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Large plate installation mechanical arm

A technology of manipulators and plates, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high labor intensity, large size, poor safety, etc., and achieve the effect of simple structural design, less decoupling calculations, and strong bearing capacity

Inactive Publication Date: 2010-04-14
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these materials are plate-shaped, heavy, and getting heavier, large in size, and getting bigger, the efficiency of manual operation is low, the safety is poor, the labor intensity is high, and the construction is difficult

Method used

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  • Large plate installation mechanical arm
  • Large plate installation mechanical arm
  • Large plate installation mechanical arm

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Embodiment Construction

[0013] Below in conjunction with embodiment and accompanying drawing, technical solution of the present invention is described in detail as follows:

[0014] The large plate installation manipulator designed by the present invention (abbreviation manipulator, see Figure 1-5 ) is based on the requirements of the dry-hanging installation process of large-scale panels, following the modular design idea of ​​the robot structure, and designed according to the workflow of panel installation. The manipulator designed in the present invention adopts a six-degree-of-freedom series-parallel hybrid mechanism, and the main body motion mechanism is mainly composed of a three-degree-of-freedom parallel rotating platform module 1, a three-degree-of-freedom serial moving module 2 installed above the three-degree-of-freedom parallel rotating platform module 1, and The three-degree-of-freedom series mobile module 2 is composed of an end effector module 3 connected.

[0015] The three-degree-o...

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Abstract

The invention relates to a large plate installation mechanical arm which is characterized by comprising a three-freedom-degree parallel-connection rotating platform module, a three-freedom-degree series-connection moving module installed above the three-freedom-degree parallel-connection rotating platform module, and an end effector module connected with the three-freedom-degree parallel-connection rotating platform module. The three-freedom-degree parallel-connection rotating platform module comprises a static platform and a mobile platform; centers of the static platform and the mobile platform are provided with a constraining branched chain and three rotating branched chains which are arranged at three vertexes of an equilateral triangle which takes the constraining branched chain as a centroid. The three-freedom-degree series-connection moving module comprises a Y-axis sliding pair, an X-axis sliding pair and an X-axis rotating pair which adopts a four-bar linkage in a parallelogram shape; and the end effector module comprises a sucker frame fixed on a Z-axis sliding platform frame and four vacuum suckers evenly distributed and installed at the four corners of the sucker frame.

Description

technical field [0001] The invention relates to a robot and building installation technology, in particular to a large-scale plate installation manipulator with a six-degree-of-freedom series-parallel hybrid structure suitable for a large-scale plate dry-hanging process. Background technique [0002] In recent years, with the further expansion of the field of human activities, people's research on non-manufacturing manipulators has become unprecedentedly active. Compared with the manufacturing industry, the main feature of these industries is the unstructured and uncertain working environment, so the requirements for the manipulator are higher, and the manipulator needs to have external perception ability and local self-planning ability. Robot systems equipped with underwater manipulators such as AUSS in the United States, MT-88 in Russia, and EPAVLARD in France have been used in offshore oil exploration, seabed exploration, salvage operations, pipeline laying and inspection...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 李铁军刘今越赵海文杨冬王海玲
Owner HEBEI UNIV OF TECH
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