CN205466165U - Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots - Google Patents

Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots Download PDF

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Publication number
CN205466165U
CN205466165U CN201620083227.1U CN201620083227U CN205466165U CN 205466165 U CN205466165 U CN 205466165U CN 201620083227 U CN201620083227 U CN 201620083227U CN 205466165 U CN205466165 U CN 205466165U
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motor
leading screw
vehicle frame
screw
parallel
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陈孝喆
王成军
郭永存
朱银法
汪洁
王淑浩
沈豫浙
王智慧
郑艳
张文辉
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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Abstract

The utility model discloses a three degree of freedom series -parallel connection formula omnidirectional movement transfer robots, including omnidirectional movement chassis, main slewer, elevating gear, parallel operation arm, terminal slewer and holder. The omnidirectional movement chassis is used for carrying out the walking and turns to the task, elevating gear is connected with the omnidirectional movement chassis through main slewer, the parallel operation arm of installing at the elevating gear top is connected with the holder through terminal slewer for the operation gesture of adjustment holder. The utility model discloses a body adopts series -parallel connection formula structure, has the rigidity height, bearing capacity is strong, movement accuracy is high and operation space advantage such as big, the holder has six mobilities and the three independent motion degree of freedom, and the motion flexibility is high, three drive formula omnidirectional movement chassis, walking task such as can realize that convenient execution is advanced, is retreated, is rotated left or right, structural design is equitable, and the antidumping can the reinforce. Furthermore, the utility model discloses still have the convenience controlled, to characteristics such as the adaptability of road conditions are strong.

Description

Three-freedom-degree hybrid formula Omni-mobile transfer robot
Technical field
This utility model relates to the robot in a kind of automated arm field, particularly relates to a kind of body and has the Three-freedom-degree hybrid formula Omni-mobile transfer robot of three self-movement degree of freedom.
Background technology
Along with the rise of the price of labour power, " demographic dividend " of Chinese manufacturing the most constantly disappears.International economic situation is complicated and changeable, and the World Economics degree of depth adjusts, and developed country advances " reindustrialization " and " manufacturing industry recurrence ", and global manufacturing high-endization Competitive Trend is the most obvious.The robot density of Chinese manufacturing is far below whole world average level, and Robot industry has bigger development space.The technical merit of industrial robot determines precision, accuracy and the efficiency that manufacturing industry produces, and the depth and broadness of its application has become one national manufacturing industry level of measurement and the important symbol of scientific and technological level.But canvass manufacturing industry present situation, and not smooth way, the road of the automated manufacturing of China, all there is the biggest deficiency in the field such as material and critical component and be limited by foreign technology.Promote conventional industries with the equipment of modernization, automatization, promote technology bonus to substitute demographic dividend, become the choosing of the certainty of made in China industrial upgrading and optimization and sustained economic growth.Machine is substituted becomes the Important Action promoting traditional manufacture to realize industrial transformation upgrading.It is to promote conventional industries with the equipment of modernization, automatization, promotes technology bonus to substitute demographic dividend, become the power source of new industrial upgrading and optimization and sustained economic growth.For technological progress, promote labor quality, improve enterprises production efficiency, promote industry restructuring, to advance industry to transform the mode of development etc. significant.
Transfer robot is the industrial robot that can carry out automated handling operation.Transfer robot can be installed different end effectors and work with the workpiece handling completing various difformity and state, significantly reduces the physical work that the mankind are heavy.The transfer robot used in the world at present exceedes 100,000, is widely used in the automatic transporting of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, Palletised carry, container etc.;High speed transfer robot is that instead of human labour, it is also widely used in the automatic production line of the industries such as light industry, medicine, food and electronics, such as sort, pack, the operation such as encapsulation generally requires end effector and carries out high-speed job in space, but the precision under conditions of transporting velocity improves of conventional high speed transfer robot will decline, and degree of freedom generally only three or less, working place is little, and kinematic dexterity is the highest.Along with the development of industrial level, the user of all trades and professions is more and more extensive to conveying robot Man's Demands, performance requirement is more and more higher.Systems in Certain Developed Countries has made a dead lift to greatest extent, and go beyond the limit must be completed by transfer robot.Transfer robot has become an important component part in modern mechanical manufacturing production system.
In general, transfer robot can be divided into tandem, parallel and not only contain series connection but also series parallel type three class containing parallel connection according to version difference.Tandem developing history is long, is widely used, and is Industrial robots Mechanical's structure of main flow, but movement velocity is by certain restriction.At present, known robot palletizer is double coupling inputs mostly, the Comlex-locus of nonlinear object, work space is made up of multistage arc, and its operation principle is laborious lever so that driving force big, power consumption is big, and especially at balance pivot, stress is very big, is typically necessary interpolation balance weight and alleviates motor burden, its amount of parts is many, structure is complicated, adjusts difficulty, robot body poor rigidity, high-speed motion cannot be realized, and be susceptible to fault.Meanwhile, often there is cabling difficult problem in the waist structure of general robot palletizer, and robot entirety rotates around waist when, the rotational steps of waist electric wire cannot be the biggest.And palletizing operation causes the problems such as tandem robot arm weight is big, poor rigidity, inertia are big, joint error is accumulative, mechanism dynamic poor-performing, it is difficult to meet the requirement carrying at a high speed piling.Parallel owing to having, operating frequency is fast, positioning precision is high, rigidity advantages of higher, is the most increasingly paid close attention to by people.Owing to tandem transfer robot rigidity is low, parallel transfer robot work space is little and controls difficulty greatly, and series parallel type then with series connection and feature in parallel, has huge application prospect in industrial robot field.
