一种六自由度的夹取机器人

• Format: Patent
• Language: Chinese
• Published: 25.03.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

一种具有六自由度的夹取机器人，涉及机器人技术领域。该机器人包括定平台(6)，可用于实现夹取操作的可重构动平台组件(5)，以及连接可重构动平台和定平台的第一，第二，第三，第四驱动分支。第一至第四驱动分支的驱动电机(1-1、1-2、2-1、2-2、3-1、4-1)分别与定平台(6)固定连接。第一至第四驱动分支的连接件(1-19、2-19、3-17、4-17)与可重构动平台组件(5)通过转动副铰接。通过电机(1-1、1-2、2-1、2-2、3-1、4-1)驱动连接件(1-3、1-14、2-3、2-13、3-2、4-2)，实现动平台夹取操作和两转动三移动的操作自由度。 The invention discloses a clamping robot with six degrees of freedom, and relates to the technical field of robots. The robot comprises a fixed platform (6), a movable platform assembly (5) capable of being used for achieving clamping operation, a first driving branch, a second driving branch, a third driving branch and a fourth driving branch, wherein the first to fourth driving branches are connected with the fixed platform and the movable platform. Driving motors (1-1, 1-2, 2-1, 2-2, 3-1 and 4-1) of the first to fourth driving branches are fixedly connected with the fixed platform (6) respectively. Connecting pieces (1-19, 2-19, 3-17 and 4-17) of the first to fourth driving branches are hinged to the movable platform assembly (