Multi-freedom degree wheeled mobile stacking robot

Abstract

The invention discloses a multi-freedom degree wheeled mobile stacking robot. The stacking robot comprises a plurality of parallel mechanism closed-loop actuating mechanism sub chains, a serial actuating mechanism main chain and a moveable platform, wherein the mechanism closed-loop sub chains can control a main chain connecting rod to move in the plane where a four-rod mechanism closed-loop sub chain is; the movement of a plurality of parallel connecting rod sub chains, a machine body and the moveable platform can realize the space movement of the moveable platform. The multi-freedom degree wheeled mobile stacking robot provided by the invention is controlled through the resultant movement of four closed-loop sub chains and the machine body; the space movement of a tail end executor is realized through the connection among a plurality of connecting rods, the machine body and the moveable platform; the tail end executor is low in movement inertia, good in dynamic performance and high in reliability; the mechanism has the advantages of compact structure and simple control; the functions of movement and operation can be simultaneously realized; the mechanism can be applied in more places and has great market development potential.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom wheeled mobile palletizing robot. Background technique [0002] Mobile robot is a comprehensive system integrating environment perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space detection. great application. Therefore...

AI Technical Summary

Problems solved by technology

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

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