Multi-freedom degree wheeled mobile stacking robot

A technology of moving codes and degrees of freedom, applied in the field of robots, can solve the problems of large required torque, small working space, low rigidity, etc., and achieve the effect of reducing dynamic torque, improving working space and high precision

Inactive Publication Date: 2015-04-29
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 multi-degree-of-freedom wheeled mobile palletizing robot, 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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  • Multi-freedom degree wheeled mobile stacking robot
  • Multi-freedom degree wheeled mobile stacking robot
  • Multi-freedom degree wheeled mobile stacking robot

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Embodiment Construction

[0036] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] A multi-degree-of-freedom wheeled mobile palletizing robot, comprising a movable platform 1, a body 2, a first connecting rod 3, a second connecting rod 5, a third connecting rod 24, a fourth connecting rod 20, and a fifth connecting rod 22. Sixth connecting rod 39, seventh connecting rod 38, eighth connecting rod 18, ninth connecting rod 11, tenth connecting rod 16, eleventh connecting rod 13, twelfth connecting rod 14, thirteenth connecting rod Rod 25, fourteenth connecting rod 26, fifteenth connecting rod 28, sixteenth connecting rod 40, seventeenth connecting rod 41, eighteenth connecting rod 42 and end effector 30;

[0038] The eighth connecting rod 18 is in the shape of a "T", and a first connecting end 181, a third connecting end 183, a fourth connecting end 184 and a fifth connecting end 185 are respectively pro...

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PUM

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Abstract

The invention discloses a multi-freedom degree wheeled mobile stacking robot. The stacking robot comprises a plurality of parallel mechanism closed-loop actuating mechanism sub chains, a serial actuating mechanism main chain and a moveable platform, wherein the mechanism closed-loop sub chains can control a main chain connecting rod to move in the plane where a four-rod mechanism closed-loop sub chain is; the movement of a plurality of parallel connecting rod sub chains, a machine body and the moveable platform can realize the space movement of the moveable platform. The multi-freedom degree wheeled mobile stacking robot provided by the invention is controlled through the resultant movement of four closed-loop sub chains and the machine body; the space movement of a tail end executor is realized through the connection among a plurality of connecting rods, the machine body and the moveable platform; the tail end executor is low in movement inertia, good in dynamic performance and high in reliability; the mechanism has the advantages of compact structure and simple control; the functions of movement and operation can be simultaneously realized; the mechanism can be applied in more places and has great market development potential.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom wheeled mobile palletizing robot. Background technique [0002] Mobile robot is a comprehensive system integrating environment 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 application. Therefore...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00B65G61/00
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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