公开(公告)号：US10246276B2

公开(公告)日：2019-04-02

申请号：US15122774

申请日：2015-02-11

申请人： Hefei University of Technology

发明人： Bin Zi ,  Bingyao Wang ,  Guangcai Yin ,  Hao Liu

IPC分类号： B65G61/00 ,  B25J9/08 ,  B25J9/00 ,  B25J9/04 ,  B25J9/10 ,  B25J9/16 ,  B65G57/03

摘要： A combined rope-rod-driven parallel palletizing robot, comprises a chassis, wherein, a base driving mechanism is arranged on the chassis, a torque transfer mechanism is mounted on the base driving mechanism, a top gearbox is mounted on the top of the torque transfer mechanism, a gib arm is movably connected to the top gearbox, and a mechanical arm end tool is arranged on the movable end of the gib arm to operate a work object; the robot further comprises three steel wire rope drivers and three corresponding steel wire ropes, the three steel wire rope drivers are located on the chassis and evenly distributed around the base driving mechanism. In the present invention, the top gearbox and the torque transfer mechanism are driven by a rope to execute two-freedom spatial movement, so as to do palletizing work in a bigger work space.