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A planar motion flexible parallel robot with force perception

A plane motion and robot technology, applied in the field of robots, can solve problems such as limited safety and range of motion, low motion precision, and low flexibility of the mechanism, and achieve the effect of small inertia, high motion precision, and good force compliance

Active Publication Date: 2021-11-23
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to overcome the deficiencies of the existing planar motion robot, such as large inertia of moving parts, low motion precision, low mechanism flexibility, high cost, limited safety and range of motion

Method used

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  • A planar motion flexible parallel robot with force perception
  • A planar motion flexible parallel robot with force perception
  • A planar motion flexible parallel robot with force perception

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] Such as figure 1 , figure 2 with image 3 As shown, a force-sensing planar motion flexible parallel robot provided in this embodiment includes a base frame 4, a drive module 2, a four-bar module 3, a camera 25, and a camera bracket 24; the base frame 4 includes a frame and a cover plate 5. The front side support plate 6 is fixedly installed on both sides of the front of the frame, and the cover plate 5 is fixedly installed on the front side support plate 6 on both sides through a card slot; the lower end of the camera bracket 24 is fixed Installed on the cover plate 5 , the camera 25 is fixedly installed on the upper end of the camera bracket 24 .

[0032] The drive module 2 is installed on the base frame 4. The drive module 2 includes a linear module 7, a left elastic plate connecting block 8, a right elastic plate connecting block, a middle elastic plate connecting block 9, and a DC servo motor 10; the linear module 7 Including screw part, ball nut part, screw sup...

Embodiment 2

[0042] On the basis of Embodiment 1, the camera 25 can be replaced by a laser radar, and the combination of the DC servo motor 10, the screw part and the ball nut part can be replaced by a combination of a servo hydraulic cylinder, a linear guide rod and a slider, and the servo hydraulic cylinder drives The slide block moves in parallel on the linear guide rod, and the left elastic plate connecting block 8, the right elastic plate connecting block, and the middle elastic plate connecting block 9 are respectively fixedly arranged on the slide blocks at corresponding positions.

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Abstract

The invention discloses a force-sensing planar motion flexible parallel robot, which relates to the field of robots and includes a basic frame, a driving module, and a four-bar module. The driving module is installed on the basic frame, and the four-bar module is installed on the On the base frame and the drive module; the four-bar module includes an inner ring four-bar module and an outer ring four-bar module, the outer ring four-bar module is arranged outside the inner ring four-bar module, and the outer ring four-bar module The movement planes of the ring four-bar module and the inner ring four-bar module are parallel. The invention adopts a parallel elastic motion mechanism and a comprehensive position control method combining strain detection and image recognition. The robot of the present invention not only has the functions of high motion precision, high flexibility and force perception, but also has the characteristics of light weight of moving parts, adjustable end range of motion, wide application range, low cost and high safety.

Description

technical field [0001] The invention relates to the field of robots, in particular to a force-sensing plane-moving flexible parallel robot. Background technique [0002] Robots are used more and more widely in various fields of production and life, and the needs of robots in various fields are also different. In the fields of medical treatment, assembly of fragile objects, and human-computer collaboration, there is a need for motion accuracy, flexibility, and force perception. Robots make higher demands. [0003] Existing high-precision planar motion mechanisms often use high-rigidity components and transmission mechanisms to achieve corresponding functional requirements. However, in the field of motion accuracy, the existing technology has shortcomings such as large inertia of moving parts, heavy base, and limited motion space for terminal output. ; In the field of flexible mechanisms, due to the still use of metal high-rigidity structural parts, there are deficiencies in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/12B25J13/00
Inventor 陈根良杜聪聪张壮王皓唐礼庆
Owner SHANGHAI JIAOTONG UNIV