Parallel Mechanism with Two Movement Modes of Three Movements and One Rotation
A motion mode and three-movement technology, applied in the field of robotics, can solve problems such as single motion mode, not satisfying one machine with multiple functions, and inconvenient use, and achieve the effects of good flexibility, simple control, and improved production efficiency
Active Publication Date: 2021-09-07
西安德普赛科计量设备有限责任公司
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[0005] The purpose of the present invention is to provide a parallel mechanism with two kinds of three-moving-rotating motion modes, which solves the problem that the existing four-degree-of-freedom parallel mechanism has a single motion mode and does not meet the industrial requirements of one machine with multiple functions, resulting in inconvenient use question
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[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0021] The parallel mechanism with two kinds of three-moving-rotating motion modes of the present invention is characterized in that it includes a moving platform 4 and a fixed platform 9, and the moving platform 4 passes through the first branch chain, the second branch chain, the third branch chain and the first branch chain respectively. The four branch chains are connected with the fixed platform 9, and the four corners of the movable platform 4 are defined as A 1 、A 2 、A 3 and A 4 , the first branch chain and the third branch chain are relatively arranged at two opposite corners of the bottom surface of the moving platform 4, the second branch chain and the fourth branch chain are relatively arranged at the remaining two opposite corners of the bottom surface of the moving platform 4, the first branch chain and the The structure of th...
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The invention discloses a parallel mechanism with two kinds of three-moving-rotating motion modes, including a moving platform and a fixed platform, and the moving platform is connected with the first branch chain, the second branch chain, the third branch chain and the fourth branch chain respectively. Fixed platform connection; the parallel mechanism disclosed in the present invention connects the moving platform and the fixed platform by setting four branch chains, and the branch chain uses a moving pair and a rotating pair, and a universal hinge is formed by two directly connected rotating pairs to realize The flexible movement of the branch chains to all directions; the parallel mechanism of the present invention is easy to manufacture as a whole, simple to control, and good in flexibility, and is especially suitable for spraying paint on automobile bumpers. During spraying, the mechanism can adapt to bumpers of different shapes, thereby improving production efficiency.
Description
technical field [0001] The invention belongs to the technical field of robots and relates to a parallel mechanism with two movement modes of three movements and one rotation. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the reduction of degrees of freedom in parallel mechanisms will make the mechanism structure simpler, manufacturing and control The cost is relatively low...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 刘伟刘宏昭曹亚斌
Owner 西安德普赛科计量设备有限责任公司