A seven-degree-of-freedom-three-branch parallel symmetrical mechanism for plate splicing

A technology of symmetrical mechanism and three branch chains, which is applied in manipulators, program-controlled manipulators, metal processing, etc., can solve the problem that the motion envelope is small and does not have the function of moving different plates, and achieves the effect of efficient movement and positioning

Active Publication Date: 2017-03-29
SHANGHAI AEROSPACE SYST ENG INST
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a seven-degree-of-freedom-three-branch parallel symmetrical mechanism for plate splicing to solve the problem that the existing plate splicing mechanism has a small motion envelope and does not have the function of moving between different plates

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  • A seven-degree-of-freedom-three-branch parallel symmetrical mechanism for plate splicing
  • A seven-degree-of-freedom-three-branch parallel symmetrical mechanism for plate splicing

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Embodiment Construction

[0018] In order to better illustrate the present invention, the present invention will be described in detail with a preferred embodiment and with accompanying drawings, specifically as follows:

[0019] Such as figure 1 As shown, the seven-degree-of-freedom-three-branch parallel symmetrical mechanism provided in this embodiment includes an upper platform 1 , a lower platform 2 , and three branch chains 3 connecting the upper platform 1 and the lower platform 2 . Among them, the upper platform 1 and the lower platform 2 are connected by three branch chains 3 in the form of 2SPS+RRRRR. Specifically, the three branches include a first branch 31 , a second branch 32 and a third branch 33 . The first branch chain 31 and the second branch chain 32 have the same structure and are arranged in parallel. They are all 2SPS branch chains. ), the second branch chain 32 respectively includes a ball pair 321, a translation pair 322, and a ball pair 323; the third branch chain 33 is a RRRR...

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Abstract

The invention provides a seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing. An upper platform 1 and a lower platform 2 of the parallel mechanism are the same. An upper rotating pair and a lower rotating pair which are driven by a motor are arranged in the central normal direction of the upper platform and the central normal direction of the lower platform respectively. The upper platform and the lower platform are connected through two SPS branches and one RRRRR branch, wherein the two SPS branches are each composed of ball pairs at the two ends and a translational pair driven by a middle linear motor; and the RRRRR branch is composed of five rotating pairs, and the first, third and fifth rotating pairs of the RRRRR branch are driven by the motor. The three branches between the upper platform and the lower platform of the mechanism have the mirror reflection symmetric feature, and continuous and efficient movement is achieved on the condition that system complexity is not increased on the basis of high-precision and high-rigidity positioning of the three parallel branches and the mirror reflection symmetric feature between the upper platform and the lower platform.

Description

technical field [0001] The invention relates to the field of parallel mechanism science, in particular to a seven-degree-of-freedom-three-branch parallel symmetric mechanism for plate splicing. Background technique [0002] In order to meet the task requirements of splicing a large number of plate units into large-area-long-span planes, paraboloids or other target surfaces in ground or space tasks, special tooling, robotic arms or multi-arm robots are generally used to achieve plate picking and positioning adjustment. (1) The positioning adjustment with high precision and high rigidity can be achieved by using special tooling, but it is necessary to repeat the operation of "moving the tooling-repositioning the tooling at the new splicing station" along with the splicing process, or reassemble the assembled overall structure The pose adjustment is performed to replace the movement of the tooling. The above process will obviously lead to low splicing efficiency and complex str...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B23P19/00
Inventor 曾令斌付成龙冯瑞秦礼张玲瑄刘天明彭福军陈萌
Owner SHANGHAI AEROSPACE SYST ENG INST
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