CN104589301A - Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm - Google Patents
Palletizer provided with ten-rod four-freedom-degree controllable mechanism type moving mechanical arm Download PDFInfo
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Abstract
本发明公开了一种具有十杆四自由度可控机构式移动机械臂的码垛，包括移动操作平台、直线驱动器、主动杆、支撑架、连杆、电动机以及抓手。直线驱动器、第一、第二、第三主动杆安装在移动操作平台上，第一支撑杆一端与直线驱动器、第一主动杆相连，另一端与第一连杆、第一拉杆相连，第一连杆、第一拉杆另一端与第二支撑架相连，第二支撑架另一端与第二拉杆、第三连杆相连，第二拉杆、第三连杆另一端与第三支撑架相连。本发明采用电动机安装于移动操作平台上的多自由度可控机构代替原来电动机安装于机械臂上的串联机构，解决了原有机构手臂重量大，动态性能差等特点，并且将移动操作机械臂技术应用到本发明，适用于制造各类机械码垛及其他工程机械。
The invention discloses a palletizing mobile mechanical arm with a ten-rod four-degree-of-freedom controllable mechanism, which comprises a mobile operation platform, a linear drive, an active rod, a support frame, a connecting rod, a motor and a gripper. The linear drive, the first, the second, and the third active rods are installed on the mobile operation platform, one end of the first support rod is connected with the linear drive and the first active rod, and the other end is connected with the first connecting rod and the first pull rod. The other ends of the connecting rod and the first pull rod are connected with the second support frame, the other end of the second support frame is connected with the second pull rod and the third link, and the other ends of the second pull rod and the third link are connected with the third support frame. The present invention adopts the multi-degree-of-freedom controllable mechanism in which the motor is installed on the mobile operation platform to replace the original serial mechanism in which the motor is installed on the mechanical arm, which solves the characteristics of the original mechanism, such as heavy arm weight and poor dynamic performance, and the mobile operation of the mechanical arm The technology is applied to the present invention, and is suitable for manufacturing various types of mechanical palletizing and other engineering machinery.
Description
技术领域 technical field
本发明涉及工程机械领域，特别是一种具有十杆四自由度可控机构式移动机械臂的码垛。 The invention relates to the field of engineering machinery, in particular to a palletizing mobile mechanical arm with a ten-rod four-degree-of-freedom controllable mechanism.
背景技术 Background technique
码垛机器人广泛应用于机床上下料、冲压机自动化生产线、自动装配流水线、搬运码垛、集装箱等的自动搬运作业当中。现有的码垛机器人主要有直角坐标型、圆柱坐标型以及关节型三种结构类型。其中关节型码垛机器人因其机构紧凑、动作灵活、占地面积小、工作空间大等优点，已逐步成为码垛机器人最主要的结构形式。但这类传统开链式串联结构的码垛机器人的驱动电机都需要安装在关节处，导致机器人手臂重量大、转动惯量大、动态性能差、关节误差累积等问题，并且原有码垛的机械臂一般固定在不可移动的机架上，大大限制了其工作范围，难以满足高速重载搬运码垛的要求。 Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the most important structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the driving motors of this kind of palletizing robot with traditional open-chain series structure need to be installed at the joints, resulting in problems such as heavy weight of the robot arm, large moment of inertia, poor dynamic performance, and accumulation of joint errors. The arm is generally fixed on an immovable frame, which greatly limits its working range and is difficult to meet the requirements of high-speed and heavy-duty handling and palletizing.
