CN1923468A - Robot for carrying and piling - Google Patents
Robot for carrying and piling Download PDFInfo
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- CN1923468A CN1923468A CN 200610113034 CN200610113034A CN1923468A CN 1923468 A CN1923468 A CN 1923468A CN 200610113034 CN200610113034 CN 200610113034 CN 200610113034 A CN200610113034 A CN 200610113034A CN 1923468 A CN1923468 A CN 1923468A
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Abstract
The invention relates to a carrier robot. Wherein, it comprises base, rotation frame, the first parallel four bar linkage formed by lower large arm, lower small arm, upper large arm and upper small arm, and an end executor state holder with end executor; the connection between lower large and small arms is the should joint; the connection between lower and upper large arms is elbow joint; the movements of large and small arms are driven by crank swinging block device; the invention also has one state holder to keep the lower surface of state holder of end executor horizontal all the time.
Description
Technical field
The present invention relates to a kind of robot for carrying and piling, a kind of specifically automatic industrial manufacturing line that is used for can effect shipment, the robot of multiple work such as unloading, goods transport, piling, un-heaping, belongs to the robot field.
Background technology
From late 1970s, Japan has been used for Robotics since the stacking and stacking technology, the research of robot palletizer has obtained development rapidly, flexibility, processing speed and weight capacity improve constantly, simultaneously, the robot palletizer floor space is little, can handle a plurality of material buttress of various materials and piling simultaneously, and the favor that more and more is subjected to users also dominates the market rapidly.The use of robot palletizer greatly reduces hand labor intensity, has improved production efficiency, and modern robot palletizer can be finished work such as the transporting of multiple packings such as a bag class, case class, piling and un-heaping.
The companies such as Fuji Yusoki Kogyo, Okura Yusoki of the KUKA Roboter of the ABB Robotics of Sweden, Germany, Japan have all produced robot palletizer, and have captured the world market.Robot palletizer IRB 660 with ABB Robotics is an example, it has five rotary joints, beginning from base is can be around the waist joint of vertical direction rotation successively, direction of rotation is perpendicular to shoulder joint, elbow joint, the wrist pitching joint of paper, and the end effector rotary joint that can rotate around vertical direction, it is an a kind of typical traditional industry robot.Fig. 1 is the overall structure schematic diagram of ABB IRB 660, and Fig. 2 is for being the structure diagram of traditional robot palletizer rotary frame of representative with top with ABBIRB 660.As depicted in figs. 1 and 2, rotary frame 3 is installed in to be arranged on the ground base 1 by rotating shaft assembly 2 and also can rotates around vertical direction, and this is the waist joint Axis 1 of robot; The big arm 5 in below, below forearm 7, the big arm 6 in top and top forearm 8 are connected to form first parallel four-bar linkage by connecting axle H, V, B, C, described first parallel four-bar linkage relies on connecting axle H to be installed on the described rotary frame 3, described connecting axle H place is the shoulder joint Axis 2 of robot, and the motion of the big arm 5 in below is to rely on shoulder joint drive motors 16 to drive by decelerator; Described connecting axle C place is the elbow joint Axis 3 of robot, and top forearm 8 relies on the elbow joint drive motors 4 that is set on the described rotary frame 3 to control its motion by decelerator and described first parallel four-bar linkage; Shoulder joint drive motors 16 and elbow joint drive motors 4 coaxial arrangement.
The connecting axle C place of the center line joint of big arm 5 in described below and top forearm 8 is equipped with " L " type connector 10, and described " L " type connector 10, first connecting rod 9, the big arm 5 in described below are connected to form second parallel four-bar linkage with described rotary frame 3 by connecting axle G, O, H, C; Described " L " type connector 10, second connecting rod 11, described top forearm 8 and end effector attitude retainer 12 are connected to form the 3rd parallel four-bar linkage by connecting axle D, E, P, C, utilize described second parallel four-bar linkage and described the 3rd parallel four-bar linkage can guarantee that the lower surface of described end effector attitude retainer 12 remains level in the robot course of work, this design has remarkable advantages when goods pending or carrying is heavier, wherein said connecting axle P place is the wrist pitching joint Axis 4 of robot.End effector of robot 13 can rotate around vertical direction under the effect that is installed in the end effector electric rotating machine 14 on the described end effector attitude retainer 12, forms the end effector rotary joint Axis 5 of robot.
