Three-degree-of-freedom robot neck device and working method

A technology of robot and degree of freedom, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of low degree of freedom, poor flexibility, poor stiffness and dynamic performance, etc., and achieve the effect of large bearing capacity, compact structure and improved stiffness

Pending Publication Date: 2021-04-06
创泽智能机器人集团股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects of low degree of freedom, poor stiffness and dynamic performance, and poor flexibility of the existing robot neck, the present invention provides a high degree of freedom, high stiffness, and high flexibility parallel robot neck device and working method

Method used

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  • Three-degree-of-freedom robot neck device and working method
  • Three-degree-of-freedom robot neck device and working method
  • Three-degree-of-freedom robot neck device and working method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] combine figure 1 , figure 2 and image 3 Describe this embodiment, in this embodiment, a kind of three-degree-of-freedom robot neck device that this embodiment involves, it comprises lower platform 1, transmission group, upper platform 5, control system and robot head, described transmission The set includes a motor 2, a first connecting rod 3 and a second connecting rod 4, the motor 2 is fixed on the lower platform 1, the drive shaft of the motor 2 is fixed to one end of the first connecting rod 3, and the first connecting rod The other end of the rod 3 is rotatably connected to one end of the second connecting rod 4, the other end of the second connecting rod 4 is rotatably connected to the upper platform 5, the control system is bidirectionally connected to the transmission group, and the robot head is arranged on Get on platform 5. The control system includes a No. 1 encoder 6, a No. 2 encoder 7 and a processor. The No. 1 encoder 6 is arranged at the junction of...

Embodiment 2

[0035] This embodiment is described in conjunction with Embodiment 1. In this embodiment, a three-degree-of-freedom robot neck device involved in this embodiment uses a rotary pair to rotate between the first connecting rod 3 and the second connecting rod 4. connection, the second connecting rod 4 and the upper platform 5 are connected by a rotating pair, and the input ends of the No. 1 encoder 6 and the No. 2 encoder 7 are respectively connected with the rotating pair. The number of the transmission groups is at least three groups, and the number of the No. 1 encoder 6 and the No. 2 encoder 7 is adapted to the number of the transmission groups. The transmission groups are evenly distributed on the upper platform 5 . The purpose of such setting is: the end of the first connecting rod 3 is connected with the head end of the second connecting rod 4 through a rotary pair, and a No. 1 encoder 6 is arranged on the rotating pair, so that the relative position of the first connecting...

Embodiment 3

[0037] This embodiment will be described in conjunction with Embodiment 1. In this embodiment, a three-degree-of-freedom robot neck device involved in this embodiment, the first connecting rod 3 and the drive shaft of the motor 2 are fixed by a keyway. The purpose of this setting is to: figure 2 As shown: the first connecting rod 3 and the motor 2 are fixed together through a keyway, so that the first connecting rod 3 is driven by the motor 2 to rotate.

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Abstract

The invention discloses a three-degree-of-freedom robot neck device and a working method, and belongs to the technical field of robot neck control. The invention provides a parallel robot neck device with high degree of freedom, high rigidity and high flexibility and a working method. The three-degree-of-freedom robot neck device is characterized in that a motor is fixed to a lower platform; a driving shaft of the motor is fixed to one end of a first connecting rod; the other end of the first connecting rod is rotationally connected with one end of a second connecting rod; the other end of the second connecting rod is rotationally connected with an upper platform; a control system is in two-way connection with a transmission set; and a robot head is arranged on the upper platform. The working method of the three-degree-of-freedom robot neck device comprises the following steps that current angle information of the transmission set is read in real time; a processor identifies the current state of the robot head; and the motor correspondingly rotates according to a target driving instruction, so that the robot head acts along with the action of the upper platform till the current angle information is consistent with target angle information. The method is mainly used for controlling the robot head.

Description

technical field [0001] The invention belongs to the technical field of robot neck control, and in particular relates to a three-degree-of-freedom robot neck device and a working method. Background technique [0002] The degree of freedom of the neck of humanoid robots currently on the market is generally low, generally one degree of freedom, and there are also neck structures with more than two degrees of freedom, but most of them use series mechanisms, resulting in poor stiffness and dynamic performance of the robot head. With the development of humanoid robot technology, the disadvantages of traditional robot neck structure, such as low rigidity and poor flexibility, are becoming more and more obvious. [0003] Therefore, there is a need for a high degree of freedom, high rigidity, and high flexibility parallel robot neck device and working method. Contents of the invention [0004] Aiming at the defects of low degree of freedom, poor stiffness and dynamic performance, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 李庆民李勇庆
Owner 创泽智能机器人集团股份有限公司
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