Four-degree-of-freedom decoupling hybrid robot

Abstract

The invention discloses a four-degree-of-freedom decoupling hybrid robot, comprising a rack (0), a guide rail (1), a sliding block (2), a big tumbler (3) and a two-degree-of-freedom plane parallel mechanism operation hand (P3-R5-R6-R7-P4). The four-degree-of-freedom decoupling hybrid robot is characterized in that the sliding block (2) is connected with the big tumbler (3) by a revolute pair 1 (R2) after being connected with the guide rail (1) fixed on the rack (0) by a revolute pair 1 (P1); the big tumbler (3) is also provided with the two-degree-of-freedom plane parallel mechanism operation hand; the two driving sources of the operation hand can be both sliding pairs or revolute pairs and can be one sliding pair and one revolute pair; and the motion plane of the operation hand and the axis of the revolute pair 1 (R2) are coplanar or parallel. The four-degree-of-freedom decoupling hybrid robot has the advantages of good kinematics positive and negative solution and control decoupling performance, large working space, compact structure, flexible movement, low manufacture cost and the like, and spatial four-degree-of-freedom operation or machining can be realized.

Description

technical field [0001] The invention relates to a four-degree-of-freedom numerical control mixed motion operation equipment, in particular to provide a new type of high-efficiency numerical control device for numerical control cutting and various industrial operations. Background technique [0002] In industry, various planar CNC operations with simple structure and low manufacturing cost are often required, such as metal cutting, welding, non-metallic material cutting, measurement, spraying, engraving and other operations. The existing tandem robot operators have complex structures and poor rigidity. , The dynamic response performance is poor, and the general parallel structure manipulator with few degrees of freedom, such as various two-degree-of-freedom planar manipulators (such as patent application documents [200420083801.0], [200710177514.4], etc.), three-degree-of-freedom parallel manipulators (such as 3 -RPS, three-translation Delta mechanism, etc.), the working spac...

AI Technical Summary

Problems solved by technology

[0002] In industry, various planar CNC operations with simple structure and low manufacturing cost are often required, such as metal cutting, welding, non-metallic material cutting, measurement, spraying, engraving and other operations. The existing tandem robot operators have complex structures and poor rigidity. , The dynamic response performance is poor, and the general parallel structure manipulator with few degrees of freedom, such as various two-degree-of-freedom planar manipulators (such as patent application documents [200420083801.0], [200710177514.4], etc.), three-degree-of-freedom parallel manipulators (such as 3 -RPS, three-translational Delta mechanism, etc.), the working space is small; the two plane two-degree-of-freedom slider-driven parallel mechanisms invented by the applicant (patent documents [200910181312.6], [200910181313.0]) have the advantages of large-scale operations, but require Large working space can be achieved by adjusting the rod length

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