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Spatial seven-mobility robot mechanism

A kind of mobility and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large inertia, small working space of parallel robot mechanism, accumulation of joint errors, etc., and achieve simple and compact overall structure, flexible trajectory output, Good effect of error compensation

Inactive Publication Date: 2012-05-02
GUANGXI UNIV
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Problems solved by technology

[0003] The object of the present invention is to provide a robot mechanism with seven degrees of activity, which can effectively solve the problems of traditional open-chain series robot mechanism, such as heavy weight, poor rigidity, large inertia, joint error accumulation, small working space and inflexible movement of parallel robot mechanism and so on

Method used

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  • Spatial seven-mobility robot mechanism
  • Spatial seven-mobility robot mechanism

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Embodiment Construction

[0019] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] control figure 1 , 2 , 3 and 4, the robot mechanism with seven degrees of movement in space is composed of a two-dimensional rotating arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating end effector platform mechanism.

[0021] control figure 1 , 2 , the two-dimensional rotating boom mechanism is composed of a two-dimensional rotating boom 5, a first linear driver 3, and a second linear driver 26, and the two-dimensional rotating boom 5 is connected to the frame 1 through a first Hooke hinge 28 , one end of the first linear actuator 3 is connected to the frame 1 through the first spherical pair 2, the other end of the first linear actuator 3 is connected to the two-dimensional rotating arm 5 through the second spherical pair 4, and the second linear actuator 26 One end is c...

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Abstract

The invention relates to a spatial seven-mobility robot mechanism, which comprises a two-dimensional rotating large arm mechanism, a three-dimensional rotating small arm mechanism and a two-dimensional rotating terminal execution platform mechanism, wherein the two-dimensional rotating large arm mechanism comprises a two-dimensional rotating large arm, a first linear driver and a second linear driver; the three-dimensional rotating small arm mechanism comprises a three-dimensional rotating small arm, a third linear driver, a fourth linear driver and a fifth linear driver; and the two-dimensional rotating terminal execution platform mechanism comprises a two-dimensional rotating terminal execution platform, a sixth linear driver and a seventh linear driver. The two-dimensional rotating large arm mechanism, the three-dimensional rotating small arm mechanism and the two-dimensional rotating terminal execution platform mechanism are connected in series, thus large working space and flexible track output of the robot mechanism are realized, and the robot mechanism has a simple and compact overall structure and good error compensation. According to the invention, various terminal actuators with different purposes are installed on a flange disc of the two-dimensional rotating terminal execution platform, thus the spatial seven-mobility robot mechanism can be applied to carrying, stacking, assembling, cutting and other industrial production, and has strong practicability.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a robot mechanism with seven degrees of activity. Background technique [0002] Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitations of its own structure, this kind of traditional open-chain series robot mechanism requires the drive motor to be installed at ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 蔡敢为李小清潘宇晨王红州黄院星王建亮张金玲邓培张林
Owner GUANGXI UNIV
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