Spatial six-mobility drilling robot mechanism

Abstract

The invention relates to a spatial six-mobility drilling robot mechanism, which comprises a one-dimensional rotating large arm mechanism, a two-dimensional rotating small arm mechanism and a three-dimensional rotating platform mechanism which are connected in series, wherein a rotating large arm is driven by a linear driver, a rotating small arm is driven by two linear drivers, a rotating platform is driven by three linear drivers in parallel, and a frame can be installed on a traveling device or a fixed rotating device. The drilling robot mechanism has the advantages of large working space, agile track, simple and compact overall structure, and good error compensation and strong impact bearing capability of the rotating platform which is uniformly distributively supported by the linear drivers, good stability during drilling and capability of realizing high-precision operation. According to the invention, various terminal actuators with different purposes are installed on a three-dimensional rotating platform, thus the spatial six-mobility drilling robot mechanism can be applied to carrying, stacking, assembling, cutting and other industrial production, and can also be applied to fields, such as excavators and other engineering machinery as well as bionic arms, bionic legs and other bionic mechanisms and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a six-degree-of-space drilling robot mechanism. Background technique [0002] Robots are widely used in welding, handling, palletizing, assembly, cutting and other operations in industrial production. Among them, the robots that have been better applied are basically articulated robots, mostly with 6 axes, and the end tools are sent to different spatial positions through joint actions of 1, 2, and 3 axes, supplemented by 4, 5, and 6 axes. The linkage to meet the different requirements of the tool attitude. The mechanical structure of the robot body mainly has two forms: a parallelogram structure and a side-mounted structure, and it has been widely used because of its large working space and relatively flexible movements. However, due to the limitation of its own structure, this kind of traditional open-chain series robot mechanism has problems such as bulky mechanism, poor rigi...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a drilling robot mechanism with six degrees of activity in space, which has the advantages of large working space, flexible trajectory output, high rigidity, strong stability, small cumulative error, and high precision, and can effectively solve the problem of traditional open-chain series robots. The problems of heavy arm weight, poor rigidity, large inertia, accumulation of joint errors, small working space of parallel robots, and inflexible movements are applicable to environmental restrictions such as fixtures, high temperature and high pressure, etc. that make manual operation difficult, etc. Occasions, can effectively improve work quality, efficiency, reduce labor intensity

Images