Parallel robot with six built-in rods and six degrees of freedom

Abstract

The invention provides a parallel robot with six built-in rods and six degrees of freedom. The parallel robot is more flexible than a conventional structure and larger in angle range and satisfies a harsh using environment. The parallel robot comprises a suspension bracket, six sets of servo systems, six sets of transmission rod assemblies, an upper linkage plate and a lower linkage plate; the suspension bracket is specifically a regular hexagon suspension bracket and is used for supporting hardware of a whole structure; a set of servo systems is fixedly arranged in the center area of each edge of the regular hexagon suspension bracket; each set of servo systems is used for transmitting power; the output ends of each set of servo systems are connected with power transmission arms of the corresponding set of transmission rod assemblies; the six sets of transmission rod assemblies comprise three sets of inner side upper transmission rod assemblies and three sets of outer side lower transmission rod assemblies; each inner side upper transmission rod assembly comprises a first power transmission arm and a first parallelogram transmission assembly; and each outer side lower transmission rod assembly comprises a second power transmission arm and a second parallelogram transmission assembly.

Description

technical field [0001] The invention relates to the technical field of parallel robots, in particular to a parallel robot with six built-in rods and six degrees of freedom. Background technique [0002] Parallel robot is mainly composed of drive motor, main manipulator, auxiliary manipulator, fixed platform, moving platform, claws and other components. Parallel robot is a typical space three-degree-of-freedom manipulator mechanism, because its drive group is evenly distributed on the fixed frame. Therefore, it has the characteristics of compact structure, light weight, high positioning accuracy and fast movement speed. [0003] The existing parallel robots all involve a structure in which the main manipulator and the auxiliary manipulator expand to the outer periphery of the fixed platform and then drive the moving platform up and down. Because the center of this structure is on the outside, it seriously affects the load weight, so there is an urgent need for a In the field...

AI Technical Summary

Problems solved by technology

[0003] The existing parallel robots all involve a structure in which the main manipulator and the auxiliary manipulator expand to the outer periphery of the fixed platform and then drive the moving platform up and down. Because the center of this structure is on the outside, it seriously affects the load weight, so there is an urgent need for a In the field of automated production lines (including food packaging production lines, drug sorting production lines, PCB welding and packaging production lines), parallel robots with large rated loads are used quickly and accurately

[0004] However, the existing six-axis robots are linked to the moving platform through the corresponding active arm and a rod, and all the linked rods can move independently. The supporting strength of the existing six-axis robots is not enough. Therefore, it is urgent to develop a Practical six-axis robot with load strength

Images