About conveying robot man-based development, domestic existing patent documentation it is also proposed a lot of technology implementation scheme.As the Chinese patent of Application No. 201510175254.1 discloses " a kind of four-degree-of-freedom high speed transfer robot ", grappling fixture can realize rotating and capture with lifting, but it is the heaviest than initial rotation axle to control end, it is ensured that control accuracy is the most difficult;The Chinese patent of mechanism's Application No. 201510128794.4 discloses " a kind of dynamic support Three Degree Of Freedom transfer robot ", the goods of its more difficult crawl lower position, and upper and lower displacement flowing mode is single, and reliability is relatively low;The Chinese patent of Application No. 201110283347.8 discloses " a kind of nine mobility robot mechanisms ", nine linear actuators are used to control the activity of tandem arrangement, it is similar to cascaded structure principle, the shortcoming the most well solving serial manipulator, and operation strategies is limited;The Chinese patent of Application No. 201420386357.3 discloses a kind of omnidirectional transfer robot, uses Mecanum wheel to realize the Omni-mobile of robot, but does not have crawl function, therefore is merely able to carry out the delivery of goods;The Chinese patent of Application No. 201310405360.5 discloses " a kind of five degree of freedom series-parallel connection industrial robot ", its work space is big, there is high degree of flexibility and flexible structure is compact, the various engineering operations such as carrying, spraying, assembling can be realized, but it is irremovable, it is only applicable to fixing production line, it is impossible to arbitrarily changing duty, Application No. 201410348473.0 Chinese patent such as grade also has similar shortcoming;The Chinese patent of Application No. 201410826350.3 discloses " a kind of multi-freedom-degreecontrollable controllable mechanism type series-parallel connection transfer robot ", multi-connecting-rod mechanism is arranged on moveable platform and carries out operation by this transfer robot, but multi-connecting-rod mechanism is complex, relatively difficult to achieve, and be not easily assembled and control, transporting velocity is slow, and mobile platform can only realize unidirectional motion, is not suitable for the operation that operating mode is complex.To sum up, the structure of existing industrial carrying machine people still has improvable space, and can not realize omnibearing movement, need to improve the adaptability of working environment.Existing Mecanum wheel Omni-mobile crusing robot is a kind of transport conveyor for carrying electric inspection process equipment, it is applied in the patrol task of various power equipment, inspection device forward-reverse and turning can be carried, but transverse translation and original place rotate difficulty, and need the movable motor of four independent controls to coordinate, there is power waste and the high problem of cost.
The Three-freedom-degree hybrid formula Omni-mobile transfer robot that this utility model relates to, goods comprehensive, multi-pose can be realized capture, compact conformation, and can carry out moving, rotating and pose adjustment in a big way, capture rapidly, control simple, how poor road conditions adaptable, the technological deficiency of existing industrial carrying machine people can be overcome, be more suitable for promoting.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, a kind of Three-freedom-degree hybrid formula transfer robot is provided, major part drives motor to be all arranged in frame, the motor that can solve tradition fisher's formula serial manipulator is arranged at hinge, cause the problems such as arm heaviness, poor rigidity, inertia is big, joint error is accumulative, make transfer robot have preferable dynamic performance, can preferably meet the requirement of high-speed overload transport operation, the defect of prior art can be overcome.
Technical problem to be solved in the utility model realizes by the following technical solutions.
A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot, including Omni-mobile chassis, main slewing equipment, lowering or hoisting gear, parallel operation arm, end slewing equipment and clamper.Wherein, described lowering or hoisting gear is positioned at the surface on Omni-mobile chassis, and is connected with Omni-mobile chassis by main slewing equipment;Described parallel operation arm is positioned at the side of lowering or hoisting gear, and its upper end is fixed on the top of lowering or hoisting gear, and the lower end of described parallel operation arm is connected with clamper by end slewing equipment.
Omni-mobile chassis for carrying and be movably walking includes vehicle frame, running gear, front reversing arrangement and rear reversing arrangement.Wherein, described vehicle frame ovalize structure, it is used for main slewing equipment, running gear, front reversing arrangement and rear reversing arrangement are installed;Described running gear is used for driving Omni-mobile chassis to walk, and described running gear is arranged on the ellipse short shaft line of vehicle frame, and is positioned at the lower section of vehicle frame;Described front reversing arrangement, rear reversing arrangement are arranged on the transverse line of vehicle frame, and are positioned at the lower section of vehicle frame, are used for realizing Omni-mobile chassis and turn to the left or to the right.
Described running gear includes left lateral travelling wheel, right lateral travelling wheel, walking reducing motor and drive shaft.Wherein, described left lateral travelling wheel, right lateral travelling wheel lay respectively at the left and right sides of vehicle frame, and are all connected by spline with drive shaft;Described walking reducing motor is mounted by means of bolts on the bottom of vehicle frame, and for providing drive power for left lateral travelling wheel, right lateral travelling wheel, and the outfan of walking reducing motor is splined hole export structure;Described drive shaft is connected by spline with the outfan of walking reducing motor, and described drive shaft is positioned on the ellipse short shaft line of vehicle frame, and is fixedly mounted on vehicle frame by bearing block.
Described front reversing arrangement includes front reversing motor and front reverse wheel.Described front reverse wheel is connected with vehicle frame by bearing block, and the drive shaft of front reverse wheel is connected by spline with the outfan of front reversing motor;Described front reversing motor is fixedly mounted on the bottom of vehicle frame by screw, provides the power of commutation for front reverse wheel.Described rear reversing arrangement includes rear reversing motor and rear reverse wheel.Described rear reverse wheel is connected with vehicle frame by bearing block, and the rear drive shaft of reverse wheel is connected by spline with the outfan of rear reversing motor;Described rear reversing motor is fixedly mounted on the bottom of vehicle frame by screw, provides the power of commutation for rear reverse wheel.Described front reversing motor, rear reversing motor are coaxial-type reducing motor.
Described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel is three row's omni-directional wheels, and is equipped with wheel hub tooth and the driven pulley of three row's interlaced arrangement on the wheel hub of described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel.
Described main slewing equipment is for driving lowering or hoisting gear and being arranged on the parallel operation arm at lowering or hoisting gear top and rotate to the left or to the right, and described main slewing equipment includes that rotary decelerating motor, revolution drive gear, revolution driven gear shaft, cylinder roller bearing, roller thrust bearing, bearing (ball) cover and revolving hood.Wherein, described rotary decelerating motor is fixedly mounted on the bottom of vehicle frame by screw, drives gear to provide rotary motive power for revolution;Described revolution drives gear to be arranged on the output shaft of rotary decelerating motor, and is connected by flat key with the output shaft of rotary decelerating motor;Described revolution driven gear shaft is connected with vehicle frame by two cylinder roller bearings, a roller thrust bearing, and the driven gear at described revolution driven gear shaft top drives gear to be meshed with revolution;Described roller thrust bearing is positioned at the lower section of cylinder roller bearing, and is fixed in vehicle frame by bearing (ball) cover, and described bearing (ball) cover is fixedly mounted on the bottom of vehicle frame by screw;The revolving hood playing protection and dustproof effect is sleeved on revolution driving gear, the outside of revolution driven gear shaft, and is fixedly connected with vehicle frame by screw.
