Four-degree-of-freedom parallel mechanism and industrial robot

Abstract

The invention discloses a four-degree-of-freedom parallel mechanism and an industrial robot, comprising a moving platform, a mounting seat, a first telescopic rod, a second telescopic rod, a third telescopic rod and a first motor, and any two of the three telescopic rods The three telescopic rods are arranged at intervals, the first ends of the three telescopic rods are all connected with the mounting seat and can swing in the first direction, the three telescopic rods are all rotatably connected with the moving platform, and the first motor is arranged on the three telescopic rods The first end of the , controls the swinging motion of the three telescopic rods. The industrial robot disclosed by the invention includes a four-degree-of-freedom parallel mechanism and a guide rail, and can realize 5-degree-of-freedom motion. The four-degree-of-freedom parallel mechanism and the industrial robot of the present invention avoid the situation of accompanying motion, are easy to motion control, and have high precision.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing, and in particular relates to a four-degree-of-freedom parallel mechanism and an industrial robot having the four-degree-of-freedom parallel mechanism. Background technique [0002] Aircraft, automobiles, etc. need to use spraying robots for spraying operations. Most of the robotic arms of spraying robots are serial robotic arms. The serial robotic arms have the problems of large cumulative error and low structural strength during use. In order to avoid the above problems, in the related art, some spraying robots also use the form of parallel mechanism. However, the parallel mechanism has the problem of accompanying motion. When the parallel mechanism moves, the spraying device at the end of the parallel mechanism is easy to move synchronously with the parallel mechanism. Makes the parallel mechanism control difficult. SUMMARY OF THE INVENTION [0003] The present invention aims to solve...

AI Technical Summary

Problems solved by technology

[0002] Aircraft, automobiles, etc. need to use spraying robots to carry out spraying operations. Most of the robotic arms of spraying robots are serial robotic arms. During the use of serial robotic arms, there are problems of large cumulative errors and low structural strength.

In order to avoid the above problems, in the related art, some spraying robots also adopt the form of parallel mechanism. However, the parallel mechanism has the problem of accompanying motion. When the parallel mechanism operates, the spraying device at the end of the parallel mechanism tends to move synchronously with the parallel mechanism. Make it difficult to control the parallel mechanism

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