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Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism

A technology of mobile code and degree of freedom, applied in the field of robots, can solve the problems of low stiffness, small working space, and large torque required, and achieve the effect of realizing intelligence, simple structure, and overcoming low motion accuracy

Inactive Publication Date: 2015-04-01
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom controllable wheeled mobile palletizing robot mechanism, which solves the shortcomings of traditional series robots about the large torque required, low rigidity and small working space

Method used

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  • Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism
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  • Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism

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Embodiment Construction

[0018] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] control Figure 1 to Figure 4 , the multi-degree-of-freedom controllable wheeled mobile palletizing robot mechanism of the present invention includes a rotating frame 25, a first active rod 3, a second active rod 24, a first support frame 11, a first connecting rod 20, a first The second connecting rod 9 , the third connecting rod 6 , the fourth connecting rod 22 , the fifth connecting rod 8 , the sixth connecting rod 13 , the end effector translation holder 15 , the end effector 17 and the movable platform 1 . The specific structure and connection method are:

[0020] The rotating frame 25 is connected to the movable platform 1 through the first rotating pair 28, the rotating frame 25 is connected to one end of the first active rod 3 through the second rotating pair 2, and the other end of the first active rod 3 is ro...

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Abstract

The invention relates to a multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism. The multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism comprises an arm lifting mechanism and a movable platform. The arm lifting mechanism is composed of a plane five-bar mechanism and a branched chain. The planar motion of the arm lifting mechanism is realized through the synthetic motion of the plane five-bar mechanism and the branched chain; the spatial motion of the whole mechanism is realized through the motion of the movable platform. Two serial parallelogram structures are utilized for guaranteeing that an end actuator transversely moves all the time. Due to the mechanism, the robot has motion redundancy of almost infinite work space and height, has moving and operating functions at the same time, can realize complicated motion output, preferably realizes various palletizing actions, and is suitable for more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom controllable wheeled mobile palletizing robot mechanism. Background technique [0002] Research on mobile robots began in the late 1960s. Nils Nilssen and Charles Rosen of Stanford Research Institute (SRI) and others developed an autonomous mobile robot named Shakey from 1966 to 1972. The purpose is to study the application of artificial intelligence technology, autonomous reasoning, planning and control of robotic systems in complex environments. [0003] The traditional series robot has the advantages of simple structure, low cost, and large working space. Relatively speaking, the series robot has low rigidity and cannot be applied to high-speed and large-load occasions; compared with the traditional series robot, the parallel robot has no cumulative error, High precision, compact structure, large bearing capacity, high rigidity and small inertia of the end eff...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J5/00
Inventor 蔡敢为陈渊王麾范雨王少龙李智杰朱凯君张永文王龙王小纯杨旭娟李岩舟
Owner GUANGXI UNIV
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