Described parallel operation arm is used for support tip slewing equipment and clamper and regulates the operating attitude of end slewing equipment and clamper, and described parallel operation arm includes fixed platform, left leading screw module, right leading screw module, the first side chain, the second side chain, the 3rd side chain, the 4th side chain and motion platform.Wherein, described fixed platform is fixedly mounted on the top of lowering or hoisting gear, and left leading screw module and right leading screw module symmetry are arranged in the lower section of fixed platform;Described the first side chain, the upper end of the second side chain are connected by screw pair with left leading screw module, and the first side chain, the lower end of the second side chain are fixedly connected with motion platform;Described the 3rd side chain, the upper end of the 4th side chain are connected by screw pair with right leading screw module, and the 3rd side chain, the lower end of the 4th side chain are fixedly connected with motion platform.
Described left leading screw module includes left motor, left Double helix leading screw and left shaft holder, for regulation the first side chain and the upper end spacing of the second side chain.For providing the left motor of power to be fixed by screws in the lower section of fixed platform for left Double helix leading screw, and being connected by shaft coupling with left Double helix leading screw, described left Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by left shaft holder.Described right leading screw module includes right motor, right Double helix leading screw and right bearing seat, for providing the right motor of power to be fixed by screws in the lower section of fixed platform for right Double helix leading screw, and be connected by shaft coupling with right Double helix leading screw, described right Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by right bearing seat.Described left Double helix leading screw, the front end of right Double helix leading screw are left hand thread, and described left Double helix leading screw, the rear end of right Double helix leading screw are right-handed thread.
The first described side chain is made up of the first slider nut, the first revolute pair, first connecting rod and the first universal joint.Wherein, the first slider nut is connected by right-handed thread with left Double helix leading screw, and the top of the first slider nut contacts with the holding face, baseplane of fixed platform, rotatable around its axis to limit the first slider nut;The upper end of described first connecting rod is connected with the first slider nut by the first revolute pair, and the lower end of first connecting rod is connected with motion platform by the first universal joint;One axis of the axis of the first described revolute pair and the cross axle of the first universal joint is parallel.
The second described side chain is made up of the second slider nut, the second revolute pair, second connecting rod and the second universal joint, the second described slider nut is connected by left hand thread with left Double helix leading screw, and second the top of slider nut contact with the holding face, baseplane of fixed platform, limit the second slider nut with limit rotatable around its axis;The upper end of described second connecting rod is connected with the second slider nut by the second revolute pair, and the lower end of second connecting rod is connected with motion platform by the second universal joint;Two axis of the axis of the second described revolute pair and the cross axle of the second universal joint are parallel.
The 3rd described side chain is made up of the 3rd slider nut, the 3rd revolute pair, third connecting rod and the 3rd universal joint, the 3rd described slider nut is connected by right-handed thread with right Double helix leading screw, and the 3rd the top of slider nut contact with the holding face, baseplane of fixed platform, limit the 3rd slider nut with limit rotatable around its axis;The upper end of described third connecting rod is connected with the 3rd slider nut by the 3rd revolute pair, and the lower end of third connecting rod is connected with motion platform by the 3rd universal joint;Three articles of axis of the axis of the 3rd described revolute pair and the cross axle of the 3rd universal joint are parallel.
The 4th described side chain is made up of Four-slider nut, the 4th revolute pair, fourth link and the 4th universal joint, described Four-slider nut is connected by left hand thread with right Double helix leading screw, and the top of Four-slider nut contacts with the holding face, baseplane of fixed platform, limit Four-slider nut with limit rotatable around its axis;The upper end of described fourth link is connected with Four-slider nut by the 4th revolute pair, and the lower end of fourth link is connected with motion platform by the 4th universal joint;Four articles of axis of the axis of the 4th described revolute pair and the cross axle of the 4th universal joint are parallel.Described first connecting rod and second connecting rod, third connecting rod, fourth link length equal.
The axis of the first described revolute pair and the axis of the second revolute pair are parallel, and the axis of the 3rd described revolute pair and the axis of the 4th revolute pair are parallel, and the axis of the first described revolute pair and the axis of the 3rd revolute pair are parallel.
Described lowering or hoisting gear is for regulating the height of parallel operation arm, and described lowering or hoisting gear includes guide thimble, lead, elevating screw, lifting nut, lifting motor, ripple Dustproof pipe and fixed sleeving.Wherein, described guide thimble, lead all have two, the bottom of described guide thimble is fixedly mounted on the top of revolution driven gear shaft by screw, and described lead is placed in guide thimble, and the fixed platform of the top of lead and parallel operation arm is fixedly connected with by screw;Described lifting nut is positioned at the top of guide thimble, and is fixedly connected with guide thimble;Described lifting motor is fixedly mounted on the top of fixed platform, and the rotation for elevating screw provides power;The upper end of described elevating screw is connected by shaft coupling with lifting motor, and the lower end of elevating screw is connected by screw thread with lifting nut;Described fixed sleeving is fixedly mounted on the outside of guide thimble, and the ripple Dustproof pipe with Telescopic is enclosed within the outside of lead, and the upper end of ripple Dustproof pipe is fixedly connected with fixed platform, and the lower end of ripple Dustproof pipe is fixedly connected with fixed sleeving.
Described end slewing equipment is used for driving clamper to turn round, and coordinates parallel operation arm to regulate the inclination angle of clamper together.Described end slewing equipment includes end turning motor, end rotary reducer, end driving gear, end driven gear shaft and retainer ring.The output shaft of described end turning motor is connected with the input of end rotary reducer, provides rotary motive power for end driving gear;Described end rotary reducer is fixedly mounted on the side of the motion platform of parallel operation arm, and end driving gear is arranged on the output shaft of end rotary reducer, and is connected by flat key with the output shaft of end rotary reducer;Described end driven gear shaft is arranged on the motion platform of parallel operation arm, and is connected by bearing with motion platform;Described end driving gear keeps engaging with the driven gear at end driven gear shaft top, and described end driven gear shaft is hollow gear shaft;Described retainer ring is positioned at the lower end of end driven gear shaft, and is connected by lock-screw with end driven gear shaft.
Described clamper includes clamping cylinder, left clamping plate, right clamping plate, hook pawl cylinder and hooks pawl, is used for clamping article to be handled.Described clamping cylinder is positioned at the lower section of the retainer ring of end slewing equipment, provides clamping power for left clamping plate, right clamping plate, and described clamping cylinder uses double guide-bar two-container cylinder.Described clamping cylinder is connected by screw with retainer ring, is respectively arranged at two ends with left output board, right output board in the left and right of described clamping cylinder.Described left clamping plate are positioned at the left-hand end of clamping cylinder, and are fixedly mounted on the left output board of clamping cylinder by screw;Described right clamping plate are positioned at the right-hand end of clamping cylinder, and are fixedly mounted on the right output board of clamping cylinder by screw.The described pawl cylinder that hooks is arranged on the outside of right clamping plate, provides power for hooking the motion of pawl.The upper end hooking pawl cylinder is connected by hinge with right clamping plate, and the lower end hooking pawl cylinder is connected by hinge with hooking pawl.The described pawl that hooks is positioned at the lower section of right clamping plate, and is connected by hinge with right clamping plate.When clamper performs to clamp article task to be handled, hook pawl and be used for supporting the bottom of article to be handled, play backing and anti-skidding effect.
