Two-degree-of-freedom space parallel connection robot

Abstract

The invention discloses a two-degree-of-freedom space parallel connection robot, which comprises a static platform, a movable platform and three branch chains connected between the static platform and the movable platform. An end effector is arranged on the movable platform, a first driving device and a second driving device are arranged on the static platform, and the three branch chains are all formed by a driving rod and a pair of driven rod groups which are mutually parallel. The driving rods of a first branch chain and a second branch chain are respectively driven by two driving devices for rotation, the second branch chain and a third branch chain are symmetrically arranged on the plane of the first branch chain, a pair of bevel gears are arranged between two driving rods of the second branch chain and the third branch chain, so that power of the first driving device can be transmitted to the third branch chain, and two ends of the three driven rod groups of the three branch chains are respectively hinged to the driving rods and a movable platform sphere. By means of the three spatially arranged movement branch chains, the two-degree-of-freedom space parallel connection robot achieves two dimensional movement of the end effector, solves the problem of insufficient lateral rigidity of a plane mechanism, has the superior feeding direction, and is simple in structure and good in dynamic property.

Description

technical field [0001] The invention relates to a two-degree-of-freedom parallel robot, in particular to a two-degree-of-freedom translational parallel robot that realizes pick-and-place operation. Background technique [0002] Light industries such as electronics, medicine, and packaging generally have a demand for high-speed pick-and-place operations on materials. Patent documents US7090458B2 and ZL01154160.2 disclose a parallel mechanism capable of two-degree-of-freedom translation, including a frame, a moving platform, and two pairs of branch chains; two servo motors are installed on the frame, and the moving platform passes through two branches It is connected with the frame to form a parallel closed-loop structure; each of the two branch chains contains two parallelogram mechanisms, which are respectively used as the driving rod group and the driven rod group, and the moving parts are completely connected by rotating hinges; the parallelogram branch chain structure is ...

AI Technical Summary

Problems solved by technology

The limitations of the above mechanism are: each branch chain of the mechanism contains two sets of parallelogram mechanisms, and the structure is complex; all moving components are in the same plane or parallel to the plane, and the stiffness of the mechanism is relatively poor in the direction perpendicular to the moving plane

Images