随着现代工程技术的发展，机电技术和控制技术大大的提高，可控机构为工程机构提供了广阔的发展空间，由控制电机驱动的可控机构不仅具有工作空间大、动作灵活、可完成复杂和可变的运动轨迹输出，同时还具有制造成本低，维护保养简单等优点。具有多自由度可控机构式移动机械臂的码垛不仅能解决传统码垛转动惯量大，动态性能差等缺点，还通过应用移动操作机械臂的技术，扩大了传统码垛的工作空间，提高了其工作速度，增加了其工作精度。 With the development of modern engineering technology, electromechanical technology and control technology have been greatly improved, and the controllable mechanism provides a broad development space for the engineering mechanism. The controllable mechanism driven by the control motor not only has a large working space, flexible actions, and can complete complex And variable trajectory output, but also has the advantages of low manufacturing cost, simple maintenance and so on. Palletizing with multi-degree-of-freedom controllable mechanism-type mobile manipulator can not only solve the shortcomings of traditional palletizing, such as large moment of inertia and poor dynamic performance, but also expand the working space of traditional palletizing by applying the technology of mobile operation manipulator, and improve the efficiency of palletizing. It improves its working speed and increases its working precision.
发明内容 Contents of the invention
本发明的目的在于设计一种具有十杆四自由度可控机构式移动机械臂的码垛，除了必须具备传统码垛机构紧凑，动作灵活等优点，克服传统码垛转动惯性大，动态性能差，关节误差累计等特点之外，还应将原安装于手臂上的电机安装于移动操作平台上来减轻手臂重量，并使原处于不可移动机架上的机械臂变为移动式机械臂，使其满足多种工作需求。 The purpose of the present invention is to design a palletizing with a ten-rod four-degree-of-freedom controllable mechanism-type mobile mechanical arm. In addition to the advantages of compact and flexible traditional palletizing mechanisms, it overcomes the large rotational inertia and poor dynamic performance of traditional palletizing. , joint error accumulation and other characteristics, the motor originally installed on the arm should be installed on the mobile operating platform to reduce the weight of the arm, and the original mechanical arm on the non-movable frame can be changed into a mobile mechanical arm, making it Meet a variety of work needs.
本发明通过以下技术方案达到上述目的：一种具有十杆四自由度可控机构式移动机械臂的码垛，包括移动操作平台、直线驱动器、第一主动杆、第二主动杆、第三主动杆、第一支撑架、第二支撑架、第三支撑架、第一拉杆、第二拉杆、第一连杆、第二连杆、第三连杆、第四连杆、抓手以及三个伺服电动机，具体结构和连接方式为： The present invention achieves the above object through the following technical solutions: a palletizing mobile mechanical arm with a ten-rod four-degree-of-freedom controllable mechanism, including a mobile operating platform, a linear drive, a first active rod, a second active rod, a third active rod rod, the first support frame, the second support frame, the third support frame, the first pull rod, the second pull rod, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the gripper and three Servo motor, the specific structure and connection method are:
所述第一主动杆通过第二转动副与移动操作平台连接，直线驱动器通过第一转动副与移动操作平台连接，第一主动杆另一端通过第六转动副与第一支撑架连接，直线驱动器另一端通过第五转动副与第一支撑杆连接。 The first active rod is connected to the mobile operating platform through the second rotating pair, the linear drive is connected to the mobile operating platform through the first rotating pair, the other end of the first active rod is connected to the first support frame through the sixth rotating pair, and the linear drive The other end is connected with the first support rod through the fifth rotating pair.
所述第一连杆一端通过第六转动副与第一支撑架连接，另一端通过第十三转动副与第二支撑架连接。 One end of the first connecting rod is connected to the first support frame through the sixth rotation pair, and the other end is connected to the second support frame through the thirteenth rotation pair.
所述第一拉杆一端通过地九转动副与第一支撑架连接，另一端通过第十一转动副与第二 支撑架连接。 One end of the first pull rod is connected with the first support frame through the ground nine rotation pair, and the other end is connected with the second support frame through the eleventh rotation pair.
所述第三连杆一端通过第十三转动副与第二支撑架连接，另一端通过第十六转动副与第三支撑架连接。 One end of the third connecting rod is connected to the second supporting frame through the thirteenth rotating pair, and the other end is connected to the third supporting frame through the sixteenth rotating pair.
所述第二拉杆一端通过第十二转动副与第二支撑架连接，另一端通过第十五转动副与第三支撑架连接。 One end of the second tie rod is connected to the second support frame through the twelfth rotation pair, and the other end is connected to the third support frame through the fifteenth rotation pair.
