CN104552234A - Multi-freedom degree wheeled mobile stacking robot - Google Patents
Multi-freedom degree wheeled mobile stacking robot Download PDFInfo
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- CN104552234A CN104552234A CN201410794589.7A CN201410794589A CN104552234A CN 104552234 A CN104552234 A CN 104552234A CN 201410794589 A CN201410794589 A CN 201410794589A CN 104552234 A CN104552234 A CN 104552234A
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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
The present invention relates to robot field, particularly a kind of multiple degrees of freedom wheel type mobile robot palletizer.
Background technology
Mobile robot is one and integrates multi-functional integrated system such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current scientific technological advance.Along with robot performance is constantly perfect, the range of application of mobile robot is greatly expanded, not only be widely used in the industries such as industry, agricultural, medical treatment, service, and harmfully in urban safety, national defence and space exploration field etc. well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying; Parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing, and the general parallel institution of the Performance Ratio of parallel robot of closed-loop subchain containing symmetrical mechanism formula is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling.
Summary of the invention
The object of the present invention is to provide a kind of multiple degrees of freedom wheel type mobile robot palletizer, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs:
A kind of multiple degrees of freedom wheel type mobile robot palletizer, comprises moveable platform, fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod, the 13 connecting rod, the tenth double leval jib, the 15 connecting rod, the tenth six-bar linkage, the tenth seven-link assembly, the 18 connecting rod and end effector;
Described 8th connecting rod is " T " font, is respectively equipped with the first link, the 3rd link, the 4th link and the 5th link from left to right at crossbar sections, and the second link is positioned at below the 3rd link;
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the 8th connecting rod second link by the 8th revolute pair;
First connecting rod one end is connected on fuselage by the second revolute pair, and the first connecting rod other end is connected with second connecting rod lower end by the 3rd revolute pair, and second connecting rod upper end is connected with the 8th connecting rod first link by the 9th revolute pair,
Third connecting rod one end connects on second connecting rod by the 4th revolute pair, 4th revolute pair is between the 3rd revolute pair and the 9th revolute pair, the third connecting rod other end is connected with double leval jib lower end by the 5th revolute pair, double leval jib upper end is connected with the 8th connecting rod the 3rd link by the 7th revolute pair
5th connecting rod one end connects on double leval jib by the 6th revolute pair, 6th revolute pair is between the 7th revolute pair and the 5th revolute pair, the 5th connecting rod other end is connected with seven-link assembly one end by the 14 revolute pair, and the seven-link assembly other end is connected with the 9th connecting rod by the 13 revolute pair;
Tenth six-bar linkage one end connects on double leval jib by the 6th revolute pair, and the tenth six-bar linkage other end is connected with six-bar linkage one end by the 12 revolute pair, and the six-bar linkage other end is connected with the tenth seven-link assembly by the 11 revolute pair;
9th connecting rod one end is connected with the 8th connecting rod the 4th link by the tenth revolute pair, the 9th connecting rod other end is connected with the 12 connecting rod one end by the 13 revolute pair, the 12 connecting rod other end is connected with the 18 connecting rod one end by the 16 revolute pair, and the 18 connecting rod other end is connected with the 8th connecting rod the 5th link by the 17 revolute pair;
Tenth seven-link assembly one end is connected with the 8th connecting rod the 4th link by the tenth revolute pair, the tenth seven-link assembly other end is connected with the 11 connecting rod one end by the 11 revolute pair, the 11 connecting rod other end is connected with the tenth connecting rod one end by the 15 revolute pair, and the tenth connecting rod other end is connected with the 8th connecting rod the 5th link by the 17 revolute pair;
13 connecting rod one end is rigidly attached on the rotating shaft sidewall of the 17 revolute pair, the 13 connecting rod other end is connected with the tenth double leval jib one end by the 18 revolute pair, the tenth double leval jib other end is connected with the 15 connecting rod one end by the 19 revolute pair, and the 15 connecting rod other end is connected with end effector by the 20 revolute pair.
Described first revolute pair is perpendicular to moveable platform, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair rotation are parallel to each other.
