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Reconfigurable parallel mechanism and reconfiguration control method thereof

A technology for parallel connection and driving motors, which is applied in the manufacture of rigid/semi-rigid containers, container manufacturing machinery, and box manufacturing operations. It can solve the problems that the 5R planar parallel mechanism cannot be reconfigured, and achieve rapid and convenient dynamic transformation process and improve adaptability. Sexuality, the effect of improving comprehensive sports performance

Inactive Publication Date: 2018-09-07
XI'AN POLYTECHNIC UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a reconfigurable parallel mechanism, which solves the problem that the existing 5R plane parallel mechanism cannot be reconfigured

Method used

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  • Reconfigurable parallel mechanism and reconfiguration control method thereof
  • Reconfigurable parallel mechanism and reconfiguration control method thereof
  • Reconfigurable parallel mechanism and reconfiguration control method thereof

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Embodiment Construction

[0044] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] A reconfigurable parallel mechanism of the present invention, such as 1 and figure 2 As shown, it includes a fixed platform 11, a slider 3, and a 5R mechanism. The lower surface of the fixed platform 11 is fixed to the frame, and the frame carries the fixed platform 11, so that the position of the fixed platform 11 is fixed, and the upper surface of the fixed platform 11 is vertically fixed. A plurality of symmetrically distributed guide rails, the slider 3 passes through the guide rails and slides parallel to the fixed platform 11 on the guide rails, the upper and lower corresponding positions of the slider 3 and the fixed platform 11 are respectively provided with threaded holes and through holes 1,

[0046] It also includes a screw rod 1, the lower part of the screw rod 1 is a smooth shaft, and the upper part is a threaded section....

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Abstract

The invention discloses a reconfigurable parallel mechanism. The reconfigurable parallel mechanism comprises a fixed platform, a sliding block and a 5R mechanism. The two corresponding side faces of the fixed platform are symmetrically provided with a rotating pair F1 and a rotating pair F2. The center axes of the rotating pair F1 and the rotating pair F2 are parallel to the center axes of a rotating pair D1 and a rotating pair D2. The fixed platform is connected with the 5R mechanism through the rotating pair F1 and the rotating pair F2. The invention further discloses a reconfiguration control method of the reconfigurable parallel mechanism. Firstly, path data of a working point rotating pair C is acquired according to a box bending track, then, a motor drive angle is obtained, and therefore the rotating pair C is controlled to move according to a preset track. According to the reconfigurable parallel mechanism, the problem that an existing 5R plane parallel mechanism cannot be reconfigured is solved.

Description

technical field [0001] The invention belongs to the field of packaging machinery automation equipment, and relates to a reconfigurable parallel mechanism and a reconfiguration control method thereof. Background technique [0002] The express delivery industry has developed rapidly in recent years. At present, the mechanical equipment for packaging cartons on the market is generally a parallel mechanism. This parallel mechanism is mostly used for custom assembly line operations and is not suitable for small e-commerce. Among the parallel mechanisms, the 5R planar parallel mechanism is one of the simplest parallel mechanisms. The existing technology mainly has the following methods to realize the reconfiguration of the mechanism: realize the conversion between the 4R mechanism and the 5R mechanism through the coupling of the kinematic chain; 3PRS determines the size and position of the platform, thereby realizing the reconfiguration of the mechanism; by using the screw pair t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B31B50/26
CPCB31B50/26
Inventor 刘伟曹玲玲曹亚斌
Owner XI'AN POLYTECHNIC UNIVERSITY