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

A technology of robots and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low motion accuracy, large duty angle, small motion space, etc., and achieve high motion resolution and small duty angle , the effect of compact structure

Inactive Publication Date: 2011-10-26
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
Comparison scheme
Effect test

Embodiment 1

[0022] Embodiment one: refer to figure 1 , the six-degree-of-freedom series robot for target positioning consists of a quick target change mechanism 1, a three-dimensional rotating robot 2, an intermediate connecting sleeve 3 and a three-dimensional translation table 4. The fast target change mechanism 1 is connected with the front end of the three-dimensional rotary robot 2 through screws, the three-dimensional rotary robot 2 is fixed on 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] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows: Reference figure 2 , the above-mentioned rapid target change 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 through the set screw 5.2; the target sleeve 5 is engraved with equally spaced scribe lines to adjust the axial position of the experimental target, and is fixed on the target support rod through the set screw 6.1 6; the target support rod 6 is axially fixed on the V-shaped block 7 through the retaining ring 7.1 at the right end, the right end of the target support rod 6 is embedded in the stopper 6.2, and the adjustment set screw 7.4 pushes the stopper 6.2, and the spring 7.3 Under the action, the target support rod 6 can be rotated around its own axis so as to adjust the radial position of the experimental target 5.1....

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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 increasingly intensified energy contradiction, people have been devoting themselves to finding a new type of energy. Inertial Confinement Fusion (ICF) has a very bright prospect in new energy sources, and it is a field that developed countries are competing to study in recent years. In the inertial confinement fusion experiment, the target needs to be precisely positioned in a very small range near the center of the vacuum target chamber with a diameter of several meters through the 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 at the micron level. At present, there are mainly two typ...

Claims

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Application Information

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