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Four-degree-of-freedom high-speed parallel robot mechanism containing double-drive branched chains

A degree of freedom, dual-drive technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems affecting the work space, achieve the effect of large work space, less restrained branch chains, and improved rotation ability

Active Publication Date: 2020-02-21
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the middle connecting rod of the invention patent includes three sets of connecting rods, each group of connecting rods includes an upper connecting rod and a lower connecting rod, the lower end of the upper connecting rod is hinged to the upper end of the upper connecting rod, and the upper ends of the three upper connecting rods are diagonal to the upper end. Shaft rotation connection, when the robot mechanism moves at the edge of the workspace, it is easy to interfere with the active arm or follower lever of the delta mechanism, affecting the working space of its movement

Method used

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  • Four-degree-of-freedom high-speed parallel robot mechanism containing double-drive branched chains
  • Four-degree-of-freedom high-speed parallel robot mechanism containing double-drive branched chains
  • Four-degree-of-freedom high-speed parallel robot mechanism containing double-drive branched chains

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Experimental program
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Effect test

Embodiment 1

[0033] to combine figure 1 , Figure 11 , a four-degree-of-freedom high-speed parallel robot mechanism with double drive branch chains in this embodiment includes a static platform 1, a moving platform 2, an end effector 11, and three main drives connected in parallel between the static platform 1 and the moving platform 2 The branch chain is characterized in that the end effector 11 is connected to the moving platform 2 through a rotating pair, and the rotation axis is arranged vertically; the first main driving branch chain 1 is also provided with an auxiliary driving branch chain, and the moving platform 2 is provided with A motion transformation mechanism, the auxiliary driving branch chain is used to drive the motion transformation mechanism, and the rotation of the auxiliary driving branch chain relative to the moving platform 2 through the first swing rod 12 is converted into the rotation of the end effector 11;

[0034] The main drive branch chain includes a drive mot...

Embodiment 2

[0041] Such as figure 2 and Figure 12 As shown, the difference between this embodiment and Embodiment 1 is that the driven link 7 of the auxiliary driving branch chain is between the two connecting rods 6a and 6b of the main driving branch chain and is connected with the two connecting rods of the main driving branch chain. The planes formed by the rods 6a and 6b intersect; the composition and arrangement of the motion conversion mechanism are the same as those in Embodiment 1; the swing member 12 is provided with a ball hinge 7 end and a connection end of the connecting rod 13 on the same side of the rotation axis.

Embodiment 3

[0043] Such as image 3 and Figure 13 As shown, a kind of four-degree-of-freedom high-speed parallel robot mechanism containing double drive branch chains of the present embodiment, the first main drive branch chain 1 is also provided with auxiliary drive branch chains, and the moving platform 2 is composed of the first platform 2a and The second platform 2b is composed of the first platform 2a and the second platform 2b arranged horizontally, the second platform 2b is placed under the first platform 2a, and the three branch chains are all connected with the first platform 2a; the driven arm assembly adopts a space 4S Quadrilateral mechanism, that is, the connecting rod 6a and the connecting rod 6b are respectively connected by a ball hinge with the upper connecting rod 8a and the lower connecting rod 8b; the lower connecting rod 8b is fixedly connected with the moving platform 2; the upper connecting rod 8a Fixedly connected with the first active arm 5a; the axis of the upp...

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Abstract

The invention discloses a four-degree-of-freedom high-speed parallel robot mechanism containing double-drive branched chains. The four-degree-of-freedom high-speed parallel robot mechanism comprises astatic platform, a movable platform, three main drive branched chains and an end effector, wherein the three main drive branched chains are connected in parallel between the static platform and the movable platform, the end effector is connected with the movable platform through a rotary pair, the three main drive branched chains comprise driving motors, speed reducers, first driving arms and driven arm assemblies which are sequentially connected, a secondary drive branched chain is further arranged on one of the main driving branched chains, and the secondary drive branched chain is connected with a motion transformation mechanism on the static platform and the movable platform and is used for driving the motion conversion mechanism to move and converting the rotation of the secondary drive branched chain relative to the movable platform into rotation of the end effector. According to the four-degree-of-freedom high-speed parallel robot mechanism, four-degree-of-freedom high-speed operation with three translation and one rotation of a parallel robot can be realized, so that the mechanism has a partially decoupled motion characteristic.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a four-degree-of-freedom high-speed parallel robot mechanism with double drive branch chains. Background technique [0002] The three-translation-rotation high-speed parallel robot mechanism has the advantages of high speed and high acceleration, and has been widely used in light industry, food and medicine industries that require operations such as insertion, packaging, packaging, and sorting. [0003] The existing patents CN102229141A and CN103909517A can realize the four-degree-of-freedom parallel robot mechanism of three-dimensional translation and one-dimensional rotation. In patent CN102229141A, the moving platform is designed as a rhombus structure, and a meshing gear mechanism is installed at the junction of two adjacent rhombus-shaped connecting rods. Through the relative rotation of the two connecting rods, the rotational output of the end effector is realized, but the ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 彭斌彬胡荣史典盛
Owner NANJING UNIV OF SCI & TECH