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Five-degree-of-freedom robot capable of being used for hardware grinding

A degree of freedom and robotic technology, applied in the field of robotics, can solve the problems of poor stiffness, poor dynamic characteristics, and low precision of cantilever structures, and achieve the effects of good stiffness, high precision, and good dynamic characteristics

Pending Publication Date: 2020-11-17
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of robot has high rotation capacity and good flexibility, but it has the characteristics of error accumulation, low precision, poor cantilever structure rigidity, and poor dynamic characteristics.

Method used

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  • Five-degree-of-freedom robot capable of being used for hardware grinding
  • Five-degree-of-freedom robot capable of being used for hardware grinding
  • Five-degree-of-freedom robot capable of being used for hardware grinding

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] like figure 1 , shown in 5 and 7, a five-degree-of-freedom robot that can be used for hardware grinding, including a mobile workbench installed on a frame (omitted in the figure); these are similar to existing mechanisms

[0026] The improvement of the present invention is: the robot also includes a combination platform formed by connecting the first end platform 1 and the second end platform 2 with a grinding head and four first branches connected in parallel between the frame and the combination platform . Wherein: two first branches are connected in parallel between the frame and the first end platform, and the other two first branches are connected in parallel between the frame and the second end platform. The first branch includes a frame rotating pair sequentially connected between the frame and the first end platform (or the second end platform), the first moving pair formed by the cooperation of the first slider 13 and the guide rod 14, and the second A Hooke ...

Embodiment 2

[0031] like figure 2 , The five-degree-of-freedom robot that can be used for hardware grinding shown in 5 and 7 has a structure similar to that of Embodiment 1, the difference is that the first end platform and the second end platform of Embodiment 2 are connected by an end moving pair 5 . The sliding axis of the terminal moving pair is perpendicular to the axis of the second rotation axis of the first Hooke hinge of the first Hooke hinge.

Embodiment 3

[0033] like image 3 , The five-degree-of-freedom robot that can be used for hardware grinding shown in 6 and 7 is similar in structure to that of Embodiment 1, except that in the first branch of Embodiment 3, the guide rod and the first end platform (or the first end platform) Two end platforms) are connected by ball pair 17. The line connecting the centers of the two ball sub-centers in the two first branches connected to the first end platform is parallel to the line connecting the centers of the two ball sub-centers in the two first branches connected to the second end platform and the end rotation secondary axis.

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Abstract

The invention relates to the technical field of robots, and aims to provide a five-degree-of-freedom robot capable of being used for hardware grinding. The robot has the advantages of being good in rigidity, high in precision, good in dynamic characteristic and the like. According to the technical scheme, the five-degree-of-freedom robot capable of being used for hardware grinding comprises a movable workbench and a rack; and the five-degree-of-freedom robot is characterized by further comprising a combined platform and four first branches, wherein the combined platform is formed by connectinga first tail end platform and a second tail end platform and provided with a grinding head, and the four first branches are connected between the rack and the combined platform in parallel; each first branch comprises a rack revolute pair, a first sliding pair and a first hooke joint or a ball pair which are sequentially connected between the rack and the combined platform, and the first slidingpair is formed by matching a first sliding block with a guide rod; and in the four first branches, two of the four first branches are connected between the rack and the first tail end platform, and the other two first branches are connected between the rack and the second tail end platform.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a five-degree-of-freedom robot that can be used for polishing hardware. Background technique [0002] In hardware processing, die casting and forging are commonly used processing methods. Although the processing efficiency is high and the strength is good by this method, the surface roughness of the workpiece is high, and there are a large number of flashes, burrs, etc., and the surface needs to be polished. For a long time, the grinding operation in the hardware industry mainly relied on manual work, which had problems such as uneven product quality, low efficiency, and endangering workers' health. In the great environment where my country's demographic dividend is exhausted and labor costs are rising year by year, in order to adapt to the continuous improvement of product quality requirements and the increasing requirements of workers for the safety and health of the working en...

Claims

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Application Information

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IPC IPC(8): B24B19/00B24B9/04B24B5/44B24B5/35B24B41/02B24B41/00B25J11/00
CPCB24B5/35B24B5/44B24B9/04B24B19/00B24B41/00B24B41/02B25J11/0065
Inventor 叶伟龚朝鑫谢镇涛李秦川
Owner ZHEJIANG SCI-TECH UNIV
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