Mixed joint continuous robot

A continuous, robotic technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of expanding movement space and strong adaptability

Inactive Publication Date: 2013-06-12
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that traditional industrial robots cannot be used for highly unstructured space operations, the present invention provides a robot mechanism composed of a mixture of rotary joints and continuous joints, which further improves the range of motion and flexibility of traditional industrial robots and increases the number of industrial robots. Adaptability to small and unstructured workspaces

Method used

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Embodiment Construction

[0018] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.

[0019] figure 1 with figure 2 It is a structural schematic diagram of a hybrid joint continuous robot. The robot is composed of four joints installed on the base 1 in series. The four joints include two rotary joints and two continuous joints. The connection sequence is the first rotary joint, the second Second-level rotary joints, first-level continuous joints 10, and second-level continuous joints 12. The first-stage rotary joint is composed of a motor 2 and a reducer 3, and the second-stage rotary joint is composed of a motor 6 and a reducer 7, wherein the motor 2 and the motor 6 are used as driving components, and the motor 2 and the motor 6 are respectively passed through the reducer 3 and the reducer. The machine 7 outputs the rotary motion, which drives the adjacent joints of the next stage to rotate.

[0020] The first-level continuous ...

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Abstract

A mixed joint continuous robot is provided with a substrate (1), a rotary joint, a continuous joint, a motor and a reducer, and the mixed joint continuous robot is characterized in that a primary rotary joint, a secondary rotary joint, a primary continuous joint (10) and a secondary continuous joint (12), which are installed on the substrate (1), are connected with one another in series, the primary rotary joint and the secondary rotary joint are respectively provided with a rotational degree of freedom, the primary continuous joint (10) and the secondary continuous joint (12) are respectively provided with two bending degrees of freedom, and the mixed joint continuous robot has six degrees of freedom. The mixed joint continuous robot is strong in adaptability to the non-structuralized operation space and widely applicable to the fields of disaster rescuing and non-structuralized industrial environmental operation.

Description

technical field [0001] The present invention relates to a kind of articulated robot, more specifically, it relates to a new hybrid joint continuous robot composed of rotary joints and continuous joints for highly unstructured environment operations. Background technique [0002] With the increasing application of industrial robots in fields such as aerospace, military, medical, and service, the working environment they face is becoming more complex and highly unstructured. Such as drilling operations in the narrow environment of aircraft wing rib compartments, maintenance operations of nuclear power plant reactor cooling pipelines, detection operations of military targets beyond visual barriers, search and rescue of trapped people at earthquake sites, and minimally invasive operations on patients' digestive tracts and other organs Wait. The application number is 02145863.4, and the name is multi-joint industrial robot. Although there are reports on multi-joint industrial ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
Inventor 赵江海宋小波叶晓东徐林森章小建魏鲜明冯宝林
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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