Series-parallel industrial robot with five degrees of freedom

An industrial robot, industrial robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of limited working range, insufficient flexibility, and difficult application fields of parallel robots, and achieve the enhancement of reciprocating work efficiency and load stiffness. The effect of easy control and broad application value

Active Publication Date: 2013-12-11
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the limited working range and insufficient flexibility of

Method used

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  • Series-parallel industrial robot with five degrees of freedom
  • Series-parallel industrial robot with five degrees of freedom

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[0016] The description of the drawings and implementation details of a five-degree-of-freedom hybrid industrial robot of the present invention are as follows:

[0017] The technical solution of the present invention is adopted figure 1 , figure 2 Shown for explanation and illustration.

[0018] The five-degree-of-freedom hybrid industrial robot of the present invention is composed of a vertical rotation joint, a vertical lifting joint, a dual-degree-of-freedom wrist joint, a parallel operating mechanism and a quick-change tool at the end. The specific connections of each component are The relationship and implementation rules are as follows.

[0019] The base 1 is a cylindrical hollow round table with four mounting feet, and the base 1 is fastened to the ground by bolts. The wire groove 2 is an arc-shaped groove circuit that provides cable movement. The wire groove 2 is fastened to the upper end surface of the base 1 through bolt connection, and the two maintain a concentric relat...

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Abstract

The invention relates to a series-parallel industrial robot with five degrees of freedom, which has large working space and is highly flexible. The series-parallel industrial robot with five degrees of freedom is composed of a vertical rotational joint, a vertical lifting joint, a wrist joint with double rotational degrees of freedom, a parallel operation mechanism and a tail-end quick-change tool. The series-parallel industrial robot with five degrees of freedom has the advantages of compact structure, large working range, flexible posture adjustment, high degree of automation, relatively simple control and wide range of application and can realize various engineer operations such as carrying, spraying, assembly and the like.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing design, and in particular relates to a five-degree-of-freedom hybrid industrial robot with a large working range and high flexibility and flexibility. Background technique [0002] With the rapid development of my country's manufacturing industry, industrial robots have become an important technical means to improve production efficiency and ensure production quality. In the production process of typical industrial equipment such as automobiles and airplanes, robots are gradually replacing manual labor and becoming the main force on the production line. [0003] At present, industrial robots mainly have three forms: series robots, parallel robots, and hybrid robots that contain both series and parallel. Tandem robots have the advantages of large working range and flexible attitude adjustment, but their disadvantages are poor rigidity and low control precision. The characteristics of paral...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/04B25J17/02
Inventor 刘辛军李杰谢福贵
Owner TSINGHUA UNIV
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