Have groove between the 8th revolute pair on fuselage and the second revolute pair, third connecting rod passes from groove.
5th connecting rod and the tenth six-bar linkage are fixedly connected on the rotating shaft two ends of the 6th revolute pair respectively; 9th connecting rod and the tenth seven-link assembly are fixedly connected on the rotating shaft two ends of the tenth revolute pair respectively; Tenth connecting rod and the 18 connecting rod are fixedly connected on the rotating shaft two ends of the 17 revolute pair respectively.
Outstanding advantages of the present invention is:
1, mobile robot has locomotive function, in (as cosmic space, the etc.) environment work replacing people to be engaged under danger, severe (as radiation, poisonous etc.) environment less than operation and people, there are larger mobility, flexibility than general robot under water;
2, by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of closed-loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
3, compared with the industrial robot being mounted in each joint with traditional motor, the motor of the robot that mechanism is connected by two parallel closed loop subchains is mounted on four-bar mechanism joint, closed loop chain movement is driven by the kinematic pair on four-bar mechanism, thus indirectly drive tail end connecting rod, make the mobility of end effector and activity space larger, can active moment be reduced;
4, compared with robot mechanism of the same type, under equal-wattage, work is more;
5, robot mechanism is controlled by mechanism type at end effector, and precision can be made higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 2 is the moveable platform structural representation of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 3 is the airframe structure schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 4 is the second connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 5 is the 5th connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 6 is the 8th connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 7 is the 9th connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 8 is the tenth connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Fig. 9 is the tenth double leval jib schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Figure 10 is the 15 connecting rod schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Figure 11 is another visual angle schematic diagram of multiple degrees of freedom wheel type mobile robot palletizer of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
A kind of multiple degrees of freedom wheel type mobile robot palletizer, comprises moveable platform 1, fuselage 2, first connecting rod 3, second connecting rod 5, third connecting rod 24, double leval jib 20, the 5th connecting rod 22, six-bar linkage 39, seven-link assembly 38, the 8th connecting rod 18, the 9th connecting rod 11, the tenth connecting rod the 16, the 11 connecting rod the 13, the 12 connecting rod the 14, the 13 connecting rod 25, the tenth double leval jib the 26, the 15 connecting rod 28, the tenth six-bar linkage 40, the tenth seven-link assembly the 41, the 18 connecting rod 42 and end effector 30;
Described 8th connecting rod 18 is " T " font, is respectively equipped with the first link 181, the 3rd link 183, the 4th link 184 and the 5th link 185, second link 182 is from left to right positioned at below the 3rd link 183 at crossbar sections;
Fuselage 2 lower end is connected on moveable platform 1 by the first revolute pair 31, and fuselage 2 upper end is connected with the 8th connecting rod 18 second link 182 by the 8th revolute pair 8;
First connecting rod 3 one end is connected on fuselage 2 by the second revolute pair 32, and first connecting rod 3 other end is connected with second connecting rod 5 lower end by the 3rd revolute pair 4, and second connecting rod 5 upper end is connected with the 8th connecting rod 18 first link 181 by the 9th revolute pair 9,
