A kind of space six-DOF robot
The present invention relates to a kind of space six-DOF robot.
At present, robot plays key player in each field of human lives, and its wide prospect constantly promotes the innovation of robot research field.By the utilization of bionics knowledge, people develop dissimilar multi-freedom robot in succession, as Multifeet walking robot, adopt two or more supporting legs to support, the walking of simulating human or animal; Industrial machine mechanical arm, by simulating human arm, can carry out the work such as the carrying of material, Automatic manual transmission or welding; Climbing robot, simulation spider, snake live the robot of the reptile exploitations such as gecko.Above-mentioned robot generally has 4 to 8 spatial degrees of freedom, and its Duo Shi natural imitation circle is existing biological, tends to miniaturized more, becomes more meticulous; But its mechanism form is all very complicated, and manufacturing cost is high, be not easy to promote.
Summary of the invention
The defect that the present invention seeks to exist for prior art provides a kind of space six-DOF robot.
The present invention for achieving the above object, adopts following technical scheme: a kind of space six-DOF robot, comprises base, the first mechanical arm, the second mechanical arm, three-mechanical arm, the 4th mechanical arm and the 5th mechanical arm; Described first mechanical arm lower end is by the first hinge on described base, and the second hinge is passed through in described second mechanical arm lower end in its upper end; Described second mechanical arm upper end by the 3rd hinge in described three-mechanical arm lower end, the middle part of described three-mechanical arm by the 4th hinge respectively with described 4th mechanical arm and the 5th mechanical arm hinged.
Beneficial effect of the present invention: structure of the present invention is simple, low cost of manufacture; And can 6 frees degree of implementation space, between each mechanical arm can self-movement also can compound motion.Middle-size and small-size robot, large-scale or ultra-large type robot can be made into according to the difference of application, be convenient to promote on a large scale.
Accompanying drawing explanation
Fig. 1 structural representation of the present invention.
Detailed description of the invention
Shown in Fig. 1, be a kind of space six-DOF robot, comprise base 25, first mechanical arm 11, second mechanical arm 12, three-mechanical arm 13, the 4th mechanical arm 14 and the 5th mechanical arm 15; Described first mechanical arm 11 lower end is hinged on described base 25 by the first hinge 21, and its upper end is hinged on described second mechanical arm 12 lower end by the second hinge 22; Described second mechanical arm 12 upper end is hinged on described three-mechanical arm 13 lower end by the 3rd hinge 23, the middle part of described three-mechanical arm 13 by the 4th hinge 24 respectively with described 4th mechanical arm 14 and the 5th mechanical arm 15 hinged.
Said structure can realize 6 actions, 6 spatial degrees of freedom.Comprise the gyration of whole robot, the swing of the lifting of the first mechanical arm 11, the lifting of the second mechanical arm 12, the lifting of three-mechanical arm 13 and the 4th mechanical arm 14 and the 5th mechanical arm 15.Above-mentioned action can single movement, also can some action compound motions.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.