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Cam-driven three-degree-of-freedom parallel manipulator

A degree of freedom and manipulator technology, applied in the field of machinery, can solve the problems of high quality requirements of users, complex motor control, increased cost, etc., to achieve the effect of simplifying design work, high degree of automation, and simple control

Active Publication Date: 2017-05-03
SHAANXI UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, similar manipulators on the market are driven by servo motors. For three-degree-of-freedom manipulators, there are at least three servo motors, which increases the cost, complicates the control of the motors, and requires reprogramming if it is required to change the motion trajectory. The quality requirements are also high, if it is only used in the case of simple repetitive actions, it will not be fully utilized

Method used

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  • Cam-driven three-degree-of-freedom parallel manipulator

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Embodiment Construction

[0028] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0029] See attached Figure 1-4 As shown, the cam-driven three-degree-of-freedom parallel manipulator of the present invention includes a fixed platform 1, a motor 2, a swing rod 3, a small ball joint 4, a large ball joint 5, a large arm 6, a connecting rod 7, a first cam 8. Second cam 9, third cam 10, motor mount 11, coupling 12, first pin 13, small arm 14, moving platform 15, roller 16, second pin 17, first gear 18 , the second gear 19, the third gear 20, the fourth gear 21.

[0030] The fixed platform 1 is the base body of the equipment, and can be installed on the work site according to actual needs, and other components are installed with reference to it; the first cam 8, the second cam 9, and the third cam 10 are determined according to the corresponding Position installation, and the three cams are located in the same plane, and the circumferential angle is e...

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Abstract

The invention provides a cam-driven three-degree-of-freedom parallel manipulator. The cam-driven three-degree-of-freedom parallel manipulator comprises a fixed platform, a movable platform, three plane cams, a swing rod, a connecting rod, a large arm, a small arm and the like. A movement is controlled and driven by combining the three cams, a movement is transferred by virtue of three spatial connecting rod mechanisms, and the degree of freedom of the movable platform is limited by mutual constraint of three groups of spatial parallelogram structures, so that the movable platform and the fixed platform are parallel all the way and mobile degrees of freedom in three directions are remained, so that the movable platform moves in different positions in the space. The manipulator provided by the invention has the characteristics of being compact in structure, high in loading capacity, high in production efficiency, high in degree of automation, small in repetitive error, low in cost and high in practicality.

Description

technical field [0001] The invention belongs to the mechanical field and relates to a cam-driven three-degree-of-freedom parallel manipulator. Background technique [0002] With the rapid development of food, medicine, machinery, electronics and other light industries, higher and higher requirements are put forward for the mechanical automation of packaging, assembly, handling and other production lines. High-precision, high-speed, high-flexibility manipulators have achieved important applications in the packaging, assembly, and handling fields of electronics, medicine, food, machinery and other production lines. [0003] At present, this type of manipulator mainly plays a role in light industry, electronics, medicine, food and other fields in developed countries, and has created huge social value. With the rise of domestic labor costs, the trend of replacing labor with machinery will continue to strengthen. Moreover, with the continuous development of China's economy, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 葛正浩王志龙王彬开王政杰田普建
Owner SHAANXI UNIV OF SCI & TECH
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