Parallel controllable drilling robot mechanism

A mechanical and robotic technology, applied in the direction of program-controlled manipulators, drilling/drilling equipment, manipulators, etc., can solve the problems of heavy arm weight, heavy weight, poor dynamic performance of the mechanism, etc., and achieve good dynamic performance and rigidity The effect of large weight ratio and strong load capacity

Inactive Publication Date: 2011-06-08
GUANGXI UNIV
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel controllable mechanism type drilling robot mechanism, which solves the problem that the motor of the traditional open-chain series drilling robot mechanism is installed at its hinge, resulting in heavy arm weight, poor rigidity, large inertia, joint error accumulation, The dynamic performance of the mechanism is poor, the load is light, it is difficult to install large and heavy working devices, it is difficult to ensure high-speed and high-precision positioning, and the requirements for multi-angle adjustable drilling operations, etc.

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Embodiment Construction

[0029] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] control figure 1 , 7 , 8 and 9, a parallel controllable mechanism type drilling robot mechanism, including a central branch chain with a closed-loop sub-chain, four controllable adjustment branch chains, a moving platform 13 with a flange 15, a frame 2 and a rotary Platform 1. The frame 2 is installed on the rotary platform 1 to realize the flexible and changeable working requirements of the whole robot mechanism in the working space.

[0031] control figure 1 , 2 , the first controllable adjustment branch chain is composed of the first active rod 6 and the first connecting rod 10 . One end of the first active rod 6 is connected to the frame 2 through the first rotating pair 3 , and the other end is connected to the first connecting rod 10 through the first Hooke hinge 7 . The other end of the first connecting rod...

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Abstract

The invention relates to a parallel controllable drilling robot mechanism, comprising a revolving platform, a rack, a movable platform, a central branch chain provided with a closed-loop subchain and a controllable adjusting branch chain, The rack is arranged on the revolving platform, the revolving platform can be arranged on various travelling devices or fixing devices, and the rack is provided with five servo motors. The back of the movable platform is provided with five ball pairs, and a flange plate on the movable platform is used for mounting different devices such as a drilling gun, a spraying device, a welding gun and the like. All the servo motors of the mechanism are arranged on the rack, the motion inertia of the mechanism is small, the dynamic performances are good, and the mechanism is convenient to dismount, has strong expansion capability and can meet the operation requirements of high-precision large-load drilling and the like.

Description

technical field [0001] The invention relates to the field of drilling robots, in particular to a parallel controllable mechanism drilling robot mechanism. Background technique [0002] A drilling robot is a machine device that performs work automatically, and is a machine that realizes various functions by its own power and control capabilities. It can accept human intelligence, or it can execute according to pre-programmed programs. Drilling robots can replace humans in some monotonous, frequent and repetitive long-term operations in industrial production, or precision machining and other operations that require high precision. They are widely used in machining and production assembly processes, as well as in coal mines, etc. In workplaces with many obstacles and harsh environmental conditions. Existing drilling robots basically belong to joint robots, which have been widely used because of their larger working space and more flexible movements. However, due to the limit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/02B25J9/10B25J9/08B23B47/00B23Q1/25
Inventor 蔡敢为张林潘宇晨王红州温芳陈渊李岩舟周晓蓉
Owner GUANGXI UNIV
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