This configuration mode is adopted by existing most of articulated type robot palletizers, but there are the following problems for this configuration mode, in order to reduce requirement for drive motors, often adopt and on robot palletizer, add counterweight, perhaps spring subtracts thrust balancing device or hydropneumatic and subtracts thrust balancing device and reduce driving moment requirement required in the robot course of work, for example: the IRB 660 of ABBRobotics has adopted spring to subtract thrust balancing device 15, and K is a spring among Fig. 2; The IRB 6400 of ABB Robotics has adopted counterweight (Counter Weight) and spring to subtract thrust balancing device simultaneously, but, this frame for movement is still higher for the requirement of driving element, used driving element is motor normally, in addition, add counterweight or spring and subtract this body weight that thrust balancing device has increased the weight of robot, strengthened the consumption of the energy and the wearing and tearing of machine.
Thereby, need carry out the transformation and the innovation of frame for movement aspect to the robot palletizer of this configuration mode, can either reduce the requirement of robot for driving element (normally motor), can remove counterweight etc. again to reduce robot body weight, reduction can have stability and durability preferably for the wearing and tearing of machine in the consumption of the energy and the course of work when keeping lower cost.
Summary of the invention
The objective of the invention is for a kind of robot for carrying and piling is provided, it can reduce the driving moment requirement of robot for driving elements such as motors, thereby can reduce the cost of robot, and counterweight can be removed and spring subtracts thrust balancing device, with this body weight and the wearing and tearing that reduce robot, improve the stability and the durability of robot.
Technical scheme of the present invention is as follows:
The invention provides a kind of robot for carrying and piling, comprise base, the rotary frame that is installed on the described base and can rotates around vertical direction, first quadric chain of forming by the big arm in below, below forearm, the big arm in top and top forearm, and end effector attitude retainer; Described first quadric chain is installed on the described rotary frame by the connecting axle that is in big arm in below and below forearm center line intersection, forms the shoulder joint of robot; The big arm in described below is connected with described top forearm by connecting axle, forms the elbow joint of robot; A forearm outwardly directed side end in described top is connected with described end effector attitude retainer by connecting axle, form the wrist pitching joint of robot, the end effector that can rotate around vertical direction also is installed on the described end effector attitude retainer; It is characterized in that:
Described first quadric chain is a parallel four-bar linkage;
Described robot for carrying and piling also comprises the shoulder joint driving element, and described shoulder joint driving element drives the big arm in described below around shoulder joint kinesitherapy by first crank rocker mechanism that is arranged on the described rotary frame;
Described robot for carrying and piling also comprises the elbow joint driving element, and described elbow joint driving element drives described top forearm and moves around elbow joint by being arranged on second crank rocker mechanism on the described rotary frame and first quadric chain;
Described robot for carrying and piling also comprises an attitude maintaining body, makes the lower surface of described end effector attitude retainer remain level in the course of the work by described attitude maintaining body.
As one embodiment of the present invention, described attitude maintaining body is made up of the electric machine assembly that is arranged on described wrist pitching joint, described attitude maintaining body makes the lower surface of described end effector attitude retainer remain level in the course of the work according to the real-time angle of adjusting between described end effector attitude retainer and the described top forearm of the attitude of described first quadric chain.
As another embodiment of the invention, " L " type connector can also be installed on described first quadric chain, one end of described " L " type connector links to each other with described rotary frame by first connecting rod, forms second quadric chain with the big arm in described below; The other end of described " L " type connector links to each other with described end effector attitude retainer by second connecting rod, form the 3rd quadric chain with described top forearm, described second quadric chain and described the 3rd quadric chain are parallel four-bar linkage, and both form described attitude maintaining body.This kind design has remarkable advantages when goods pending or carrying is heavier.
The present invention is simple and compact for structure, passing through motor---the crank rocker mechanism of compositions such as feed screw nut assembly comes driven machine people's arm to move, greatly reduce in the robot palletizer course of work requirement for drive motors, thereby need not counterweight and spring subtracts thrust balancing device, effectively reduce this body weight of robot, its cost and energy resource consumption are low, and be in light weight and wear and tear for a short time, and stability and durability are good.
Description of drawings
Fig. 1 is the overall structure schematic diagram of ABB IRB 660.
Fig. 2 is for being the structure diagram of traditional robot palletizer rotary frame of representative with top with ABB IRB 660.
Fig. 3 is the structure diagram of rotary frame among the present invention with top.
Fig. 4 is the integrally-built schematic three dimensional views of exemplary embodiments of the present invention.
