Branched chain nesting three-freedom moving platform continuously turning parallel connection robot mechanism

A degree of freedom and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large operating range and flexibility, small equipment installation space, difficult to realize operation, etc., to expand the application field and scope of application Effect

Inactive Publication Date: 2009-12-16
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, it is also difficult for these unconventional parallel robots to operate like SCARA robots, that is, to achieve a large operating range and flexibility with a small equipment installation space

Method used

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  • Branched chain nesting three-freedom moving platform continuously turning parallel connection robot mechanism

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Embodiment Construction

[0008] Describe the present invention in detail below in conjunction with embodiment and accompanying drawing. The examples are based on the technical solutions of the present invention, giving detailed implementation and process, but the scope of protection of the claims of the present invention is not limited to the following examples.

[0009] The parallel robot mechanism designed by the present invention (hereinafter referred to as mechanism, see figure 1 ), which is characterized in that the mechanism includes a base 1 and a moving platform 2, and a first kinematic branch chain A, a second kinematic branch chain B and a third kinematic branch chain fixedly connected between the base 1 and the moving platform 2 and nested together. Motion branch chain C; the base 1 includes a horizontal upper plate 11 and a lower plate 12 and a vertical plate 13 connecting the upper plate 11 and the lower plate; the first motion branch chain A includes: installed on the base 1 The first m...

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Abstract

The invention relates to a branch chain nested three-degree-of-freedom moving platform continuous rotation parallel robot mechanism, which is characterized in that the mechanism includes a machine base, a moving platform, and a first nested and fixedly connected between the machine base and the moving platform. 1. The second and third motion branch chains; the first motion branch chain includes the first motor fixed on the machine base and the screw pair driven by it, the rotation axis of which is parallel to the screw pair axis, and the moving direction is perpendicular to the The first moving pair of the rotation axis of the first rotary pair; the second kinematic branch chain includes the second motor fixed on the base and the second rotating pair driven by it, and the second moving pair nested on the second rotating pair, And the first moving pair shared with the first branch chain; the third motion branch chain includes the third motor fixed on the base and the third rotary pair driven by it, and the third moving pair nested on the third rotary pair And the fourth, fifth and sixth slewing pairs nested on the first moving pair with axes parallel to each other.

Description

technical field [0001] The invention relates to a parallel robot mechanism in the field of mechanics, specifically a branch-chain nested three-degree-of-freedom dynamic platform that can continuously rotate a parallel robot mechanism, and the international patent classification number is proposed to be Int.Cl B25J9 / 08 (2006.01). Background technique [0002] The birth of robots is a major achievement in the development of human science and technology in the 20th century. Robots are widely used in advanced manufacturing, aviation, microelectronics, packaging and other fields, injecting new vitality into the development of these industries. With the rapid development of industrial technology, high-speed, high-precision operation has become the theme and development trend of modern industrial robots. The SCARA robot is composed of three rotary joints parallel to the axis and a moving pair in the same direction as the rotary axis in series, and is widely used in high-efficiency...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 张建军李为民楼云江王晓慧
Owner HEBEI UNIV OF TECH
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