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An Adsorption Parallel Processing Robot

A robot and adsorption technology, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of unreliable adsorption, easy to scratch the surface of the workpiece, affect the processing accuracy and quality, and save the installation of adsorption processing equipment, etc. Steps, increase the efficiency of processing operations, and improve the effect of processing quality

Active Publication Date: 2021-01-12
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing adsorption processing robots have the following defects: (1) The existing fixed adsorption processing robots need to manually position the robot at the position to be processed for adsorption. , manual placement is not only inefficient but also has potential safety hazards; (2) The existing mobile adsorption processing robots lack locking devices and rely only on their own adsorption force to resist the force generated by processing. For processing tasks such as welding, rust removal, and painting, Its own adsorption force is still sufficient; but when drilling and milling, if the locking device is not added, the robot will rub or move a lot during processing, which seriously affects the processing accuracy and quality; (3) Adsorption The chips generated during the machining of the type machining robot have many influences on the processing quality. The chips remaining in the adsorption device will affect the next adsorption effect, resulting in unreliable adsorption and affecting the subsequent processing accuracy; the chips wrapped around the tool will affect the surface quality of subsequent processing. It has a greater impact; the chips remaining in the locking device not only affect the adsorption and locking effect, but also easily scratch the surface of the workpiece

Method used

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  • An Adsorption Parallel Processing Robot
  • An Adsorption Parallel Processing Robot
  • An Adsorption Parallel Processing Robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] Such as Figure 1-9 As shown, the adsorption parallel processing robot in the present invention includes: a processing module and an adsorption module, wherein the processing module is used to drill and mill large structural parts, and the adsorption module is used to drive the processing module to move, absorb and fix chips, and clean up.

[0050] The processing module includes a fixed platform 11, a plurality of branch chains, a moving platform 15, and an actuator 16. A plurality of branch chains are evenly arranged around and connected between the moving platform 15 and the fixed platform 11, and the actuator 16 is installed on the moving platform 15 and the fixed platform 11. on platform 15.

[0051] A plurality of branch chains are respectively connected with the fixed platform 11 and the movable platform 15 to form a spatial parallel closed-loop mechanism, which drives the movable platform 15 to move through multiple input motions to drive the actuator 16 to move...

Embodiment 2

[0069] Such as Figure 10-13As shown, the difference between embodiment 2 and embodiment 1 is that in embodiment 2, the adsorption locking device in each fixed adsorption branch chain in the adsorption module uses the principle of increasing friction to lock, that is, to lock The device is a frictional suction locking device 206 .

[0070] Such as Figure 11 As shown, the frictional adsorption locking device 206 includes: a lifting device 2061, a rotating device 2062, and a friction disc 2063. There are friction discs 2063.

[0071] The lower surface of the friction disc 2063 is equipped with a high friction coefficient material, and a soft brush is installed on its upper surface.

[0072] The frictional adsorption locking device 206 has two working modes of enhancing the adsorption force and cleaning chips.

[0073] After the robot moves to the position where the workpiece is to be processed for adsorption, the friction disc 2063 is lowered to a position where the lower s...

Embodiment 3

[0079] Such as Figure 14-17 As shown, the difference between embodiment 3 and embodiment 1 or embodiment 2 is that in embodiment 3, a five-degree-of-freedom parallel robot with more degrees of freedom is used.

[0080] The five-degree-of-freedom parallel robot includes a fixed platform 11, a first branch chain 12, a second branch chain 13, a third branch chain 14, a fourth branch chain 17, a fifth branch chain 18, a moving platform 15, and an actuator 16. The fifth branch chain is connected between the fixed platform 11 and the moving platform 15 to form a spatial parallel closed-loop mechanism, and each branch chain includes an active driving kinematic pair. The spatial parallel closed-loop mechanism drives the moving platform 15 to move through five input motions, realizing three rotational degrees of freedom and two moving degrees of freedom. The moving platform 15 is used for fixedly installing the actuator 16 .

[0081] Wherein, the first branch chain 12 includes: a fi...

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PUM

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Abstract

The invention discloses an adsorption parallel processing robot, which includes: a processing module, the processing module includes a fixed platform, a moving platform, a plurality of branch chains and an actuator, and the multi-degree-of-freedom movement is realized through the linear motion of the plurality of branch chains ; Adsorption module, the adsorption module includes a plurality of fixed adsorption branch chains, each adsorption branch chain includes a connecting bracket, an adsorption device, an adsorption locking device, omnidirectional wheels and a driving device, which are used to realize the adsorption and movement of the robot on the surface of the workpiece. In addition to the locking function, the locking device has an additional cleaning function, which can realize the cleaning of residual chips on the robot. The robot has the advantages of flexible local posture adjustment, high processing efficiency, wide processing range, convenient disassembly, good portability, and low energy consumption, and can meet the needs of large-scale component mobile processing.

Description

technical field [0001] The invention belongs to the technical field of large workpiece processing robots, and in particular relates to an adsorption parallel processing robot. Background technique [0002] With the gradual implementation of major engineering projects in key technical fields such as aerospace and energy, large structural parts have gradually become the key core components, and the demand is huge. Using traditional processing methods and using large-scale special-purpose machine tools for inclusive processing of workpieces has many shortcomings such as difficulty in workpiece transportation and positioning, difficulty in manufacturing large-scale machine tools, high maintenance costs for processing equipment, and high energy consumption for processing. [0003] The adsorption processing robot based on the concept of mobile processing is a new method to solve the above problems. It completes the processing of large components by adsorbing the processing robot a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J9/00
CPCB25J11/005B25J9/0063B25J9/0069B25J5/007B25J9/003
Inventor 谢福贵刘辛军马梓健
Owner TSINGHUA UNIV