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High-speed parallel robot mechanism capable of realizing SCARA motion

A robot, high-speed technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unfavorable mechanism dynamic response characteristics, easy to generate vibration, etc., to achieve improved stiffness and dynamic response characteristics, compact structure, simple and compact structure Effect

Active Publication Date: 2017-04-26
江苏小野智能装备有限公司
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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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  • High-speed parallel robot mechanism capable of realizing SCARA motion
  • High-speed parallel robot mechanism capable of realizing SCARA motion
  • High-speed parallel robot mechanism capable of realizing SCARA motion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] to combine Figure 1-2 , a high-speed parallel robot mechanism that can realize SCARA motion, 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 chain, the first branch chain is adjacent to the second branch chain and has the same structure, and the third branch chain and the fourth branch chain are adjacent and have the same structure;

[0031] The first branch chain includes a first slide plate 11, a first rotation axis A12, a first upper connecting shaft 13, two parallel and equal-length first distant frame rods 14, a first support rod 15, and a first lower connecting shaft 16 and the first rotating shaft B17; the first sliding plate 11 is connected with the fixed frame 1 through a moving pair, the first rotating shaft A12 is rotationally connected with the first sliding plate 11, and one end of the first far frame rod ...

Embodiment 2

[0041] to combine 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 A guide rail 101 is affixed, 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 affixed with a rack 10. The pinion 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

[0043] to combine Figure 1-2 , this embodiment is similar to Embodiment 1, the only difference is that the pinion 8 is arranged on the first connecting rod 4 .

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Abstract

The invention discloses a high-speed parallel robot mechanism capable of realizing SCARA motion. The high-speed parallel robot mechanism comprises fixed brackets, a mobile platform as well as a first support chain, a second support chain, a third support chain and a fourth support chain which are arranged between the mobile platform and the fixed brackets, wherein each of the first support chain and the second support chain comprises a slide plate, a rotating shaft A, two parallel far frame rods with equal length and a rotating shaft B, the slide plate is connected with the fixed brackets through a slide pair, the rotating shaft A is rotationally connected with the slide plate, one end of each far frame rod is in spherical joint with the rotating shaft A, the other end is in spherical joint with the rotating shaft B, and the rotating shaft B is rotationally connected with the mobile platform; and each of the third support chain and the fourth support chain comprises a slide plate and two parallel far frame rods with equal length, the slide plate is connected with the fixed frame through a slide pair, one end of each far frame rod is in spherical joint with the slide plate, and the other end is in spherical joint with the mobile platform. The high-speed parallel robot mechanism is skillful in design, compact in structure and can adapt to complicated gripping and releasing environments.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a high-speed parallel robot mechanism capable of realizing SCARA motion. Background technique [0002] Three-dimensional translation and one-dimensional rotation (that is, SCARA motion) 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 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 p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0072B25J9/08
Inventor 汪满新冯虎田宋远璞欧屹王禹林韩军
Owner 江苏小野智能装备有限公司
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