Four-freedom-degree hybrid driving mechanism type forklift robot

Abstract

The invention provides a four-freedom-degree hybrid driving mechanism type forklift robot. The four-freedom-degree hybrid driving mechanism type forklift robot comprises a four-freedom-degree forkliftactuator and a hybrid driving system, wherein the forklift actuator is driven by the hybrid driving system arranged on a swinging base, thereby effectively lowering the gravity center of the forkliftrobot and reducing movement inertia of the forklift robot, and improving the kinetic performance of the forklift robot. The four-freedom-degree hybrid driving mechanism type forklift robot has the advantages that the hybrid driving system composed of a conventional motor and a controllable motor is adopted to conduct driving control, under the control of a computer system, four-freedom-degree flexible controllable adjustable movement is achieved, not only is working space large, the flexibility is high, but also the problems that the controllable motor is poor in driving power, low in torque,high in cost and the like are solved, and the bearing capacity of the forklift robot is improved; the intelligence degree is high, the bearing capacity is high, the flexibility is high, the cost is low, the energy consumption is low, no tail gas pollution exists, and the forklift robot is especially suitable for carrying operation in factory workshops, logistics warehouses and the like under theenclosed environment.

Description

technical field [0001] The invention relates to the field of storage forklifts, in particular to a four-degree-of-freedom hybrid drive mechanism type forklift robot. Background technique [0002] Warehousing forklifts are specially designed for warehouse cargo loading and unloading, stacking and other handling operations. Except some manual pallet forklifts are driven by manpower, others are mostly driven by electric motors, because of their compact body, flexible movement, and outstanding environmental performance. It has been widely used in the warehousing industry. However, with the development of modern logistics and the continuous improvement of the requirements for handling technology, the existing storage forklifts have exposed many technical problems. First of all, the working devices of the existing storage forklifts are mostly two-degree-of-freedom actuators. Except for a small angle of inclination, it can only move up and down, with poor flexibility and weak obst...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a four-degree-of-freedom hybrid drive mechanism forklift robot. On the one hand, this kind of forklift robot should be able to overcome the problems of poor flexibility of the traditional forklift working device, so that the fork can realize four-degree-of-freedom flexible and adjustable movement; On the one hand, the forklift actuator of this kind of forklift robot should be a controllable actuator, which can realize four-degree-of-freedom flexible and controllable movement under computer control; thirdly, the forklift actuator of this kind of forklift robot should have low energy consumption and low driving power. , high reliability and other characteristics; finally, the design scheme of this kind of forklift robot should be able to meet the requirements of heavy-duty, high-load loading and unloading, stacking and other handling operations

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