During use, can be according to actually used needs, by controlling walking reducing motor, front reversing motor and rear reversing motor, make front reverse wheel or rear reverse wheel just to article to be handled.Then, by controlling rotary decelerating motor and lifting motor, by the top of the position adjustment of clamper to article to be handled.Then, the end turning motor in left motor, right motor and the end slewing equipment in parallel operation arm, the inclination angle of fine setting clamper are driven;Drive clamping cylinder to adjust left clamping plate, the spacing of right clamping plate, make hook pawl cylinder shrink, it is ensured that hook pawl and be in open mode.Lifting motor is driven to make clamper decline again, it is also possible to synchronize to drive left motor, right motor to make the first slider nut, the second slider nut, the 3rd slider nut and Four-slider nut be moved in synchronizing and realize clamper and decline.Finally, drive clamping cylinder to make left clamping plate, right clamping plate clamping band carry article, simultaneously drive hook pawl cylinder and make hook pawl close, article to be handled are carried out backing.After crawl task completes, lifting motor is first driven to make clamper increase together with article to be handled, it is also possible to synchronize to drive left motor, right motor to make the first slider nut, the second slider nut, the 3rd slider nut and Four-slider nut synchronize outer shift-in and realize clamper and rise together with article to be handled;Control rotary decelerating motor again, make clamper perform walking after the axis of elevating screw rotates 90 ° to the left or to the right again together with article to be handled or turn to task, with transfer robot resistance to capsizing in the process of walking and the stationarity in handling process.
Thering is provided the left motor of power, right motor to be respectively mounted on the stationary platform for parallel operation arm in this utility model, each movable joint of the first side chain, the second side chain, the 3rd side chain and the 4th side chain is the most unpowered, increases the rigidity of robot, improves bearing capacity;Parallel operation arm is driven by the main slewing equipment being arranged on vehicle frame with the left and right gyration of lowering or hoisting gear, it is achieved that the high rigidity of clamper, high capacity and high-precision operation function.Described clamper both can realize the significantly gyration around elevating screw axis, elevating movement vertically and the rotation around any level axis, can realize again the rotation around end driven gear shaft axis;Under the effect on Omni-mobile chassis, this utility model can also realize advancing, retreat, turn left and turning right on walking ground;And left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and the rear reverse wheel in this utility model all uses three row's omni-directional wheels, this utility model is made to move in the process of walking more steady, during walking, driven pulley is without dead band and higher to the adaptation ability of poor road conditions each other.In addition to the motion on Omni-mobile chassis, body of the present utility model has six mobilities, has space one and translates two rotations totally three self-movement degree of freedom, and the kinematic dexterity of clamper is high, working place is big, meets the carrying requirement of transfer robot multiple degrees of freedom, high flexibility and multi-pose.Vehicle frame of the present utility model uses ellipsoidal structure, and the spacing between front reverse wheel and rear reverse wheel is less, it is simple to the operation of clamper;Spacing between left lateral travelling wheel and right lateral travelling wheel is bigger, after clamper completes clamping task to the left or turn right and perform walking after 90 ° again or turn to task, transfer robot resistance to capsizing in the process of walking can be improved to a great extent, improve the stationarity of transfer robot motion.
The beneficial effects of the utility model are, compared with prior art, body of the present utility model uses series parallel type structure, the advantage such as have that rigidity is high, bearing capacity is strong, kinematic accuracy is high and working space is big;Clamper has six mobilities, has a translation two and rotates totally three self-movement degree of freedom, and kinematic dexterity is high;Three drive-type Omni-mobile chassis of the present utility model, can realize performing the walking task such as advance, retrogressing, to the left or to the right rotation easily, and reasonable in design, resistance to capsizing is strong.Additionally, this utility model also has compact conformation, manipulates the features such as convenient.
Accompanying drawing explanation
Fig. 1 is population structure schematic diagram of the present utility model;
Fig. 2 is the structural representation after this utility model removes ripple Dustproof pipe, fixed sleeving and revolving hood;
Fig. 3 is the structural representation on Omni-mobile chassis of the present utility model;
Fig. 4 is the assembling schematic diagram of main slewing equipment of the present utility model;
Fig. 5 is the structural representation of parallel operation arm of the present utility model;
Fig. 6 is the structural representation of clamper of the present utility model.
Detailed description of the invention
For the technological means making this utility model be realized, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with specific embodiment and diagram, this utility model is expanded on further.
As depicted in figs. 1 and 2, a kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot, including Omni-mobile chassis 1, main slewing equipment 2, lowering or hoisting gear 3, parallel operation arm 4, end slewing equipment 5 and clamper 6.Wherein, described lowering or hoisting gear 3 is positioned at the surface on Omni-mobile chassis 1, and is connected with Omni-mobile chassis 1 by main slewing equipment 2;Described parallel operation arm 4 is positioned at the side of lowering or hoisting gear 3, and its upper end is fixed on the top of lowering or hoisting gear 3, and the lower end of described parallel operation arm 4 is connected with clamper 6 by end slewing equipment 5.
