A Handling Robot with Reconfigurable Degrees of Freedom in Symmetric Arrangement of Slave Arm

Abstract

The invention discloses a transfer robot with symmetrically arranged driven arms and reconstructible degree of freedom and belongs to the technical field of robots. This robot comprises a frame, moving platform three branches and a driving device; each branch includes a large driving arm, a small driving arm, a driving arm link, a support and driven arms; one end of the large driving arm is connected with an output shaft of the driving device, the other being connected with a middle hinging position of the support; one end of the small driving arm is connected with the output shaft of the driving device, the other end being connected with the upper end of the support through the driving arm link in a hinged manner; the upper ends of the driven arms are connected respectively with the lower end of the support and the tail symmetric hinged position of the large driving arm, and the lower ends of the driven arms are connected with a moving platform. The lower end hinged axis of the support and the tail end hinged axis of the large driving arm can be controlled to be coaxial or not so that the robot is switched between three degrees of freedom and six degrees of freedom, mechanism flexibility is effectively improved, and carrying needs can be better met.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a handling robot whose degree of freedom of symmetrical arrangement of a slave arm can be reconfigured. Background technique: [0002] In the automated production lines of light industry, medicine, food and electronics industries, such as sorting, packaging and packaging, especially in repetitive, boring and dangerous tasks such as material handling and machine tool loading and unloading, in order to reduce human labor Strength, improve work efficiency, often need to place repetitive work robots in the space in the work process. The current mainstream parallel robots are mostly three-degree-of-freedom or four-degree-of-freedom robots. The movement of the movable platform is not flexible enough. The working space is often just a mushroom-shaped space with a small thickness. The three-dimensional rotation range of the end piece is generally only about 60 degrees. . In...

AI Technical Summary

Problems solved by technology

The current mainstream parallel robots are mostly three-degree-of-freedom or four-degree-of-freedom robots. The movement of the movable platform is not flexible enough. The working space is often just a mushroom-shaped space with a small thickness. The three-dimensional rotation range of the end piece is generally only about 60 degrees.

In addition, three-degree-of-freedom or four-degree-of-freedom parallel robots are difficult to undertake complex tasks such as welding, and their application range is small

Moreover, it is difficult for existing robots to quickly adjust their geometric configuration according to different working environments and working conditions to meet different working needs.

Images