Planar two-degree of freedom robot

A degree of freedom, robot technology, applied in the field of robotics, can solve problems such as inverse solution difficulty, increase motion inertia, slow speed, etc., to achieve the effect of reducing computer requirements and simple control algorithms

Active Publication Date: 2015-03-25
QILU UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The control method of the series joint robot is simple, but the motor and the reducer are at the joint, which increases the inertia of motion, resulting in a slower speed
The Delta robot is fast, but the forward solution of the control algorithm is easy, and the inverse solution is difficult. However, the inverse solution is used in the controller of the delta robot, which leads to complex algorithms and high computer requirements.
The direct coordinate manipulator also has the problem of increasing the inertia of the drive motor and reducer as the moving parts move.

Method used

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Embodiment Construction

[0019] Attached below figure 1 , attached figure 2 The present invention will be further described.

[0020] as attached figure 1 As shown, the planar two-degree-of-freedom robot includes: a support plate 1, which is arranged above the assembly line, and is set perpendicular to the running direction of the assembly line; servo motor Ⅰ 2 and servo motor Ⅱ 3, which are installed on the support plate 1 Connecting rod I 4, one end of which is fixed on the output shaft of servo motor I 2, and the other end is hingedly installed with the upper end of connecting rod II 5; connecting rod III 6, whose upper end is rotatably fitted on the output shaft of servo motor I 2; Rod IV 7, which is in the shape of a "V", one of its top ends is hingedly installed with the lower end of connecting rod II 5, the other top end is hingedly installed with the upper end of connecting rod V 8, and its bottom end is respectively connected with the lower end of connecting rod III 6 and The upper end of...

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Abstract

The invention discloses a planar two-degree of freedom robot which comprises a bracket plate, a servo motor I a servo motor II and connecting rods, wherein the connecting rod I, the connecting rod II, the connecting rod III and one bevel edge of the connecting rod IV form a parallelogram structure; the other bevel edge of the connecting rod IV, the connecting rod V, the connecting rod VI and the connecting rod X form a parallelogram structure. The connecting rod VII and the connecting rod X form a two-degree of freedom planar connecting rod mechanism, so that a movable platform can reach any point in the plane in a working region, and therefore, quick catching and releasing of objects on an assembly line by virtue of a control-site picker is realized. The connecting rod mechanism is adopted, and therefore, the light is weight and the movement speed is increased in comparison with those of the series articulated robot. For the delta robot, by virtue of a linear relationship between rotary angels of the servo motors and the connecting rod mechanism, the control algorithm is simple, and the requirements on computer are lowered.

Description

technical field [0001] The present invention relates to a robot. Background technique [0002] At present, the rapid sorting of the assembly line mainly consists of serial joint robots, delta robots, and direct coordinate manipulators. The control method of the serial joint robot is simple, but the motor and the reducer are at the joint, which increases the inertia of motion, resulting in a slower speed. The Delta robot is fast, but the forward solution of the control algorithm is easy, and the inverse solution is difficult. However, the inverse solution is used in the controller of the delta robot, which leads to complex algorithms and high computer requirements. The direct coordinate manipulator also has the problem of increasing the inertia of the drive motor and reducer as the moving parts move. Contents of the invention [0003] In order to overcome the deficiencies of the above technologies, the present invention provides a planar two-degree-of-freedom robot with f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 单东日高成敏
Owner QILU UNIV OF TECH
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