As shown in Figure 1, Figure 2 and Figure 3, the Omni-mobile chassis 1 for carrying and be movably walking includes vehicle frame 11, running gear 12, front reversing arrangement 13 and rear reversing arrangement 14.Wherein, described vehicle frame 11 ovalize structure, it is used for main slewing equipment 2, running gear 12, front reversing arrangement 13 and rear reversing arrangement 14 are installed;Described running gear 12 is used for driving Omni-mobile chassis 1 to walk, and described running gear 12 is arranged on the ellipse short shaft line of vehicle frame 11, and is positioned at the lower section of vehicle frame 11;Described front reversing arrangement 13, rear reversing arrangement 14 are arranged on the transverse line of vehicle frame 11, and are positioned at the lower section of vehicle frame 11, are used for realizing Omni-mobile chassis 1 and turn to the left or to the right.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, described running gear 12 includes left lateral travelling wheel 121, right lateral travelling wheel 122, walking reducing motor 123 and drive shaft 124.Wherein, described left lateral travelling wheel 121, right lateral travelling wheel 122 lay respectively at the left and right sides of vehicle frame 11, and are all connected by spline with drive shaft 124;Described walking reducing motor 123 is mounted by means of bolts on the bottom of vehicle frame 11, and for providing drive power for left lateral travelling wheel 121, right lateral travelling wheel 122, and the outfan of walking reducing motor 123 is splined hole export structure;Described drive shaft 124 is connected by spline with the outfan of walking reducing motor 123, and described drive shaft 124 is positioned on the ellipse short shaft line of vehicle frame 11, and is fixedly mounted on vehicle frame 11 by bearing block.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, described front reversing arrangement 13 includes front reversing motor 131 and front reverse wheel 132.Described front reverse wheel 132 is connected with vehicle frame 11 by bearing block, and the drive shaft of front reverse wheel 132 is connected by spline with the outfan of front reversing motor 131;Described front reversing motor 131 is fixedly mounted on the bottom of vehicle frame 11 by screw, provides the power of commutation for front reverse wheel 132.Described rear reversing arrangement 14 includes rear reversing motor 141 and rear reverse wheel 142.Described rear reverse wheel 142 is connected with vehicle frame 11 by bearing block, and the rear drive shaft of reverse wheel 142 is connected by spline with the outfan of rear reversing motor 141;Described rear reversing motor 141 is fixedly mounted on the bottom of vehicle frame 11 by screw, provides the power of commutation for rear reverse wheel 142.Described front reversing motor 131, rear reversing motor 141 are coaxial-type reducing motor.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, described left lateral travelling wheel 121, right lateral travelling wheel 122, front reverse wheel 132 and rear reverse wheel 142 is three row's omni-directional wheels, and is equipped with wheel hub tooth 15 and the driven pulley 16 of three row's interlaced arrangement on the wheel hub of described left lateral travelling wheel 121, right lateral travelling wheel 122, front reverse wheel 132 and rear reverse wheel 142.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, described main slewing equipment 2 is for driving lowering or hoisting gear 3 and being arranged on the parallel operation arm 4 at lowering or hoisting gear 3 top and rotate to the left or to the right, and described main slewing equipment 2 includes that rotary decelerating motor 21, revolution drive gear 22, revolution driven gear shaft 23, cylinder roller bearing 24, roller thrust bearing 25, bearing (ball) cover 26 and revolving hood 27.Wherein, described rotary decelerating motor 21 is fixedly mounted on the bottom of vehicle frame 11 by screw, drives gear 22 to provide rotary motive power for revolution;Described revolution drives gear 22 to be arranged on the output shaft of rotary decelerating motor 21, and is connected by flat key with the output shaft of rotary decelerating motor 21;Described revolution driven gear shaft 23 is connected with vehicle frame 11 by 24, roller thrust bearing 25 of two cylinder roller bearings, and the driven gear at described revolution driven gear shaft 23 top drives gear 22 to be meshed with revolution;Described roller thrust bearing 25 is positioned at the lower section of cylinder roller bearing 24, and is fixed in vehicle frame 11 by bearing (ball) cover 26, and described bearing (ball) cover 26 is fixedly mounted on the bottom of vehicle frame 11 by screw;The revolving hood 27 playing protection and dustproof effect is sleeved on revolution driving gear 22, the outside of revolution driven gear shaft 23, and is fixedly connected with vehicle frame 11 by screw.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described parallel operation arm 4 is used for support tip slewing equipment 5 and clamper 6 and regulates end slewing equipment 5 and the operating attitude of clamper 6, and described parallel operation arm 4 includes fixed platform 41, left leading screw module 42, right leading screw module the 43, first side chain the 44, second side chain the 45, the 3rd side chain the 46, the 4th side chain 47 and motion platform 48.Wherein, described fixed platform 41 is fixedly mounted on the top of lowering or hoisting gear 3, and left leading screw module 42 and right leading screw module 43 are arranged symmetrically in the lower section of fixed platform 41;The upper end of first described side chain the 44, second side chain 45 is connected by screw pair with left leading screw module 42, and the lower end of first side chain the 44, second side chain 45 is fixedly connected with motion platform 48;The upper end of the 3rd described side chain the 46, the 4th side chain 47 is connected by screw pair with right leading screw module 43, and the lower end of the 3rd side chain the 46, the 4th side chain 47 is fixedly connected with motion platform 48.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described left leading screw module 42 includes left motor 421, left Double helix leading screw 422 and left shaft holder 423, for regulation the first side chain 44 and upper end spacing of the second side chain 45.For providing the left motor 421 of power to be fixed by screws in the lower section of fixed platform 41 for left Double helix leading screw 422, and be connected by shaft coupling with left Double helix leading screw 422, described left Double helix leading screw 422 two ends are all fixedly mounted on the lower section of fixed platform 41 by left shaft holder 423.Described right leading screw module 43 includes right motor 431, right Double helix leading screw 432 and right bearing seat 433, for providing the right motor 431 of power to be fixed by screws in the lower section of fixed platform 41 for right Double helix leading screw 432, and be connected by shaft coupling with right Double helix leading screw 432, described right Double helix leading screw 432 two ends are all fixedly mounted on the lower section of fixed platform 41 by right bearing seat 433.Described left Double helix leading screw 422, the front end of right Double helix leading screw 432 are left hand thread, and described left Double helix leading screw 422, the rear end of right Double helix leading screw 432 are right-handed thread.
As shown in Figure 1, Figure 2 with shown in Fig. 5, the first described side chain 44 is formed 444 by first slider nut the 441, first revolute pair 442, first connecting rod 443 and the first universal joint.Wherein, the first slider nut 441 is connected by right-handed thread with left Double helix leading screw 422, and the top of the first slider nut 441 contacts with the holding face, baseplane of fixed platform 41, rotatable around its axis to limit the first slider nut 441;The upper end of described first connecting rod 443 is connected with the first slider nut 441 by the first revolute pair 442, and the lower end of first connecting rod 443 is connected with motion platform 48 by the first universal joint 444;One axis of the axis of the first described revolute pair 442 and the cross axle of the first universal joint 444 is parallel.
As shown in Figure 1, Figure 2 with shown in Fig. 5, the second described side chain 45 is formed 454 by second slider nut the 451, second revolute pair 452, second connecting rod 453 and the second universal joint, the second described slider nut 451 is connected by left hand thread with left Double helix leading screw 422, and second the top of slider nut 451 contact with the holding face, baseplane of fixed platform 41, limit the second slider nut 451 with limit rotatable around its axis;The upper end of described second connecting rod 453 is connected with the second slider nut 451 by the second revolute pair 452, and the lower end of second connecting rod 453 is connected with motion platform 48 by the second universal joint 454;Two axis of the axis of the second described revolute pair 452 and the cross axle of the second universal joint 454 are parallel.
