A seven-degree-of-freedom handling robot with symmetrically arranged slave arms

Abstract

The invention discloses a carrying robot at seven degrees of freedom with symmetrically arranged driven arms and belongs to the technical field of the robot. The robot comprises a frame, moveable platforms, a synchronous belt mechanism, a ball screw, a rack and pinion mechanism and three branch chains, wherein each of the branch chains comprises a big driving arm, a small driving arm, a driving arm connecting rod, a lining rack and a driven arm; the upper end of the driven arm is connected with the lower end part of the linking rack; the lower end of the driven arm is connected with an upper moveable platform. The moveable platform is remolded and upgraded and a degree of freedom is added on the basis of a six-axis delta robot, so that the robot disclosed by the invention has two platforms. A lower moveable platform is deflected for a certain degree on the basis of the upper moveable platform, so that the deflection angle of a tail end executing mechanism is increased. The problems, such as, smaller deflection angle of the tail end executing mechanism, caused by the problems, such as, limitation to a parallel robot at six degrees of freedom in a practical motion process, can be solved by the carrying robot disclosed by the invention; the application scope of the carrying robot disclosed by the invention is wider; the carrying robot can more effectively meet the practical requirement.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a seven-degree-of-freedom handling robot with symmetrically arranged slave arms. 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 rotation range of the end piece is generally only about 60°. And the three-degree-of-freedom or four-degree-of-fre...

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 rotation range of the end piece is generally only about 60°. And the three-degree-of-freedom or four-degree-of-freedom parallel robot is difficult to undertake complex tasks such as welding, and its application range is small; while the six-degree-of-freedom parallel robot is in the actual movement process, due to structural problems, the rotation range of its end parts is generally Very small, only around 40°, its application range is limited

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