MANIPULATION INDUSTRIAL ROBOT Russian patent published in 2020 - IPC B25J9/00 B23Q5/22 B23Q16/00 B23Q15/14 

FIELD: robotics.

SUBSTANCE: robot comprises connected via hinge links with their drives, working element with tool, probes with spherical surfaces for control of links position by laser interferometer. Links are functionally divided into two groups, the first group is intended for transfer of the second group with the working element to the workpiece part processing point connected through the central hinge to the second group of links. Probes with spherical surfaces are fixed from above on the central hinge, and from below there is a device for attachment of links consisting of a support element with a drive. Support element comprises body with four rods rigidly installed on it from below, each with coaxially put on it spring and with coaxially located and sliding along this rod rigidly and coaxially fixed to each other by bushing, axial clamp and retainer, on which a head with an electromagnet and a hollow thin-wall sphere of spring ferromagnetic steel, which is filled with a thermoplastic ferromagnetic composite, are rigidly and coaxially fixed. On the head by one end heating and cooling elements are fixed, which by the other end are located in the sphere.

EFFECT: invention allows improving accuracy of workpiece machining due to increased accuracy of positioning and rigidity of links moved in the tool feed motion.

1 cl, 3 dwg