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Small six-degree-of-freedom parallel robot

A degree of freedom and robotic technology, applied in the field of robotics, can solve the problems of large volume, unfavorable small scene application, insufficient precision of ball hinges, uneven overall force, etc.

Pending Publication Date: 2021-05-11
SHANGHAI INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, most common parallel robots use hydraulic drive rods as linear motion units, but the large size is not conducive to the application in small scenes
The 6-SPS Stewart platform is a common structure for six-degree-of-freedom parallel robots. However, the inventors of the present application found that in the 6-UPS mechanism of the traditional Stewart platform, due to the lack of precision of the spherical hinge (S-Sphere), the Hooke hinge is often used. Instead of the ball joint, the two ball joints are replaced by the Hooke hinge, the degree of freedom is insufficient, and an additional rotational degree of freedom is needed; the combination of the Hooke hinge and the rotary shaft placed on the base constitutes a replacement for the ball pair, but the rotary shaft of the connecting rod and the base There is an included angle in the rotary shaft, which causes the rotary shaft of the base to be subjected to additional radial force, making the overall force uneven

Method used

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  • Small six-degree-of-freedom parallel robot
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  • Small six-degree-of-freedom parallel robot

Examples

Experimental program
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Embodiment 1

[0034] refer to Figure 1-3 As shown, the embodiment of the present application provides a small six-degree-of-freedom parallel robot, which includes a device body, which includes: a movable platform 100, a fixed base 200, and six kinematic branch chains.

[0035] In this embodiment, the movable platform 100 and the fixed base 200 are arranged side by side up and down, and the two ends of the kinematic branch chain are scattered along the circumferential direction of the movable platform 100 and the fixed base 200 . Further, the movable platform 100 is fixedly connected with an external tool and used as an end effector. The fixed base 200 is fixedly installed on external equipment. Further, both the movable platform 100 and the fixed base 200 adopt an annular platform structure. The movable platform 100 and the fixed base 200 are arranged side by side from top to bottom, and six motion branch chains are arranged between the movable platform 100 and the fixed base 200 along t...

Embodiment 2

[0042] refer to figure 1 As shown, the embodiment of the present application provides a small six-degree-of-freedom parallel robot, including: a movable platform 100, a fixed base 200, and six kinematic branch chains.

[0043] In this embodiment, the movable platform 100 and the fixed base 200 are arranged side by side from top to bottom, and the lower end surface of the movable platform 100 is evenly distributed along the circumferential direction of the upper end surface of the fixed base 200 through a motion branch chain.

[0044] The lower end surface of the movable platform 100 in this embodiment is evenly distributed with three sets of grooves, including the first groove of the movable platform, the second groove of the movable platform, the third groove of the movable platform, The fourth groove of the movable platform, the fifth groove of the movable platform, the sixth groove of the movable platform, the first groove of the movable platform and the second groove of th...

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PUM

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Abstract

The invention discloses a small six-degree-of-freedom parallel robot which comprises a device body, wherein the device body comprises a movable platform, a fixed base and six motion branch chains. The movable platform and the fixed base are arranged side by side in an up-and-down mode, and the two ends of each motion branch chain are arranged in a scattered mode in the circumferential directions of the movable platform and the fixed base correspondingly. Each motion branch chain comprises an electric push rod and two hooke joints. The two ends of each electric push rod are movably connected with the movable platform and the fixed base through the corresponding hooke joints, and the electric push rods drive the movable platform to rotate in the radial direction of the fixed base. A driving assembly is arranged in each electric push rod, and the movable platform is driven by the driving assemblies to move in the axial direction of the fixed base. According to the small six-degree-of-freedom parallel robot, rotating shafts are arranged in the electric push rods, the axial movement directions of the rotating shafts and the axial movement directions of the electric push rods are the same, the rotating shafts are not affected by the additional radial force, and rotating feeding movement of lead screw nuts is converted into free rotating pure feeding movement.

Description

technical field [0001] The invention relates to the field of robots, in particular to a small six-degree-of-freedom parallel robot. Background technique [0002] At present, most common parallel robots use hydraulic drive rods as linear motion units, but the large size is not conducive to the application in small scenes. The 6-SPS Stewart platform is a common structure for six-degree-of-freedom parallel robots. However, the inventors of the present application have found that in the 6-UPS mechanism of the traditional Stewart platform, due to the lack of precision of the spherical hinge (S-Sphere), the Hooke hinge is often used. Instead of the ball joint, the degree of freedom of the two ball joints is insufficient after being replaced by the Hooke hinge, and an additional rotational degree of freedom is needed; the combination of the Hooke hinge and the rotary shaft installed on the base constitutes a replacement of the ball pair, but the rotary shaft of the connecting rod i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/12
CPCB25J9/0045B25J9/126
Inventor 荆学东方义圣
Owner SHANGHAI INST OF TECH