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Modularized robot based on intelligent mechanical arm

A technology of intelligent machinery and robots, which is applied in the field of robots, can solve the problems of difficult adaptation of structural dynamics, limited working precision, and low working load, and achieve the effects of low cost, improved working precision, and increased standardization

Active Publication Date: 2015-08-26
FOSHAN NANHAI GUANGDONG TECH UNIV CNC EQUIP COOP INNOVATION INST +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Climbing robots have a low workload, and the structural dynamics are difficult to adapt to the requirements of different working conditions and poses, and their working accuracy is limited.

Method used

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  • Modularized robot based on intelligent mechanical arm
  • Modularized robot based on intelligent mechanical arm
  • Modularized robot based on intelligent mechanical arm

Examples

Experimental program
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Effect test

Embodiment 1

[0031] As shown in Figure 1, it is a schematic structural diagram of a modular robot based on an intelligent manipulator, including an intelligent manipulator 1 and a modular joint 2, and the intelligent manipulator 1 is connected in series through the modular joint 2 to form a multi-degree-of-freedom robot.

[0032] As shown in Figure 2, the intelligent robotic arm 1 includes a body frame 102, a body connecting plate 101, a piezoelectric ceramic driver 103, and a strain sensor 104, wherein the body connecting plate 101 is installed at both ends of the body frame 102, and the body frame 102 is shown in the figure 2, the integrally processed truss-like structure is in the form of a cuboid hollowed-out structure. The hollowed-out body frame 102 is composed of a series of basic beams in form, and the basic beams include basic beams (rectangular four sides) and the intersecting basic beams on the four sides of the body frame (diagonals of the rectangle).

[0033] As shown in Fig...

Embodiment 2

[0046] In this embodiment, the structure of the modular robot based on the intelligent manipulator is basically the same as that of Embodiment 1, but the structure of the body frame is shown in Figure 5-6, and the basic holes on the body frame 102 for installing the piezoelectric ceramic driver The slots are arranged in pairs with double-hole slots; piezoelectric ceramic drivers are respectively installed in the paired double-hole slots, which can generate displacement output along the length direction of the basic beam section.

[0047] To sum up, the above is the content of the embodiments of the present invention, and obviously the embodiments of the present invention are not limited thereto, and the functions of the present invention can be used to realize corresponding requirements according to different application environments.

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Abstract

The invention discloses a modularized robot based on an intelligent mechanical arm, and belongs to the field of robots. The modularized robot based on the intelligent mechanical arm comprises the intelligent mechanical arm and modularized joints. The intelligent mechanical arm is cascaded into a robot having multiple degrees of freedom by the modularized joints. The intelligent mechanical arm comprises a body framework, a piezoelectric ceramic actuator, and stress sensors. The stress sensors are installed on the body framework; and the stress sensors installed on the body framework constitute a group which is used for measuring the overall deformation status of the body framework in its motion process. The piezoelectric ceramic actuator is installed inside the body framework and is used for compensating the overall deformation of the body framework in its motion process. The modularized robot employs the intelligent mechanical arm section based on the vibration measurement and the compensation in association with the feature that the modularized robot is easy to manufacture to increase the standardization degree of the robot, and to increase the adaptability of the robot to different working conditions as well, thereby increasing the working accuracy of the robot.

Description

technical field [0001] The invention relates to the field of robots, in particular to a modular robot based on an intelligent mechanical arm. Background technique [0002] In light-load high-speed precision applications such as IC packaging and laser welding, the tandem robot arm mechanism represented by the tandem robot is one of the common mechanism forms. The mechanism form of a conventional series robot is: the primary arm is fixed on the base, and the remaining mechanical arms are connected in series through joints. The multi-degree-of-freedom motion of the industrial robot is driven by servo motors at each joint. Traditional types of robot design often need to specifically design the body mechanism and deceleration system (or direct drive system) of each segment of the robot arm according to the actual work requirements of the robot, which leads to a more specialized working mode of the robot. Components such as arms are difficult to be used in common with other type...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J17/02
Inventor 陈新杨志军杨海东白有盾黄宇涵
Owner FOSHAN NANHAI GUANGDONG TECH UNIV CNC EQUIP COOP INNOVATION INST
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