Parallel robot provided with swing arm-connecting rod driving mechanisms

Abstract

The invention discloses a parallel robot provided with swing arm-connecting rod driving mechanisms. The parallel robot comprises a fixed frame, a movable platform, main arms, parallel branch chains and the three swing arm-connecting rod driving mechanisms. The three main arms are distributed on the circumferential edge of the fixed frame. The tail end of each main arm is connected with the movable platform through one parallel branch chain. Each main arm is provided with one swing arm-connecting rod driving mechanism. The parallel robot is simple in structure; compared with a conventional parallel robot of a motor direct-driving structure, the parallel robot enables the impact force borne by the main arms to be small and can operate more stably and reliably in a high-speed state or in a high acceleration state or in a frequent steering state, and thus high-precision operation is achieved. In addition, due to the fact that collision or interference is avoided even under the condition that swing arms in the swing arm-connecting rod driving mechanisms are driven by servo motors to rotate by any angles, the phenomena that accidents are caused or important components such as speed reducers, the servo motors and the main arms are damaged due to collision of the components of a robot body under abnormal conditions are avoided, and the using safety of the parallel robot is improved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a parallel robot with a swing arm-link driving mechanism. Background technique [0002] Parallel robots can pick up and place small products of various shapes and types with high speed and high precision, and are widely used in electronics, medicine, food and other industrial fields. Compared with industrial robots in series configuration, parallel robots have the characteristics of good rigidity, high precision, high speed and high acceleration. Many research institutions and manufacturing companies are optimistic about its application prospects in the manufacturing field. [0003] However, in traditional parallel robots, the driving device generally includes a servo motor and a reducer, through which the speed of rotation of the main arm is changed and adjusted, while the servo motor is connected to the reducer to directly drive the main arm, resulting in large drivin...

AI Technical Summary

Problems solved by technology

[0003] However, in traditional parallel robots, the driving device generally includes a servo motor and a reducer, through which the speed of rotation of the main arm is changed and adjusted, while the servo motor is connected to the reducer to directly drive the main arm, resulting in large driving torque and large moment of inertia.

When the parallel robot runs at high speed and high acceleration, it has a great impact on the mechanism, which is prone to vibration, affects the running accuracy of the robot, and reduces the service life of important parts such as reducer, servo motor, and main arm in the robot.

Although there are travel limit sensors and mechanical hard limit devices installed in parallel robots, there will still be a risk of mechanical collision of the body when the motor and limit sensors are out of control. Therefore, the use of parallel robots will still be limited.

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