Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot

Abstract

The invention provides a three-degree of freedom mechanical wrist and relates to the robot field. The three-degree of freedom mechanism wrist comprises a mechanical wrist base and a mechanical wrist head; a first transmission shaft and two second transmission shafts are arranged on the mechanical wrist base; a tail end rotating shaft is arranged inside the mechanical wrist head; the tail end rotating shaft is connected with a third transmission shaft coaxially; the upper end of the third transmission shaft is connected with the lower end of the first transmission shaft through a universal joint; the lower ends of the second transmission shafts are connected with a first main driving arm which is arranged outside the mechanical base through a reversing transmission device; the first main driving arm is connected to the lateral wall of the mechanical wrist head through a middle connecting rod and a driven arm sequentially. The invention also provides a novel six-degree of freedom DELTA robot comprising the mechanical wrist. The mechanical arm is connected to the tail end of the DELTA robot. The DELTA robot is flexible, rapid in speed, low in manufacturing coast and large in loading.

Description

technical field [0001] The invention relates to a robot, in particular to a three-degree-of-freedom mechanical wrist and a novel six-degree-of-freedom DELTA robot. Background technique [0002] Parallel robots have the advantages of high rigidity, strong carrying capacity, high precision, and small inertia of end parts. Compared with series robots, they have obvious advantages in high-speed and large-carrying capacity occasions. Successful application cases such as Delta robots. At present, most delta robots on the market have 3 or 4 degrees of freedom, and the actions that can be realized are limited. In some work situations that require special actions, such as when objects need to be placed upright, traditional Delta robots cannot achieve this action. In addition to the use of robots, this limitation can be broken through the 6-DOF Delta robot. [0003] The existing six-degree-of-freedom Delta robot, such as the Delta robot of FANUC, adopts a 3-DOF serial mechanical bow...

AI Technical Summary

Problems solved by technology

At present, most delta robots on the market have 3 or 4 degrees of freedom, and the actions that can be realized are limited. In some work situations that require special actions, such as when objects need to be placed upright, traditional Delta robots cannot achieve this action. The application of the robot can be broken through the 6-degree-of-freedom Delta robot

[0003] The existing six-degree-of-freedom Delta robot, such as the Delta robot of FANUC, adopts a 3-DOF serial mechanical bowl at the end of the traditional delta robot to realize a six-degree-of-freedom structure. Problems such as low precision and overweight moving platform

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