Six-DOF (degrees of freedom) three-dimensional-manipulation robot

Abstract

The invention relates to a six-DOF (degrees of freedom) three-dimensional-manipulation robot. The six-DOF three-dimensional-manipulation robot comprises a pedestal bearing, a horizontal sliding table, a vertical moving arm, an upper arm lever, a forearm lever, a swing flange and an output shaft; the pedestal bearing consists of vertical upright columns and horizontal crossbeams supported on the upright columns; the horizontal sliding table is arranged on the crossbeams and does horizontal translation through pinion and rack transmission, so as to form a horizontal movement degree of freedom; the vertical moving arm is connected with the horizontal sliding table and does vertical movement through pinion and rack transmission, so as to form a vertical movement degree of freedom; the upper arm lever is connected to the lower end of the vertical moving arm and does rotational movement, so as to form a first rotational degree of freedom; the forearm lever is connected to the front end of the upper arm lever and does rotational movement, so as to form a second rotational degree of freedom; the swing flange is connected to the front end of the forearm lever and does rotational movement, so as to form a third rotational degree of freedom; the output shaft is connected to the side end of the swing flange and does rotational movement, so as to form a fourth rotational degree of freedom; the output shaft achieves operation of a predetermined trajectory in a three-dimensional space through the combined action of the six degrees of freedom. The six-DOF three-dimensional-manipulation robot has the advantages of simple structure, high reliability, large working space and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a six-degree-of-freedom three-dimensional operation robot, which belongs to the technical field of robots. Background technique [0002] With the development of computer and automatic control technology, robots have become one of the important automation products to improve production efficiency and reduce labor intensity. When robots are used in the industrial field, they are called industrial robots; if they are used to serve people's lives, they are called service robots; if they are used in agricultural automation, they are called agricultural robots. According to different structural configurations, robots can be divided into parallel robots and serial robots. The structure of the parallel robot is relatively complicated, and it is mostly used in the field of rapid handling, while the serial robot is widely used, and its structure is simple and the working space is also large. At present, common...

AI Technical Summary

Problems solved by technology

The cost of three-degree-of-freedom and four-degree-of-freedom robots is low, but their flexibility is poor, and they can only be used in some occasions that require simple movements and uncomplicated motion trajectories.

The robot's workspace also suffers from minor deficiencies

[0006] In addition, the precision and efficiency of the traditional chain or belt transmission used to realize horizontal linear motion are relatively low, and they are not used much in robots. However, if the trapezoidal screw or ball screw is used, the transmission efficiency of the trapezoidal screw is low. It is suitable for high-speed reciprocating transmission, and the transmission gap is large, and the return accuracy is poor, so it is only suitable for vertical transmission; although the ball screw has high transmission efficiency, high precision, and low noise, it is suitable for high-speed reciprocating transmission, but it cannot be self-locking, and it can be used in horizontal transmission. , if the horizontal stroke is large, it will be deformed due to its own weight sagging

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