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Power head capable of realizing five-shaft linkage operation

A five-axis linkage and power head technology, applied in the field of robotics, can solve the problems that are not conducive to the pursuit of high stiffness/mass ratio of the mechanism, affect the fast-forward capability and dynamic performance of the mechanism, and poor bearing capacity of the mechanism, and achieve modular structure design. , Advantageous feed direction, good dynamic performance

Active Publication Date: 2012-07-25
TIANJIN UNIV
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Problems solved by technology

[0003] The disadvantages of this type of manipulator are: the end effector is equipped with a positioning head, and the weight is too large, which affects the fast-forward ability and dynamic performance of the mechanism; the load-carrying capacity of the mechanism is poor, which is not conducive to the pursuit of high stiffness / mass ratio of the mechanism

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  • Power head capable of realizing five-shaft linkage operation
  • Power head capable of realizing five-shaft linkage operation
  • Power head capable of realizing five-shaft linkage operation

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Embodiment Construction

[0013] The present invention will be described in detail below with reference to the drawings and specific embodiments.

[0014] As shown in the drawings, the power head of the present invention that can realize five-axis linkage operation is composed of frame 1, first, second, third, fourth, and fifth active branch chains 2, 3, 4, 5, 6 , The driven branch chain 7 and the movable platform 8 constitute. The driven branch chain 7 is located in the central opening of the frame, and is slidably connected to the frame 1 through a first hinge 9 with a degree of freedom of movement. A first, a second, a third, a fourth, and a fifth active branch chains are respectively arranged on the frame located around the driven branch chain, and the first active branch chain 2 is a first kinematic chain, The second and third active branches 3 and 4 are second kinematic chains, and the fourth and fifth active branches 5 and 6 are third kinematic chains. Preferably, the first, second, and third kin...

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Abstract

The invention discloses a power head capable of realizing five-shaft linkage operation, which comprises a frame. A driven branch chain is positioned in a central hole of the frame and slidably connected with the frame through a first hinge. A first driving branch chain, a second driving branch chain, a third driving branch chain, a fourth driving branch chain and a fifth driving branch chain are arranged on the frame around the driven branch chain, and connected with the frame through a second hinge, a third hinge, a fourth hinge, a fifth hinge and a sixth hinge, which have two degrees of rotation freedom. A movable platform is arranged below the frame and comprises an upper platform and a lower platform which are mutually rotatably connected. The lower end of the driven branch chain is connected with the upper platform through a seventh hinge, and the first driving branch chain, the second driving branch chain, the third driving branch chain, the fourth driving branch chain and the fifth driving branch chain are connected with the movable platform through hinges. Using the power head can realize one-dimensional-translation and two-dimensional-rotation positioning movement and also realize posture adjustment around an A / C shaft, the weight of a positioning head can be effectively reduced, and modular structural design is realized.

Description

Technical field [0001] The invention relates to a robot, in particular to a parallel robot capable of realizing a five-degree-of-freedom operation function. Background technique [0002] According to the patents US4732525 and ZL200510015095.5, it is known that the existing multi-coordinate manipulators are generally realized in the form of a parallel structure with a small degree of freedom supplemented by a positioning head. Among them, the low-degree-of-freedom parallel mechanism realizes the position positioning of the moving platform of the mechanism by adjusting the servo motor installed on the active branch chain, and the positioning head, such as the A / C double swing head, realizes the end execution by adjusting the servo motor installed on the double swing head The posture positioning of the machine can realize the multi-coordinate processing capability of the mechanism. [0003] The shortcomings of this type of manipulator are: the end effector is installed with a positio...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/10B23Q1/25
Inventor 孙涛宋轶民董罡连宾宾
Owner TIANJIN UNIV
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