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High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation

A robot and high-speed technology, applied in the field of robots, can solve problems such as inertia asymmetry, large size of moving platform, stiffness, accuracy and acceleration asymmetry, and achieve good accuracy, high speed and acceleration capabilities, and large frame volume ratio Effect

Active Publication Date: 2011-02-16
江苏金邦电气工程有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This layout not only makes the design of the moving platform difficult, but also requires a large size of the moving platform. In addition, since the driving device of the branch chain C is fixed on one of the active arms of the branch chains A and B, it will cause the branch chains A and B to be affected. Asymmetry of forces and inertia of moving parts, branch C is not always in the middle of branches A and B, resulting in asymmetry of stiffness, accuracy and acceleration

Method used

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  • High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
  • High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
  • High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation

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Effect test

Embodiment 1

[0023] see Figure 1 ~ Figure 2 , a high-speed pick-and-place parallel robot mechanism capable of full rotation and three-dimensional translation. The mechanism includes a fixed frame 0, a moving platform 4, and a first branch chain 1 and a second branch chain connecting the fixed frame 0 and the moving platform 4. 2 and the third branch chain 3, the first branch chain 1 includes the first drive device 11, the first drive shaft 12, the first near-frame rod 13, the first near-frame connecting shaft 14, and two parallel first far-frame rods 15 and the first far frame connecting shaft 16, the first driving device 11 is fixedly arranged on the fixed frame 0, and its output end is fixedly connected with one end of the first driving shaft 12, the first driving device 11 and the first driving shaft 12 are both Hollow structure, the first drive shaft 12 can freely rotate around the axis z of the first drive shaft 12 relative to the fixed frame 0, the other end of the first drive shaft...

Embodiment 2

[0033] See Figure 3 ~ Figure 4 , a high-speed pick-and-place parallel robot mechanism that can realize full rotation and three-dimensional translation. The structure of the first and second remote support rods adopts a single rod structure. At this time, both ends of the remote support rod need to have two The Hooke hinges with four orthogonal rotational degrees of freedom are respectively hinged to the near-frame bar and the moving platform of the corresponding branch chain. In the first branch chain, the first near frame rod 13 is hinged with the first far frame rod 62 through the Hooke hinge 61, so that the first far frame rod 62 has two orthogonal angles relative to the first near frame rod 61. Degree of freedom of rotation, the Hooke hinge 61 is composed of a vertical hinge axis 61a and a horizontal hinge axis 61b, the axis of the vertical hinge axis 61a is parallel to the z-axis, the axis of the horizontal hinge axis 61b is perpendicular to the axis of the plumb hinge a...

Embodiment 3

[0036] See Figure 5, a high-speed pick-and-place parallel robot mechanism that can realize full-cycle rotation and three-dimensional translation, the third far frame rod uses a single rod structure, and the third near frame rod 33 of the third branch chain is connected to the first rod through the hinge shaft 71 The three far frame rods 72 are hinged, so that the third far frame rod 72 has a degree of freedom of rotation relative to the third near frame rod 33, the axis of the hinge shaft 71 is parallel to the m axis, and the third far frame rod 72 is connected to the third far frame rod 73 through the hinge shaft 73. The moving platform 4 is hinged, so that the moving platform 4 has a rotational degree of freedom relative to the third remote frame rod 72, and the axis of the hinge shaft 73 is also parallel to the m-axis. The connection mode of the first branch chain 1, the second branch chain 2 and other parts can be the same as that of embodiment 1, and also can be the same...

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Abstract

The invention discloses a high-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation, which comprises a fixed frame, a movable platform, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain, second branch chain and third branch chain are used for connecting the fixed frame and the movable platform; the third branch chain is arranged in the symmetrical position between the first branch chain and the second branch chain; a first far hack lever of the first branch chain and a second far hack lever of the second branch chain are arranged in a plane symmetry mode; and the first branch chain, second branch chain and third branch chain are respectively connected with the movable platform through a hinge; and the hinge for connecting the movable platform and the three branch chains is arranged in a plane symmetry mode. The invention can realize three-dimensional translation of complete-turn rotation and satisfy the requirements for common catch and release operations; and the invention has the advantages of great volume ratio of working space to machine frame, high complete machine rigidity, high favorable, high speed and acceleration capacities, and axisymmetric kinematic and dynamic properties, and has multiple reorganizable structural styles to satisfy different demands.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed pick-and-place parallel robot mechanism capable of full-circle rotation of the robot. Background technique [0002] In the automatic packaging, packaging and logistics production lines of electronics, food, medicine, light industry and other industries, it is necessary to use a manipulator to grab an object from a certain position, and then make a large-scale rapid movement in the plane, and follow the given The angle and height place the object being grabbed at another location. 美国专利US4392776(或EP0065859、JP57194888、ES8307152、EP0065859、IE820902L、IE52774)、US5000653(或WO8700789、EP0232292、ES2001359、DE35287769)、US2005087034(或EP1525957、JP2005125489、DE10349452)、US6212968(或DE19934973)、欧洲专利EP0169473( or JP61109681), Japanese patents JP2003275977, JP2003275978, JP2003275987, Bulgarian patent BG5129 and Chinese patent CN1779936, etc., all relate to a three-degree-of-freedom or four-degree-of-freedom S...

Claims

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Application Information

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IPC IPC(8): B25J9/02
Inventor 黄田汪满新倪雁冰梅江平宋轶民赵学满王辉沈兆光王多
Owner 江苏金邦电气工程有限公司
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