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A four-degree-of-freedom robot manipulator arm

A technology of manipulating arms and degrees of freedom, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high cost, hidden dangers of safety, low efficiency, etc., and achieve the effect of fast adjustment, simple structure and high efficiency

Active Publication Date: 2021-03-09
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In some monotonous and repetitive tasks, the use of manpower to complete, not only the cost is relatively high, the efficiency is relatively low, and there are some security risks

Method used

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  • A four-degree-of-freedom robot manipulator arm
  • A four-degree-of-freedom robot manipulator arm
  • A four-degree-of-freedom robot manipulator arm

Examples

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Embodiment Construction

[0020] Figures 1A-1C Shown is a structure of a novel four-degree-of-freedom robot manipulator arm according to an embodiment of the present invention and a schematic diagram during work, and the robot manipulator arm includes: a base (1), a mechanical arm planar motion assembly (2) 1. The spiral motion assembly (3); when working, a pair of robot operating arms arranged oppositely and controlled in coordination are adopted.

[0021] Such as Figures 1A-1C , Figure 2 to Figure 7 , Figure 8A -8B and Figure 9A As shown in -9B, the base (1) provides support for the planar movement component (2) and the helical movement component (3) of the mechanical arm.

[0022] The planar motion component (2) of the mechanical arm has two translational degrees of freedom of up and down, front and back, and is controlled by the J1 and J2 axes.

[0023] The horizontal motor component (5) of the base (1) realizes the forward and backward movement of the end effector (56) of the operating a...

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Abstract

The invention discloses a four-degrees-of-freedom robot manipulator. The four-degrees-of-freedom robot manipulator comprises a base, a mechanical arm plane motion assembly and a screw motion assembly,and is characterized in that four degrees of freedom including three translational degrees of freedom and one rotational degree of freedom of an end executor of the manipulator are realized through the mechanical arm plane motion assembly and the screw motion assembly and are controlled through a J1 axis, a J2 axis, a J3 axis and a J4 axis. According to the mechanical arm plane motion assembly, up-and-down movement and front-and-back movement of the end executor of the manipulator are realized, are two translational degrees of freedom, and are controlled through the J1 axis and the J2 axis; the J1 axis and the J2 axis adopt a parallel structure style; according to the screw motion assembly, left-and-right translation and turnover movement of the end executor of the manipulator are realized, are one translational degree of freedom and one rotational degree of freedom, and are controlled through the J3 axis and the J4 axis; and the J3 axis and the J4 axis adopt a parallel structure style. The mechanical arm plane motion assembly and the screw motion assembly are connected through a series connection structure way, and the whole manipulator belongs to a hybrid connected structure andcan be used for effectively stacking workpieces in order.

Description

technical field [0001] The invention relates to a four-degree-of-freedom robot operating arm, which can be used for carrying and flipping large-format workpieces. Background technique [0002] With the continuous acceleration of industrial development, the cost of human resources has also risen, and robot technology has also become more mature. In some monotonous and repetitive tasks, using manpower to complete them is not only costly, but also low in efficiency, and there are some potential safety hazards. Using robots to complete these tasks can not only save costs, improve efficiency, but also prevent safety accidents, and easily meet the increasing needs of industrial production. Contents of the invention [0003] According to the actual needs of the production line of the enterprise, a bunch of large-format workpieces are arranged into a neat stack of paper. A four-degree-of-freedom robot manipulator arm is designed for sorting large-format workpieces. The combinat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/04
CPCB25J9/0087B25J9/04
Inventor 王伟赵彦伟常金波雷春李子瑜
Owner BEIHANG UNIV