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Wheel type mobile robot palletizer with multiple closed-loop sub chains

A closed-loop sub-chain and mobile code technology, applied in the field of robotics, can solve the problems of small working space, low stiffness, and large torque required, and achieve the effects of lowering the center of gravity, greater maneuverability, and reducing active torque

Inactive Publication Date: 2015-04-22
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a wheeled mobile palletizing robot with multiple closed-loop sub-chains, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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  • Wheel type mobile robot palletizer with multiple closed-loop sub chains
  • Wheel type mobile robot palletizer with multiple closed-loop sub chains
  • Wheel type mobile robot palletizer with multiple closed-loop sub chains

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Embodiment Construction

[0035] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] A wheeled mobile palletizing robot with multiple closed-loop sub-chains, including a fuselage 2, a first link 3, a second link 5, a third link 21, a fourth link 19, and a fifth link 18 , the sixth connecting rod 16, the seventh connecting rod 29, the eighth connecting rod 7, the ninth connecting rod 15, the tenth connecting rod 11, the eleventh connecting rod 12, the twelfth connecting rod 23, the thirteenth connecting rod 24. The fourteenth connecting rod 26, the fifteenth connecting rod 40, the sixteenth connecting rod 41, the end effector 28 and the movable platform 1;

[0037] The seventh connecting rod 29 is a "T" shape, and the first connecting end 291, the third connecting end 293, the fourth connecting end 294 and the fifth connecting end 295 are respectively provided on the cross bar part from left to right. T...

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Abstract

The invention discloses a wheel type mobile robot palletizer with multiple closed-loop sub chains. The wheel type mobile robot palletizer comprises the multiple parallel mechanism closed-loop executing mechanism sub chains, a series executing mechanism main chain and a mobile platform. The mechanism closed-loop sub chains can control a main chain connecting rod to move in a plane where the four-rod mechanism closed-loop sub chains are located. Space movement of the mobile platform can be achieved through movement of the multiple parallel connecting rod sub chains, a robot palletizer body and the mobile platform. According to the wheel type mobile robot palletizer with the multiple closed-loop sub chains, control is achieved through resultant movement of the four closed-loop sub chains and the robot palletizer body, space movement of an end executor is achieved through connection of multiple connecting rods, the robot palletizer body and the mobile platform, the end executor is small in movement inertia, good in dynamics performance and high in reliability, and the mechanism has the moving and operating functions at the same time, so that the robot palletizer has the almost infinitely large working space and the high movement redundancy, and can act on more occasions.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wheeled mobile palletizing robot with multiple closed-loop sub-chains. Background technique [0002] A mobile robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. It integrates multi-disciplinary research results in sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of science and technology development. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space detection. great applic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00B25J17/00
Inventor 蔡敢为王麾范雨王少龙李智杰张永文朱凯君王龙王小纯李岩舟杨旭娟温芳
Owner GUANGXI UNIV
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