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Six-DOF (Degree Of Freedom) planar joint robot

A technology of planar joints and degrees of freedom, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2015-07-29
ANHUI TIANYI HEAVY IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The third generation is an intelligent robot, which has the ability to perceive and understand the external environment, and can successfully complete tasks under changing working conditions. This kind of robot is still in the stage of experimental research

Method used

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  • Six-DOF (Degree Of Freedom) planar joint robot
  • Six-DOF (Degree Of Freedom) planar joint robot
  • Six-DOF (Degree Of Freedom) planar joint robot

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with accompanying drawing:

[0019] Such as figure 1 As shown, a six-degree-of-freedom planar joint robot provided by the present invention includes three parts: a base 1, a first arm 2 and its driving device, a second arm 3 and its driving device, and a three-degree-of-freedom wrist 18 and its driving device. The first arm 2 is installed on the base 1, the second arm 3 is installed at the end of the first arm, the three-degree-of-freedom wrist 18 at the end is connected with three ball splines (the first ball spline 10, the second ball spline 12, The third ball spline 14) is connected, and is driven by the driving device (the first servo motor 6, the second servo motor 8, the third servo motor 9) installed on the second arm through the synchronous pulley and the ball spline; The movement in the vertical direction of the wrist is provided by a ball screw 11, and the sixth servo motor 7 is powered by a...

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Abstract

The invention discloses a six-DOF (Degree Of Freedom) planar joint robot, and belongs to the technical field of industrial robots. The six-DOF planar joint robot comprises a base, a first arm, a driving device of the first arm, a second arm, a driving device of the second arm, a three-DOF wrist and a driving device of the three-DOF wrist; the first arm is arranged on the base; the second arm is arranged at the tail end of the first arm; the three-DOF wrist is connected with three ball splines and is driven by the driving device which is arranged on the second arm through a synchronous belt wheel and the ball splines; the motion of the three-DOF wrist in the vertical direction is supplied by a ball screw. According to the six-DOF planar joint robot provided by the invention, the three-DOF wrist is additionally arranged on the basis of a three-DOF SCARA (Selective Compliance Assembly Robot Arm) robot, and three transverse moving DOFs along an X axis, a Y axis and a Z axis and three rotation DOFs along the X axis, the Y axis and the Z axis are obtained; the six-DOF planar joint robot is suitable for realizing complicated motion, and six-DOF motion of an operated target can be realized.

Description

Technical field: [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a six-degree-of-freedom planar joint robot. Background technique: [0002] Since 2000, under the influence of national macro policy regulation and the improvement of residents' consumption level, my country's automobile industry has entered a period of rapid growth. The increase in production and capacity expansion of the entire automobile industry has increased the demand for industrial robots and has become one of the driving forces for the rapid development of industrial robots. . Industrial robots are widely applicable mechanical devices capable of autonomous action and multi-axis linkage. It is an important automation equipment for the manufacturing industry that integrates multi-disciplinary advanced technologies such as machinery, electronics, control, sensors, artificial intelligence, and computers. With the continuous advancement of science and te...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J9/08
Inventor 邰召勤张良安王梦涛万俊谭玉良余亮
Owner ANHUI TIANYI HEAVY IND
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