A five-degree-of-freedom parallel processing robot with four branches
A degree of freedom, four-branched technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as the serious dependence on the accuracy of the swing angle head, the complexity and stiffness of the kinematic structure of five-branched chains, etc.
Active Publication Date: 2021-05-18
TSINGHUA UNIV +1
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Problems solved by technology
[0007] While the above products have been successfully applied, there are still some key technical problems that need to be solved, such as the kinematics and structural complexity, stiffness brought by the five-branched chain, and the heavy dependence of the hybrid equipment on the accuracy of the swing angle head, etc.
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[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "vertical", "horizontal", "axial" etc. The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be c...
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The invention discloses a five-degree-of-freedom parallel processing robot with four branch chains, comprising: a moving platform and a fixed platform; The revolving pairs whose axes intersect vertically are connected to the fixed platform, and are respectively connected to the moving platform through at least two revolving pairs whose axes are perpendicular to each other; the third branch including the main sub-branch and the auxiliary sub-branch; the fourth branch, the first The four branch chains are connected to the moving platform through rotating pairs, and are connected to the fixed platform through at least two rotating pairs whose axes intersect with each other. The first, second, third and fourth branch chains form the moving platform together with the fixed platform and the moving platform The platform realizes a space parallel mechanism with three rotation degrees of freedom and two movement degrees of freedom. The five-degree-of-freedom parallel processing robot according to the embodiment of the present invention can realize three rotational degrees of freedom and two moving degrees of freedom of the moving platform, so that the processing equipment equipped with the robot can realize at least five-axis linkage processing function.
Description
technical field [0001] The present invention relates to the technical field of mechanical design and mechanical manufacturing, in particular, the present invention relates to a parallel mechanism with five degrees of freedom and a multi-axis linkage device including the parallel mechanism. Background technique [0002] In the field of mechanical design and manufacturing, with the development of the industrial level, the service requirements and design level of mechanical parts have been continuously improved, and its processing and manufacturing processes have become more stringent and complex, posing new challenges to modern processing equipment. In order to improve the rotation flexibility, compliance, efficiency and precision of processing, the processing equipment should have at least five-axis linkage processing capability and good static and dynamic characteristics. At the same time, under harsh working conditions, it is required to meet five-sided processing with one c...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 刘辛军孟齐志谢福贵解增辉吕春哲宋阿丽
Owner TSINGHUA UNIV