Four-freedom-degree cylindrical coordinate parallel robot

Abstract

The invention discloses a four-freedom-degree cylindrical coordinate parallel robot. A reference plane is defined by a stand column, and two X-axis drive devices and two Z-axis drive devices are symmetric about the reference plane. A tail end support is hinged to each X-axis driving arm, and a parallelogram mechanism is formed by the stand column, each X-axis driving arm, the corresponding tail end support and a reinforcement rod. One ends of four sub branch chains are connected with a moving platform, and the other ends of the four sub branch chains are connected with the two tail end supports and two Z-axis driving arms. The four sub branch chains are single rods, and the two ends of each sub branch chain are connected through a hooke joint. Or the four sub branch chains are parallelogram composite chains. Each composite chain comprises two shaft rods and two chain rods, one of the two shaft rods in each composite chain is arranged on the moving platform, and the other of the two shaft rods in each composite chain is arranged on the corresponding tail end support or Z-axis driving arm. The four-freedom-degree cylindrical coordinate parallel robot is compact in structure, flexiblein motion and excellent in kinematics performance.

Description

technical field [0001] The invention relates to the field of parallel robots, in particular to a four-degree-of-freedom cylindrical coordinate parallel robot. Background technique [0002] Plastic industry, electronic product industry, pharmaceutical industry and food industry are important links in my country's national industrial system. In order to improve the production efficiency of the above-mentioned industries, the production lines of various products are continuously developed and used. However, most of the tasks of packaging, sorting, assembling and dismantling of goods on the light-duty production line in my country's current industry still use manual labor. potential productivity. The competitiveness of the above-mentioned industries in our country is declining, and the degree of industrial automation needs to be improved urgently. The introduction of industrial robot technology has become an indispensable and important means to solve the above problems. [00...

AI Technical Summary

Problems solved by technology

The series mechanism is connected by kinematic pairs in sequence, which is an open-loop structure with large industrial space and high flexibility, but it also has obvious disadvantages: the accumulation of errors of each kinematic pair leads to low end precision, low stiffness, large inertia poor dynamics

[0006] Patent CN202592386 pointed out that the multiple parts of the moving platform part of the H4 mechanism in the patent US20090019960 and EP1084802 are in the same plane, resulting in a large size of the moving platform part, which is not compact enough, and two adjacent branch chains drive one part of the moving platform part to transmit force. The effect is not good, which is not conducive to improving the efficiency of the mechanism; patents CN101863024 and CN10261201 point out that the size of the moving platform components in patents US20090019960 and EP1084802 is relatively large, and the amplification mechanism provided on them increases the moving platform components, and the driving components are equivalent to a set of opposite sides of a parallelogram , the structure is not compact, the movement is not flexible, and the force is uneven, which is not conducive to improving the efficiency of the mechanism; the patent CN102229141 points out that there are only two driven parts of the moving platform parts in the patents US20090019960 and EP1084802, and these two parts are equivalent to a group of parallelograms On the other hand, such a driving method is inflexible and the force is uneven, which is not conducive to the smooth operation of the mechanism

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