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Three-degree-of-freedom parallel robot mechanism

A robot and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in guaranteeing position and attitude accuracy, limiting the acceleration of end effectors, and reducing the scope of the working space of the mechanism, achieving low inertia and high Acceleration, simple structure effect

Active Publication Date: 2013-07-17
ANHUI TIANYI HEAVY IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the translational parallel robot mechanism, the method of connecting the actuator on the moving platform to the motor on the frame through the transmission shaft reduces the working space of the mechanism, limits the acceleration of the end effector, and makes the position and attitude Accuracy is difficult to guarantee

Method used

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  • Three-degree-of-freedom parallel robot mechanism

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the drawings:

[0019] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, a three-degree-of-freedom parallel robot mechanism is composed of a frame 10, a driving device, a moving branch chain, a moving platform and a ball screw 15. The movable platform includes a first movable platform 16 and a second movable platform 17, which are arranged parallel to each other. The second movable platform 17 is located above the first movable platform 16; the ball screw 15 and the first movable platform 16 The fixed guide sleeve constitutes a slewing pair, and the ball screw nut fixedly connected to the ball screw 15 and the second movable platform 17 constitutes a screw pair; the end of the ball screw 15 is fixed to the end effector 7; The moving platform forms a closed-loop parallel structure with the frame 10 through the moving branch chain and the ball screw 15; the moving branch chain ...

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Abstract

The invention discloses a three-degree-of-freedom parallel robot mechanism and belongs to the technical field of industrial robots. The robot mechanism is a parallel robot mechanism capable of realizing two degrees of freedom of a plane and the rotation degree of freedom of an end-effector in a three-dimensional manner and continuously rotating at three degrees of freedom. The robot mechanism provided by the invention comprises a rack, a moving branch chain, movable platforms, a ball screw and the end-effector. A first driving branch chain drives a first movable platform so as to ensure the position accuracy of the end-effector, and a second driving branch chain drives a second movable platform so as to ensure the attitude accuracy of the end-effector. The robot mechanism is simple in structure, and can be used for realizing the space control over the end-effector, and simplifying the structure of a robot.

Description

Technical field [0001] The invention belongs to the technical field of industrial robots, and specifically relates to a three-degree-of-freedom parallel robot mechanism. Background technique [0002] In the automated production lines of light industry, medicine, food and electronics industries, tasks such as sorting, packaging, packaging, etc. often require end effectors to perform high-speed operations in space, so it is unnecessary to use multi-degree-of-freedom space parallel manipulators , Or the manufacturing cost is too high. Patent CN1355087A discloses an embodiment mechanism, which includes a frame, a moving platform and two branch chains. The moving platform is provided with an actuator; the two ends and the center of the frame are respectively installed with servo motors; The moving platform is connected with the frame through two branches to form a parallel closed-loop structure; each of the two branch chains contains two parallelogram structures, which are respective...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 张良安万俊解安东单家正王鹏汪雨
Owner ANHUI TIANYI HEAVY IND
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