Multi-freedom-degree controllable mechanism type hybrid carrying robot

Abstract

The invention discloses a multi-freedom-degree controllable mechanism type hybrid carrying robot. The carrying robot is characterized in that one end of a second driving rod is connected to a rotation rack, and the other end of the second driving rod is connected to one end of a first connection rod; the other end of the first connection rod is connected to one end of a second connection rod; the other end of the second connection rod is connected to one end of a shoulder rod; the other end of the shoulder rod is connected to one end of a toggle rod; the other end of the toggle rod is rigidly connected to one end of a fifth connection rod; the other end of the fifth connection rod is connected to one end of a sixth connection rod; the other end of the sixth connection rod is connected to a tail end actuator; one end of a third connection rod is connected to the rotation rack, and the other end of the third connection rod is connected to the second connection rod; one end of a waist rod is connected to the rotation rack, and the other end of the waist rod is connected to the shoulder rod; one end of a third driving rod is connected to the rotation rack, and the other end of the third driving rod is connected to one end of a fourth connection rod; the other end of the fourth connection rod is connected to one end of a tenth connection rod; the other end of the tenth connection rod is connected to a second compound hinge. The hybrid carrying robot is high in bearing capability, flexible in operation, compact in structure and large in working space; meanwhile, the hybrid carrying robot is driven and controlled by a servo motor.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a multi-degree-of-freedom controllable mechanism type hybrid handling robot. Background technique [0002] 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 effector, etc., the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response. It has the advantages of large working space, high rigidity, strong bearing capacity, small inertia and high precision of the end effector. It can be used in complex operations such a...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom controllable mechanism-type hybrid handling robot. Most of the driving motors are installed on the frame, which can solve the problem that the motors of the traditional open-chain series robots are installed at the hinges, resulting in heavy arms. Poor rigidity, large inertia, joint error accumulation and other problems, the robot has good dynamic performance, and can better meet the requirements of high-speed heavy-duty handling and palletizing

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