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Six-freedom-degree parallel steel belt robot mechanism with roller device

A degree of freedom, robot technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of limited application of parallel robots, and achieve the effects of simple structure, simple control, and increased compression stiffness.

Inactive Publication Date: 2011-08-17
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing parallel robot is not widely applicable, the present invention provides a six-degree-of-freedom steel belt parallel robot mechanism with a roller device that has a very large working space, simple control, low cost, and light weight

Method used

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  • Six-freedom-degree parallel steel belt robot mechanism with roller device
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  • Six-freedom-degree parallel steel belt robot mechanism with roller device

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Embodiment Construction

[0026] refer to Figure 1-3 , a six-degree-of-freedom steel belt parallel robot mechanism with a roller device, including a frame, the frame includes a base 1, and three crossbars 2 are installed on the base 1, and the two ends of the crossbar 2 are connected with kinematic supports chain, the motion branch chain includes a motor base 6 connected to the cross bar 2, a servo motor 5 is installed on the inner side of the end cover of the motor base 6, and a first pulley 9 is connected to the rotor of the servo motor 5, so The motor base 6 is hinged with a reel 10, and one end of the reel 10 extending out of the motor base 6 is connected with a second pulley 8, and the first pulley 9 and the second pulley 8 are connected by a belt 7, and the reel 10 There is a steel belt 4 that can rotate around it, the lower end of the steel belt 4 is hinged with a compound ball joint 15, and the compound ball joint 15 is hinged to the moving platform 16; the upper end of the steel belt 4 is equ...

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Abstract

The invention provides a six-freedom-degree parallel steel belt robot mechanism with a roller device, which comprises a rack. The rack comprises a base, three cross rods are arranged on the base, and the two ends of the cross rods are all connected with movement branch chains. Each of the movement branch chains comprises a motor base connected to the cross rod, the inner side of an end cover of the motor base is provided with a servo motor, a first belt wheel is connected to a rotor of the servo motor, a reel is hinged on the motor base, one end of the reel, which extends out of the motor base, is connected with a second belt wheel, the first belt wheel and the second belt wheel are connected through a belt, a steel belt capable of rotating around the reel is connected to the reel, the lower end of the steel belt is hinged with a composite spherical hinge, and the composite spherical hinge is hinged to a movable platform. A roller device is arranged on the upper end of the steel belt, the roller device comprises a T-shaped bracket connected to the motor base, a convex wheel and a concave wheel are connected to the T-shaped bracket, and the steel belt is extruded and molded through the matching of the convex wheel and the concave wheel which are arranged on the two sides of the steel belt.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a six-degree-of-freedom steel belt parallel robot mechanism with a roller device. Background technique [0002] According to the structure of the kinematic chain, the existing parallel robots at home and abroad are divided into two categories: the rod-supported parallel mechanism and the rope-pulled parallel mechanism. With the advantages of good structural rigidity, strong bearing capacity, small cumulative error, simple motion inversion model, and simple components, the rod-supported parallel mechanism gradually occupies the market in the machine tool industry at home and abroad, and will become the main equipment for high-speed light CNC machining in the 21st century . However, there are problems such as a small working space, the inability to achieve the purpose of driving at the singular point, and the calculation of forward kinematics is very complicated, which brings many...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 艾青林黄伟锋祖顺江
Owner ZHEJIANG UNIV OF TECH
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