Seven-range of motion carrying robot

Abstract

The invention relates to a seven-range of motion carrying robot, which comprises a large arm, a small arm, a movable platform, a machine frame, a first linear driver, a second linear driver and a third linear driver, a fourth linear driver, a fifth linear driver, a sixth linear driver and a seventh linear driver, wherein the large arm is driven by the first linear driver; the small arm is driven by the second linear driver, the third linear driver and the fourth linear driver in parallel to realize three-dimensional rotation; and the movable platform is driven by the fifth linear driver, the sixth linear driver and the seventh linear driver in parallel to realize the three-dimensional rotation. The seven-range of motion carrying robot has the advantages of large operating space, flexible track output, high rigidity, high bearing capacity, small accumulated error, high accuracy and the like.

Description

technical field [0001] The invention relates to the field of handling robots, in particular to a handling robot with seven degrees of activity. Background technique [0002] Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitation of its own structure, this kind of traditional open-chain series robot mechanism has problems such as bulky mechanism, poor rigid...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a seven-degree-of-motion handling robot, which has the advantages of large working space, flexible trajectory output, high rigidity, strong bearing capacity, small cumulative error, and high precision, and can effectively solve the problem of the heavy weight of traditional open-chain serial robot arms. , poor rigidity, large inertia, accumulation of joint errors, small working space of parallel robots, and inflexible movements, etc., and is especially suitable for small arms and moving platforms that require three-dimensional rotation output, while the big arm only needs one-dimensional rotation output handling work

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