Six-degree-of-freedom multi-function loading and transporting robot

Abstract

The invention discloses a six-degree-of-freedom multi-function loading and transporting robot. The six-degree-of-freedom multi-function loading and transporting robot comprises a mobile chassis, an anti-overturning device, an adjustable supporting seat, a rotating device, a motion executing arm, a grasping device and an electric air pump. The anti-overturning device mounted under the mobile chassis is used for preventing the robot from overturning during executing the loading and transporting tasks; the adjustable supporting seat can be used for adjusting the height and the fore-and-aft horizontal displacement of the grasping device; the rotating device is used for adjusting the left-right rotation of the grasping device; the motion executing arm is mainly used for executing the lifting and lowering tasks; and the grasping device is capable of executing the material grasping task by mechanical clamping or negative pressure adsorbing. The robot can be used for the works as material moving and carrying, material loading and unloading and the like in the logistics or industrial production and has the advantages of being high in flexibility of motion, strong in adaptability, large in anti-overturning torque, compact in structure, capable of saving storage space, convenient to adjust and control and the like. The robot is capable of overcoming the technical defects in the prior loading and transporting robot and more applicable to popularization.

Description

technical field [0001] The invention relates to a robot in the field of automation equipment, in particular to a movable six-degree-of-freedom multifunctional loading robot. 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 to measure a country's manufacturing level and technologi...

AI Technical Summary

Problems solved by technology

For example, the Chinese patent application number 201610005259.4 discloses "a mecanum wheel omnidirectional mobile handling robot", which has a six-degree-of-freedom manipulator, but the grasping end is relatively single and the adaptability is poor; the Chinese patent application number 201510545829.4 discloses "A kind of palletizing robot", the structure of the rotary assembly and the swing arm assembly is relatively complicated, the cost is high, and it is not suitable for small enterprises; the Chinese patent application number 201510593885.5 discloses "a moving bracket three-degree-of-freedom handling robot" , the structure is relatively simple, and the parallelogram theorem is used to limit the degree of freedom of the end-effector, which effectively solves the problems of the robot's bulky structure and insufficient structural rigidity and strength, but the robot has fewer degrees of freedom and cannot be moved, so it has great limitations; The Chinese patent No. 201310405360.5 discloses "a five-degree-of-freedom hybrid industrial robot", which has a large working space, high flexibility and compact flexible structure, and can realize various engineering operations such as handling, spraying, and assembly, but it cannot be moved. , only applicable to fixed production lines, and the working status cannot be changed at will; the Chinese patent application number 201610028781.4 discloses a "handling robot based on a mobile mechanical arm", which combines a mobile car body based on a mecanum wheel with a hydraulic mechanical arm. , has the advantages of flexible movement and high power density, but the working direction is relatively single and the working range is small

To sum up, there is still room for improvement in the structure of the existing industrial shipping robots. The working range is small, the control is cumbersome, the structural stability is poor, and the shape of the gripping head is single. It can only be designed for specific products, and the adaptation to actual working conditions Poor performance, cannot easily change the use environment

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