Three-freedom-degree series-parallel omni-directional mobile transfer robot

Abstract

The invention discloses a three-freedom-degree series-parallel omni-directional mobile transfer robot. The transfer robot comprises an omni-directional mobile chassis, a main slewing gear, a lifting device, parallel working arms, a tail end slewing gear and a clamp holder. The omni-directional mobile chassis is used for executing walking and steering tasks, the lifting device is connected with the omni-directional mobile chassis through the main slewing gear, the parallel working arms installed at the top of the lifting device are connected with the clamp holder through the tail end slewing gear and are used for adjusting the operation posture of the clamp holder. A series-parallel is adopted in a robot body, and the omni-directional mobile transfer robot has the advantages of being high in rigidity, large in carrying capacity, high in motion precision, large in operation space and the like; the clamp holder has six motion ranges and three independent motion freedom degrees and is high in motion flexibility; the tri-drive omni-directional mobile chassis can realize walking tasks of moving forward, or moving backward, or turning left or turning right, and is reasonable in structural design, and high in anti-overturning ability. In addition, the omni-directional mobile transfer robot has the advantages of being convenient to manipulate, and high in adaptability to road conditions.

Description

technical field [0001] The invention relates to a robot in the field of automation equipment, in particular to a three-degree-of-freedom hybrid omnidirectional mobile handling robot with three independent motion degrees of freedom. Background technique [0002] With rising labor prices, the "demographic dividend" of China's manufacturing industry is disappearing. The international economic situation is complex and changeable, the world economy is deeply adjusted, developed countries are promoting "reindustrialization" and "manufacturing return", and the trend of global high-end manufacturing competition is becoming increasingly obvious. The robot density in China's manufacturing industry is far lower than the global average, and the robot industry has a lot of room for development. The technical level of industrial robots determines the precision, accuracy and efficiency of manufacturing production, and the depth and breadth of its application has become an important symbol...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a three-degree-of-freedom hybrid handling robot for the deficiencies of the prior art. Most of the driving motors are installed on the frame, which can solve the problem that the motor of the traditional open-chain series robot is installed at the hinge. It leads to problems such as bulky arms, poor rigidity, large inertia, and accumulated joint errors, so that the handling robot has better dynamic performance, can better meet the requirements of high-speed and heavy-load handling operations, and can overcome the defects of the existing technology

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