Light three-translation robot

Abstract

The invention discloses a light three-translation robot, which belongs to the technical field of industrial robots, and comprises a rotating arm, a big arm, a forearm and a wrist part, a split wrist part structure is adopted, the wrist part is divided into a forearm auxiliary rod and a wrist piece, and a first hinge parallelogram mechanism is formed by a first driving connecting rod, a first driven connecting rod, a first mounting vertical plate and a posture keeping rod; a second hinge parallelogram mechanism is formed by a second driving connecting rod, a second driven connecting rod, the first driving connecting rod and the section, away from the wrist part, of a forearm connecting rod; a third parallel hinge parallelogram mechanism is formed by the posture keeping rod, the forearm connecting rod, a forearm driven rod and the forearm auxiliary rod, the main body of a long rod in the three hinge parallelogram mechanisms is composed of a light carbon fiber tube, and the axis of a connecting flange at the middle tail end of the wrist part is parallel to the axis of a robot base. Rod pieces forming a palletizing robot are light in weight, and the wrist structure is a separated wrist structure, so that the wrist movement is more flexible.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a light-duty and split-type wrist tri-translational robot. Background technique [0002] The articulated palletizing robot has a very simple structure, a small footprint, a large range of motion, and can realize a variety of motion trajectories with a high degree of flexibility. It is more suitable for actual production needs and has a wide range of applications in the field of automated handling. The palletizing robot itself is heavy. The palletizing robot generally uses metal rods to form the upper arm and the small arm. Mounting holes are opened at the ends of the metal rods, and adjacent rods are connected by rotation through rotating shafts. [0003] The existing articulated palletizing robot has the following disadvantages: the weight of the body is relatively large, and the weight of the metal rod is relatively large. Traditional palletizing robots r...

AI Technical Summary

Problems solved by technology

[0003] The existing articulated palletizing robot has the following disadvantages: the weight of the body is relatively large, and the weight of the metal rod is relatively large

Traditional palletizing robots rely on the structure (consisting of posture maintaining rods, upper arms and forearm links), for palletizing robots installed on the ground, ensure that the rotation axis of the wrist is perpendicular to the ground plane during the movement, that is, ensure that the wrist The rotation axis of the structure is parallel to the rotation axis of the first one-axis motor during the movement. The wrist structure has two mounting holes for hinged connection with adjacent rods. The wrist structure constitutes the third hinge. The short side of the parallelogram mechanism leads to Wrist structure oversized

[0004] In the working conditions that require a large working space and need to be hoisted, the articulated palletizing robot is not suitable for hoisting, and the working space of other articulated robots is insufficient

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