Two freedom mobile parallel connection mechanism with buffering ability

Abstract

The invention provides a two-DOF moving shunt connection mechanism with damping capability, comprising a guideway, a sliding block, two lower sliding supporters, a supporting rod, a rotation pair, a movable platform, a damping device, an end executer, and a basic platform. Two guideways are fixed on the basic platform; the sliding block is fixed on the guideway; the two lower sliding supporters are respectively fixed with corresponding sliding block; the movable platform is connected with the two sliding supporters by a parallelogram mechanism consisting of 8 supporting rods and the rotation pair; the damping device is fixed on the movable platform; the motion and the force transmission of the whole device are implemented by the end executer fixed on the damping device. The invention combines an isosceles triangle two-force member truss rod group, the parallelogram structure and the damping aligning principle, thus leading the final two-DOF moving shunt connection mechanism to have the advantages of high rigidity, good forcing characteristic, high transmission efficiency, simple structure, easy control, high operation precision, low cost and having certain damping capability and aligning capability in the direction vertical to the horizontal.

Description

technical field [0001] The invention relates to a device in the field of industrial robots, in particular to a two-degree-of-freedom mobile parallel mechanism with buffering capacity suitable for two-degree-of-freedom operations. Background technique [0002] Parallel mechanism refers to the mechanism in which two or more drive units are installed in parallel to complete the action together. It is widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations and other technical fields. Most of the existing parallel robots adopt 3-6 degrees of freedom symmetrical structure, and generally use spherical joints, Hooke hinges or moving pairs as kinematic pairs to realize 3-6 degrees of freedom space movement, and the working space generally does not have a dominant direction, and the structure is complex. Manufacturing costs are higher. For example, the common Stewart parallel mechanism, the upper platform and the lower platform of the m...

AI Technical Summary

Problems solved by technology

Due to the deterioration of the stress state, this type of mechanism has low stiffness and poor vibration resistance

[0004] It is found through literature search of the prior art that most of the existing two-degree-of-freedom mechanisms, such as "two-degree-of-freedom translational parallel robot mechanism with only rotating pairs" (referring to Chinese invention patent, publication number CN1355087), High-degree translational parallel robot mechanism" (see Chinese invention patent, publication number CN2511447), etc., have not considered that when the mechanism is subjected to a force perpendicular to the motion plane or the mechanism is eccentric during operation, the mechanism will be subjected to deformation resistance perpendicular to the motion plane. At this time, the force of the mechanism is bad, which does not meet the requirements of high rigidity, good force characteristics and cushioning capacity of the two-degree-of-freedom mobile parallel mechanism in actual use.

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