| 摘要 |
FIELD: machine building. ^ SUBSTANCE: invention refers to machines, namely to robots intended for being used in industry. Parallel kinematic mechanism (1) includes installation devices (4.1, 4.2, 4.3) having the possibility of individual elongation and shortening and connected to installation head (11) by means of the first connection (8, 9, 10), and to bottom (2) by means of cardan hinge (3.1, 3.2, 3.3). Installation head (11) is located with possibility of being moved within the limits of the working area at manoeuvring of installation devices (4.1, 4.2, 4.3). Reinforcing beams (5.1, 5.2, 5.2.1, 5.2.2) are attached to installation head (11) by means of the appropriate rotary support (100.1, 100.2) of the beam, each of which has only one degree of freedom and has the possibility of sliding in transverse direction in support (17.1, 17.2, 17.2.1, 17.2.2) of the beam at bottom (2) at elongation or shortening of one or more installation devices (4.1, 4.2, 4.3). Each support (17.1, 17.2, 17.2.1, 17.2.2) of the beam is attached to bottom (2) by means of hinge (BU1, BU2) of the support. Support (17.2, 17.2.1, 17.2.2) of reinforcing beam (5.2, 5.2.1, 5.2.2) is located with possibility of being turned about the axis located parallel to longitudinal axis of reinforcing beam (5.2, 5.2.1, 5.2.2). ^ EFFECT: increasing rigidity and improving the accuracy of mechanism which has simple design. ^ 22 cl, 7 dwg |
