2SPS+RRPRR robot grabbing mechanism used for plate splicing

Abstract

The invention provides a 2SPS+RRPRR robot grabbing mechanism used for plate splicing. The 2SPS+RRPRR robot grabbing mechanism comprises an upper platform, a lower platform and three branched chains, wherein a first branched chain and a second branched chain of the three branched chains are of 2SPS forms; the third branched chain is of a RRPRR form, and namely consists of a first rotary pair, a second rotary pair, a second translation pair, a fourth translation pair and a fifth rotary pair which are sequentially connected; the upper platform and the lower platform are separately positioned at the two ends of the first branched chain and the second branched chain; series-connection mechanical arms which are rotatably connected are separately arranged on the upper platform and the lower platform; and tail end tools for picking plates are separately arranged on the upper rotary pair, the lower rotary pair as well as the tail ends of the series-connection mechanical arms. The RRPRR branched chains are arranged, so that envelope of the mechanism body is reduced, and implementation of space operation is facilitated better. The series-connection mechanical arms are additionally arranged, so that the working space of the mechanism is expanded, and operating and monitoring capability of the mechanism is strengthened.

Description

technical field [0001] The invention relates to the technical field of series-parallel mechanisms, in particular to a 2SPS+RRPRR robot assembly mechanism for plate splicing. Background technique [0002] In order to meet the task requirements of splicing a large number of plate units into large-area-long-span planes, paraboloids or other target surfaces in ground or space tasks, special tooling, robotic arms or multi-arm robots are generally used to achieve plate picking and positioning adjustment. (1) The positioning adjustment with high precision and high rigidity can be achieved by using special tooling, but it is necessary to repeat the operation of "moving the tooling-repositioning the tooling at the new splicing station" along with the splicing process, or reassemble the assembled overall structure The pose adjustment is performed to replace the movement of the tooling. The above process will obviously lead to low splicing efficiency and complex structure of the system...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a 2SPS+RRPRR robot grabbing mechanism for plate splicing, so as to solve the existing problems of the existing plate splicing actuators such as large folding envelope and small dexterous operation space.

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