A moving robot with three degrees of freedom

Abstract

The invention discloses a three-degree-of-freedom transfer robot with a movable support and belongs to the technical field of robots. The robot comprises a machine frame, the movable support, a movable platform, a ball screw linear sliding table, a first driving branch chain, a second driving branch chain, a driven branch chain, a first driving device, a second driving device and a third driving device. The first driving branch chain comprises the movable support, a first driving arm, a first posture maintaining connecting rod and a posture maintaining rod. The second driving branch chain comprises a first driving arm, a second driving arm, a driven arm and a small arm connecting rod. The driven branch chain comprises the movable platform, a driven arm, a posture maintaining rod and a second posture maintaining connecting rod. The ball screw linear sliding table comprises a base, a sliding block, a lead screw and a sliding rod. According to the three-degree-of-freedom transfer robot with the movable support, the flexibility of a mechanism can be effectively improved, and the parallel robot mechanism is simplified; meanwhile, advantages of the mechanism that the inertia is small, the speed is high, the accelerated speed is high, the positioning precision is high, and repeated positioning can be achieved are well maintained.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a three-degree-of-freedom handling robot of a movable support. 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 Intensity, improve work efficiency, in the operation process, it is often necessary to place repetitive work robots in the space, but it is unnecessary to use multi-degree-of-freedom space parallel manipulators, or the manufacturing cost is too high, such as the traditional SCARA robot due to its own Factors, three motors and a ball screw are installed on the arm, which limits its range of action, and the manufacturing cost of the serial five-axis robot is too high. However, in the translatio...

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Problems solved by technology

[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 Intensity, improve work efficiency, in the operation process, it is often necessary to place repetitive work robots in the space, but it is unnecessary to use multi-degree-of-freedom space parallel manipulators, or the manufacturing cost is too high, such as the traditional SCARA robot due to its own Factors, three motors and a ball screw are installed on the small arm, which limits its range of action, and the manufacturing cost of the serial five-axis robot is too high

However, in the translational parallel robot mechanism, the method of connecting the actuator on the moving platform to the motor on the frame through the transmission shaft reduces the working space of the mechanism, limits the acceleration of the end effector, and makes the position and attitude Accuracy is difficult to guarantee

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