As shown in Figure 1, Figure 2 with shown in Fig. 5, the 3rd described side chain 46 is formed 464 by the 3rd slider nut the 461, the 3rd revolute pair 462, third connecting rod 463 and the 3rd universal joint, the 3rd described slider nut 461 is connected by right-handed thread with right Double helix leading screw 432, and the 3rd the top of slider nut 461 contact with the holding face, baseplane of fixed platform 41, limit the 3rd slider nut 461 with limit rotatable around its axis;The upper end of described third connecting rod 463 is connected with the 3rd slider nut 461 by the 3rd revolute pair 462, and the lower end of third connecting rod 463 is connected with motion platform 48 by the 3rd universal joint 464;Three articles of axis of the axis of the 3rd described revolute pair 462 and the cross axle of the 3rd universal joint 464 are parallel.
As shown in Figure 1, Figure 2 with shown in Fig. 5, the 4th described side chain 47 is formed 474 by Four-slider nut the 471, the 4th revolute pair 472, fourth link 473 and the 4th universal joint, described Four-slider nut 471 is connected by left hand thread with right Double helix leading screw 432, and the top of Four-slider nut 471 contacts with the holding face, baseplane of fixed platform 41, limit Four-slider nut 471 with limit rotatable around its axis;The upper end of described fourth link 473 is connected with Four-slider nut 471 by the 4th revolute pair 472, and the lower end of fourth link 473 is connected with motion platform 48 by the 4th universal joint 474;Four articles of axis of the axis of the 4th described revolute pair 472 and the cross axle of the 4th universal joint 474 are parallel.Described first connecting rod 44 and second connecting rod 45, third connecting rod 46, fourth link 47 length equal.
As shown in Figure 1, Figure 2 with shown in Fig. 5, the axis of the first described revolute pair 442 and the axis of the second revolute pair 452 are parallel, the axis of the 3rd described revolute pair 462 and the axis of the 4th revolute pair 472 are parallel, and the axis of the first described revolute pair 442 and the axis of the 3rd revolute pair 462 are parallel.
As depicted in figs. 1 and 2, described lowering or hoisting gear 3 is for regulating the height of parallel operation arm 4, and described lowering or hoisting gear 3 includes guide thimble 31, lead 32, elevating screw 33, lifting nut 34, lifting motor 35, ripple Dustproof pipe 36 and fixed sleeving 37.Wherein, described guide thimble 31, lead 32 all have two, the bottom of described guide thimble 31 is fixedly mounted on the top of revolution driven gear shaft 23 by screw, described lead 32 is placed in guide thimble 31, and the fixed platform 41 of the top of lead 32 and parallel operation arm 4 is fixedly connected with by screw;Described lifting nut 34 is positioned at the top of guide thimble 31, and is fixedly connected with guide thimble 31;Described lifting motor 35 is fixedly mounted on the top of fixed platform 41, and the rotation for elevating screw 33 provides power;The upper end of described elevating screw 33 is connected by shaft coupling with lifting motor 35, and the lower end of elevating screw 33 is connected by screw thread with lifting nut 34;Described fixed sleeving 37 is fixedly mounted on the outside of guide thimble 31, the ripple Dustproof pipe 36 with Telescopic is enclosed within the outside of lead 32, and the upper end of ripple Dustproof pipe 36 is fixedly connected with fixed platform 41, the lower end of ripple Dustproof pipe 36 is fixedly connected with fixed sleeving 37.
As shown in Figure 1, Figure 2 with shown in Fig. 6, described end slewing equipment 5 is used for driving clamper 6 to turn round, and coordinates parallel operation arm 4 to regulate the inclination angle of clamper 6 together.Described end slewing equipment 5 includes end turning motor 51, end rotary reducer 52, end driving gear 53, end driven gear shaft 54 and retainer ring 55.The output shaft of described end turning motor 51 is connected with the input of end rotary reducer 52, provides rotary motive power for end driving gear 53;Described end rotary reducer 52 is fixedly mounted on the side of the motion platform 48 of parallel operation arm 4, and end driving gear 53 is arranged on the output shaft of end rotary reducer 52, and is connected by flat key with the output shaft of end rotary reducer 52;Described end driven gear shaft 54 is arranged on the motion platform 48 of parallel operation arm 4, and is connected by bearing with motion platform 48;Described end driving gear 53 keeps engaging with the driven gear at end driven gear shaft 54 top, and described end driven gear shaft 54 is hollow gear shaft;Described retainer ring 55 is positioned at the lower end of end driven gear shaft 54, and is connected by lock-screw with end driven gear shaft 54.
As shown in Figure 1, Figure 2 with shown in Fig. 6, described clamper 6 includes clamping cylinder 61, left clamping plate 62, right clamping plate 63, hooks pawl cylinder 64 and hook pawl 65, is used for clamping article to be handled.Described clamping cylinder 61 is positioned at the lower section of the retainer ring 55 of end slewing equipment 5, provides clamping power for left clamping plate 62, right clamping plate 63, and described clamping cylinder 61 uses double guide-bar two-container cylinder.Described clamping cylinder 61 is connected by screw with retainer ring 55, is respectively arranged at two ends with left output board 611, right output board 612 in the left and right of described clamping cylinder 61.Described left clamping plate 62 are positioned at the left-hand end of clamping cylinder 61, and are fixedly mounted on the left output board 611 of clamping cylinder 61 by screw;Described right clamping plate 63 are positioned at the right-hand end of clamping cylinder 61, and are fixedly mounted on the right output board 612 of clamping cylinder 61 by screw.The described pawl cylinder 64 that hooks is arranged on the outside of right clamping plate 63, provides power for hooking the motion of pawl 65.The upper end hooking pawl cylinder 64 is connected by hinge with right clamping plate 63, and the lower end hooking pawl cylinder 64 is connected by hinge with hooking pawl 65.The described pawl 65 that hooks is positioned at the lower section of right clamping plate 63, and is connected by hinge with right clamping plate 63.When clamper 6 performs to clamp article task to be handled, hook pawl 65 and be used for supporting the bottom of article to be handled, play backing and anti-skidding effect.
