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Series-parallel pressing robot

A robot and hybrid technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low precision, large accumulated errors, and interference with singular positions, and achieve the goal of expanding the working space, improving control accuracy, and enhancing rigidity Effect

Active Publication Date: 2012-11-21
SHENZHEN INST OF ADVANCED TECH
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the serial robot has relatively low stiffness, large accumulated error, and low precision, and is not suitable for fast and high-precision operation; the parallel robot has a small working space, and is prone to interference of rods and singular positions
Therefore, it is necessary to overcome the shortcomings of series and parallel robots, so that they can meet the requirements of the stamping process for robots with high rigidity, high motion precision, large work space, and fast completion of feeding and retrieving.

Method used

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Embodiment Construction

[0025] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] Such as figure 1 As shown, the present invention provides a hybrid stamping robot used in the stamping process, so that it can complete the work of retrieving and feeding the workpiece, including: a turntable mechanism 1, the above-mentioned turntable mechanism 1 has a rotatable rotating assembly 10; Mechanism 2, the lifting mechanism 2 is fixed on the rotating assembly 10; parallel mechanism 3, the parallel mechanism 3 is set on the lifting mechanism 2; driving mechanism 4, the driving mechanism 4 is connected with the parallel mechanism 3 for driving the parallel mechanism 3.

[0027] Wherein, the above-mentioned parallel mechanism 3 includes two RRU branch chains 31 rotating on a first plane, one RUU branch chain 32 rotating on a second plane perpendicular to the above-mentioned first plane, and a rotatable end effector 33. ...

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Abstract

The invention relates to a series-parallel pressing robot. The series-parallel pressing robot comprises a rotary table mechanism with a rotating component, a lifting mechanism fixed on the rotating component, a parallel mechanism arranged on the lifting mechanism, and a driving mechanism connected with the parallel mechanism; and the driving mechanism is used for driving the parallel mechanism. According to the series-parallel pressing robot, the rotating, the lifting and the descending of the robot are achieved by the rotary stable mechanism and the lifting mechanism, so that the work space range of the robot is expanded; the parallel mechanism arranged on the lifting mechanism has RRU (radio remote unit) branching chain structures and an RUU (ROM update utility) branching chain structure, so that the end effector of the robot runs flexibly; the RRU branching chain structures and the RUU branching chain structure are parallel-form connection structures, so that the rigidity of the robot is enhanced; the control accuracy can be improved and the end positions of the branching chain structures can be quickly adjusted by respectively controlling the branching chain structures, and thus the material taking work and the material feeding work can be quickly finished.

Description

【Technical field】 [0001] The invention relates to a punching robot, in particular to a hybrid punching robot with five degrees of freedom. 【Background technique】 [0002] Robots used in industrial production are divided into series type and parallel type according to topology. Serial robots have the advantages of strong adaptability, large working space, good flexibility and operability, and mature technology; typical and successful ones include PUMA manipulators and German KUKA manipulators; parallel robots have high rigidity, high precision, and are easy to operate quickly , typically including Stewart manipulators and Delta manipulators. [0003] Industrial robots can be applied to the stamping process to realize the extraction, feeding, processing and retrieving of raw materials, which can increase labor productivity, stabilize and improve product quality, improve working conditions, reduce production costs, shorten production cycles, and ensure production balance. Sig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B21D22/00
CPCB25J9/107B25J9/0072
Inventor 胡颖李兵张朋林伟阳张建伟侯超
Owner SHENZHEN INST OF ADVANCED TECH