Space six degrees of freedom follow-up joint manipulator based on horizontal adaptive adjustment

Abstract

A horizontal self-adaptive adjusting space six-freedom-degree follow-up joint manipulator comprises a connecting base mechanism, a driving mechanism, a connecting rod mechanism and a manipulator body; the driving mechanism is arranged on the connecting base mechanism; the connecting rod mechanism is arranged on the driving mechanism; the manipulator body is arranged on the connecting rod mechanism so that the driving mechanism can drive horizontal adjustment and height adjustment of the manipulator body through the connecting rod mechanism; and the connecting rod mechanism achieves rotation of the manipulator body in the X direction, the Y direction and the Z direction, so that adjustment of the manipulator body in six freedom degrees of a space can be achieved, and therefore butt joint pieces clamped by the manipulator body can be accurately corrected and in butt joint. By means of the connecting rod mechanism, rotating shafts, of three rotating freedom degrees, of the manipulator body can be intersected at one point, and therefore the functions that the three shafts are intersected at the center and three centers coordinate with one another are achieved, so that adjustment of the horizontal self-adaptive adjusting space six-freedom-degree follow-up joint manipulator saves labor and is light, and operation is easy.

Description

technical field [0001] The invention relates to a space six-degree-of-freedom follow-up joint manipulator, which belongs to the technical field of installation and calibration, and in particular to a space six-degree-of-freedom follow-up joint manipulator based on horizontal self-adaptive adjustment. Background technique [0002] When assembling and calibrating workpieces, the on-site assembly environment is complex, other auxiliary lifting tools cannot meet the requirements, and the posture and position of the installed workpieces are often not in the ideal state, but there is a certain inclination or twist between the ideal state, when This inclination or torsion during assembly will seriously affect the progress of the transfer, so timely adjustments must be made to the workpiece to be installed to achieve the assembly process. If it takes time and effort to perform manual intervention, for general applications, the existing manipulator structure is more complicated and t...

AI Technical Summary

Problems solved by technology

[0002] When assembling and calibrating workpieces, the on-site assembly environment is complex, other auxiliary lifting tools cannot meet the requirements, and the posture and position of the installed workpieces are often not in the ideal state, but there is a certain inclination or twist between the ideal state, when This tilt or twist during assembly will seriously affect the progress of the transfer, so timely adjustments must be made to the workpiece to be installed to achieve the assembly process

If manual intervention is time-consuming and labor-intensive, for general applications, the existing manipulator structure is more complicated and the cost is higher

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