During use, can be according to actually used needs, by controlling the front reversing motor 131 in walking reducing motor 123, the front reversing arrangement 13 in running gear 12 and the rear reversing motor 141 in rear reversing arrangement 14, make front reverse wheel 132 or rear reverse wheel 142 just to article to be handled.Then, by controlling the rotary decelerating motor 21 in main slewing equipment 2 and the lifting motor 35 in lowering or hoisting gear 3, by the top of the position adjustment of clamper 6 to article to be handled.Then, the end turning motor 51 in left motor 421, right motor 431 and the end slewing equipment 5 in parallel operation arm 4, the inclination angle of fine setting clamper 6 are driven;Drive clamping cylinder 61 to adjust left clamping plate 62, the spacing of right clamping plate 63, make hook pawl cylinder 64 shrink, it is ensured that hook pawl 65 and be in open mode.Drive lifting motor 35 to make clamper 6 decline again, or synchronize to drive left motor 421, right motor 431 to make first slider nut the 441, second slider nut 451, the 3rd slider nut 461 and Four-slider nut 471 synchronize interior shift-in and realize clamper 6 and decline.Finally, drive clamping cylinder 61 to make left clamping plate 62, right clamping plate 63 clamping band carry article, make hook pawl cylinder 64 extend simultaneously, hook pawl 65 and close, article to be handled are carried out backing.
After crawl task completes, lifting motor 35 is first driven to make clamper 6 increase together with article to be handled, control the rotary decelerating motor 21 in main slewing equipment 2 again, clamper 6 is made to perform walking after the axis of elevating screw 33 rotates 90 ° to the left or to the right again together with article to be handled or turn to task, with transfer robot resistance to capsizing in the process of walking and the stationarity in handling process.
Of the present utility model ultimate principle, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; this utility model is not restricted to the described embodiments; described in above-described embodiment and description, principle of the present utility model is simply described; on the premise of without departing from this utility model spirit and scope; this utility model also has various changes and modifications, and these changes and improvements both fall within the scope that this utility model is claimed.This utility model claims scope and is defined by appending claims and equivalent thereof.

Claims (5)

1. a Three-freedom-degree hybrid formula Omni-mobile transfer robot, including Omni-mobile chassis, main slewing equipment, lowering or hoisting gear, parallel operation arm, end slewing equipment and clamper, it is characterized in that: described lowering or hoisting gear is positioned at the surface on Omni-mobile chassis, and is connected with Omni-mobile chassis by main slewing equipment;Described parallel operation arm is positioned at the side of lowering or hoisting gear, and its upper end is fixed on the top of lowering or hoisting gear, and the lower end of described parallel operation arm is connected with clamper by end slewing equipment;
Described Omni-mobile chassis includes vehicle frame, running gear, front reversing arrangement and rear reversing arrangement, and described vehicle frame ovalize structure, described running gear is arranged on the ellipse short shaft line of vehicle frame, and is positioned at the lower section of vehicle frame;Described front reversing arrangement, rear reversing arrangement are arranged on the transverse line of vehicle frame, and are positioned at the lower section of vehicle frame;
Described running gear includes left lateral travelling wheel, right lateral travelling wheel, walking reducing motor and drive shaft, and described left lateral travelling wheel, right lateral travelling wheel lay respectively at the left and right sides of vehicle frame, and are all connected by spline with drive shaft;Described walking reducing motor is mounted by means of bolts on the bottom of vehicle frame, and the outfan of described walking reducing motor is splined hole export structure;Described drive shaft is connected by spline with the outfan of walking reducing motor, and described drive shaft is positioned on the ellipse short shaft line of vehicle frame, and is fixedly mounted on vehicle frame by bearing block;
Described front reversing arrangement includes front reversing motor and front reverse wheel, described front reverse wheel is connected with vehicle frame by bearing block, described front reversing motor is fixedly mounted on the bottom of vehicle frame by screw, and the drive shaft of described front reverse wheel is connected by spline with the outfan of front reversing motor;
Described rear reversing arrangement includes rear reversing motor and rear reverse wheel, described rear reverse wheel is connected with vehicle frame by bearing block, described rear reversing motor is fixedly mounted on the bottom of vehicle frame by screw, and the drive shaft of described rear reverse wheel is connected by spline with the outfan of rear reversing motor;
Described main slewing equipment includes that rotary decelerating motor, revolution drive gear, revolution driven gear shaft, cylinder roller bearing, roller thrust bearing, bearing (ball) cover and revolving hood;Described rotary decelerating motor is fixedly mounted on the bottom of vehicle frame by screw, and described revolution is driven gear to be arranged on the output shaft of rotary decelerating motor, and is connected by flat key with the output shaft of rotary decelerating motor;Described revolution driven gear shaft is connected with vehicle frame by two cylinder roller bearings, a roller thrust bearing, and the driven gear at described revolution driven gear shaft top drives gear to be meshed with revolution;Described roller thrust bearing is positioned at the lower section of cylinder roller bearing, and is fixed in vehicle frame by bearing (ball) cover, and described bearing (ball) cover is fixedly mounted on the bottom of vehicle frame by screw;The described revolution enclosure is arranged on revolution and drives gear, the outside of revolution driven gear shaft, and is fixedly connected with vehicle frame by screw;
Described parallel operation arm includes fixed platform, left leading screw module, right leading screw module, the first side chain, the second side chain, the 3rd side chain, the 4th side chain and motion platform;Described fixed platform is fixedly mounted on the top of lowering or hoisting gear, and left leading screw module and right leading screw module symmetry are arranged in the lower section of fixed platform;Described the first side chain, the upper end of the second side chain are connected by screw pair with left leading screw module, and the first side chain, the lower end of the second side chain are fixedly connected with motion platform;Described the 3rd side chain, the upper end of the 4th side chain are connected by screw pair with right leading screw module, and the 3rd side chain, the lower end of the 4th side chain are fixedly connected with motion platform;
Described left leading screw module includes left motor, left Double helix leading screw and left shaft holder, described left motor is fixed by screws in the lower section of fixed platform, and be connected by shaft coupling with left Double helix leading screw, described left Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by left shaft holder;Described right leading screw module includes right motor, right Double helix leading screw and right bearing seat, described right motor is fixed by screws in the lower section of fixed platform, and be connected by shaft coupling with right Double helix leading screw, described right Double helix leading screw two ends are all fixedly mounted on the lower section of fixed platform by right bearing seat;Described left Double helix leading screw, the front end of right Double helix leading screw are left hand thread, and described left Double helix leading screw, the rear end of right Double helix leading screw are right-handed thread;
