Plane two-freedom-degree parallel mechanism

Abstract

The invention discloses a plane two-freedom-degree parallel mechanism. The plane two-freedom-degree parallel mechanism comprises a fixed guiding rail, a tool flange, two members, and two connecting rods, wherein two driving sliding blocks forming moving pairs with the fixed guiding rail are arranged on the fixed guiding rail; the tool flange is used for mounting an outer connecting piece, a balancing sliding block is arranged on the tool flange, and the moving axis of the balancing sliding block is perpendicular to the straight line wherein the fixed guiding rail is located at; the two membersare distributed with the moving axis of the balancing sliding block as the central symmetry, a first hinging point, a second hinging point and a third hinging point sequentially distributed are arranged on each member, each hinging point is hinged to the corresponding driving sliding block to form a rotating pair, and each third hinging point is hinged to one of the tool flange or the balancing sliding block to form a rotating pair; and the two connecting rods are arranged corresponding to the members on the two sides, one end of each connecting rod is hinged to the second hinging point of the corresponding member to form a rotating pair, and the other end of each connecting rod is hinged to the balancing sliding block or the tool flange by being opposite to the corresponding third hinging point to form a rotating pair. By means of the plane two-freedom-degree parallel mechanism, the mounting plane of the outer connecting piece of the tool flange keeps always parallel to the axis of the fixed guiding rail.

Description

technical field [0001] The invention relates to the field of robot automation, in particular to a plane two-degree-of-freedom parallel mechanism. Background technique [0002] The plane two-degree-of-freedom parallel robot can realize any trajectory in the plane, and can be applied to high-speed tasks in the plane such as packaging, sorting, packaging, etc., so it has been widely used in automated production lines in light industry, electronics, food, and medicine industries. . [0003] Among them, handling, sorting, loading and unloading, etc. are the main application forms of robots. According to the needs of actions, robots have different degrees of freedom, including simple two degrees of freedom and complex multiple degrees of freedom. For most simple loading and unloading situations, two degrees of freedom can already meet the requirements. More degrees of freedom means redundant functions, difficult operation and maintenance, and increased costs. Therefore, a mechani...

AI Technical Summary

Problems solved by technology

For most simple loading and unloading situations, two degrees of freedom can meet the requirements, and more degrees of freedom mean that functional redundancy is useless, operation and maintenance are difficult, and cost increases. Therefore, mechanisms with fewer degrees of freedom are used as much as possible to meet the action The need has long been a design goal in the industry

[0004] The current two-degree-of-freedom parallel mechanism is mainly realized by hinged connecting rods, most of which have the disadvantages of many structural parts, many hinge points, small movement space, and limited range of motion.

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