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Multi-coordinate high-speed parallel robot mechanism

A robot, multi-coordinate technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited working space, poor rapidity, and low rigidity, and achieve the effect of simple and compact structure and improved working space.

Active Publication Date: 2017-02-08
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the rigidity of the above-mentioned mechanism is not strong, the fast ability is poor, and the working space is limited

Method used

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  • Multi-coordinate high-speed parallel robot mechanism
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  • Multi-coordinate high-speed parallel robot mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] combined with Figure 1-2 , a multi-coordinate high-speed parallel robot mechanism, including a fixed frame 1, a supporting platform 2, a moving platform, and a first branch chain, a second branch chain and a third branch chain connecting the support platform 2 and the moving platform,

[0042] The support platform 2 is fixedly connected to the fixed frame 1;

[0043] The first branch chain and the second branch chain structure are identical, and are distributed on both sides of the third branch chain;

[0044] The first branch chain includes a first driving device 11, a first near frame rod 12, a first upper connecting shaft 13, two parallel and equal long first far frame rods 14 and a first lower connecting shaft 15; The first driving device 11 is fixedly connected with the support platform 2, and one end of the first frame rod 12 is rotationally connected with the support platform 2, and is fixedly connected with the driving end of the first drive device 11, and the...

Embodiment 2

[0050] combined with figure 1 and 3 The difference between implementation 2 and embodiment 1 is that, on the basis of example 1, an end effector 4 is rotatably connected to the moving platform, and an end effector driving device 5 is fixedly connected, and the end effector 4 and The driving end of the end effector driving device 5 is fixedly connected. Embodiment 2 is a three-level one-rotation three-degree-of-freedom high-speed parallel robot mechanism.

Embodiment 3

[0052] combined with Figure 4-6 , the difference between Example 3 and Example 1 is that

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Abstract

The invention discloses a multi-coordinate high-speed parallel robot mechanism. The multi-coordinate high-speed parallel robot mechanism comprises a fixed frame, a supporting platform, a movable platform, a first branch chain, a second branch chain and a third branch chain, wherein the first branch chain, the second branch chain and the third branch chain are arranged between the fixed frame and the movable platform; each branch chain comprises a near frame rod and far frame rods; the third branch chain further comprises a rotary fork, the rotary fork is connected to the supporting platform in a rotating mode or a fixed mode, one end of the near frame rod is connected to the fixed frame or the rotary fork, the other end of the near frame rod is connected to the far frame rods, and the far frame rods are connected to the movable platform; and the supporting platform is connected to the fixed frame in a fixed mode or a rotary mode. The multi-coordinate high-speed parallel robot mechanism is ingenious in structure, and mechanism reconfiguration can be realized by adjusting the motion relation among components appropriately.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a multi-coordinate high-speed parallel robot mechanism. Background technique [0002] The high-speed parallel robot mechanism has been widely used in the high-speed and light-load handling operations of automatic production lines in the fields of food and medicine, modern logistics, and electronic information because the end can achieve high speed and acceleration, and can meet the handling of space objects. [0003] The US patent No. US20090019960A1 discloses a high-speed parallel robot with four degrees of freedom, and the European patent No. EP1084802B1 discloses a four-degree-of-freedom parallel robot. Through the analysis of these two patents, it can be known that the existing A parallel mechanism that realizes three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0072B25J9/08
Inventor 汪满新宋远璞冯虎田欧屹王禹林
Owner NANJING UNIV OF SCI & TECH
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