Open-type field six-degree-of-freedom series-parallel processing robot

A field-type, degree-of-freedom technology, used in metal processing mechanical parts, metal processing, metal processing equipment, etc., can solve the problems of low processing measurement accuracy, complex structure, high cost, and overcome the problems of small processing range, high rigidity, and high structure. simple effect

Inactive Publication Date: 2010-03-10
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0025] In order to overcome the deficiencies of existing series-parallel processing equipment with complex structure, large size, high cost, and low processing and measurement accuracy, the present invention provides an open field type with compact structure, small size, low cost, and high processing and measurement accuracy. Six-degree-of-freedom series-parallel processing robot

Method used

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  • Open-type field six-degree-of-freedom series-parallel processing robot
  • Open-type field six-degree-of-freedom series-parallel processing robot
  • Open-type field six-degree-of-freedom series-parallel processing robot

Examples

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Embodiment 1

[0044] refer to figure 1 and figure 2 , an open field type six-degree-of-freedom series-parallel processing robot, comprising a platform (10), legs, a processing spindle (70) and a processing tool (80), the legs have at least three, and the legs surround The center of the platform (10) is installed symmetrically on the corners of the platform (10), and each leg is composed of a swing joint (20), a leg joint (30), a flexion and extension joint (40), a foot ball joint (60) and foot (11), the processing spindle (70) is installed in the middle of the platform (10), the processing tool (80) is installed on the processing spindle (70), and the processing robot also includes a visual benchmark (100), Vision camera (120), force sensor (90) and intelligent controller, described visual benchmark (100) is installed on the described processing spindle (70), and described visual benchmark (100) is positioned at described visual camera (120) In the visual range, there are three force sen...

Embodiment 2

[0054] refer to image 3 and Figure 4 , the robot of the present embodiment has four supporting legs, is installed on the four angles of platform (12) symmetrically around the center of quadrangular platform (12). Its leg structure and installation method are the same as figure 1 The embodiments are exactly the same, and the installation methods of the machining spindle (70), the machining tool (80), the force sensor (90) and the quadrangular platform (12) are also exactly the same. In this embodiment, the robot has four legs and has the function of walking, so the leg-lifting joints (30) of its legs have driving ability. In this embodiment, the visual camera (120) is fixed on the processing spindle (70) through the visual camera support rod (121), and the visual benchmark (100) is then installed and fixed on the visual benchmark next to the robot (i.e. on the field of the processing site). On the support (162).

[0055] The working principle of this embodiment is: the vi...

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Abstract

The invention discloses an open-type field six-degree-of-freedom series-parallel processing robot, which comprises a platform, at least three support legs, a processing spindle and a processing cutter. The support legs are symmetrically mounted on the corners of the platform around the center of the platform and each support leg consists of a swinging joint, a leg lifting joint, a flexion-extension joint, a foot ball joint and a foot. The processing spindle is mounted in the middle of the platform, and the processing cutter is installed on the processing spindle. The robot further comprises avisual benchmark, a visual camera, three force sensors and an intelligent controller. The visual benchmark is installed on the processing spindle and is located in the visual range of the visual camera, the processing spindle is connected with the platform by means of three symmetrically arranged force sensors, and the visual camera and the force sensors are all connected with the intelligent controller. The series-parallel processing robot has the advantages of compact structure, small size, low cost and high processing and measuring precision.

Description

technical field [0001] The invention relates to a processing robot. Background technique [0002] In the field of machinery manufacturing, in order to ensure the processing accuracy of mechanical parts, processing machine tools usually require high structural rigidity and transmission rigidity to resist deformation caused by cutting force and workpiece weight during processing, thereby reducing dimensional measurement errors and improving Precision. Traditional processing machine tools generally adopt a series structure based on a rectangular coordinate system, which has the characteristics of a large working range and good flexibility. However, in order to improve precision and rigidity, the bed and guide rails have to be made wide and thick, which leads to Decreased range of motion and flexibility. Therefore, traditional mechanical processing machine tools usually have a relatively heavy structure to meet the high rigidity requirements of the machine tool. This heavy str...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/44B23Q17/24B23Q17/22B23Q17/09B23Q15/22B23Q15/007B23Q1/50B23K37/02B23K7/00B23K7/10B23P19/00
Inventor 高峰
Owner ZHEJIANG UNIV OF TECH
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