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A four-degree-of-freedom high-speed parallel robot mechanism with double-drive branch 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: 2021-11-23
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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  • A four-degree-of-freedom high-speed parallel robot mechanism with double-drive branch chains
  • A four-degree-of-freedom high-speed parallel robot mechanism with double-drive branch chains
  • A four-degree-of-freedom high-speed parallel robot mechanism with double-drive branch chains

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Experimental program
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Effect test

Embodiment 1

[0033] 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 motor ...

Embodiment 2

[0041] like 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 is between the two connecting rods 6a and 6b of the main driving branch and is connected with the two connecting rods of the main driving branch. 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;

Embodiment 3

[0043] like image 3 and Figure 13 As shown in the present embodiment, a four-degree-of-freedom high-speed parallel robot mechanism containing dual drive branches, the first main drive branch 1 is also provided with a secondary drive branch, and the moving platform 2 is composed of the first platform 2a and The second platform 2b is composed, the first platform 2a and the second platform 2b are arranged horizontally, the second platform 2b is placed under the first platform 2a, and the three branch chains are connected to the first platform 2a; the driven arm assembly adopts the space 4S The quadrilateral mechanism, that is, the connecting rod 6a and the connecting rod 6b and the upper link 8a and the lower link 8b are respectively connected by ball joints; the lower link 8b is fixedly connected to the moving platform 2; the upper link 8a It is fixedly connected with the first driving arm 5a; the axis of the upper link 8a is parallel to the rotation axis of the first driving...

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Abstract

The invention discloses a four-degree-of-freedom high-speed parallel robot mechanism with double drive branch chains, including a static platform, a dynamic platform, three main drive branch chains connected in parallel between the static platform and the dynamic platform, and an end effector. The actuator is connected to the moving platform through the rotary pair; the three main drive branch chains include the drive motor, reducer, first master arm and driven arm assembly, and are connected in sequence; one of the main drive branch chains is also equipped with an auxiliary drive branch chain ; The auxiliary driving branch chain is connected to the motion transformation mechanism on the static platform and the moving platform, and is used to drive the movement of the movement transformation mechanism, and convert the rotation of the auxiliary driving branch chain relative to the dynamic platform into the rotation of the end effector. The invention can realize the high-speed operation of the three-translation-rotation four-degree-of-freedom of the parallel robot, so that the mechanism has partially decoupled motion characteristics.

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