A rack-and-pinion four-degree-of-freedom high-speed parallel robot

Abstract

The invention discloses a pinion-and-rack type four-freedom-degree high-speed parallel robot comprising a fixed platform, a moving platform and four groups of branched chains with same structures. The moving platform comprises a sub platform I and a sub platform II which are opposite to each other. The two sub platforms are connected with lower connecting rods of two groups of adjacent branched chains respectively. A guide mechanism and an angle switching mechanism are arranged between the sub platforms. The guide mechanism comprises two guide frames and two guide shafts. The guide shafts in parallel are fixed on the upper side and the lower side of the sub platform II respectively. The guide frames are fixed on the upper side and the lower side of the sub platform I respectively. Each guide frame is in sliding connection with the corresponding guide shaft. The angle switching mechanism comprises a rack and a pinion. The rack is fixed on the sub platform II, the pinion is mounted on a pinion shaft, and the pinion is meshed with the rack. An actuator is fixedly connected to the tail end of the pinion shaft. The pinion shaft is rotationally connected with the sub platform I. The pinion-and-rack type four-freedom-degree high-speed parallel robot is compact in structure of the moving platform, light and handy in design of the moving platform, high in transmission accuracy, good in force transmission effect and capable of meeting requirements on high-speed grabbing and releasing operations.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel robot capable of realizing three-dimensional translation and one-dimensional rotation in space. Background technique [0002] The existing patents US6516681, US7735390 and JP3931296 disclose parallel robots that can realize three-dimensional translation and one-dimensional rotation, including four active branch chains and a moving platform. One end of each active branch chain is driven by a motor installed on the static platform. Compared with the static platform, it has only one degree of freedom of rotation or movement; the other end is connected with the dynamic platform to ensure the three-dimensional translation of the mechanism. Its degree of freedom of rotation is realized through different forms of moving platform transmission mechanisms. [0003] In the patent US6516681, two adjacent branch chains of a parallel robot are connected to a sub-platform, and the two sub-platf...

AI Technical Summary

Problems solved by technology

There are two ways of angle conversion: the first one is the combined transmission using pulleys and wire ropes, and its limitation is that when the moment of inertia of the load is large, the transmission will be unreliable; the second is gears and double racks The limitation of meshing transmission is that the use of double guide rail sliders increases the size and weight of the moving platform, which is not conducive to high-speed movement

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