Fig. 5 is the integrally-built front schematic view of exemplary embodiments of the present invention.
Fig. 6 is the crank rocker mechanism schematic diagram of exemplary embodiments of the present invention.
Fig. 7 is the schematic diagram of a kind of arrangement of exemplary embodiments of the present invention in industrial production line.
Wherein 1: base.2: rotating shaft assembly.3: rotary frame.4: the elbow joint drive motors.5: the big arm in below.6: the big arm in top.7: the below forearm.8: the top forearm.9: first connecting rod.10: " L " type connector.11: second connecting rod.12: end effector attitude retainer.13: end effector.14: the end effector electric rotating machine.15: spring subtracts thrust balancing device.16: the shoulder joint drive motors.
H: connecting axle.V: connecting axle.B: connecting axle.C: connecting axle.D: connecting axle.G: connecting axle.E: connecting axle.P: connecting axle.O: connecting axle.U: connecting axle.M: connecting axle.N: connecting axle.
201: base.202: rotating shaft assembly.203: rotary frame.204: the big arm connector in below.205: the big arm in below.206: the big arm in top.207: the below forearm.208: the top forearm.209: first connecting rod.210: " L " type connector.211: second connecting rod.212: end effector attitude retainer.213: end effector.214: the connecting rod connector.301: the rotary frame drive motors.302: the shoulder joint drive motors.241: the first motor supports.251: the first nuts.261: the first nuts.271: the first leading screws.303: the elbow joint drive motors.242: the second motor supports.252: the second nuts.262: the second nuts.272: the second leading screws.304: the end effector electric rotating machine.231: the first telescoping mechanisms.232: the second telescoping mechanisms.20: robot for carrying and piling.21: wait to carry the article pipeline.22: article to be carried.23: the pallet transit.24: the article pallet.
The specific embodiment
Below in conjunction with accompanying drawing and exemplary embodiments the present invention is described in further detail.
The present invention transforms on the basis of existing articulated type robot palletizer (being similar to the IRB 660 of ABB Robotics) and forms.Robot palletizer disclosed in this invention is not to pass through motor as IRB 660---decelerator driven machine human arm, but adopted crank rocker mechanism to drive.As shown in Figure 3, along with stretching of first telescoping mechanism 231 (employing motor---feed screw nut assembly or employing can realizing the hydraulic drive mechanism of corresponding function etc.), the big arm 205 in the below of robot can be around the connecting axle H on the rotary frame 203, just the shoulder joint of robot is rotated, in like manner, along with stretching of second telescoping mechanism 232 (employing motor---feed screw nut assembly or employing can realizing the hydraulic drive mechanism of corresponding function etc.), the below forearm 207 of robot can rotate around connecting axle H, and the elbow joint of top forearm 208 around connecting axle C place that drives robot by first parallel four-bar linkage rotates.Driven by power is to use maximum a kind of type of drive at present, be characterized in that power supply is convenient, response is fast, driving force is big, signal detection, transmit, it is convenient to handle, and can adopt the multiple flexible control mode, so the present invention preferably adopts motor---the driving mechanism of this reinforcement of feed screw nut assembly, and use together in conjunction with the crank rocker mechanism of narrating previously, be used for the driven machine human arm, adopt this kind scheme, greatly in the robot palletizer course of work for the requirement of drive motors, thereby need not counterweight and spring subtracts thrust balancing device, effectively reduce this body weight of robot, its cost and energy resource consumption are low, and be in light weight and wear and tear for a short time, and stability and durability are good.
An exemplary embodiments of the present invention is disclosed below in conjunction with Fig. 3～Fig. 6.
