Six-degree-of-freedom series-connected robot with target positioning

A robot and degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low motion accuracy, large duty angle, difficult control, etc., and achieve high motion resolution, small duty angle, Control easy effects

Inactive Publication Date: 2010-10-06
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The parallel robot used has the advantages of high rigidity, high motion precision and large load-carrying capacity, but it also has disadvantages such as difficult control, easy interference of space position, small movement space, and too large duty angle; the serial robot used has the advantages of simple control , the advantage of large movement space, but there are also disadvantages such as unreasonable structural arrangement, small rigidity, excessive duty angle and low movement precision.

Method used

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  • Six-degree-of-freedom series-connected robot with target positioning
  • Six-degree-of-freedom series-connected robot with target positioning
  • Six-degree-of-freedom series-connected robot with target positioning

Examples

Experimental program
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Effect test

Embodiment 1

[0022] Example 1: Reference figure 1 The six-degree-of-freedom tandem robot for target positioning is composed of a rapid target-changing mechanism 1, a three-dimensional rotating robot 2, an intermediate connecting sleeve 3, and a three-dimensional translation table 4. The quick target changing mechanism 1 is connected to the front end of the three-dimensional rotating robot 2 by screws, the three-dimensional rotating robot 2 is fixed at the front end of the intermediate connecting sleeve 3, and the rear end of the intermediate connecting sleeve 3 is fixed on the three-dimensional translation workbench 4 Front end.

Embodiment 2

[0023] The second embodiment: This embodiment is basically the same as the first embodiment, and the special features are as follows: Reference figure 2 The aforementioned quick target changing mechanism 1 is composed of a target sleeve 5, a target support rod 6, a V-shaped block 7, and a dovetail disc 8. The experimental target 5.1 is fixed in the hole of the target sleeve 5 by the set screw 5.2; the target sleeve 5 is engraved with equal intervals of engraved lines to adjust the axial position of the experimental target, and is fixed to the target support rod by the set screw 6.1 In the hole of 6; the target support rod 6 is axially fixed on the V-shaped block 7 through the right end of the stop ring 7.1, the right end of the target support rod 6 is embedded in the stop piece 6.2, adjust the set screw 7.4 to push the stop piece 6.2, in the spring 7.3 Under the action, the target support rod 6 can be rotated around its own axis to adjust the radial position of the experimental...

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PUM

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Abstract

The invention relates to a six-degree-of-freedom series-connected robot with target positioning applied to inertial confinement fusion. By using a form of a series-connected mechanism for separating translation and rotation, and the six-degree-of-freedom series-connected robot with target positioning consists of a set of three-dimension translation work table and a set of three-dimension rotary robot. The translation and the rotation of each direction are both driven by a vacuum special motor actuator, each movement is relatively independent, and the precision movement of six freedom degrees can be finished in the space. By constructing a precise vacuum positioning mechanism with the six-degree-of-freedom in the space, the invention has the advantages of compact structure, small duty ratio angle, high motion resolution, easy control and precise positioning.

Description

Technical field [0001] The invention relates to a vacuum precision positioning mechanism, in particular to a six-degree-of-freedom serial robot for target positioning. technical background [0002] With the increasing energy conflicts, people have been working to find a new type of energy. Inertial confinement nuclear fusion (ICF) has very good prospects for new energy sources, and it is an area where developed countries have been competing for research in recent years. In the inertial confinement nuclear fusion experiment, it is necessary to accurately position the target in a very small range near the center of a vacuum target chamber with a diameter of several meters through a target support positioning device. According to the adjustment needs of the target, the target support positioning device is required to have six degrees of freedom, and the overall positioning accuracy of the system is required to be in the micron level. At present, there are mainly two mechanisms in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/08B25J19/00
Inventor 马立叶献孟何正峰
Owner SHANGHAI UNIV
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