CN108621134B - 一种桁架式六自由度混联机器人化加工装置 - Google Patents
一种桁架式六自由度混联机器人化加工装置 Download PDFInfo
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- CN108621134B CN108621134B CN201810448724.0A CN201810448724A CN108621134B CN 108621134 B CN108621134 B CN 108621134B CN 201810448724 A CN201810448724 A CN 201810448724A CN 108621134 B CN108621134 B CN 108621134B
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- truss
- branched chain
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- main shaft
- hinge seat
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- 238000003754 machining Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (5)
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CN201810448724.0A CN108621134B (zh) | 2018-05-11 | 2018-05-11 | 一种桁架式六自由度混联机器人化加工装置 |
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CN201810448724.0A CN108621134B (zh) | 2018-05-11 | 2018-05-11 | 一种桁架式六自由度混联机器人化加工装置 |
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CN108621134A CN108621134A (zh) | 2018-10-09 |
CN108621134B true CN108621134B (zh) | 2020-09-22 |
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CN201810448724.0A Active CN108621134B (zh) | 2018-05-11 | 2018-05-11 | 一种桁架式六自由度混联机器人化加工装置 |
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CN (1) | CN108621134B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110509285A (zh) * | 2019-07-31 | 2019-11-29 | 清华大学 | 一种大型回转类构件移动式加工机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2637832A1 (fr) * | 1988-09-23 | 1990-04-20 | Ledent Claude | Bras stabilisateur et manipulateur |
FR2638115A1 (fr) * | 1988-10-26 | 1990-04-27 | Quintel | Procede de calage d'un bras de robot et robots utilisant ce procede |
JPH06126659A (ja) * | 1992-10-16 | 1994-05-10 | Yaskawa Electric Corp | マスタ・スレーブロボットの制御装置 |
CN1593861A (zh) * | 2004-07-02 | 2005-03-16 | 浙江大学 | 一种可穿戴式的柔性外骨骼机械手 |
CN103753355A (zh) * | 2014-01-03 | 2014-04-30 | 清华大学 | 一种可实现五面加工的多轴联动装置 |
CN107553470A (zh) * | 2017-10-11 | 2018-01-09 | 清华大学 | 具有五自由度的并联机构及其拓展多轴联动装置 |
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2018
- 2018-05-11 CN CN201810448724.0A patent/CN108621134B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2637832A1 (fr) * | 1988-09-23 | 1990-04-20 | Ledent Claude | Bras stabilisateur et manipulateur |
FR2638115A1 (fr) * | 1988-10-26 | 1990-04-27 | Quintel | Procede de calage d'un bras de robot et robots utilisant ce procede |
JPH06126659A (ja) * | 1992-10-16 | 1994-05-10 | Yaskawa Electric Corp | マスタ・スレーブロボットの制御装置 |
CN1593861A (zh) * | 2004-07-02 | 2005-03-16 | 浙江大学 | 一种可穿戴式的柔性外骨骼机械手 |
CN103753355A (zh) * | 2014-01-03 | 2014-04-30 | 清华大学 | 一种可实现五面加工的多轴联动装置 |
CN107553470A (zh) * | 2017-10-11 | 2018-01-09 | 清华大学 | 具有五自由度的并联机构及其拓展多轴联动装置 |
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Inventor after: Liu Xinjun Inventor after: Xie Fugui Inventor after: Mei Bin Inventor before: Liu Xinjun Inventor before: Xie Fugui Inventor before: Mei Bin Inventor before: Lv Ligang Inventor before: Zhang Guangyu |
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Effective date of registration: 20230118 Address after: 100084 No. 1 Tsinghua Yuan, Beijing, Haidian District Patentee after: TSINGHUA University Address before: 100084 Tsinghua Yuan, Beijing, Haidian District Patentee before: TSINGHUA University Patentee before: RONGCHENG METAL FORMING MACHINE GROUP Co.,Ltd. |
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Effective date of registration: 20231214 Address after: Room 306, Building 5, No. 503 Xingguo Road, Donghu Street, Linping District, Hangzhou City, Zhejiang Province, 311106 Patentee after: Qingzhuo Intelligent Technology (Zhejiang) Co.,Ltd. Address before: 100084 No. 1 Tsinghua Yuan, Beijing, Haidian District Patentee before: TSINGHUA University |
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