A two-turn-one-shift parallel mechanism and mechanical equipment

Abstract

The invention discloses a two-turn-one-shift parallel mechanism and mechanical equipment. The two-turn-one-shift parallel mechanism includes a moving platform, a base, a first kinematic branch chain and a second kinematic branch chain, and the first kinematic branch chain includes a first drive One end of the connecting piece is movably connected to the base through the first driving moving pair, and the opposite end is rotatably connected to the moving platform through the rotating chain; the second kinematic branch chain includes the second driving movement One end of the third driving mobile pair is movably connected with the base through the second driving mobile pair, the opposite end is connected with one end of the ball joint, and the other end of the ball joint It is movably connected with the moving platform through passive moving pairs. The invention can realize the large-scale lateral movement of the moving platform and the rotation under the condition of zero heel, and realize the precise output of pose.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a two-rotation-one-shift parallel mechanism and mechanical equipment with the two-rotation-one-shift parallel mechanism. Background technique [0002] With the increasingly fierce competition among various enterprises and the continuous increase of labor costs, more and more enterprises choose to introduce robots to replace labor to improve production efficiency and reduce labor costs. Parallel mechanism and series mechanism are a kind of industrial robot, which are widely used in food, medicine, electronics and other light industries. However, in some application scenarios, such as automatic measurement scenarios, a series mechanism is usually used to adjust the pose of the measurement equipment to meet the required requirements, such as using a series mechanism to adjust the pose of the laser interferometer to achieve alignment of the optical path. straight. Howeve...

AI Technical Summary

Problems solved by technology

However, the use of series mechanisms can easily lead to problems such as excessive volume of mechanical equipment, cumulative errors in pose adjustment, and low alignment efficiency. Compared with series mechanisms, parallel mechanisms have the advantages of high rigidity, high motion accuracy, and low motion inertia. Mechanisms are increasingly being used for pose adjustment of measurement equipment

[0003] At present, the three-freedom parallel mechanism used in the adjustment of the measuring equipment pose cannot move the measuring equipment in a large range, and there are problems such as adjusting the posture with the movement. Therefore, a three-freedom parallel mechanism is urgently needed to realize the measuring equipment. Wide range of movement and posture adjustment without accompanying motion

Images