Five degrees of freedom parallel robot

Abstract

The purpose of the present invention is to provide a five-degree-of-freedom parallel robot that can process complex curved surfaces, has a symmetrical structure, and has high rigidity, including a fixed platform and a moving platform. Two planar linkage mechanisms are arranged symmetrically on both sides of the fixed platform. The output end of the planar linkage mechanism is hinged to the spherical rod, and the other end of the spherical rod is hinged to the moving platform; The moving platform is hinged. The output ends of the two planar linkage mechanisms have the same motion structure, high rigidity, simple structure, good interchangeability, easy control, and easy realization of motion. Different planar linkages can be adapted to different working occasions. The parallel mechanism has high movement speed and high precision. The robot of the present application can be used to process complex curved surfaces such as eddy currents, and perform welding, curved surface detection, glue coating, laser processing and other work.

Description

technical field

[0001] The invention belongs to the field of robots, in particular to a five-degree-of-freedom parallel robot. Background technique

[0002] In the field of modern machinery manufacturing, the structural design and processing technology of parts are becoming more and more complex, and parts with complex space surfaces have been widely used in many important fields, such as aircraft, cars, turbine blades, etc. Machine tools with at least five degrees of freedom are required for processing, testing, gluing, and welding such parts.

[0003] At present, common robot mechanisms are divided into two types: series and parallel. The series mechanism is easy to control and has a large working space, but its rigidity is insufficient, and the error is accumulated. The parallel mechanism has high rigidity, no error accumulation, high precision and good dynamic performance. The moving platform has 3 rotations, 3 movements and 6 degrees of freedom. For machine tool app...

Examples

Embodiment Construction

[0013] Such as figure 1 As shown, a five-degree-of-freedom parallel robot includes a fixed platform 1 and a moving platform 2 . Two planar link mechanisms are arranged symmetrically on both sides of the fixed platform 1 , the output end 3 of the planar link mechanism is hinged to the spherical rod 4 , and the other end of the spherical rod 4 is hinged to the movable platform 2 . An intermediate driving mechanism is arranged in the middle of the fixed platform 1, and the two ends of the intermediate driving mechanism are respectively hinged with the fixed platform 1 and the moving platform 2. The two planar linkage mechanisms are arranged in parallel; the middle drive mechanism is arranged on the symmetrical center plane. In this way, the output ends of the two planar linkage mechanisms have the same movement structure, the mechanism has a large rigidity, a simple structure, and the movement is easy to realize. The output end of the planar linkage mechanism has 3 degrees of f...

technical field

[0001] The invention belongs to the field of robots, in particular to a five-degree-of-freedom parallel robot. Background technique

[0002] In the field of modern machinery manufacturing, the structural design and processing technology of parts are becoming more and more complex, and parts with complex space surfaces have been widely used in many important fields, such as aircraft, cars, turbine blades, etc. Machine tools with at least five degrees of freedom are required for processing, testing, gluing, and welding such parts.

[0003] At present, common robot mechanisms are divided into two types: series and parallel. The series mechanism is easy to control and has a large working space, but its rigidity is insufficient, and the error is accumulated. The parallel mechanism has high rigidity, no error accumulation, high precision and good dynamic performance. The moving platform has 3 rotations, 3 movements and 6 degrees of freedom. For machine tool app...

Examples

Embodiment Construction

[0013] Such as figure 1 As shown, a five-degree-of-freedom parallel robot includes a fixed platform 1 and a moving platform 2 . Two planar link mechanisms are arranged symmetrically on both sides of the fixed platform 1 , the output end 3 of the planar link mechanism is hinged to the spherical rod 4 , and the other end of the spherical rod 4 is hinged to the movable platform 2 . An intermediate driving mechanism is arranged in the middle of the fixed platform 1, and the two ends of the intermediate driving mechanism are respectively hinged with the fixed platform 1 and the moving platform 2. The two planar linkage mechanisms are arranged in parallel; the middle drive mechanism is arranged on the symmetrical center plane. In this way, the output ends of the two planar linkage mechanisms have the same movement structure, the mechanism has a large rigidity, a simple structure, and the movement is easy to realize. The output end of the planar linkage mechanism has 3 degrees of f...

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