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Heavy-load parallel manipulator

A manipulator, heavy-duty technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of easy wear and tear of ball joints, inability to achieve heavy-duty operations, etc. The effect of stability

Inactive Publication Date: 2015-01-28
MICROPAK CNC TECH QUANZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] As known, the parallel manipulator mainly includes a fixed platform, a moving platform, at least two kinematic chains connected between the fixed platform and the moving platform, and a driving device arranged on the fixed platform or the kinematic chain. The kinematic chain has various forms, wherein, from The boom-type kinematic chain mainly includes the main arm connected to the driving device and the follower arm hinged between the drive arm and the moving platform. The follower arm is usually composed of two parallel and opposite follower arms. The joint mechanism is hinged with the moving platform and the main arm. The ball joint mechanism has the advantages of sensitive movement and high precision. However, when carrying a large load, the ball joint is easy to wear. Therefore, this type of parallel manipulator cannot perform heavy-duty operations. Suitable for light duty work

Method used

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  • Heavy-load parallel manipulator
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Experimental program
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Embodiment Construction

[0015] refer to figure 1 and figure 2 As shown, a heavy-duty parallel manipulator includes a frame 1, a moving platform 5, a revolving seat 2, a revolving motor 31, two kinematic chains 4 and two drive motors 61.

[0016] The rotary motor 31 is connected to drive the rotary base 2 to rotate through the reducer 32 arranged on the frame 1, the output shaft of the rotary motor 31 is linked with the input shaft of the reducer 32, and the output shaft of the reducer 32 is connected to the center of the rotary base 2, During work, the rotary motor 31 is connected to drive the rotary base 2 to rotate through the speed reducer 32 . Two kinematic chains 4 are connected between the revolving base 2 and the moving platform 5, and two driving motors 61 are arranged on the revolving base 2 to drive the two kinematic chains 4 to move. The kinematic chain 4 includes a main arm 41 and a driven arm 42. 41 is arranged on the output shaft of the driving motor 61, the upper end of the driven a...

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Abstract

A heavy-load parallel manipulator comprises a frame, a moving platform, a rotary seat, a rotary motor, two kinematic chains and two driving motors. The rotary seat arranged on the frame is capable of rotating around a vertical axis, the rotary motor arranged on the frame connectedly drives the rotary seat to rotate, the two kinematic chains are connected between the rotary seat and the moving platform, and the two driving motors are arranged on the rotary seat to drive the two kinematic chains to act. Each kinematic chain comprises a driving arm and a driven arm, the driving arms are arranged on output shafts of the driving motors respectively, the upper ends of driven arms are hinged to the driving arms through pivot shafts respectively, and the lower ends of the driven arms are respectively hinged to the moving platform through pivot shafts.

Description

technical field [0001] The invention relates to a parallel manipulator. Background technique [0002] As is known, a parallel manipulator mainly includes a fixed platform, a moving platform, at least two kinematic chains connected between the fixed platform and the moving platform, and a driving device arranged on the fixed platform or the kinematic chain. The kinematic chain has various forms, wherein, from The boom-type kinematic chain mainly includes a master arm connected to the driving device and a slave arm hinged between the master arm and the moving platform. The slave arm is usually composed of two parallel and opposite slave arms. The joint mechanism is hinged with the moving platform and the main arm. The ball joint mechanism has the advantages of sensitive movement and high precision. However, when carrying a large load, the ball joint is easy to wear. Therefore, this type of parallel manipulator cannot perform heavy-duty operations. Suitable for light duty work...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
CPCB25J9/107
Inventor 蔡伟强
Owner MICROPAK CNC TECH QUANZHOU