A three-degree-of-freedom coaxial output mechanism with wire transmission

Abstract

The invention discloses a three-freedom-degree coaxial output mechanism containing wire transmission. The three-freedom-degree coaxial output mechanism comprises a vertically-arranged center transmission shaft, and the center transmission shaft is supported through a horizontally-arranged base and driven by a first motor; the center transmission shaft is sequentially provided with a first driving arm, a follow-up support, a second hollow shaft and a second driving arm from top to bottom; the first driving arm is fixedly installed at the top of the center transmission shaft; the follow-up support is rotationally installed on the second hollow shaft, a second hollow shaft driving wheel is fixedly installed on the second hollow shaft, and driving between follow-up wheels fixedly installed on a movable platform rotating shaft is achieved through wires; and the second driving arm is fixedly installed on a third hollow shaft, the third hollow shaft is rotationally connected to the center transmission shaft, the second hollow shaft is in transmission connection with a second motor through a gear, and the third hollow shaft is in transmission connection with a third motor through a gear. The rotational inertia of a motion part of the three-freedom-degree coaxial output mechanism is small, and the high-speed capacity and the high-accelerated-speed capacity are achieved.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a high-speed parallel robot mechanism capable of full-circle rotation through wire transmission. Background technique [0002] In order to meet the fast-changing market demand and improve product productivity, the global light industry is actively exploring and developing various new types of manipulator equipment. Especially for the applications of high-speed repetitive operations (grabbing, sorting, packaging, etc.) in the electronics, food, and pharmaceutical industries, there is an urgent need for corresponding high-speed manipulators to replace high-intensity manual operations. At present, the research on this type of manipulator is becoming more and more extensive at home and abroad. Patent documents US4392776, EP0169473 and CN1779936 all involve a SCARA manipulator with three or four degrees of freedom. Although this type of robot can realize full rotation in the plane, However, the m...

AI Technical Summary

Problems solved by technology

At present, the research on this type of manipulator is becoming more and more extensive at home and abroad. Patent documents US4392776, EP0169473 and CN1779936 all involve a SCARA manipulator with three or four degrees of freedom. Although this type of robot can realize full rotation in the plane, However, the mechanism itself adopts an open-loop structure, and its dynamic characteristics are limited under high-speed and high-acceleration conditions.

The patent document CN101973030 proposes a parallel mechanism that can realize full-cycle rotation, but because the rotation of the third near-frame rod is directly driven by the motor and reducer installed on the swivel, the mass of the moving parts is greatly increased, and the same Can not meet the needs of high-speed and high-acceleration conditions

Images