A variable configuration large space palletizing robot mechanism

Abstract

The invention discloses a variable-configuration large-space robot palletizer mechanism. By adoption of a first limiting hinge pin for limiting, a transition connecting rod and an output connecting rod are overlapped, a first driving connecting rod, a second driving connecting rod and a frame form a closed triangular structure, and the mechanism is in a single-degree-of-freedom state to realize switching between a two-degree-of-freedom mechanism and a single-degree-of-freedom mechanism. When the mechanism is shut down, by adoption of a second limiting hinge pin for limiting, a fourth driving motor starts to enable the output connecting rod, the transition connecting rod and a transmission connecting rod to move to positions overlapped with the position of the second driving connecting rod, the transition connecting rod and the transmission connecting rod are fixedly connected together through limiting hinge pins, and small three-dimensional space occupancy is realized after the mechanism is shut down. Therefore, the variable-configuration large-space robot palletizer mechanism has the advantages of controllability, adjustability, output flexibility, metamorphic mechanism multifunctional stage changes, multi-topology structural changes, multi-degree-of-freedom changes, adaptability to various tasks and flexible applicability to various places and various work objects.

Description

technical field [0001] The invention relates to the field of palletizing machinery design, in particular to a large-space palletizing robot mechanism with variable configurations. Background technique [0002] With the improvement of the level of mechanical automation, palletizing robots are widely used due to their advantages in mechanical structure, scope of application, flexibility, cost and maintenance, and have become a development trend. They are widely used in food, electronics, etc. , machinery, medicine and other automated production enterprises. The existing palletizing robot mechanism is a fixed-degree-of-freedom mechanism with limited movement space, and its working space cannot be changed according to functional requirements or environmental changes. [0003] Chinese patent 201210576488.3 discloses a large working space controllable mechanism type palletizer. Although this palletizing mechanism has a large working space, it has low working flexibility and stabi...

AI Technical Summary

Problems solved by technology

The existing palletizing robot mechanism is a fixed-degree-of-freedom mechanism with limited movement space, and its working space cannot be changed according to functional requirements or environmental changes

[0003] Chinese patent 201210576488.3 discloses a large working space controllable mechanism type palletizer. Although this palletizing mechanism has a large working space, it has low working flexibility and stability and occupies a large space when it is not working. Chinese patent 201110184520.9 discloses a variable Although the cell mechanism type palletizing robot mechanism has high working flexibility and stability, the working space is not large. At present, there is no invention and innovative design of a palletizing robot mechanism with high working flexibility and stability and large working space.

Images