Three-freedom-degree transfer robot with movable support

Abstract

The invention discloses a three-freedom-degree transfer robot with a movable support and belongs to the technical field of industrial robot application. The transfer robot comprises a machine frame, a linear module, the movable support, an arm conveying device and a tail end execution mechanism. The linear module comprises a ball screw and a linear slide rail. The arm conveying device comprises an active arm and a posture-keeping rod. The tail end execution mechanism comprises an executing tail end installing plate, a liner module and a suction disc installing plate. The three-freedom-degree transfer robot adopts a parallelogram theorem to limit the freedom degree of the tail end execution mechanism, the problem that an existing robot is heavy in structure and insufficient in structural rigidity and strength is effectively solved, and the three-freedom-degree transfer robot is simple in manufacture, convenient to install and debug and lower in manufacturing cost.

Description

Technical field: [0001] The invention belongs to the technical field of industrial 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 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 Due to its own factors, three motors and a ball screw are installed on its arm, which limits its range of action, and the manufacturing cost of a serial five-axis robot is too high. However, i...

AI Technical Summary

Problems solved by technology

[0002] In the automatic 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 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 Due to its own factors, three motors and a ball screw are installed on its small arm, which limits its range of action. The manufacturing cost of a 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

At present, most industrial robots in China are large in size and heavy, resulting in high manufacturing costs, troublesome assembly, and inconvenient transportation.

Images