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A high-stiffness hybrid robot capable of gravity self-balancing

A self-balancing, high-stiffness technology, applied in the field of high-stiffness hybrid robots, can solve problems such as low overall stiffness and poor load capacity, and achieve the effects of good manufacturing process performance, excellent stiffness, and guaranteed assembly manufacturability

Active Publication Date: 2016-09-28
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, because the robot chain connecting the moving platform and the two controllable telescopic rods is a three-degree-of-freedom chain, its disadvantages are: the overall rigidity of the mechanism is low, and the load capacity is poor

Method used

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  • A high-stiffness hybrid robot capable of gravity self-balancing
  • A high-stiffness hybrid robot capable of gravity self-balancing
  • A high-stiffness hybrid robot capable of gravity self-balancing

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Embodiment Construction

[0038] A high-stiffness hybrid robot that can realize gravity self-balancing according to the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

[0039] Such as figure 1 , figure 2 As shown, a high-rigidity hybrid robot capable of gravity self-balancing of the present invention includes a moving platform 7, a positioning head 8 that is rotatably connected to one side of the moving platform 7, and a fixing head 8 positioned at the other side of the moving platform 7. The frame 6 is also provided with the first branch chain 1, the second branch chain 2, the third branch chain 3, the fourth branch chain 4 and the fifth branch chain 5, wherein the first branch chain 1 can rotate horizontally through the The through hole in the middle of the fixed frame 6, the end of the first branch chain 1 is fixedly connected to the moving platform 7 on one side of the fixed frame 6, and the top end of the first branch chain 1 ...

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Abstract

A high-rigidity hybrid robot capable of achieving gravity self balancing comprises a positioning head which can be connected to one side of a movable platform in a rotating mode, a fixed rack which is located on the other side of the movable platform, a first supporting chain, a second supporting chain, a third supporting chain, a fourth supporting chain and a fifth supporting chain. The first supporting chain can penetrate through a through hole in the middle of the fixed rack in a horizontal rotating mode, the tail end of the first supporting chain is fixedly connected with the movable platform located on one side of the fixed rack, and the top end of the first supporting chain is located on the other side of the fixed rack. The second supporting chain and the third supporting chain can penetrate through side through holes in the two sides of the through hole in the middle of the fixed rack in a horizontal rotating mode and are symmetrically arranged on the left side and the right side of the first supporting chain, the tail end of the second supporting chain and the tail end of the third supporting chain are hinged to the left side and the right side of the movable platform symmetrically, and the top end of the second supporting chain and the top end of the third supporting chain are located on the other side of the fixed rack. The fourth supporting chain and the fifth supporting chain are symmetrically arranged on the upper side and the lower side of the first supporting chain, the tail end of the fourth supporting chain and the tail end of the fifth supporting chain are symmetrically hinged to the upper side and the lower side of the movable platform, and the top end of the fourth supporting chain and the top end of the fifth supporting chain are symmetrically hinged to the upper side and the lower side of the side face, close to the movable platform, of the fixed rack. The high-rigidity hybrid robot can achieve gravity self balancing without generating addition counterforce.

Description

technical field [0001] The invention relates to a hybrid robot. In particular, it relates to a high-rigidity hybrid robot that can realize gravity self-balancing. Background technique [0002] A four-degree-of-freedom hybrid robot disclosed in the existing patent CN1212221C is composed of a two-degree-of-freedom planar parallel mechanism, a two-rotation-degree-of-freedom rotor connected in series, and an end effector mounted on the rotor. Wherein, the two-degree-of-freedom parallel mechanism includes a fixed frame, a moving platform, two controllable telescopic rods between the fixed frame and the moving platform, and a guide rod in the middle. The guide rod is consolidated with the moving platform, and its axis is coplanar with the axes of the two controllable telescopic rods. [0003] If the motion plane of the robot is required to be horizontal, its shortcomings become apparent: the four-degree-of-freedom module can only provide constraint stiffness in the direction ort...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 黄田董成林刘祺汪满新
Owner TIANJIN UNIV
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