Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator

A technology with a belt drive and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of bloated robot structure and large space, and achieve compact overall structure, small space, and kinematics. Good dynamic performance

Inactive Publication Date: 2015-05-06
JIANGXI MECHANICAL SCI RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the need to install this type of structure on an articulated robot, the structure of the robot is bloated and occupies a large space.

Method used

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  • Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator
  • Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator
  • Belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator

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Embodiment Construction

[0026] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] control figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 and Figure 13 , three-flat one-rotation space four-degree-of-freedom manipulator with drive, including frame 1, first branch chain, second branch chain, third branch chain, fourth branch chain, first motor 2, second motor 3, third motor 4. The fourth motor 5 and the moving platform 6.

[0028]The first bracket 102 of the first branch chain is connected with the frame 1 through the first rotating pair 101, the first rotating shaft 124 of the first branch chain is connected with the moving platform 6 through the second rotating pair 7, and the first rotating shaft 124 of the second branch chain is connected with the moving platform 6 through the second rotatin...

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Abstract

The invention relates to a belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator, which comprises a frame, a first support articulator, a second support articulator, a third support articulator, a fourth support articulator, a first motor, a second motor, a third motor, a fourth motor and a movable platform. The first support articulator, the second support articulator, the third support articulator and the fourth support articulator can respectively carry out the synchronous lifting motion of two racks in each support articulator under the drive of the first motor, the second motor, the third motor and the fourth motor. The belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator can carry out the spatial three-dimensional translational and one-dimensional rotational motion of the movable platform. The belt-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator has the advantages of simple and compact structure, small occupied floor space, agile action and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a belt-driven three-level one-rotation space four-degree-of-freedom manipulator. Background technique [0002] Since the 1950s, robots have been used in the industrial field, and now they have played a great role in the industrial field, effectively reducing the production cost of factories and improving production efficiency. There are many aspects of industrial application of robots, such as welding, assembly, palletizing, grasping and so on. The mechanical structures of robots used in different fields are also very different. Welding robots need five or six axes to realize the spatial curve movement of the end welding torch, while palletizing robots only need four axes to complete the palletizing of items on the production line. Task. In the field of industrial applications, there are tasks that require placing objects from one place to another without requiring tilting moti...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 王红州董治涛舒宏庭
Owner JIANGXI MECHANICAL SCI RES INST
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