Four-degree-of-freedom high-speed parallel robot with continuous rotation capability

A degree of freedom and robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as inability to realize infinite rotation, and achieve the effect of improving dynamic response quality and reducing wear

Active Publication Date: 2021-12-17
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the interference between the moving platforms, or the singularity of the transformation mechanism, although the speed-up mechanism can be used to expand the rotation range, there is still a limit to the rotation range, and infinite rotation in the direction of forward rotation or reverse rotation cannot be realized.

Method used

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  • Four-degree-of-freedom high-speed parallel robot with continuous rotation capability
  • Four-degree-of-freedom high-speed parallel robot with continuous rotation capability
  • Four-degree-of-freedom high-speed parallel robot with continuous rotation capability

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Embodiment Construction

[0023] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are merely a part of the embodiments of the invention.

[0024] The technical solution to solve the above technical problem is:

[0025] like Figure 1-11As shown, the present invention has a four-degree-freedom high-speed parallel robot having a continuous rotation capacity, which includes a platform, a movable platform, and a first strand, a second strand arranged between the platform and movable platform. , The third strand and fourth strand; four driving devices are arranged on the confinement platform; the first strand and the third strand structure are the same, and both include driving arms A, upper connecting rod A, Left link A, right link A, diamond chain and lower connecting rod A; one end of the drive arm A and the fixed platform by rotating the secondary connecti...

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Abstract

The present invention claims a four-degree-of-freedom high-speed parallel robot with continuous rotation capability, which includes: a fixed platform, a moving platform, and a first branch chain, a second branch chain, and a first branch chain arranged between the fixed platform and the moving platform. Three branch chains and the fourth branch chain; four driving devices are symmetrically arranged on the fixed platform; the first branch chain and the third branch chain have the same structure, and the second branch chain and the fourth branch chain have the same structure The moving platform includes a wishbone, a first rocker, a second rocker, a crank A, a connecting rod A, a crank B, a connecting rod B, a crank C, a connecting rod C, a crank D, a connecting rod D, and a spur gear A, cylindrical gear B, cylindrical gear C, cylindrical gear D and central cylindrical gear. The present invention adopts four sets of symmetrically arranged rocker crank mechanisms, and by staggering the dead points of each set of rocker mechanisms and the transmission of the fixed-axis gear train, the infinite rotation of the end effector in the direction of forward rotation or reverse rotation can be realized.

Description

Technical field [0001] The present invention belongs to the field of parallel robot design, particularly to a high-speed parallel robot with four degrees of freedom of the continuous rotation capacity. Background technique [0002] Having a three dimensional translational and rotational degrees of freedom parallel robot handling operations to meet the operation target space, and are therefore widely used in food, medicine, logistics, electronic information and other automated production line. In this field, the first application is implemented Delta parallel robot proposed mechanism Clavel. Delta but simple mechanism having only three degrees of freedom of spatial translational, rotational degrees of freedom can not be achieved. For this purpose, Pierrot put forward H4, I4, and other types of Par4 parallel robot with four degrees of freedom of the articulated moving platform. Wherein the hinge type parallel robot moving platform Par4 is a parallelogram, growth mechanism by rotati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 汪从哲梁志芳张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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