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Laser processing robot mechanism

A technology of laser processing and robotics

Inactive Publication Date: 2010-12-08
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The existing technology mostly adopts cantilever type or gantry type adjustment mechanism to adjust the spatial pose of the laser head, which cannot realize precise processing with multiple degrees of freedom (degrees of freedom greater than 3), the processing labor intensity is high, and the mechanism flexibility is poor

Method used

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  • Laser processing robot mechanism
  • Laser processing robot mechanism

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Embodiment Construction

[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0018] Such as figure 1 As shown, the present invention consists of three parallel branches connected with two series revolving pairs. One end of the second branch L2 is connected to the static platform T through the second Hooke hinge O, and the other end is connected to the first and second revolving pairs R1 and R2 in series in sequence, and the output end of the second revolving pair R2 is provided with a laser head 10. One end of the first branch L1 is connected to the static platform T through the first Hookee hinge B1, and the other end is connected to the second branch L2 through the first spherical hinge S1. One end of the third branch L3 is connected to the static platform T through the third Hookee hinge B2, and the other end is connected to the second branch L2 through the second spherical hinge S2. The centers of the first and second spherical...

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Abstract

The invention relates to the technical field of robots, in particular to a three-branch five-degree-of-freedom series-parallel laser processing robot mechanism, which consists of three parallel branches and two serial turning pairs; one end of a second branch is connected with a static platform through a second Hook hinge, the other end of the second branch is connected with the first turning pair and the second turning pair which are connected in series, and the output end of the second turning pair is provided with a laser head ; one end of the first branch is connected with the static platform through a first Hook hinge and the other end of the first branch is connected with the second branch through a first spherical hinge; one end of the third branch is connected with the static platform through a third Hook hinge, and the other end of the third branch is connected with the second brand through a second spherical hinge; and the centers of the first and second spherical hinges areon the axis of the second branch. The mechanism has the combined characteristics of serial and parallel structural forms, has the advantages of high precision, good rigidity, large workspace, good flexibility, wide application range and the like, and can process various complex curved surfaces.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a three-branch five-degree-of-freedom hybrid laser processing robot mechanism. Background technique [0002] In the existing laser processing robots, there are mainly two forms of series and parallel. The tandem laser processing robot has a single branch, which can realize various degrees of freedom. The robot in series has a simple structure and unique positive solution, a large working space and a wide range of applications. However, its structure has many joints, which will amplify the accumulation of errors, and the inverse solution is complex and not unique. Parallel laser processing robots have multiple branches and can also achieve various degrees of freedom. Compared with serial robots, parallel robots have the advantages of good rigidity, high precision, large carrying capacity, fast speed, high position accuracy, compact structure and small inertia. Among them, the d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/00B25J9/16B25J19/00
Inventor 赵明扬姜春英罗振军孙元昌成刚吴强
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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