Seven-degree-of-freedom transfer robot provided with ball screw movable platform

Abstract

The invention discloses a seven-degree-of-freedom transfer robot provided with a ball screw movable platform and belongs to the technical field of robots. The robot comprises a machine frame, an upper movable platform, a lower movable platform, a ball screw, a synchronous belt and three branches. Each branch comprises a large driving arm, a small driving arm, a driving arm connecting rod, a lining frame and a driven arm, wherein the upper end of the driven arm is connected with the lower end of the lining frame; the lower end of the driven arm is connected with the upper movable platform; a screw nut is fixedly connected to the upper movable platform; a synchronous pulley is installed at the upper end of a screw shaft; and the lower end of the screw shaft is connected with the lower movable platform. The robot is based on a six-axis transfer parallel robot, one degree of freedom is additionally added by transforming and upgrading the movable platforms, the lower movable platform deflects by a certain angle based on the upper movable platform, thus, the deflection angle of a tail end execution mechanism is increased, and the problem that the robot is limited in the actual motion process, and accordingly the deflection angle of the tail end execution mechanism is small is solved. The robot provided by the invention is larger in application range and better meets the practical requirements.

Description

[0001] Technical field: [0002] The invention belongs to the technical field of robots, and in particular relates to a seven-degree-of-freedom handling robot with a ball screw moving platform. [0003] Background technique: [0004] 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-deg...

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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