Double parallel-connection superposition multifunctional robot

A robot and multi-functional technology, applied in the field of robots, can solve the problems of singular point and parallel rod coupling, complex motion equation, small working space, etc., to achieve the effect of simple structure, enlarged working space, and reduced production cost

Inactive Publication Date: 2009-08-19
NORTHEASTERN UNIV LIAONING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to solve the problems in the existing parallel robot technology that the working space is small, the coupling of singular points and parallel rods is easy to occur, the equation of motion is complex and it is difficult to realize real-time control, the present invention proposes a parallel robot based on three parallel universal working heads. Double-parallel superimposed multifunctional robot with parallel-hybrid structure

Method used

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Effect test

Embodiment 1

[0019] In order to realize the sharpening of the tool, the dual parallel superimposed tool sharpening robot must realize the movement required for sharpening the tool at the same time. Taking the sharpening of the helicoid drill tip as an example, the three movements required for sharpening the helicoid drill tip must be realized simultaneously. Before sharpening, the drill bit is clamped on the three-parallel universal working head 12 through the tool holder 13, the servo motor 6 drives the ball screw 7 to rotate, and then the T-shaped sliding carriage 8, the linear motor, the two parallel rod groups 10, The moving platform 11 and the three-parallel universal working head 12 drive the drill bit to move, so as to realize the adjustment of the longitudinal position of the drill bit and the grinding wheel head 4; the linear motor I5 and the linear motor II9 drive the two-parallel connecting rod group 10 and the moving platform 11, so as to realize the universal work The adjustme...

Embodiment 2

[0021] The column 3 and the grinding wheel head 4 on the working platform 2 are unloaded, and a drill bit is installed on the three-parallel universal working head 12 tool chuck 13, and the present invention becomes a double-parallel superposition drilling robot. Before drilling, the workpiece to be drilled is clamped on the working platform 2, and the drill bit is clamped by the tool holder 13 on the three-parallel universal work head 12. First, the servo motor 6 drives the ball screw 7 to rotate, so that The T-shaped sliding carriage 8 moves longitudinally, thereby driving the three-parallel universal working head 12 and the drill bit on it to realize the initial adjustment of the longitudinal position; then, the linear motor I 5 and the linear motor II 9 drive the two-parallel rod group 10, so that The motion platform 11 moves laterally, thereby driving the three-parallel universal working head 12 and the drill bit on it to realize the initial adjustment of the lateral posit...

Embodiment 3

[0023]The column 3 and the grinding wheel head 4 on the working platform 2 are removed, and the welding torch head is installed on the three-parallel universal working head, and the present invention becomes a double-parallel superposition welding robot. Before welding, the workpiece to be welded is installed on the working platform 2, and then the servo motor 6 drives the ball screw 7 to rotate, so that the T-shaped sliding carriage 8 moves longitudinally, thereby driving the three-parallel universal working head 12 and The initial adjustment of the longitudinal position of the welding torch head is realized; then, the linear motor I 5 and the linear motor II 9 drive the two-parallel rod group 10, so that the motion platform 11 moves laterally, thereby driving the three-parallel universal working head 12 and the welding torch head on it Implements the initial adjustment of the landscape position. If the workpiece surface to be welded is an inclined surface, the angle of the w...

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Abstract

The invention relates to a double parallel superimposing multifunction robot, and belongs to the technical field of robots. The double parallel superimposing multifunction robot comprises a machine body, a work platform, an upright post, a rotary sander, a linear motor, a ball screw, a T-shaped slide planker, two parallel rod groups and a movement platform; one side of the movement platform is connected with one end of each two parallel rod group, while the other side is connected with a three parallel universal working head; and the other end of each two parallel rod group is connected with the machine body. The robot has larger working space without singular points and coupling; the two parallel mechanisms of the robot consist of parallel fixedlength simple rods, so no built-in heat source exists, and the influence of the heat distortion on the kinematic accuracy of the robot is reduced; and the robot has the advantages of simple structure, novel thought, low production cost, and significant prospect of industrial development.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a dual-parallel superimposed multifunctional robot that can be used for tool sharpening, drilling, welding and three-dimensional coordinate measuring instruments. Background technique [0002] Due to a series of advantages of parallel mechanism, such as high rigidity, strong bearing capacity, good dynamic performance, fast speed and simple structure, etc., it has attracted widespread attention in the world and given a lot of research. At present, parallel mechanisms have some important applications in many fields, such as integrated flight training devices, super-large multimedia full-real dynamic driving simulators, earthquake simulators, submarine simulators, etc. In addition, some companies and research institutions at home and abroad have also designed and manufactured many parallel CNC machine tools (robots) for processing and manufacturing, such as Giddings & Lew...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 邹平
Owner NORTHEASTERN UNIV LIAONING
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