Linearly-driven four-degree of freedom hybrid mechanical arm

A linear drive, degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low speed, low positioning accuracy and repeatability, and small workspace/mechanism volume ratio. High repetitive positioning accuracy, high speed, and the effect of expanding the operating range

Inactive Publication Date: 2011-05-25
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The existing hybrid manipulator with few degrees of freedom, as far as its parallel part is concerned, usually has the disadvantages of small working space/mechanism volume ratio, no advantageous feed direction, low speed, low positioning accuracy

Method used

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  • Linearly-driven four-degree of freedom hybrid mechanical arm
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  • Linearly-driven four-degree of freedom hybrid mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0019] Example 1: Such as image 3 As shown, the linear-driven four-degree-of-freedom hybrid manipulator of the present invention is used as a module, and is placed on the screw structure through a threaded connection structure to make it move in a horizontal direction.

Example Embodiment

[0020] Example 2: Such as Figure 4 As shown, the principle of the traditional radial drilling machine is used to fix the linear driving four-degree-of-freedom hybrid manipulator of the present invention on the column so that it can rotate around the axis of the column.

Example Embodiment

[0021] Example 3: Such as Figure 5 As shown, borrowing the principle of a vertical machine tool, the linear-driven four-degree-of-freedom hybrid manipulator of the present invention is placed on the lead screw structure as a module to make it move in the vertical direction.

[0022] The linear-driven four-degree-of-freedom hybrid manipulator of the present invention is driven by a linear motor, which can realize movement with high speed, high positioning accuracy and high repeat positioning accuracy; when it is connected in series with each translational degree of freedom parallel mechanism or rotational degree of freedom parallel mechanism , It can effectively generate the advantageous feed direction or expand the working range, and overcome the shortcomings of the general parallel or series manipulators of small working space and limited posture.

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PUM

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Abstract

The invention discloses a linearly-driven four-degree of freedom hybrid mechanical arm, which comprises a rack, wherein the two sides of the rack are symmetrically fixed with a linear motor guide rail of a linear motor respectively; a linear motor sliding block on the linear motor guide rail is connected with one end of a driving lever in a rotating way by a first hinge connected to the linear motor sliding block; the other ends of the two driving levers are symmetrically connected to the two ends of a movable platform in the rotating way by second hinges arranged on the movable platform respectively; a sleeve is connected to the middle part of the rack in the rotating way by a coaxial pin on the outer wall of the sleeve; a guide rod is sleeved in the sleeve; the bottom of the guide rod is fixedly connected with the movable platform; a swivel structure is arranged on the lower part of the movable platform; a support frame is connected to the swivel structure by a rotating shaft; and an end effector is connected to the support frame. The mechanical arm can effectively produce advantaged feeding directions or expand an operation range to realize the movement of high speed, high positioning accuracy and high repeated positioning accuracy.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a linearly driven four-degree-of-freedom mixed manipulator. Background technique [0002] The existing hybrid manipulator with few degrees of freedom, as far as its parallel part is concerned, usually has the disadvantages of small working space / mechanism volume ratio, no advantageous feed direction, low speed, low positioning accuracy and repeat positioning accuracy; Partly speaking, there is usually the deficiency that the end effector only rotates around its own axis, so that it must rely on the movement of the parallel part to achieve the position and posture in a limited space. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a linear drive four-degree-of-freedom hybrid with large working space / mechanism volume ratio, advantageous feed direction, stable motion, high speed acceleration, high positioni...

Claims

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Application Information

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IPC IPC(8): B25J9/08
CPCB25J5/02B25J9/106
Inventor 宋轶民孙涛董罡刘聪连宾宾
Owner TIANJIN UNIV
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