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Three-translation accurate grabbing robot mechanism

A robot, three-translation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult to ensure manufacturing accuracy, difficult kinematics solutions, and small working space, and achieve easy manufacturing accuracy and kinematics. Positive and negative solutions Easy, low assembly requirements

Active Publication Date: 2014-11-26
溧阳常大技术转移中心有限公司
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Problems solved by technology

However, parallel robots also have limitations: (1) kinematics positive solution is difficult; (2) kinematic input and output are coupled, and control is difficult, and the inertial force is large in high-speed situations; (3) the working space is small; (4) manufacturing accuracy is difficult ensure

Method used

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Embodiment Construction

[0014] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be noted that the embodiments are illustrative, not restrictive, and cannot limit the protection scope of the present invention.

[0015] A three-translation precision grasping robot mechanism is composed of a static platform S, a moving platform M, and three simple branches. Including three mobile drive pairs IP, IIP and IIIP.

[0016] In the first branch, the static platform S is connected to one end of the first T-shaped guide rod I1 through the rotating pair IR, and the other end of the first T-shaped guide rod I1 is connected to one end of the first T-shaped telescopic rod I2 through the moving pair IP. The other end of a T-shaped telescopic rod I2 is connected to the moving platform M through a cylindrical pair IC; a linear motor is placed in the IP, and its rotation rate is controlled by the motor.

[0017] In the first branch, the...

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Abstract

The invention relates to a three-translation accurate grabbing robot mechanism and relates to the field of mechanical devices and robot mechanisms. The three-translation accurate grabbing robot mechanism is composed of a moving platform (M), a stationary platform (S) and three branches. The first branch is composed of a guide rod I 1 and a telescopic rod I 2, the second branch is composed of a guide rod II 1 and a telescopic rod II 2, and the third branch is composed of a frame connecting rod, a guide rod III 1 and a telescopic rod III 2. The guide rods in the branches are connected with the stationary platform through R pairs, the telescopic rods are connected with the guide rods through P pairs, and the telescopic rods are connected with the moving platform through C pairs. The three-translation accurate grabbing robot mechanism is simple and compact in structure, good in decoupling performance and accurate in control.

Description

technical field [0001] The patent of the present invention relates to a three-translation precise grasping robot mechanism, which is a mechanism that can be used in the fields of precise positioning of CNC machine tools, space welding and maintenance, aerospace technology assembly, etc., and belongs to the technical field of mechanical devices and transportation. Background technique [0002] Robots can also complete boring and repetitive work in dangerous and harsh environments, and the quality of work is reliable and stable. Parallel robots are widely used in CNC lathes, ships, aerospace, bionics, medicine and other fields. The parallel mechanism has the advantages of low inertia, strong load capacity, and high rigidity. However, parallel robots also have limitations: (1) kinematics positive solution is difficult; (2) kinematic input and output are coupled, and control is difficult, and the inertial force is large in high-speed situations; (3) the working space is small; ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/02
Inventor 朱伟陈宁宇姜桂林耿林
Owner 溧阳常大技术转移中心有限公司
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