A rail-type large-span foldable processing robot

A large-span, orbital technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of error accumulation and large inertia of moving parts, and achieve the effect of large rotational output capacity and high normal stiffness.

Active Publication Date: 2020-12-01
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its mechanical arm is implemented in series, which has problems such as error accumulation and large inertia of moving parts.

Method used

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  • A rail-type large-span foldable processing robot
  • A rail-type large-span foldable processing robot
  • A rail-type large-span foldable processing robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0089] Figure 1-Figure 4 Shown is the rail-type large-span foldable processing robot 100 of the first embodiment.

[0090] In the first embodiment, the track-type large-span foldable processing robot 100 includes: a five-degree-of-freedom terminal attitude adjustment device 2 and a two-degree-of-freedom foldable mechanism 1 .

[0091] The two-degree-of-freedom expandable mechanism 1 includes: a base 11 , a first-level parallelogram structure 12 , a second-level parallelogram structure 13 , a middle triangular plate 15 , a first drive assembly 16 and a second drive assembly 17 .

[0092] The base 11 includes a base plate 111 and a boss 112, the base plate 111 is horizontally arranged, and the boss 112 is provided with a first hinge point j1 and a second hinge point j2 spaced apart, the first hinge point j1 is in front, and the second hinge point j2 is in the front Later, and the second hinge point j2 is higher than the first hinge point j1. Specifically, the bottom plate 111...

Embodiment 2

[0112] Figure 5-Figure 8 Shown is the rail-type large-span foldable processing robot 100 of the second embodiment.

[0113] In the second embodiment, the structure of the rail-type large-span foldable processing robot 100 is basically the same as that of the first embodiment, and the same parts will not be repeated.

[0114] The difference is that in the second embodiment, as Figure 5-Figure 8 As shown, the position of the first driving assembly 16 is different from that of the first embodiment. For convenience, refer to the attached Figure 7 To understand this solution, the rotational connection point of the first top block 161 on the first connecting rod 121 is called k1, and the rotational connection point of the first support block 162 on the base 11 is the second hinge point j2, image 3 The three points j1, j2, and k1 identified in are in a triangular distribution, and k1 is located between j1 and j4. When the first drive rod 163 expands and contracts relative to ...

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PUM

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Abstract

Disclosed is a track-type large-span foldable and unfoldable machining robot (100), comprising: a track (30), a five-degree-of-freedom tail end posture adjusting device (2), and a two-degree-of-freedom foldable and unfoldable mechanism (1), wherein the two-degree-of-freedom foldable mechanism (1) comprises: a base (11), a first-stage parallelogram structure (12), a second-stage parallelogram structure (13), a middle triangular plate (15), a first driving assembly (16) and a second driving assembly (17), wherein the first-stage parallelogram structure (12) is mounted on the base (11), the two parallelogram structures are coupled via the middle triangular plate (15), the five-degree-of-freedom tail end posture adjusting device (2) is connected to the second-stage parallelogram structure, and the base (11) is movably arranged on the track (30) in a cooperative manner.

Description

technical field [0001] The invention belongs to the field of mechanical design and manufacturing, in particular to a track-type large-span foldable processing robot that can be applied to the field of numerical control processing. Background technique [0002] In the field of mechanical design and manufacturing, with the development of the industrial level, the service requirements and design level of mechanical parts have been continuously improved, and its processing and manufacturing processes have become more stringent and complex, posing new challenges to modern processing equipment. With the implementation of major national projects and projects, large and complex structural parts and large equipment have been widely used in various key fields, such as aerospace, ships, power facilities, etc. In response to the demand for such structural parts for super large working spaces, "large "The traditional way of thinking about machining "small" workpieces on a machine tool cl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J18/00B25J9/00
CPCB25J5/00B25J5/02B25J9/00B25J9/0009B25J18/00B25J9/0033B25J9/0072B25J9/04B25J9/1065
Inventor 刘辛军孟齐志谢福贵汪劲松吴金希
Owner TSINGHUA UNIV
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