Four-degree-of-freedom parallel robot with double action platform structure

Abstract

The invention discloses a four-degree-of-freedom parallel robot with a double-acting platform structure. The four-degree-of-freedom parallel robot with the double-acting platform structure comprises afixed platform, four driving devices, four branched chains and a movable platform component. The four driving devices are arranged on the fixed platform, and each driving device comprises a driving arm and a driving unit which is used for driving the driving arm to pivot; the four branched chains are spaced along the circumferential direction of the fixed platform and are connected with the fourdriving arms in a one-to-one correspondence mode, and the upper end of each branch chain is connected with the driving arm through a first hooke joint; and the movable platform component is arranged below the fixed platform, the movable platform component is connected with the lower ends of the four branched chains, each branched chain is connected with the movable platform component through a second hooke hinge, and the movable platform component comprises an outer movable platform, an inner movable platform and a rotating screw rod. The four-degree-of-freedom parallel robot with the double-acting platform structure can realize a three-movement and one-rotation freedom-degree in one space, and has the characteristics of good dynamic performance, high whole machine rigidity, high output end positioning precision, high rotary angle precision and the like so that the high-speed and high-precision operation can be easily realized.

Description

technical field [0001] The invention relates to the field of robots, in particular to a four-degree-of-freedom parallel robot with a double-moving platform structure. Background technique [0002] The plastics industry, electronic product industry, pharmaceutical industry and food industry have made important contributions to the national economy of our country. Early industrial robots for the tasks of packing, sorting, assembling, and dismantling goods for such light production lines were realized by tandem mechanisms. The series mechanism is connected by kinematic pairs in sequence, which is an open-loop structure with large industrial space and high flexibility, but it also has obvious disadvantages: the accumulation of errors of each kinematic pair leads to low end precision, low stiffness, large inertia The dynamic performance is not good. The parallel mechanism is a closed-loop structure, and its moving platform components are connected with the fixed platform throug...

AI Technical Summary

Problems solved by technology

The series mechanism is connected by kinematic pairs in sequence, which is an open-loop structure with large industrial space and high flexibility, but it also has obvious disadvantages: the accumulation of errors of each kinematic pair leads to low end precision, low stiffness, large inertia poor dynamics

[0005] Patent CN202592386 pointed out that the multiple parts of the moving platform part of the H4 mechanism in the patent US20090019960 and EP1084802 are in the same plane, so that the moving platform part is large in size and not compact enough, and two adjacent branch chains drive one part of the moving platform part. The force effect is not good, which is not conducive to improving the efficiency of the mechanism; the patent CN102229141 points out that there are only two parts driven by the moving platform parts in the patent US20090019960 and EP1084802, and these two parts are equivalent to a set of opposite sides of a parallelogram, such a driving method is not flexible , the force is uneven, which is not conducive to the smooth operation of the mechanism

In addition, the passive branch chains of existing high-speed parallel robots mostly use open spherical joints and slender carbon rod structures, which are difficult to achieve high-precision operation

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