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Linear type parallel robot

A robot, linear technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex motion coupling, difficult structural analysis, small working space, etc., to reduce the difficulty of control, improve the working space, and reduce the difficulty. Effect

Active Publication Date: 2016-11-30
江苏海渡教育科技集团有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] Based on the inherent advantages of high precision and speed, Delta parallel robots are widely used, but at the same time with these advantages, traditional Delta parallel robots also have small working space, difficult development, complex kinematic coupling, difficult structural analysis, grasping The limitations of the small load

Method used

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Embodiment

[0032] Such as figure 1 , 2 As shown, a linear parallel robot is disclosed in this embodiment, which includes a dynamic platform 2, a static platform 4, and three branch chains connected between the chain 8, the first mobile branch chain 10 and the second mobile branch chain 12, the moving platform 2 is provided with an actuator 6, the rotating branch chain 8, the first mobile branch chain 10 and the second mobile branch chain 12 three One end is rotatably connected with the moving platform 2 through a universal joint 13, and it also includes three sets of drive mechanisms, namely a first linear drive mechanism 14, a second linear drive mechanism 16 and a rotary drive mechanism 18, the first linear drive mechanism The driving mechanism 14 and the second linear driving mechanism 16 are fixed on a frame 1, and a static platform 4 is fixed on the frame 1, and the rotation driving mechanism 18 is fixed on the static platform 4. The first moving branch chain 10, the second moving ...

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Abstract

The invention provides a linear type parallel robot. The linear type parallel robot comprises a mobile platform, a rotating branched chain achieving action matching, a first mobile branched chain and a second mobile branched chain, and one end of each branched chain is rotatably connected with the mobile platform through a universal joint; the linear type parallel robot further comprises a first linear driving mechanism, a second line driving mechanism and a rotating driving mechanism, the other end of the first mobile branched chain, the other end of the second mobile branched chain and the other end of the rotating driving mechanism are rotatably connected with the output end of the first linear driving mechanism, the output end of the second line driving mechanism and the output end of the rotating driving mechanism through the universal joint respectively, the first mobile branched chain and the first linear driving mechanism form a first moving pair, the second mobile branched chain and the second linear driving mechanism form a second moving pair, and the rotating branched chain and the rotating driving mechanism form a rotating pair. According to the linear type parallel robot, the two moving pairs and the one rotating pair are matched with the universal joint to drive the mobile platform to move flexibly within a determined spatial range, the robot can adaptively change the angle and distance simultaneously, and displacement in space is achieved.

Description

technical field [0001] The invention belongs to the field of industrial robots, and relates to a linear parallel robot, in particular to a Delta linear parallel robot. Background technique [0002] Delta parallel robots have been developed for more than 100 years. Delta parallel robots are widely used in light industry, food, medicine and electronics industries. They are mostly used for sorting, packaging, packaging, welding and other execution movements. The traditional Delta parallel robot is an inverted triangle in its mechanism, and its kinematic pair is composed of three revolving pairs or three revolving pairs and one revolving pair. Compared with the serial robot, the traditional Delta parallel robot has the following advantages: [0003] 1. High stiffness-to-mass ratio; [0004] 2. Superior dynamic performance; [0005] 3. High movement precision; [0006] 4. Compact structure and strong flexibility; [0007] 5. Long service life. [0008] Based on the inherent ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 张明文
Owner 江苏海渡教育科技集团有限公司
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