of the eleventh connecting rod is connected to the second end of the tenth connecting rod through the fourteenth rotating pair. The connecting end is connected, the third connecting end of the ninth connecting rod is connected to one end of the twelfth connecting rod through the fifteenth rotating pair, and the other end of the twelfth connecting rod is connected to the third connecting rod through the sixteenth rotating pair The first connecting end of the tenth connecting rod is connected to the fifth connecting end of the eighth connecting rod through the seventeenth rotating pair, and the fourth connecting end of the tenth connecting rod is connected to one end of the thirteenth connecting rod through a rigid connection , the other end of the thirteenth connecting rod is connected to one end of the fourteenth connecting rod through the eighteenth revolving pair, the fourteenth connecting rod is driven by the eighteenth revolving pair, the eighteenth revolving pair is driven by a motor, the fourteenth connecting rod The other end is connected to one end of the fifteenth connecting rod through the nineteenth rotating pair, the fourteenth connecting rod is driven by the nineteenth rotating pair, the nineteenth rotating pair is driven by a motor, and the other end of the fifteenth connecting rod is driven by the twentieth The rotary pair is connected with the end effector, the end effector is driven by the twentieth rotary pair, and the twentieth rotary pair is driven by the motor, The first turning pair is perpendicular to the frame, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, and the ninth turning pair , the tenth revolving pair, the eleventh revolving pair, the twelfth revolving pair, the thirteenth revolving pair, the fourteenth revolving pair, the fifteenth revolving pair, the sixteenth revolving pair and the seventeenth revolving pair parallel.

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