Master-slave branch chain separate type two-translational motion parallel robot

A robot and two-translation technology, applied in the field of robotics, can solve the problems of limiting the acceleration of the end effector, reducing the range of the working space of the mechanism, and difficult to guarantee the accuracy of position and attitude, and achieve the effect of small inertia, simple structure and high acceleration

Active Publication Date: 2015-03-18
FUJIAN PROVINCE HUALONG MACHINERY
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  • Abstract
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  • 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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  • Master-slave branch chain separate type two-translational motion parallel robot
  • Master-slave branch chain separate type two-translational motion parallel robot
  • Master-slave branch chain separate type two-translational motion parallel robot

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Embodiment Construction

[0019] A two-degree-of-freedom parallel robot with master-slave branch chain separation provided by the present invention includes a frame 10 , a driving device, a motion branch chain and a moving platform 6 . The moving platform 6 forms a closed-loop parallel structure with the frame 9 through the kinematic branch chain; the kinematic branch chain includes a driving branch chain and a driven branch chain; The moving platform 6 is connected; the active branch chain drives the end effector to move in translation, and the driven branch chain and the active branch chain restrict three rotational degrees of freedom and one translational degree of freedom of the end effector.

[0020] The active branch chain is composed of the first drive device 1, the second drive device 11, the first active arm 4, the second active arm 2, the linkage arm 3 and the driven arm 5; the rod of the first active arm 4 long (see image 3 The straight line segment B) in is equal to the bar length of link...

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Abstract

The invention discloses a master-slave branch chain separate type two-translational motion parallel robot, belonging to the technical field of robots. The robot mechanism comprises a rack, a movable platform, a driving branch chain and a driven branch chain, wherein the driving branch chain and the driven branch chain are connected to the rack and the movable platform; the driving branch chain is composed of two driving arms, an interlinking rod and a first driven arm; the driven branch chain is composed of a first driven rod, a connecting rod frame and a second driven rod; the two branch chains are arranged to have an angle of 180 degrees; the driving branch chain is provided with a driving device which is fixed on the rack and is connected to the driving arm; and the driven branch chain is provided with a spherical hinge, the connecting frame and the driven rod, all of which are connected to the rack and the movable platform. As the parallel branch chain structure is adopted to limit degree of freedom of the movable platform, the master-slave branch chain separate type two-translational motion parallel robot solves the problems of heavy structure and insufficient structure rigidity and strength efficiently, and is simple in manufacturing, convenient in installation and debugging, and relatively low in mechanism manufacturing cost.

Description

Technical field: [0001] The invention belongs to the technical field of robots, and in particular relates to a two-translational parallel robot of a master-slave branch chain separation type. Background technique: [0002] In the automated production lines of industries such as light industry, medicine, food, and electronics, operations such as sorting, packaging, and packaging often require manipulators with end-effectors that 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 a robot 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 equipped with servo motors; the The moving platform is connected to the frame through two branches to form a parallel closed-loop structure; each of the two branch chains cont...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 张良安高鲁文万俊王鹏单家正解安东
Owner FUJIAN PROVINCE HUALONG MACHINERY
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