A kind of robot for carrying and piling comprises base 201, rotary frame 203, first quadric chain of being made up of the big arm 205 in below, below forearm 207, the big arm 206 in top and top forearm 208, and end effector attitude retainer 212; Rotary frame 203 is installed in to be arranged on the ground base 201 by rotating shaft assembly 202 and also can rotates around vertical direction, and this is the waist joint of robot, and the rotation of waist joint relies on rotary frame drive motors 301 to drive; The big arm 205 in below, below forearm 207, the big arm 206 in top and top forearm 208 are connected to form first parallel four-bar linkage by connecting axle H, V, B, C, wherein, and VH//BC, VB//HC, and VH=BC, VB=HC; Described first parallel four-bar linkage relies on connecting axle H to be installed on the described rotary frame 203, and described connecting axle H place is the shoulder joint of robot;
The big arm 205 in described below is connected mutually with the big arm connector 204 in below, and becoming can be around " L " type rod member of H axle rotation;
Shoulder joint drive motors 302 be installed on the described rotary frame 203 can be on first motor supports 241 of connecting axle M rotation, first nut 251 is installed on the big arm connector 204 in described below by connecting axle N, and can rotate around connecting axle N, first nut 261 is fixedly mounted on described first nut 251, first leading screw 271 is connected by shaft coupling and described shoulder joint drive motors 302, just form first crank rocker mechanism with upper-part, described " L " type rod member just can be used as in first crank rocker mechanism swinging block first telescoping mechanism 231 (by motor---the feed screw nut assembly is a shoulder joint drive motors 302, first leading screw 271 and first nut 261 are formed) effect under rotate around connecting axle H, just realized of the rotation of the big arm of prosthetic robot around shoulder joint.
In like manner, elbow joint drive motors 303 be installed on the described rotary frame 203 can be on second motor supports 242 of connecting axle U rotation, second nut 252 is installed on the described below forearm 207 by connecting axle V, and can rotate around connecting axle V, second nut 262 is fixedly mounted on described second nut 252, second leading screw 272 is connected by shaft coupling and described elbow joint drive motors 303, just form second crank rocker mechanism with upper-part, like this, described below forearm 207 just can be used as in second crank rocker mechanism swinging block second telescoping mechanism 232 (by motor---the feed screw nut assembly is an elbow joint drive motors 303, second leading screw 272 and second nut 262 are formed) effect under rotate around connecting axle H, described top forearm 208 just can be by the rotation of described first parallel four-bar linkage realization around connecting axle C, described connecting axle C can regard at the place elbow joint as robot as, has so just realized the rotation of robot forearm around elbow joint.
The present invention adds this step-up system of feed screw nut, thereby greatly reduces the moment requirement for drive motors owing to used crank rocker mechanism, helps reducing the cost of robot.
Further will hang down requirement as need for shoulder joint drive motors 302 and elbow joint drive motors 303, can be respectively at shoulder joint drive motors 302 with elbow joint drive motors 303 with the leading screw junction decelerator is set or all the other can realize the assembly of similar functions.
Forearm 208 outwardly directed side ends in described top are connected with described end effector attitude retainer 212 by connecting axle P, connecting axle P place is the wrist pitching joint of robot, described robot for carrying and piling also comprises an attitude maintaining body, makes the lower surface of described end effector attitude retainer 212 remain level in the course of the work by described attitude maintaining body.
In one embodiment, described attitude maintaining body is made up of the electric machine assembly that is arranged on described wrist pitching joint, described attitude maintaining body makes the lower surface of described end effector attitude retainer 212 remain level in the course of the work according to the real-time angle of adjusting between described end effector attitude retainer and the described top forearm of the attitude of described first quadric chain.
In another kind of embodiment, described attitude maintaining body is made up of two parallel four-bar linkages, concrete form as shown in Figure 3 and Figure 4, below big arm 205 and above the connecting axle C place of center line joint of forearm 208 " L " type connector 210 is installed, described " L " type connector 210, first connecting rod 209, the big arm 205 in described below passes through connecting axle G with the connecting rod connector 214 that is installed on the described rotary frame 203, O, H, C is connected to form second parallel four-bar linkage, wherein, HO//CG, HC//OG, and, HO=CG, HC=OG, just quadrangle HCGO is a parallelogram; Described " L " type connector 210, second connecting rod 211, described top forearm 208 and end effector attitude retainer 212 are connected to form the 3rd parallel four-bar linkage by connecting axle D, E, P, C, wherein, DC//EP, DE//CP, and, DC=EP, DE=CP, just quadrangle CDEP is a parallelogram.
To prove below that according to above-mentioned set-up mode the attitude maintaining body that just utilizes described second parallel four-bar linkage and described the 3rd parallel four-bar linkage to form can guarantee that the lower surface of described end effector attitude retainer 212 remains level in the robot course of work.As shown in Figure 3, at first, the center line HO of connecting axle H and connecting axle O keeps static with respect to rotary frame 203, according to geometry site CG//HO, CD//PE, CG and CD then are the center lines on " L " type connector both sides, thereby CG is static with respect to CD, so with respect to rotary frame 203, PE will keep translation, thereby in the robot running, the lower surface of end effector Position Keeper 212 will keep level.This design has remarkable advantages when goods pending or carrying is heavier.
