A fast grasping robot with full-circle motion
A robot and motion technology, applied in the field of robotics, can solve the problem that parallel robots are difficult to move at large angles, and achieve the effect of full-circle motion
Inactive Publication Date: 2017-07-07
BEIJING JIAOTONG UNIV
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Problems solved by technology
[0004] The problem to be solved by the present invention is to solve the problem that parallel robots are difficult to achieve large-angle motion, and to provide a fast grasping robot mechanism with full-circle motion, which can realize the full-circle motion of the grab robot
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[0082] The present invention will be further described in conjunction with the accompanying drawings.
[0083] A fast grasping robot with full circle motion, such as figure 1 , 2 , 3. The robot includes: a base 1, a first rotating assembly 30-1, a second rotating assembly 30-2, a third rotating assembly 30-3, and a fourth rotating assembly 30-4. The first moving platform assembly 40-1 and the second moving platform assembly 40-2.
[0084] The connection between the first rotating assembly 30-1 and the base 1 and the first moving platform assembly 40-1:
[0085] The first connecting member 3 - 1 of the first rotating assembly 30 - 1 is fixedly connected with the base 1 . The second connecting member 3-2 of the first rotating assembly 30-1 is fixedly connected with the first moving platform 4-1 of the first moving platform assembly 40-1.
[0086] The connection between the second rotating assembly 30-2 and the base 1 and the first moving platform assembly 40-1:
[0087] The...
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The invention discloses a rapid grabbing robot capable of performing whole circle movement and relates to the technical field of robots. The problem that it is difficult to achieve large-angle movement of parallel-connected robots is solved. A first rotation assembly, a second rotation assembly, a third rotation assembly and a fourth rotation assembly (30-1, 30-2, 30-3 and 30-4) of the robot are fixed to a base (1). A second connecting part (3-2) of the first rotation assembly (30-1) and a fourth connecting part (3-4) of the second rotation assembly (30-2) are fixedly connected with a first movable platform (4-1) of a first movable platform assembly (40-1). A seventh connecting part (3-7) of the third rotation assembly (30-3) and a ninth connecting part (3-9) of the fourth rotation assembly (30-4) are fixedly connected with a second movable platform (4-2) of a second movable platform assembly (40-2). The first movable platform assembly (40-1) is movably connected with the second movable platform assembly (40-2) through a fifteenth pin shaft (21-15). The first rotation assembly, the second rotation assembly, the third rotation assembly and the fourth rotation assembly are driven by a first motor, a second motor, a third motor and a fourth motor to perform rotary movement correspondingly and thus the first movable platform assembly and the second movable platform assembly are driven to move, so that movement and relative whole circle rotation of a first gripper and a second gripper (7-1 and 7-2) are achieved.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a fast grasping robot with full-circle motion. Background technique [0002] The "grab-and-place" action of the target workpiece is one of the most common actions of industrial robots on the automated production line, and it is also a supporting technology for sorting, handling, assembly, and palletizing. The grasping operation requires moving the target object from one position to another in a very short time, and in some cases adjusting the attitude of the target object at the same time. [0003] At present, industrial grasping robots mainly include series robots and parallel robots. The tandem grasping robot has a large working space, but there are problems such as poor rigidity and error accumulation. Compared with serial robots, parallel robots can overcome these problems. However, parallel robots have the problem of small working space, it is difficult to achieve large-an...
Claims
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IPC IPC(8): B25J9/00
CPCB25J9/0009
Inventor 曲海波于智远郭盛方跃法班伟杰
Owner BEIJING JIAOTONG UNIV