所述第三主动杆一端通过第三转动副与移动操作平台连接，另一端通过第七转动副与第二连杆连接，第二连杆另一端通过第十转动副与第一连杆连接。 One end of the third active lever is connected to the mobile operation platform through the third rotation pair, the other end is connected to the second connecting rod through the seventh rotation pair, and the other end of the second connecting rod is connected to the first connecting rod through the tenth rotation pair.
所述第二主动杆一端通过第四转动副与移动操作平台连接，另一端通过第八转动副与第四连杆连接，第四连杆另一端通过第十四转动副与第三连杆连接。 One end of the second active rod is connected to the mobile operation platform through the fourth rotating pair, the other end is connected to the fourth connecting rod through the eighth rotating pair, and the other end of the fourth connecting rod is connected to the third connecting rod through the fourteenth rotating pair .
所述抓手通过第十八转动副与第三支撑架连接。 The gripper is connected with the third support frame through the eighteenth rotating pair.
所述第一主动杆、第二主动杆、第三主动杆均分别由伺服电机驱动。 The first active lever, the second active lever and the third active lever are all driven by servo motors respectively.
工作原理及过程： Working principle and process:
所述具有十杆四自由度可控机构式移动机械臂的码垛在各个工况中，抓手倾斜工况中，直线驱动器伸缩，使得第一支撑杆、第二支撑杆、第三支撑杆在直线驱动器、第一拉杆、第二拉杆带动下位置由水平变为有一定角度的倾斜。举降工况中，通过第一主动杆、第二主动杆、第三主动杆的带动下与第一连杆、第二连杆、第三连杆、第四连杆、第一拉杆、第二拉杆的共同作用下使抓手举降。移动工况中，通过移动操作平台使得抓手能够在一定平面一定空间内任意移动。 In the palletizing of the ten-rod four-degree-of-freedom controllable mechanism mobile mechanical arm, in each working condition, when the gripper is tilted, the linear drive expands and contracts, so that the first support rod, the second support rod, and the third support rod Driven by the linear driver, the first pull rod and the second pull rod, the position changes from horizontal to inclined with a certain angle. In the lifting working condition, driven by the first active rod, the second active rod, and the third active rod, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the first pull rod, the Under the combined action of the two pull rods, the gripper is lifted and lowered. In the mobile working condition, the gripper can be moved arbitrarily in a certain space on a certain plane through the mobile operation platform.
本发明的突出优点在于： The outstanding advantages of the present invention are:
1.利用多自由度可控机构代替原有单一串联机构，使得原来安装于手臂上的电动机能够安装在机架上，减轻了手臂自身重量，降低了其转动惯量，提高了其动态性能，减少了原有手臂重量所带来的关节累计误差，提高了码垛的精度和速度。 1. The multi-degree-of-freedom controllable mechanism is used to replace the original single series mechanism, so that the motor originally installed on the arm can be installed on the frame, which reduces the weight of the arm itself, reduces its moment of inertia, improves its dynamic performance, and reduces The cumulative error of joints caused by the original arm weight is eliminated, and the accuracy and speed of palletizing are improved.
2.通过使用直线驱动器，使得原来只能处于水平位置的抓手能够倾斜一定角度，使其能够完成更多原有码垛难以完成的任务。 2. By using the linear drive, the gripper, which can only be in the horizontal position, can be tilted at a certain angle, so that it can complete more tasks that are difficult to complete in the original palletizing.
3.通过使用可移动式操作平台，使得原来只能在固定位置工作的机械臂能够移动，大大增加了机械臂的活动范围，实现了一台机器能完成多个不同品种或者不同流水生产线的码垛任务，提高了生产效率，降低了成本。 3. By using a movable operating platform, the mechanical arm that can only work in a fixed position can be moved, which greatly increases the range of motion of the mechanical arm, and realizes that one machine can complete the coding of multiple different varieties or different assembly lines. Stacking tasks, improving production efficiency and reducing costs.
