Parallel robot with four built-in rods and four degrees of freedom

Abstract

The invention provides a parallel robot with four built-in rods and four degrees of freedom. According to the parallel robot, actions of each set of power arms and connecting rods are built in an inner cavity space of a suspension bracket, source power is shifted outwards, and torque is amplified; and the driving gravity center is within the range of a transmission arm, and the load is increased. The parallel robot comprises a suspension bracket, four sets of servo systems, four sets of transmission rod assemblies and a linkage plate; the suspension bracket is used for supporting hardware of a whole structure; the suspension bracket is a square frame; four intersection point position areas of the square frame are each fixedly provided with one set of servo systems; each set of servo systems is used for transmitting power; the output ends of each set of servo systems are connected with power arms of the corresponding set of transmission rod assemblies; each set of transmission rod assemblies comprises a first parallelogram transmission assembly and a second parallelogram transmission assembly; each first parallelogram transmission assembly comprises a power arm, a linkage arm and an extension arm; and the output ends of the servo systems are pivoted to the outer ends of the power arms.

Description

technical field [0001] The invention relates to the technical field of a DELTA parallel robot, in particular to a three-degree-of-freedom parallel robot with four built-in rods. Background technique [0002] DELTA parallel robot is also called triangle robot. It is mainly composed of drive motor, main robot arm, auxiliary robot arm, fixed platform, moving platform, claws and other components. Its overall shape resembles three upside-down triangles, hence the name. The DELTA robot is a typical three-degree-of-freedom mechanical arm mechanism in space. Because the drive group is evenly distributed on the fixed frame, it has the characteristics of compact structure, light weight, high positioning accuracy, and fast movement speed. It is suitable for applications in food, medicine and electronics. Handling, processing and assembly of light objects such as products. But the existing DELTA parallel robot, see figure 1 , the power drive arm formed by the main manipulator and the ...

AI Technical Summary

Problems solved by technology

But the existing DELTA parallel robot, see figure 1 , the power drive arm formed by the main manipulator and the auxiliary manipulator is placed outside the outer space of the fixed frame, and in actual use, in order to pursue high speed and high precision, a certain load and part of the transmission efficiency will be sacrificed. And because the pivot center of the main robot arm and the auxiliary robot arm moves to the outside, it seriously affects the load weight

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