4-PRUR parallel robot

Abstract

The invention relates to a 4-PRUR parallel robot. The 4-PRUR parallel robot comprises a moving platform, a fixed platform and a plurality of branch chains, wherein one end of each of the branch chains is connected with the moving platform, and the other ends of the branch chains are connected with the fixed platform; the branch chains comprise upper branch chains, middle branch chains, lower branch chains, revolute pairs, universal hinges and moving pairs driven by a motor; the revolute pairs comprise vertical revolute pairs and transverse revolute pairs; the upper ends of the upper branch chains are rotatably connected with the moving platform through the vertical revolute pairs; the lower ends of the upper branch chains are connected with the upper ends of the middle branch chains through the universal hinges; the lower ends of the middle branch chains are connected with the upper ends of the lower branch chains through the transverse revolute pairs; the lower ends of the lower branch chains are in sliding connection with the fixed platform through the moving pairs; linear tracks and an annular track are arranged on the fixed platform; a clamping opening is formed in the moving platform; and a fixing part used for fixing a pull ring is arranged on each of the moving pairs. The 4-PRUR parallel robot provided by the technical scheme of the invention can not only be used for clamping of various spray heads and mechanical arms, can but also used for realizing free rotation of the moving platform, and the height of the moving platform can be freely adjusted.

Description

technical field [0001] The invention relates to the technical field of moving mechanisms, in particular to a 4-PRUR parallel robot. Background technique [0002] The parallel mechanism can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. The mechanism can be used in sorting robots, spraying robots, numerically controlled machine tools and other devices. [0003] The existing mechanism consists of a moving platform, a fixed platform and four branch chains with identical structures and dimensions. Each branch chain is composed of connecting rods, rotating pairs, and universal hinges; one end of the four connecting rods is hinged in the circumferential direction of the moving platform through rotating pairs; the other ends of the connecting rods are respectively connected to a universal hinge, and the ...

AI Technical Summary

Problems solved by technology

[0005] 1. The connecting rod in the prior art cannot move on the fixed platform, and cannot control the up and down movement of the braking platform through the movement of the connecting rod, which is very inconvenient; 2. The existing moving platform cannot rotate freely. When this structure is used as a spraying robot, it cannot achieve square spraying; 3. This mechanism can only be used for one device. If it is used for different devices, it is very inconvenient to make major changes to the moving platform; for example , when the mechanism is used for spraying robots, the nozzle needs to be fixed on the fixed platform; when the mechanism is used for sorting robots, the sorting manipulator needs to be fixed on the fixed platform; Changing to another use will change a lot; 4. The moving platform cannot be replaced freely, which is very inconvenient

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