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Linear-driven high-speed planar parallel mechanical arm

A linear drive and manipulator technology, applied in the field of manipulators, can solve problems such as low bearing capacity, achieve high positioning accuracy and repeat positioning accuracy, high positioning accuracy and repeat positioning accuracy, and improve overall stiffness.

Inactive Publication Date: 2011-08-17
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing pick-and-place robots are mainly used in light industries such as electronics and packaging, and have low carrying capacity

Method used

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  • Linear-driven high-speed planar parallel mechanical arm
  • Linear-driven high-speed planar parallel mechanical arm
  • Linear-driven high-speed planar parallel mechanical arm

Examples

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Embodiment Construction

[0024] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0025] see Figure 1 to Figure 5 , a linear-driven high-speed planar parallel manipulator, including a machine base 1, two linear motors 2 and two kinematic chains 5 connected between the linear motors 2 and the moving platform 11, guide rods 17, sleeves 14, and the moving platform 11. figure 1 Middle dotted line 18 represents a plane perpendicular to the mechanism by the guide bar, Figure 1 to Figure 5 The mechanism in is symmetric about this plane. The mechanism uses a linear motor 2 as a driving component, and the linear motor 2 moves linearly along the fixed guide rail. The sleeve 14 is connected with the base 1 through two coaxial pins 13 on its outer wall; the guide rod 17 is installed on the base 1 through the sleeve 14, and its lo...

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Abstract

The invention discloses a linear-driven high-speed planar parallel mechanical arm comprising an engine base and a moving platform, wherein two sides of the engine base are respectively provided with a moving chain connected with the moving platform; the moving chains are driven by linear motors arranged on the engine base; and the engine base is connected with a sleeve through two coaxial pins, the sleeve is internally provided with a guiding rod, the guiding rod is connected with the sleeve through a gliding pair, the lower part of the guiding rod is connected with the moving platform through a hinge, the guiding rod is located between two parallelogram mechanisms, and the axis of the guiding rod is coplanar with the two parallelogram mechanisms. The linear-driven high-speed planar parallel mechanical arm disclosed by the invention can realize two-dimensional movement of the moving platform at higher speed in different ranges, can simultaneously maintain the attitude of the moving platform unchanged, and has the advantages of higher bearing capacity and high positioning precision and repeated positioning precision.

Description

technical field [0001] The invention relates to a manipulator, in particular to a linearly driven high-speed plane parallel manipulator. Background technique [0002] Pick-and-place robotic mechanisms are used to accurately repeat simple operations such as grabbing an object from one location, moving it to another location, and releasing it multiple times. Existing pick-and-place robots are mainly used in light industries such as electronics and packaging, and have low carrying capacity. [0003] The performance of this type of robot usually requires that the moving platform can move in two degrees of freedom at a high speed in a motion plane without changing the attitude of the platform. In some cases, it is also required that the whole mechanism moves linearly at a relatively high speed in a direction perpendicular to the motion plane of the moving platform. At the same time, the moving platform requires high positioning accuracy and repeat positioning accuracy. Conten...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 宋轶民孙涛董罡连宾宾刘聪
Owner TIANJIN UNIV
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