附图说明 Description of drawings
图1为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛整体立体图。 Fig. 1 is an overall perspective view of palletizing with a ten-rod four-degree-of-freedom controllable mechanism mobile robot arm according to the present invention.
图2为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛控制机构图。 Fig. 2 is a diagram of the palletizing control mechanism of the ten-rod four-degree-of-freedom controllable mobile mechanical arm according to the present invention.
图3为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛举降机构图。 Fig. 3 is a diagram of the stacking and lifting mechanism of the ten-rod four-degree-of-freedom controllable mechanism mobile robot arm according to the present invention.
图4为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛下降工况图。 Fig. 4 is a diagram of the stacking and lowering working conditions of the ten-rod four-degree-of-freedom controllable mechanism mobile robot arm according to the present invention.
图5为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛举升工况图。 Fig. 5 is a diagram of the stacking and lifting operation of the ten-rod four-degree-of-freedom controllable mechanism mobile robot arm according to the present invention.
图6为本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛抓手倾斜工况图。 Fig. 6 is a diagram of the tilting working conditions of the stacking gripper with the ten-rod four-degree-of-freedom controllable mechanism mobile robot arm according to the present invention.
具体实施方式 Detailed ways
对照图1，本发明所述的具有十杆四自由度可控机构式移动机械臂的码垛，包括移动操作平台31、直线驱动器1、第一主动杆2、第二主动杆3、第三主动杆4、第一支撑架5、第二支撑架10、第三支撑架13、第一拉杆9、第二拉杆11、第一连杆8、第二连杆6、第三连杆12、第四连杆7、抓手14以及三个伺服电动机。 Referring to Fig. 1, the palletizing of the ten-rod four-degree-of-freedom controllable mechanism-type mobile mechanical arm according to the present invention includes a mobile operating platform 31, a linear drive 1, a first active rod 2, a second active rod 3, a third Active rod 4, first support frame 5, second support frame 10, third support frame 13, first pull rod 9, second pull rod 11, first connecting rod 8, second connecting rod 6, third connecting rod 12, The fourth connecting rod 7, the gripper 14 and three servo motors.
对照图1和图2，所述第一主动杆2通过第二转动副16与移动操作平台31连接，直线驱动器1通过第一转动副15与移动操作平台31连接，第一主动杆2另一端通过第六转动副20与第一支撑架5连接，直线驱动器1另一端通过第五转动副19与第一支撑杆5连接。 1 and 2, the first active rod 2 is connected to the mobile operating platform 31 through the second rotating pair 16, the linear drive 1 is connected to the mobile operating platform 31 through the first rotating pair 15, and the other end of the first active rod 2 The sixth rotating pair 20 is connected to the first support frame 5 , and the other end of the linear drive 1 is connected to the first supporting rod 5 through the fifth rotating pair 19 .
对照图1和图2，所述第一连杆8一端通过第六转动副20与第一支撑架5连接，另一端通过第十三转动副27与第二支撑架10连接。 Referring to FIG. 1 and FIG. 2 , one end of the first connecting rod 8 is connected to the first support frame 5 through the sixth rotation pair 20 , and the other end is connected to the second support frame 10 through the thirteenth rotation pair 27 .
对照图1和图2，所述第一拉杆9一端通过第九转动副22与第一支撑架5连接，另一端通过第十一转动副25与第二支撑架10连接。 Referring to FIG. 1 and FIG. 2 , one end of the first pull rod 9 is connected to the first support frame 5 through the ninth rotating pair 22 , and the other end is connected to the second supporting frame 10 through the eleventh rotating pair 25 .
对照图1和图2，所述第三连杆12一端通过第十三转动副27与第二支撑架10连接，另一端通过第十六转动副30与第三支撑架13连接。 Referring to FIG. 1 and FIG. 2 , one end of the third connecting rod 12 is connected to the second support frame 10 through the thirteenth rotation pair 27 , and the other end is connected to the third support frame 13 through the sixteenth rotation pair 30 .