Third connecting rod 24 one end connects on second connecting rod 5 by the 4th revolute pair 6,4th revolute pair 6 is between the 3rd revolute pair 4 and the 9th revolute pair 9, third connecting rod 24 other end is connected with double leval jib 20 lower end by the 5th revolute pair 23, double leval jib 20 upper end is connected with the 8th connecting rod 18 the 3rd link 183 by the 7th revolute pair 19
5th connecting rod 22 one end connects on double leval jib 20 by the 6th revolute pair 34,6th revolute pair 34 is between the 7th revolute pair 19 and the 5th revolute pair 23,5th connecting rod 22 other end is connected with seven-link assembly 38 one end by the 14 revolute pair 21, and seven-link assembly 38 other end is connected with the 9th connecting rod 11 by the 13 revolute pair 12;
Tenth six-bar linkage 40 one end connects on double leval jib 20 by the 6th revolute pair 34, and the tenth six-bar linkage 40 other end is connected with six-bar linkage 39 one end by the 12 revolute pair 7, and six-bar linkage 39 other end is connected with the tenth seven-link assembly 41 by the 11 revolute pair 10;
9th connecting rod 11 one end is connected with the 8th connecting rod 18 the 4th link 184 by the tenth revolute pair 33,9th connecting rod 11 other end is connected with the 12 connecting rod 14 one end by the 13 revolute pair 12,12 connecting rod 14 other end is connected with the 18 connecting rod 42 one end by the 16 revolute pair 17, and the 18 connecting rod 42 other end is connected with the 8th connecting rod 18 the 5th link 185 by the 17 revolute pair 35;
Tenth seven-link assembly 41 one end is connected with the 8th connecting rod 18 the 4th link 184 by the tenth revolute pair 33, tenth seven-link assembly 41 other end is connected with the 11 connecting rod 13 one end by the 11 revolute pair 10,11 connecting rod 13 other end is connected with the tenth connecting rod 16 one end by the 15 revolute pair 15, and the tenth connecting rod 16 other end is connected with the 8th connecting rod 18 the 5th link 185 by the 17 revolute pair 35;
13 connecting rod 25 one end is rigidly attached on the rotating shaft sidewall of the 17 revolute pair 35,13 connecting rod 25 other end is connected with the tenth double leval jib 26 one end by the 18 revolute pair 37, tenth double leval jib 26 other end is connected with the 15 connecting rod 28 one end by the 19 revolute pair 27, and the 15 connecting rod 28 other end is connected with end effector 30 by the 20 revolute pair 29.
Described first revolute pair 31 is perpendicular to moveable platform 1, and the second revolute pair 32, the 3rd revolute pair 4, the 4th revolute pair 6, the 5th revolute pair 23, the 6th revolute pair 34, the 7th revolute pair 19, the 8th revolute pair 8, the 9th revolute pair 9, the tenth revolute pair the 33, the 11 revolute pair the 10, the 12 revolute pair the 7, the 13 revolute pair the 12, the 14 revolute pair the 21, the 15 revolute pair the 15, the 16 revolute pair the 17 and the 17 revolute pair 35 rotation are parallel to each other.
Have groove between the 8th revolute pair 8 on fuselage 2 and the second revolute pair 32, third connecting rod 24 passes from groove.
5th connecting rod 22 and the tenth six-bar linkage 40 are fixedly connected on the rotating shaft two ends of the 6th revolute pair 34 respectively; 9th connecting rod 11 and the tenth seven-link assembly 41 are fixedly connected on the rotating shaft two ends of the tenth revolute pair 33 respectively; Tenth connecting rod the 16 and the 18 connecting rod 42 is fixedly connected on the rotating shaft two ends of the 17 revolute pair 35 respectively.
Fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 30.
Operation principle:
Fuselage 2 is driven by the first revolute pair 31, first revolute pair 31 is driven by motor, first connecting rod 3 is driven by the second revolute pair 32, tenth double leval jib 26 is driven by the 18 revolute pair 37,18 revolute pair 37 is driven by motor, and the tenth double leval jib 26 is driven by the 19 revolute pair 27, and the 19 revolute pair 27 is driven by motor, end effector 30 is driven by the 20 revolute pair 29, and the 20 revolute pair 29 is driven by motor.