The first described side chain is made up of the first slider nut, the first revolute pair, first connecting rod and the first universal joint, the first described slider nut is connected by right-handed thread with left Double helix leading screw, and the top of the first slider nut contacts with the holding face, baseplane of fixed platform;The upper end of described first connecting rod is connected with the first slider nut by the first revolute pair, and the lower end of first connecting rod is connected with motion platform by the first universal joint;One axis of the axis of the first described revolute pair and the cross axle of the first universal joint is parallel;
The second described side chain is made up of the second slider nut, the second revolute pair, second connecting rod and the second universal joint, the second described slider nut is connected by left hand thread with left Double helix leading screw, and the top of the second slider nut contacts with the holding face, baseplane of fixed platform;The upper end of described second connecting rod is connected with the second slider nut by the second revolute pair, and the lower end of second connecting rod is connected with motion platform by the second universal joint;One axis of the axis of the second described revolute pair and the cross axle of the second universal joint is parallel;
The 3rd described side chain is made up of the 3rd slider nut, the 3rd revolute pair, third connecting rod and the 3rd universal joint, the 3rd described slider nut is connected by right-handed thread with right Double helix leading screw, and the top of the 3rd slider nut contacts with the holding face, baseplane of fixed platform;The upper end of described third connecting rod is connected with the 3rd slider nut by the 3rd revolute pair, and the lower end of third connecting rod is connected with motion platform by the 3rd universal joint;One article of axis of the axis of the 3rd described revolute pair and the cross axle of the 3rd universal joint is parallel;
The 4th described side chain is made up of Four-slider nut, the 4th revolute pair, fourth link and the 4th universal joint, described Four-slider nut is connected by left hand thread with right Double helix leading screw, and the top of Four-slider nut contacts with the holding face, baseplane of fixed platform;The upper end of described fourth link is connected with Four-slider nut by the 4th revolute pair, and the lower end of fourth link is connected with motion platform by the 4th universal joint;One article of axis of the axis of the 4th described revolute pair and the cross axle of the 4th universal joint is parallel;
Described first connecting rod and second connecting rod, third connecting rod, fourth link length equal;
Described lowering or hoisting gear includes guide thimble, lead, elevating screw, lifting nut, lifting motor, ripple Dustproof pipe and fixed sleeving, described guide thimble, lead all have two, the bottom of described guide thimble is fixedly mounted on the top of revolution driven gear shaft by screw, described lead is placed in guide thimble, and the fixed platform of the top of lead and parallel operation arm is fixedly connected with by screw;Described lifting nut is positioned at the top of guide thimble, and is fixedly connected with guide thimble;Described lifting motor is fixedly mounted on the top of fixed platform;The upper end of described elevating screw is connected by shaft coupling with lifting motor, and the lower end of elevating screw is connected by screw thread with lifting nut;Described fixed sleeving is fixedly mounted on the outside of guide thimble, and described ripple Dustproof pipe is enclosed within the outside of lead, and the upper end of described ripple Dustproof pipe is fixedly connected with fixed platform, and the lower end of ripple Dustproof pipe is fixedly connected with fixed sleeving;
Described end slewing equipment includes end turning motor, end rotary reducer, end driving gear, end driven gear shaft and retainer ring, the output shaft of described end turning motor is connected with the input of end rotary reducer, and described end rotary reducer is fixedly mounted on the side of the motion platform of parallel operation arm;Described end driving gear is arranged on the output shaft of end rotary reducer, and is connected by flat key with the output shaft of end rotary reducer;Described end driven gear shaft is arranged on the motion platform of parallel operation arm, and is connected by bearing with motion platform;Described retainer ring is positioned at the lower end of end driven gear shaft, and is connected by lock-screw with end driven gear shaft;
Described clamper includes clamping cylinder, left clamping plate, right clamping plate, hook pawl cylinder and hooks pawl, described clamping cylinder is positioned at the lower section of the retainer ring of end slewing equipment, and be connected by screw with retainer ring, left output board, right output board it is respectively arranged at two ends with in the left and right of described clamping cylinder;Described left clamping plate are positioned at the left-hand end of clamping cylinder, and are fixedly mounted on the left output board of clamping cylinder by screw;Described right clamping plate are positioned at the right-hand end of clamping cylinder, and are fixedly mounted on the right output board of clamping cylinder by screw;The described pawl cylinder that hooks is positioned at the outside of right clamping plate, and the upper end hooking pawl cylinder is connected by hinge with right clamping plate, and the lower end hooking pawl cylinder is connected by hinge with hooking pawl;The described pawl that hooks is positioned at the lower section of right clamping plate, and is connected by hinge with right clamping plate.
A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterised in that: described front reversing motor, rear reversing motor are coaxial-type reducing motor.
A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterized in that: the axis of the first described revolute pair and the axis of the second revolute pair are parallel, the axis of the 3rd described revolute pair and the axis of the 4th revolute pair are parallel, and the axis of the first described revolute pair and the axis of the 3rd revolute pair are parallel.
A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterised in that: described clamping cylinder uses double guide-bar two-container cylinder.
A kind of Three-freedom-degree hybrid formula Omni-mobile transfer robot the most according to claim 1, it is characterized in that: described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel is three row's omni-directional wheels, and is equipped with wheel hub tooth and the driven pulley of three row's interlaced arrangement on the wheel hub of described left lateral travelling wheel, right lateral travelling wheel, front reverse wheel and rear reverse wheel.
CN201620083227.1U 2016-01-26 2016-01-26 Three degree of freedom series -parallel connection formula omnidirectional movement transfer robots Active CN205466165U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN106733420A (en) * 2016-12-27 2017-05-31 芜湖科创生产力促进中心有限责任公司 A kind of Intelligent worn device circuit board making marine glue efficiently smears equipment
CN106733422A (en) * 2016-12-27 2017-05-31 芜湖科创生产力促进中心有限责任公司 A kind of wrapping device
CN108858143A (en) * 2018-07-03 2018-11-23 塞伯睿机器人技术(长沙)有限公司 Nine axis series-parallel robots
CN112372660A (en) * 2020-11-03 2021-02-19 广州大学 Mechanical arm clamp capable of self-adjusting object shape

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105459095A (en) * 2016-01-26 2016-04-06 安徽理工大学 Three-freedom-degree series-parallel omni-directional mobile transfer robot
CN106733420A (en) * 2016-12-27 2017-05-31 芜湖科创生产力促进中心有限责任公司 A kind of Intelligent worn device circuit board making marine glue efficiently smears equipment
CN106733422A (en) * 2016-12-27 2017-05-31 芜湖科创生产力促进中心有限责任公司 A kind of wrapping device
CN108858143A (en) * 2018-07-03 2018-11-23 塞伯睿机器人技术(长沙)有限公司 Nine axis series-parallel robots
CN112372660A (en) * 2020-11-03 2021-02-19 广州大学 Mechanical arm clamp capable of self-adjusting object shape

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