Operation mechanism of multipurpose robot

Abstract

An operation mechanism of a multipurpose robot comprises a connecting part, an open track, a driving mechanism, a retractable mechanism, a working arm and a working head. The connecting position of the connecting part and the open track is arranged on the outer side of the middle of the open track, a rotation freedom degree is formed when the connecting part is installed in a machining center, and the rotating shaft axis is parallel with the plane where the center line of the open track is located. The open track is a track of which the center line is bent and not closed, the working arm is driven by the driving mechanism to move along the open track, and the working head can stretch and retract under driving of the retractable mechanism. When an operation object is a special-shaped tube of which the center line is in a space shape or a closed shape, the operation mechanism of the multipurpose robot has the advantages that the operation mechanism only needs to determine the position of the center line of the tube part before operation without knowing the accurate position of the outline of the tube part, in the process of operating and moving around the tube part by a whole circumference, the needed freedom degree is small, the manufacturing cost is low, and using and maintaining are convenient.

Description

technical field [0001] The invention relates to the technical field of mechanical processing, in particular to an operating mechanism of a multipurpose robot. Background technique [0002] With the development of automation equipment and robot technology, various coordinate machine tools, machining centers and articulated industrial robots have come out one after another, and gradually formed two types of general motion platforms, coordinate type and articulated type, and the connections at the ends of these two types of motion platforms are different. The job head can complete various job tasks. [0003] However, for pipe fittings, these two types of general-purpose motion platforms have the following disadvantages: First, the movement of the entire week is complex, requiring more than three degrees of freedom to be linked to complete; second, these two types of motion platforms use spatial coordinate data To drive the working head, it is necessary to know the precise size...

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Problems solved by technology

[0003] However, for pipe fittings, these two types of general-purpose motion platforms have the following disadvantages: First, the movement of the entire week is complex, requiring more than three degrees of freedom to be linked to complete; second, these two types of motion platforms use spatial coordinate data Drive the working head to work, so it is necessary to know the precise size of the pipe contour in advance; third, because the working head needs to achieve a precise spatial position, each degree of freedom of these two types of motion platforms is required to have high precision, so the cost is high

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