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Four-freedom-degree high-speed parallel robot mechanism

A robot and degree of freedom technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as easy vibration, unfavorable dynamic response characteristics of mechanisms, etc., to achieve acceleration, improve stiffness and dynamic response characteristics, and high acceleration Effect

Active Publication Date: 2017-01-11
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the limitation of the above-mentioned mechanism is that: there is no supporting connecting piece between the remote frame rods, which is prone to vibration, which is not conducive to improving the dynamic response characteristics of the mechanism

Method used

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  • Four-freedom-degree high-speed parallel robot mechanism
  • Four-freedom-degree high-speed parallel robot mechanism
  • Four-freedom-degree high-speed parallel robot mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] combined with Figure 1-2 , a four-degree-of-freedom high-speed parallel robot mechanism, including a fixed frame 1, a moving platform, and a first branch chain, a second branch chain, a third branch chain, and a fourth branch chain arranged between the fixed frame 1 and the moving platform, The first branch and the second branch have the same structure, and the third branch and the fourth branch have the same structure;

[0025] The first branch chain includes a first rotating fork 11, a first driving device 12, a first near-frame rod 13, a first upper connecting shaft 14, two parallel and equal-length first far-frame rods 15, a first support Rod 16, the first lower connecting shaft 17 and the first rotating shaft 18; the first rotating fork 11 is rotationally connected with the fixed frame 1, the first driving device 12 is fixedly connected with the first rotating fork 11, and the first One end of the near frame rod 13 is rotationally connected with the first rotatin...

Embodiment 2

[0033] combined with Figure 3-4 , this embodiment is similar to Embodiment 1, the only difference is that the main platform 2 and the auxiliary platform 3 are connected by guide rail sliders, the main platform 2 is fixedly connected with a slider 102, and the auxiliary platform 3 is fixed A guide rail 101 is connected, and the guide rail 101 and the slider 102 form a guide rail slider pair; the main platform 2 is rotatably connected with a pinion 8-1, and the auxiliary platform 3 is fixedly connected with a rack 10, and the small The gear 8-1 meshes with the rack 10; the lower end of the pinion 8-1 is fixedly connected with an end effector 9.

Embodiment 3

[0035] combined with Figure 1-2 , this embodiment is similar to Embodiment 1, the rotation axis of the third near-frame rod 32 and the fixed frame 1 , the fourth near-frame rod 42 and the rotation axis of the fixed frame 1 are perpendicular to each other. The third lower connecting shaft 35 and the fourth lower connecting shaft 45 are perpendicular to each other. A pinion 8 is arranged on the second connecting rod 5 .

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Abstract

The invention discloses a four-freedom-degree high-speed parallel robot mechanism which comprises a fixed frame, a moving platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged between the fixed frame and the moving platform. The first branched chain and the second branched chain each comprise a rotating fork, a close frame bar, two parallel and equilong far frame bars and a rotating shaft, wherein each rotating fork is rotationally connected with the fixed frame, one end of each close frame bar is rotationally connected with the corresponding rotating fork, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, each far frame bar is spherically hinged to the corresponding rotating shaft, and each rotating shaft is rotationally connected with the moving platform. The third branched chain and the fourth branched chain each comprise a close frame bar and two parallel and equilong far frame bars, wherein one end of each close frame bar is rotationally connected with the fixed frame, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, and each far frame bar is spherically hinged to the moving platform. The mechanism is ingenious in design and compact in structure and can adapt to complex grabbing and releasing environments.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a four-degree-of-freedom high-speed parallel robot mechanism. Background technique [0002] The three-dimensional translation and one-dimensional rotation parallel mechanism has been widely used in the high-speed and light-load handling operations of automated production lines in the fields of food, medicine, modern logistics, and electronic information because it can meet the handling operations of space objects. [0003] The US patent No. US20090019960A1 discloses a high-speed parallel robot with four degrees of freedom, and the European patent No. EP1084802B1 discloses a four-degree-of-freedom parallel robot. Through the analysis of these two patents, it can be known that the existing A parallel mechanism that realizes three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0027B25J9/0048
Inventor 汪满新黄田冯虎田宋远璞韩军王禹林欧屹
Owner NANJING UNIV OF SCI & TECH
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