Claims (4)
1. a multiple degrees of freedom wheel type mobile robot palletizer, comprise moveable platform, fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod six-bar linkage, seven-link assembly, 8th connecting rod, 9th connecting rod, tenth connecting rod, 11 connecting rod, 12 connecting rod, 13 connecting rod, tenth double leval jib, 15 connecting rod, tenth six-bar linkage, tenth seven-link assembly, 18 connecting rod and end effector, it is characterized in that, described 8th connecting rod is " T " font, the first link is respectively equipped with from left to right at crossbar sections, 3rd link, 4th link and the 5th link, second link is positioned at below the 3rd link,
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the 8th connecting rod second link by the 8th revolute pair;
First connecting rod one end is connected on fuselage by the second revolute pair, and the first connecting rod other end is connected with second connecting rod lower end by the 3rd revolute pair, and second connecting rod upper end is connected with the 8th connecting rod first link by the 9th revolute pair,
Third connecting rod one end connects on second connecting rod by the 4th revolute pair, 4th revolute pair is between the 3rd revolute pair and the 9th revolute pair, the third connecting rod other end is connected with double leval jib lower end by the 5th revolute pair, double leval jib upper end is connected with the 8th connecting rod the 3rd link by the 7th revolute pair
5th connecting rod one end connects on double leval jib by the 6th revolute pair, 6th revolute pair is between the 7th revolute pair and the 5th revolute pair, the 5th connecting rod other end is connected with seven-link assembly one end by the 14 revolute pair, and the seven-link assembly other end is connected with the 9th connecting rod by the 13 revolute pair;
Tenth six-bar linkage one end connects on double leval jib by the 6th revolute pair, and the tenth six-bar linkage other end is connected with six-bar linkage one end by the 12 revolute pair, and the six-bar linkage other end is connected with the tenth seven-link assembly by the 11 revolute pair;
9th connecting rod one end is connected with the 8th connecting rod the 4th link by the tenth revolute pair, the 9th connecting rod other end is connected with the 12 connecting rod one end by the 13 revolute pair, the 12 connecting rod other end is connected with the 18 connecting rod one end by the 16 revolute pair, and the 18 connecting rod other end is connected with the 8th connecting rod the 5th link by the 17 revolute pair;
Tenth seven-link assembly one end is connected with the 8th connecting rod the 4th link by the tenth revolute pair, the tenth seven-link assembly other end is connected with the 11 connecting rod one end by the 11 revolute pair, the 11 connecting rod other end is connected with the tenth connecting rod one end by the 15 revolute pair, and the tenth connecting rod other end is connected with the 8th connecting rod the 5th link by the 17 revolute pair;
13 connecting rod one end is rigidly attached on the rotating shaft sidewall of the 17 revolute pair, the 13 connecting rod other end is connected with the tenth double leval jib one end by the 18 revolute pair, the tenth double leval jib other end is connected with the 15 connecting rod one end by the 19 revolute pair, and the 15 connecting rod other end is connected with end effector by the 20 revolute pair.
2. multiple degrees of freedom wheel type mobile robot palletizer as claimed in claim 1, it is characterized in that, described first revolute pair is perpendicular to moveable platform, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair rotation are parallel to each other.
3. multiple degrees of freedom wheel type mobile robot palletizer as claimed in claim 1, it is characterized in that, have groove between the 8th revolute pair on fuselage and the second revolute pair, third connecting rod passes from groove.
4. multiple degrees of freedom wheel type mobile robot palletizer as claimed in claim 1, it is characterized in that, the 5th connecting rod and the tenth six-bar linkage are fixedly connected on the rotating shaft two ends of the 6th revolute pair respectively; 9th connecting rod and the tenth seven-link assembly are fixedly connected on the rotating shaft two ends of the tenth revolute pair respectively; Tenth connecting rod and the 18 connecting rod are fixedly connected on the rotating shaft two ends of the 17 revolute pair respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410794589.7A CN104552234A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree wheeled mobile stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410794589.7A CN104552234A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree wheeled mobile stacking robot |
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| CN104552234A true CN104552234A (en) | 2015-04-29 |
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| CN201410794589.7A Pending CN104552234A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree wheeled mobile stacking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
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| CN103707288A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Multi-degree-of-freedom palletizing robot |
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| CN103737209A (en) * | 2013-12-17 | 2014-04-23 | 广西大学 | Welding robot with symmetrical mechanisms |
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| JPH08243136A (en) * | 1995-03-13 | 1996-09-24 | Yaskawa Electric Corp | Continuous manual athletic device |
| JP5289125B2 (en) * | 2009-03-24 | 2013-09-11 | ファナック株式会社 | Robot system with articulated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
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Application publication date: 20150429 |