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Large-working space parallel robot mechanism

A working space and robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of small working space of the moving platform, inability to realize rotation of the moving platform, and limit the application of parallel robots, so as to reduce the space required for installation, The effect of simplifying the design

Inactive Publication Date: 2010-04-28
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

Due to the parallel configuration, the whole device has high rigidity, speed and precision; however, since the fixed platform and the moving platform are arranged on the same plane, the working space of the moving platform is small, and the moving platform cannot realize the full circle rotation. Greatly limit the application of this type of parallel robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Such as Figure 3 to Figure 7 As shown, a large working space parallel robot mechanism 300 includes a base 31 , a branch chain 32 , a moving platform 33 and a driving device 34 . The base 31 is the installation basis of the associated robot mechanism 300 of the present invention, which supports the weight of each branch chain 32 , moving platform 33 and end effector. The drive device 34 includes a linear drive device and a rotary drive device, which are set according to the actual movement requirements of the branch chain 32 . The driving device 34 is connected with the branch chain 32 to control the active state of the branch chain 32 , that is, the linear movement state or the rotation state, so as to further change the geometric position of the moving platform 33 according to the geometric connection relationship of the branch chain ...

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Abstract

The invention provides a large-working space parallel robot mechanism. The parallel robot mechanism comprises a base, a branched chain, a moving platform and a drive device, wherein the drive device is connected with the branched chain; both ends of the branched chain are in rotary connected to the base and the moving platform respectively, and the rotary shaft axes in rotary connection are arranged in the same direction; the rotary connection between the branched chain and the base is connection by a rotation pair; and the rotary shaft axes between the branched chain and the moving platform are parallel in pairs; and the branched chain comprises a first branched chain, a second branched chain and a third branched chain, and the three branched chains are arranged in a staggered way. The large-working space parallel robot mechanism has the advantages that: the defect of small working space in the conventional parallel mechanism is overcome, a quite large ring-shaped working space is possessed, and an end actuator can flexibly realize whole cycles of continuous rotations due to the layering design of the moving platform; because an active arm of the branched chain is compactly designed, the design of the base is simplified, and the necessary mounting space is reduced; and the drive device is arranged on the base, which facilitates the mass reduction of moving parts and improves overall performance of the mechanism.

Description

【Technical field】 [0001] The invention relates to the technical field of industrial robots, in particular to a large working space parallel robot mechanism. 【Background technique】 [0002] A parallel robot with few degrees of freedom refers to a parallel robot with 2, 3, 4 or 5 degrees of freedom, which is suitable for industrial occasions that require less than 6 degrees of freedom. Compared with parallel robots with 6 degrees of freedom, parallel robots with fewer degrees of freedom have the characteristics of simple structure, low cost, low kinematics and dynamics calculation complexity, and easy control. hotspot. [0003] Normally, in the light industry, food, pharmaceutical packaging and electronic packaging industries, four degrees of freedom are required to complete the pick-and-place operation (Pick-and-Place) in space, namely three translational degrees of freedom and one rotational degrees of freedom. However, in a large number of applications, only two-dimensio...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/04B25J18/04B25J17/02
Inventor 楼云江李志斌李泽湘陈铁牛
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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