Four dimension mixed linking robot

A degree of freedom and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small working space/mechanism volume ratio, low rigidity, and no advantageous feed direction, etc., to achieve advantageous feed direction, The effect of expanding the scope of work

Inactive Publication Date: 2003-09-03
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The existing hybrid robots with few degrees of freedom usually have the disadvantages of small working space/mechanism volume ratio, low stiffness, and no dominant feed direction in te

Method used

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  • Four dimension mixed linking robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] Embodiment 1: as image 3 As shown, the four-degree-of-freedom hybrid robot of the present invention is placed on the traditional gantry structure as a module. The gantry structure can have various forms, such as: the workbench can be moved vertically, the gantry can be moved vertically, and a crossbeam for installing the robot can be arranged on the gantry, and the height can be adjusted.

Embodiment 2

[0018] Embodiment 2: as Figure 4 As shown, the four-degree-of-freedom hybrid robot of the present invention is fixed on the column by borrowing the principle of the traditional radial drilling machine, so that it can rotate around the axis of the column.

Embodiment 3

[0019] Embodiment 3: as Figure 5 As shown, the four-degree-of-freedom hybrid robot of the present invention is fixed on the ram by borrowing the principle of the traditional horizontal milling machine, so that it can move axially with the ram.

[0020] The modularized four-degree-of-freedom hybrid robot of the present invention, when connected in series with various translational degree-of-freedom mechanisms or rotational degree-of-freedom mechanisms, can effectively generate a superior feed direction or expand the operating range, and overcome common parallel or series robots. Disadvantages of small working space and limited posture.

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Abstract

A 4-freedom robot with series-parallel connection is composed of the parallel mechanism for two translational freedoms, the rotation mechanism for two rotational freedoms, which is serially connected to said parallel mechanism, and the executing mechanism installed to said rotation mechanism. Its advantages are modular design, effective generation of dominant feed direction, and wide job range.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a four-degree-of-freedom hybrid robot. Background technique [0002] The existing hybrid robots with few degrees of freedom usually have the disadvantages of small working space / mechanism volume ratio, low stiffness, and no dominant feed direction in terms of their parallel parts; The actuator only rotates around its own axis, so that it must rely on the movement of the parallel part to achieve the position and attitude of the limited space. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a modular four-degree-of-freedom hybrid robot with a large working space / mechanism volume ratio, high rigidity, and advantageous feeding direction. [0004] The four-degree-of-freedom hybrid robot of the present invention is composed of a two-translational-d...

Claims

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Application Information

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IPC IPC(8): B25J9/06
Inventor 黄田李曚张大卫赵学满
Owner TIANJIN UNIV
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