对照图1和图2，所述第二拉杆11一端通过第十二转动副26与第二支撑架10连接，另一端通过第十五转动副29与第三支撑架13连接。 Referring to FIG. 1 and FIG. 2 , one end of the second tie rod 11 is connected to the second support frame 10 through the twelfth rotation pair 26 , and the other end is connected to the third support frame 13 through the fifteenth rotation pair 29 .
对照图1和图3，所述第三主动杆3一端通过第三转动副17与移动操作平台31连接，另一端通过第七转动副21与第二连杆6连接，第二连杆6另一端通过第十转动副23与第一连杆8连接。 1 and 3, one end of the third active rod 3 is connected to the mobile operating platform 31 through the third rotating pair 17, and the other end is connected to the second connecting rod 6 through the seventh rotating pair 21, and the second connecting rod 6 is in addition One end is connected with the first connecting rod 8 through the tenth rotating pair 23 .
对照图1和图3，所述第二主动杆4一端通过第四转动副18与移动操作平台31连接，另一端通过第八转动副24与第四连杆7连接，第四连杆7另一端通过第十四转动副28与第三连杆12连接。 1 and 3, one end of the second active lever 4 is connected to the mobile operating platform 31 through the fourth rotating pair 18, and the other end is connected to the fourth connecting rod 7 through the eighth rotating pair 24, and the fourth connecting rod 7 is in addition One end is connected with the third connecting rod 12 through the fourteenth rotating pair 28 .
对照图1和图2，所述抓手14通过第十八转动副32与第三支撑架13连接。 Referring to FIG. 1 and FIG. 2 , the gripper 14 is connected to the third support frame 13 through the eighteenth rotating pair 32 .
对照图1，所述第一主动杆2、第二主动杆3、第三主动杆4均分别由伺服电机驱动。 Referring to FIG. 1 , the first active lever 2 , the second active lever 3 , and the third active lever 4 are all driven by servo motors.
对照图1、5、6，在各个工况中，抓手倾斜工况中，直线驱动器1伸缩，使得第一支撑架5、第二支撑架10、第三支撑架13在直线驱动器1、第一拉杆9、第二拉杆11带动下抓手14位置由水平变为有一定角度的倾斜。举降工况中，通过第一主动杆2、第二主动杆4、第三主动杆3的带动下与第一连杆8、第二连杆6、第三连杆12、第四连杆7、第一拉杆9、第二拉杆11的共同作用下使抓手14举降。移动工况中，通过移动操作平台31,使得抓手14能够在一定平面一定空间内任意移动。 1, 5, 6, in each working condition, in the working condition of the gripper tilting, the linear actuator 1 expands and contracts, so that the first support frame 5, the second support frame 10, and the third support frame 13 The first pull rod 9 and the second pull rod 11 drive the position of the gripper 14 to change from horizontal to inclined at a certain angle. In the lifting working condition, driven by the first active rod 2, the second active rod 4, and the third active rod 3, the first connecting rod 8, the second connecting rod 6, the third connecting rod 12, and the fourth connecting rod 7. Under the combined action of the first pull rod 9 and the second pull rod 11, the gripper 14 is lifted and lowered. In the moving working condition, by moving the operating platform 31, the gripper 14 can be moved arbitrarily in a certain space on a certain plane.
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| CN110255341A (en) * | 2019-06-27 | 2019-09-20 | 云南沃克斯电梯有限公司 | A kind of overturning goods transporting device for elevator |
| CN110255341B (en) * | 2019-06-27 | 2020-08-28 | 云南沃克斯电梯有限公司 | A upset freight device for elevator |
| CN110405722A (en) * | 2019-08-13 | 2019-11-05 | 杭州天铭科技股份有限公司 | A mobile palletizing robot |
| CN117585453A (en) * | 2024-01-18 | 2024-02-23 | 常州市力烨重型设备科技有限公司 | Self-propelled solar panel erection equipment |
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