Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism

Abstract

The invention relates to a multi-mode series-parallel mechanical arm based on a movement bifurcation mechanism. The multi-mode series-parallel mechanical arm based on the movement bifurcation mechanism comprises an end executor, an arm and a parallel connection base seat which are connected in sequence, wherein the arm is an eight-pole and single-ring movement bifurcation mechanism, and comprisestwo arm branch chains which are symmetrically arranged, two ends of one arm branch chain are respectively movably connected with two ends of the other arm branch chain so as to form a single-ring andclosed-chain structure, each arm branch chain comprises four connection rods which are movably connected in sequence, the parallel connection base seat is a double-rotational-freedom space parallel mechanism, and a mode switching mechanism used for achieving series connection and parallel connection switching of the two arm branch chains is installed on the parallel connection base seat. Comparedwith the prior art, the multi-mode series-parallel mechanical arm based on the movement bifurcation mechanism has the advantages of being high in work efficiency, small in structure dimension, and high in overall stability.

Description

technical field [0001] The invention relates to the field of robot and mechanical manufacturing, in particular to a multi-mode hybrid mechanical arm based on a motion bifurcation mechanism, which can realize series-parallel switching of the arm. Background technique [0002] At present, the application occasions of robots are diversified, especially for super-large mechanical equipment, special environment operations, production lines with various natures of stations, etc., where the size is larger than ordinary mechanical structures, the nature of stations is diverse, and the styles of parts are various. working conditions, while the traditional processing and assembly operation equipment has the limitation of a single operation mode. [0003] One of the previous solutions is to use parallel mechanisms to improve work efficiency and quality by utilizing the characteristics of high rigidity and high precision of parallel mechanisms. However, these solutions have the inherent...

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Problems solved by technology

[0002] At present, the application occasions of robots are diversified, especially for super-large mechanical equipment, special environment operations, production lines with various natures of stations, etc., where the size is larger than ordinary mechanical structures, the nature of stations is diverse, and the styles of parts are various. working conditions, while the traditional processing and assembly operation equipment has the limitation of a single operation mode

[0003] One of the previous solutions is to use parallel mechanisms to improve work efficiency and quality by utilizing the characteristics of high rigidity and high precision of parallel mechanisms, but these solutions have the inherent disadvantages of parallel mechanisms, that is, the working space is small

The other is to increase the number of robots. For different types of work stations, different processing robots need to be used. This solution will greatly increase the cost of production input, often limit the ability of robots to perform tasks, consume working time, and reduce work efficiency

In the prior art, there are also mechanical configurations that are further connected in series by multiple parallel mechanisms, but there are many kinematic pairs in the system, and the establishment process of coordinate motion coordinates is relatively complicated

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