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A parallel manipulator with delta structure capable of precise three-dimensional movement

A three-dimensional mobile, manipulator technology, applied in manipulators, manufacturing tools, etc., can solve the problems of narrow industrial manipulator market, insufficient awareness of domestic users, hindering the development of industrial automation, etc., to improve industrial production efficiency, improve the narrow range of motion, The effect of the installation structure is large

Inactive Publication Date: 2016-10-05
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

In my country, both the application and development of Delta parallel robots have just started in 2010. The production of Delta parallel robots is just in its infancy. The performance is lower than that of foreign robots, and the awareness of domestic users is far from enough. The narrow market of industrial manipulators seriously hinders the development of industrial automation in China

Method used

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  • A parallel manipulator with delta structure capable of precise three-dimensional movement
  • A parallel manipulator with delta structure capable of precise three-dimensional movement
  • A parallel manipulator with delta structure capable of precise three-dimensional movement

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Embodiment Construction

[0023] The present invention will be further described below in conjunction with specific examples.

[0024] Such as Figure 1 to Figure 5 As shown, the Delta-structure parallel manipulator described in this embodiment that can move precisely in three dimensions includes a Delta-type parallel manipulator body 1 based on a 3-RUU kinematic chain, a main platform carrying a main platform 2, and a main platform based on a 3-PUU kinematic chain Bracket 3, wherein, the Delta type parallel mechanical handpiece body 1 is mounted on the carrying main platform 2, and is driven by a high-precision servo motor 4 on the carrying main platform 2 through a transmission four-bar mechanism 5; the carrying main platform 2 (that is, the first-level moving platform) is supported by the main platform support 3 based on the 3-PUU kinematic chain. Through the verification of the spiral theory of degrees of freedom, it has three translational degrees of freedom in space, and can be lifted up and down...

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Abstract

The invention discloses a delta structure parallel manipulator capable of precise three-dimensional movement, comprising a delta-type parallel manipulator body based on a 3-RUU kinematic chain, a carrying main platform, and a main platform support based on a 3-PUU kinematic chain, wherein the The Delta type parallel mechanical mobile phone body is installed on the carrying main platform, and is driven by the servo motor on the carrying main platform through the transmission four-bar mechanism; the carrying main platform is supported by the main platform bracket based on the 3-PUU kinematic chain, and has The space has three degrees of freedom in translation, which can be lifted up and down and moved in a plane. The present invention is based on the 3‑PUU and 3‑RUU kinematic chains at the same time, which can enable the carrying main platform to obtain a spatial range of motion, not only can be raised and lowered, but also can be moved in a plane, and then the end of the second-stage moving platform (Delta type parallel robot body) can be executed. Components) have a larger accessible workspace and flexible workspace.

Description

technical field [0001] The invention relates to the technical field of Delta parallel robots, in particular to a Delta structure parallel manipulator capable of precise three-dimensional movement. Background technique [0002] Delta parallel robot is currently the most successful parallel robot in commercial application, and has a very broad application prospect in all walks of life. After more than 20 years of development in foreign countries, its structure and control system have been very mature, and are widely used in electronics, food and medicine industries to complete a large number of repetitive operations such as grabbing, sorting and packaging. In my country, both the application and development of Delta parallel robots have just started in 2010. The production of Delta parallel robots is just in its infancy. The performance is lower than that of foreign robots, and the awareness of domestic users is far from enough. The narrow market of industrial manipulators ser...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
Inventor 何凯文张东苏建威李忠浪李俊璋梁炜丰
Owner SOUTH CHINA UNIV OF TECH
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