Frame-type multi-degree-of-freedom operation robot

Abstract

The invention provides a frame-type multi-degree-of-freedom operation robot. The frame-type multi-degree-of-freedom operation robot comprises an end execution part, a two-degree-of-freedom position adjusting module, a two-degree-of-freedom attitude adjusting module and an end execution part feeding module, wherein the two-degree-of-freedom attitude adjusting module is mounted in a frame of the two-degree-of-freedom position adjusting module and is used for positioning the two-degree-of-freedom attitude adjusting module in a vertical plane; the end execution part feeding module is mounted in the frame of the two-degree-of-freedom attitude adjusting module and is used for adjusting a pitch angle and a yaw angle of the end execution part feeding module; and the end execution part is mounted at the end execution part feeding module and is used for realizing feeding movement in the direction of the end execution part. Therefore, five degrees of freedom of the spatial position, the pitch angle attitude and the yaw angle attitude of the end execution part are realized. Through the control of five peripheral actuators, the frame-type multi-degree-of-freedom operation robot has the advantages of stable operation, high rigidity, high strength, simple structure, light weight, low control cost and the like.

Description

technical field [0001] The invention relates to the field of robot automation, in particular to a frame-type multi-degree-of-freedom operating robot using flexible transmission. Background technique [0002] At present, multi-degree-of-freedom operating robots usually have problems such as complex structure, high control cost or low precision, slow response, and insufficient portability, which cannot be applied to some specific occasions. [0003] Therefore, it is necessary to develop a multi-degree-of-freedom manipulating robot with simple structure, low control cost, high precision and good portability. [0004] After searching, it was found that: [0005] The Chinese patent with the publication number CN111821001A proposes a multi-degree-of-freedom robot for grinding, which has a large working range and complete decoupling of each degree of freedom, but the transmission mechanism is a rack and pinion and a guide rail, and the transmission accuracy is not high. At the sa...

AI Technical Summary

Problems solved by technology

[0005] The Chinese patent with the publication number CN111821001A proposes a multi-degree-of-freedom robot for grinding, which has a large working range and complete decoupling of each degree of freedom, but the transmission mechanism is a rack and pinion and a guide rail, and the transmission accuracy is not high. At the same time, the working space is inside the institution, resulting in a huge institutional framework and no portability

[0006] The Chinese patent with the publication number CN111220343A proposes a five-degree-of-freedom motion mechanism with five degrees of freedom and a compact mechanism, but the mechanism uses hydraulic drive, which has slow response and low precision. At the same time, it uses arc-shaped guide rails, which is difficult to process

[0007] The Chinese patent with the publication number CN111821001A proposes a robot device for puncture surgery with breath follower, which uses multiple motors connected in series to form a mechanical arm, which has the advantages of compact structure, high positioning accuracy and large working range, but There are redundant degrees of freedom in multiple motors in series, and the kinematics inverse solution is complicated. At the same time, it still solves the problem of linkage between various motors, which is difficult to control and high in control costs.

[0008] The Chinese patent with the publication number CN102258826A proposes a five-degree-of-freedom minimally invasive acupuncture surgery guide mechanism, using mechanisms such as rack and pinion, screw nuts, etc., with stable structure, high rigidity, and flexible and compact structure at the same time. Range of motion, not very precise, can't lock midway

[0009] To sum up, the existing multi-degree-of-freedom manipulating robot still has not solved the above-mentioned technical problems, and no description or report of a similar technology to the present invention has been found, and no similar data at home and abroad have been collected yet.

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