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A multi-axis linkage, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large footprint, achieve high normal stiffness, and achieve the effect of large-scale movement and positioning
Active Publication Date: 2021-03-26
TSINGHUA UNIV
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[0002] In the field of mechanical design and manufacturing, with the development of the industrial level, large structural parts and equipment have been widely used in various key fields, such as aerospace, ships, power facilities, etc. The processing of such large structural parts has a great impact on the processing equipment. There is an urgent need for a large working space. At the same time, if the traditional large-scale gantry-type machining center is used, it will occupy a huge area due to its inclusive topology.
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Embodiment 1
[0085] Figure 1-Figure 4 Shown is the foldable multi-axis linkage robot 100 of the first embodiment.
[0086] In Embodiment 1, a foldable multi-axis linkage robot 100 includes: a five-degree-of-freedom terminal attitude adjustment device 2 and a two-degree-of-freedom foldable mechanism 1 .
[0087] 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 .
[0088] 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 is formed in a frame shape with an o...
Embodiment 2
[0107] Figure 5-Figure 8 Shown is the foldable multi-axis linkage robot 100 of the second embodiment.
[0108] In the second embodiment, the structure of the foldable multi-axis linkage robot 100 is basically the same as that of the first embodiment, and the same parts will not be repeated.
[0109] 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 the first jack block 161 o...
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Abstract
The invention discloses a foldable and unfoldable multi-axis linkage robot. The robot comprises a five-degree-of-freedom tail end posture adjusting device and a two-degree-of-freedom foldable and unfoldable mechanism; the two-degree-of-freedom foldable and unfoldable mechanism comprises a base, a first-stage parallelogram structure, a second-stage parallelogram structure, a middle triangular plate, a first driving assembly and a second driving assembly; and the first-stage parallelogram structure is installed on the base, and the first-stage parallelogram structure and the second-stage parallelogram structure are linked through the middle triangular plate in a coupling mode; and the five-degree-of-freedom tail end posture adjusting device is connected to the second-stage parallelogram structure. According to the foldable and unfoldable multi-axis linkage robot, the two coupled parallelogram structures are utilized so that wide-range foldable and unfoldable moving and positioning of thefive-degree-of-freedom tail end posture adjusting device can be realized, the robot can meet the requirement of a large-scale structural component for a large working space of machining equipment, the functions of wide-range positioning, local flexible posture adjustment and the like can be easily realized, and numerical control machining of the complex free-form surface of the large-scale structural component can be completed.
Description
technical field [0001] The invention belongs to the field of mechanical design and manufacturing, in particular to a foldable multi-axis linkage robot that can be applied to the field of numerical control machining. Background technique [0002] In the field of mechanical design and manufacturing, with the development of the industrial level, large structural parts and equipment have been widely used in various key fields, such as aerospace, ships, power facilities, etc. The processing of such large structural parts has a great impact on the processing equipment. There is an urgent need for a large working space. At the same time, if the traditional large-scale gantry-type machining center is used, it will occupy a huge area due to its inclusive topology. [0003] In order to solve the above contradictions and meet the application requirements, it is expected to be an effective way to design a multi-axis linkage processing device with a foldable large stroke. Different from...
Claims
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Application Information
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