Nine-motion-degree robot mechanism

A robot and mobility technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large inertia, joint error accumulation, and small working space of parallel robot mechanisms, so as to achieve simple and compact overall structure, good error compensation, The effect of flexible track output

Inactive Publication Date: 2012-02-22
GUANGXI UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to provide a robot mechanism with nine degrees of activity, which can effectively solve the problems of traditional open-chain series robot mechanism, such as heavy weight, poor rigidity, large inertia, joint error accumulation, small working space and inflexible movement of parallel robot mechanism and so on

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Embodiment Construction

[0020] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] control figure 1 , 2 , 3 and 4, the nine-degree-of-motion robot mechanism is composed of a three-dimensional rotating arm mechanism, a three-dimensional rotating arm mechanism and a three-dimensional rotating platform mechanism.

[0022] control figure 1 , 2 , the three-dimensional rotating boom mechanism is composed of a three-dimensional rotating boom 7, a first linear driver 5, a second linear driver 25 and a third linear driver 26, and the three-dimensional rotating boom 7 is connected to the frame through the first spherical pair 4 1, one end of the first linear driver 5 is connected to the frame 1 through the second spherical pair 3, and the other end is connected to the three-dimensional rotating boom 7 through the third spherical pair 6; one end of the second linear driver 25 is connected to the frame through...

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Abstract

The invention relates to a nine-motion-degree robot mechanism. The nine-motion-degree robot comprises a big three-dimensional rotating arm mechanism, a small three-dimensional rotating arm mechanism and a three-dimensional rotating platform mechanism, which are serially connected to each other, wherein three linear drivers are in parallel connection and are used for driving each joint, thereby realizing a big operating space and a flexible track output of the mechanism. The nine-motion-degree robot mechanism is simple and compact in structure and is excellent in error compensation. By mounting end effectors with various different functions on a three-dimensional rotating platform, the nine-motion-degree robot mechanism can be applied to the production of industries, such as carrying, stacking, assembling, cutting, and the like, and also can be applied to the fields of engineering machinery, such as excavators, and bionic mechanisms, such as bionic arms, bionic legs and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a robot mechanism with nine degrees of activity. Background technique [0002] Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitations of its own structure, this kind of traditional open-chain series robot mechanism requires the drive motor to be installed at t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 蔡敢为潘宇晨王红州
Owner GUANGXI UNIV
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