Tsinghua University

Fugui Xie

Xinjun Liu

Jinsong Wang

Qizhi Meng

Fei Qiao

Zenghui Chong

Weiyao Bi

Zenghui Xie

Zijian Ma

An adsorption parallel machining robot includes a machining module and an adsorption module. The machining module includes a fixed platform, a movable platform, multiple branch chains and end effector; multi-degree-of-freedom motion is achieved through linear motion of the multiple branch chains. The adsorption module includes multiple fixed adsorption branch chains, each of which includes a connecting bracket, an adsorption device, an adsorption locking device, an omnidirectional wheel and a driving device, and is used for achieving adsorption and movement of the robot on the surface of a workpiece. Besides the locking function, the locking device additionally has a cleaning function, and residual cutting chips on the robot can be removed. The robot has the beneficial effects of flexible local posture adjustment, high processing efficiency, wide processing range, easy disassembly and assembly, good portability and low energy consumption, which can meet the demand for mobile processing of large components.

Adsorption parallel machining robot

A movable hybrid machining robot is provided based on a three-degree-of-freedom force-controlled parallel module. In one example, the robot comprises: an automated guided vehicle (III-) configured to ensure a large moving stroke of the robot; a linear guide rail (III-) configured to control movement of the hybrid robot when the automated guided vehicle (III-) is parked; a planar two-degree-of-freedom hybrid robotic arm configured to control in-plane two-degree-of-freedom motion, wherein the in-plane two-degree-of-freedom motion is driven by a motor on a base (); and a three-degree-of-freedom, force-controlled parallel machining module (I) configured to control one translational degree of freedom and two rotational degrees of freedom and to control positive pressure on an end effector ().

Movable hybrid machining robot based on three-degree-of-freedom force-controlled parallel module

The present invention discloses an machining device based on a portable 5-DOF parallel module. The machining device based on a portable 5-DOF parallel module comprises: a table for moving a parallel module to increase the stroke of the machine tool such that the machine tool can machine large components and can also simultaneously conduct the mounting and the machining of workpieces at different stations; a CNC rotary table; and a portable 5-DOF parallel module. The portable parallel module has a large swing angle range, can conduct the conversion between vertical and horizontal machining modes and can achieve five-face machining in one setup in cooperation with the CNC rotary table. The parallel module can move flexibly, and can machine large and complex components after mounted on the sliding table. After the machining of the workpiece is completed, the parallel module can move to the position of a mounted component through the table to conduct the machining of the next component. Thus, the mounting and the machining of the workpiece are simultaneously conducted at different stations, and the utilization rate and the production efficiency of the portable parallel module are improved.

Overhead machining device based on portable five-degree-of-freedom full parallel module

A five-degree-of-freedom parallel mechanism and a series-parallel multi-degree-of-freedom equipment having the parallel mechanism are disclosed, and can machine complex components and parts as well as large structural parts and implement multi-degree-of-freedom numerical control machining, such as offsite maintenance of large equipment. The parallel mechanism includes: a rack; a movable platform; a first chain connected with the rack by at least two revolute pairs with axes intersecting with each other perpendicularly, and connected with the movable platform by at least two revolute pairs with axes intersecting with one another perpendicularly; a second chain having the same structure as the first chain; and a third chain including a main branch chain and two auxiliary branch chains, wherein the first chain, the second chain, and the third chain are separately connected between the rack and the movable platform.

Five-degree-of-freedom parallel mechanism and its extended equipment

A two-degree-of-freedom parallel robot with a spatial kinematic chain includes a fixed platform, a movable platform, two driving devices, and two branch chains. Each driving device includes an active arm and a driving unit, and the two active arms are in the same reference plane. An end bracket is hinged on the active arm. Each branch chain includes two shaft rods and two chain rods. One of the two shaft rods is arranged on the active arm or the end bracket, and the other one thereof is arranged on the movable platform. The two chain rods and the two shaft rods form a parallelogram.

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Beijing, China

Fugui Xie