Four-freedom degree industrial robot

A technology of industrial robots and degrees of freedom, applied in manipulators, manufacturing tools, etc., can solve problems such as low rigidity, large inertia, complex structure, etc., and achieve the effect of strong bearing capacity, large working space, and high precision

Inactive Publication Date: 2009-04-15
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Early industrial robots usually adopt a series structure, that is, the series mechanism is the prototype of the mechanism, which is generally composed of a base, a waist (or shoulder), a large arm, a small arm, a

Method used

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  • Four-freedom degree industrial robot
  • Four-freedom degree industrial robot

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Embodiment Construction

[0009] figure 1 It is an embodiment disclosed by the present invention. This four-degree-of-freedom industrial robot mainly includes parts such as a base 1, a motion platform 4, four motion branch chains (2, 3, 6, 7) with the same structure, and tools or fixtures 5. In the kinematic branch chains (2, 3, 6, 7) with the same structure, the four connecting rods (9, 10, 13, 14) are respectively connected by four revolving pairs to form a parallelogram mechanism; the ball screw nut Auxiliary 8, sliding table 16, AC servo motor 17, coupling 18, sliding table seat 19 and so on form the linear movement driving unit; connecting rod 10 is connected with rotating shaft 11 vertically installed on motion platform 4 through rotating pair 12, and connecting rod 14 The sliding table 16 of the linear movement drive unit is connected through the rotating pair 15; the nut of the ball screw nut pair 8 is firmly connected with the sliding table 16,

[0010] The ball screw of the ball screw nut pa...

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Abstract

The invention discloses a four-DOF industrial robot, which comprises a pedestal (1), a moving platform (4), and a tool or a clamp (5), wherein the tool or the clamp (5) is arranged on the moving platform (4). The four-DOF industrial robot is characterized in that the pedestal (1) is connected with the moving platform (4) through four moving branched chains (2, 3, 6, 7) with same structures, four connecting rods (9, 10, 13, 14) in the moving branched chains are connected one another through four rotating pairs to form a parallelogram mechanism, the connecting rod (10) is connected with a rotating shaft (11) vertically arranged on the moving platform (4) through the rotating pair (12), and the connecting rod (14) is connected with a sliding table (16) through the rotating pair (15). Under the drive of four straight line movement driving units, the four-DOF industrial robot can realize the three-dimensional movement and the one-dimensional movement of the moving platform (4). The four-DOF industrial robot has the advantages of simple structure, large working space, high precision, strong bearing capacity, good manufacturability and the like, thus the four-DOF industrial robot can be applied in the modern industry fields of automobiles, electronics, nuclear industry, aerospace and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a three-dimensional moving one-dimensional rotating four-degree-of-freedom industrial robot. Background technique [0002] Early industrial robots usually adopt a series structure, that is, the series mechanism is the prototype of the mechanism. It is generally composed of a base, a waist (or shoulder), a large arm, a small arm, a wrist and a hand, and each part is connected in series. Most of the drive motors are installed on the moving boom and forearm, which mainly have the disadvantages of complex structure, low rigidity, and large inertia. In order to overcome these deficiencies, people have turned their attention to the parallel structure robot based on the parallel mechanism. This robot is usually composed of a base, a motion platform, and multiple motion branches connected in parallel. The motors can all be installed on or near the base, which makes it have some unique p...

Claims

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Application Information

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IPC IPC(8): B25J3/04
Inventor 金振林杨莉高峰
Owner YANSHAN UNIV
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