Translational five-axis manipulator

Abstract

The invention discloses a horizontal moving type five-shaft manipulator which comprises a machine table, a mechanical arm, a moving mechanism and a catching assembly connected to one side in the length direction of the mechanical arm, wherein a vertical moving mechanism of the moving mechanism is arranged in the machine table; a swing arm moving mechanism can move up and down and be positioned under the driving of the vertical moving mechanism relative to the machine table; a turning moving mechanism, a horizontal moving mechanism, an actuation end moving mechanism and the mechanical arm are jointly connected to the swing arm moving mechanism in a supporting manner, and can synchronously and horizontally swing together under the driving of the swing arm moving mechanism; the turning moving mechanism can also drive the mechanical arm to rotate around the central line in the length direction of the turning moving mechanism; the horizontal moving mechanism can also drive the turning moving mechanism and the mechanical arm to do reciprocating movement and be positioned together along the length direction of the mechanical arm; the actuation end moving mechanism can also drive the catching assembly to rotate. According to the manipulator, the bearing loads of the swing arm moving mechanism and the turning moving mechanism are relieved, so that the manipulator is high in moving speed, low in inertia, flexible to operate and high in positioning precision.

Description

technical field [0001] The invention relates to the technical field of manipulators, and specifically provides a translational five-axis manipulator. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm, and is used to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy departments. [0003] At present, the widely used manipulators are four-axis manipulators and five-axis manipulators. Among them, the five motion mechanisms used to drive the mechanical arm in the five-axis manipulator structure are conventionally: vertical motion mechanism, swing arm motion mechanism, flip motion mechanism, horizontal motion ...

AI Technical Summary

Problems solved by technology

However, the existing five-axis manipulator technical scheme has the following deficiencies: 1. the swing arm kinematic mechanism is used as the supporting mechanism of the other four kinematic mechanisms, so when the swing arm kinematic mechanism moves, the other four kinematic mechanisms must be driven to move together, thereby It bears a lot of weight, which leads to a large moment of inertia of the swing arm movement mechanism, which makes the positioning accuracy on the horizontal plane poor and affects the accuracy of the overall equipment of the manipulator; In this way, when the turning mechanism moves, it will also bear a large weight, which will make the moment of inertia of the turning mechanism larger and affect the accuracy of the manipulator.

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