End effector of robot 213 can rotate around vertical direction under the effect that is installed in the end effector electric rotating machine 304 on the described end effector attitude retainer 212, forms the end effector rotary joint of robot.
Fig. 7 is a kind of arrangement of disclosed a kind of robot for carrying and piling 20 in industrial production line in this invention.Robot for carrying and piling 20 will be waited to carry article 22 and be transported to impact point on the article pallet 24 on the pallet transit 23 along arrow direction among Fig. 7 from waiting to carry source point on the article pipeline 21, and on pallet 24, will wait to carry article 22 and pile up neatly, after shipment finishes, along production line under the direction of arrow among Fig. 7.
In conjunction with different end effector of robot, disclosed robot for carrying and piling just can be transferred to impact point from source point with pending goods among the present invention, finishes multiple work such as corresponding loading, unloading, goods transport, piling, un-heaping.
Claims (7)
1. robot for carrying and piling, comprise base, the rotary frame that is installed on the described base and can rotates around vertical direction, first quadric chain of forming by the big arm in below, below forearm, the big arm in top and top forearm, and end effector attitude retainer;
Described first quadric chain is installed on the described rotary frame by the connecting axle that is in big arm in below and below forearm center line intersection, forms the shoulder joint of robot; The big arm in described below is connected with described top forearm by connecting axle, forms the elbow joint of robot; A forearm outwardly directed side end in described top is connected with described end effector attitude retainer by connecting axle, form the wrist pitching joint of robot, the end effector that can rotate around vertical direction also is installed on the described end effector attitude retainer; It is characterized in that:
Described first quadric chain is a parallel four-bar linkage;
Described robot for carrying and piling also comprises the shoulder joint driving element, and described shoulder joint driving element drives the big arm in described below around shoulder joint kinesitherapy by first crank rocker mechanism that is arranged on the described rotary frame;
Described robot for carrying and piling also comprises the elbow joint driving element, and described elbow joint driving element drives described top forearm and moves around elbow joint by being arranged on second crank rocker mechanism on the described rotary frame and first quadric chain;
Described robot for carrying and piling also comprises an attitude maintaining body, makes the lower surface of described end effector attitude retainer remain level in the course of the work by described attitude maintaining body.
2. robot for carrying and piling according to claim 1, it is characterized in that: described attitude maintaining body is made up of the electric machine assembly that is arranged on described wrist pitching joint, described attitude maintaining body makes the lower surface of described end effector attitude retainer remain level in the course of the work according to the real-time angle of adjusting between described end effector attitude retainer and the described top forearm of the attitude of described first quadric chain.
3. robot for carrying and piling according to claim 1, it is characterized in that: " L " type connector is installed on described first quadric chain, one end of described " L " type connector links to each other with described rotary frame by first connecting rod, forms second quadric chain with the big arm in described below; The other end of described " L " type connector links to each other with described end effector attitude retainer by second connecting rod, forms the 3rd quadric chain with described top forearm; Described second quadric chain and described the 3rd quadric chain are parallel four-bar linkage, and both form described attitude maintaining body.
4. according to claim 1,2 or 3 described robot for carrying and piling, it is characterized in that: described shoulder joint driving element is a motor---the feed screw nut assembly.
5. according to claim 1,2 or 3 described robot for carrying and piling, it is characterized in that: described shoulder joint driving element is a hydraulic drive mechanism.
6. according to claim 1,2 or 3 described robot for carrying and piling, it is characterized in that: described elbow joint driving element is a motor---the feed screw nut assembly.
7. according to claim 1,2 or 3 described robot for carrying and piling, it is characterized in that: described elbow joint driving element is a hydraulic drive mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101130347A CN100417498C (en) | 2006-09-08 | 2006-09-08 | Robot for carrying and piling |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101130347A CN100417498C (en) | 2006-09-08 | 2006-09-08 | Robot for carrying and piling |
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| CN1923468A true CN1923468A (en) | 2007-03-07 |
| CN100417498C CN100417498C (en) | 2008-09-10 |
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| SE0301754D0 (en) * | 2003-06-13 | 2003-06-13 | Abb Ab | Industrial Robot |
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Assignee: Jiangsu Saimo Group Co., Ltd. Assignor: Tsinghua University Contract fulfillment period: 2009.3.20 to 2026.9.8 Contract record no.: 2009320000522 Denomination of invention: Robot for carrying and piling Granted publication date: 20080910 License type: Exclusive license Record date: 20090330 |
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