Parallel robot device with two operation modes

Abstract

The invention discloses a parallel robot device with two operation modes. The parallel robot device is composed of a fixed platform, a movable platform and four branch chains. According to the configuration relations of movement pairs of the four branch chains, the axis of a rotation pair, connected to the movable platform, of the first branch chain is perpendicular to the axes of one set of three rotation pairs with parallel axes; a movable pair guide rail on the second branch chain is parallel to the axes of two rotation pairs; the axes of two rotation pairs, connected to the movable platform and the fixed platform, of the third branch chain are perpendicular to one set of three rotation pairs with parallel axes; and a movable pair guide rail on the fourth branch chain is parallel to the axes of two rotation pairs. According to the configuration relations of the movement pairs, connected to the fixed platform, of the four branch chains, the axis of the movement pair on the third branch chain and the axes of the movement pairs of the first branch chain and the second branch chain are perpendicular to one another, but the axis of the movement pair on the third branch chain is parallel to the movable pair guide rail on the fourth branch chain; and the axis of the rotation pair, connected to the movable platform, of the first branch chain is parallel to the axis of the rotation pair, connected to the movable platform, of the third branch chain. The three-horizontal-movement and one-rotation operation mode and the two-horizontal-movement and two-rotation operation mode can be selected by users to be used, and the effect that multiple purposes are achieved in one machine can be achieved.

Description

technical field [0001] The invention relates to an execution device of a parallel robot operator, which provides a new parallel robot device with two operation modes for robot operators and the like. Background technique [0002] The manipulator with parallel structure has been applied in industry, especially the Delta manipulator, which realizes the three-translation function in space, has played a very good role in high-speed pick-and-place, positioning assembly, handling, sorting, loading and unloading and other processes; and The parallel manipulator with the functions of three translations and one rotation is even more indispensable when the attitude of the workpiece needs to be adjusted. For this reason, in 1988, on the basis of the three-translation Delta operator, R.Clavel connected a R-U-P-U-R branch chain or an S-P-S branch chain in series to form a mixed operator with three translation and one rotation functions; in 2003, Yang Tingli applied for the Chinese Paten...

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Problems solved by technology

At present, most of these parallel mechanisms have a fixed degree of freedom and only one mode of operation, which has defects such as fixed functions and difficulty in adapting to the requirements of multiple operating stations. In addition, due to the complex structure of some mechanisms, motion / dynamic modeling and difficult to solve, leading to imperfect basic research, so that this type of mechanism has not been well developed and applied

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