37results about How to "Meet the requirements of complex pick and place operations" patented technology

The invention discloses a parallel mechanism capable of realizing four-degree-of-freedom movement. The mechanism is characterized in that a subangle mechanism or the combination of the subangle mechanism and a parallelogram structure is adopted for a moving platform, thus the moving platform is of a rhombus structure, the relative positions of virtual central points of the structure are not changed, and only the deformation movement of relative extension and compression along the diagonal direction can be performed. The mechanism provided by the invention has the advantages of flexible movement, uniform stress, high movement accuracy; the relative movement is converted into rotation movement of an actuator through an angular magnification mechanism, moving pairs are not used in the mechanism, the defects such as nonuniform stress, great friction, short service life and the like are avoided, the integral structure has good rigidity and stability, high-speed movement can be realized easily, and requirements of complex grabbing operations are satisfied; and the mechanism has high reorganization, multiple configurations can be realized, and the clamping and rotation operations can be implemented, thus multiple choices are provided for practical applications.

The invention discloses an up-and-down telescopic three-platform one-rotation parallel mechanism, comprising a fixed frame, a moving platform and four groups of branch chains, wherein the branch chains are same in structure and are symmetrically arranged between the fixed frame and the moving platform; the moving platform comprises an upper platform and a lower platform which are mutually parallel; the vertical axes of the upper platform and the lower platform are coincident; a connecting rod group guiding mechanism is connected between the upper platform and the lower platform, and consists of at least three dual-connecting-rod structures which are same in structure and are distributed along the circumference of the vertical axis of the moving platform; each dual-connecting-rod structure comprises an upper connecting rod hinged with the upper platform and a lower connecting rod hinged with the lower platform; and the upper connecting rod is hinged with the lower connecting rod. In the up-and-down telescopic three-platform one-rotation parallel mechanism, relative movement of the upper platform and the lower platform along the direction of the common vertical axis is converted into the rotation of a lead screw around the axis of the lead screw through a rotating mechanism and the connecting rod group guiding mechanism, the vertical relative movement of the upper platform and the lower platform is guaranteed by utilizing the constrained characteristic of the connecting rod group guiding mechanism, and the rigidity and the stability are good.

The invention discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation, which comprises a fixed mount, a moving platform and four branched chains which are symmetrically arranged between the fixed mount and the moving platform and have same structures, wherein the moving platform comprises a main platform and a secondary platform which are horizontally arranged on the same centre line; the main platform is a closed structure; the secondary platform is embedded into the main platform; the main platform and the secondary platform are connected through a rotating mechanism; the rotating mechanism comprises a nut which is fixedly connected with the secondary platform and a screw which is rotatablely connected with the main platform through a bearing; the nut and the screw form a screw pair; the centre line of the screw is coincident with the vertical axis of the moving platform; the main platform is fixedly connected with a guide rod; and the secondary platform is glidingly connected with the guide rod. The parallel mechanism has a compact structure and high rigidity and stability; a guide mechanism and the rotating mechanism are designed light, thereby, the motion quality is reduced, high-speed capture is easy to realize and the requirements of the complicated capture and release operations are met.

The invention discloses a high-speed moving parallel mechanical arm with six degrees of freedom. The mechanical arm comprises a fixed mount, a movable platform, a three-degree-of-freedom wrist, and six moving branch chains which are arranged between the fixed mount and the movable platform and are of a same structure, wherein the movable platform comprises a central plate, three ball arm seats and three groups of connecting rods; each connecting rod group is composed of two parallel connecting rods with the same length; the ball arm seats are rotationally connected with the central plate through one group of connecting rods to form a group of parallelogram structures; the movable platform is provided with three groups of parallelogram structures; the three-degree-of-freedom wrist is fixedly connected with the central plate; three input axes of the three-degree-of-freedom wrist are arranged coaxially or in parallel and are parallel to a rotating axis on the central plate; three groups of gear mechanisms are arranged in the three groups of parallelogram structures; and the rotation of the connecting rods in each group of parallelogram structures relative to the central plate or the parallel movement of the ball arm seats relative to the central plate is converted into the controllable movement of the three-degree-of-freedom wrist.

The invention discloses a high-speed parallel manipulator with three-dimensional translation and one-dimensional rotation. The manipulator comprises a fixing frame, a moving platform and four branch chains which have the same structure and are arranged between the fixing frame and the moving platform symmetrically, wherein four drive devices are fixedly connected with the fixing frame, the moving platform comprises four gear handles, four bevel sectors, two bevel gears, a base and an end effector, the end effector is hinged with the base in a rotary mode, two bevel gears have opposite spin directions, the bevel gears and the end effector are fixed coaxially, the four gear handles are arranged at an angle of 90 degrees and are respectively connected with the base through rotary shafts in a rotary mode, each of the bevel sectors is fixedly connected with the rotary shaft of one of the gear handles respectively, and the two pairs of bevel sectors which are arranged opposite and the two bevel gears mesh respectively. By the aid of the meshing constraint action between the bevel sectors and the bevel gears of which the spin directions are opposite, the three-dimensional translation of the base and the end effector rotation relative to the base can be achieved when the drive devices drive corresponding branch chains to move.

The invention discloses a rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator. The rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator comprises a fixed rack, a movable platform and four moving branch chains with the same structure, wherein spatial three-dimensional translation of the movable platform is ensured through the four moving branch chains with the same structure; the movable platform comprises a central gear, a platform and an end effector; four guide rails which are of centrally-radial arrangement are arranged on the platform; a sliding block is arranged in each guide rail; the central gear is meshed with four identical arc gears; a guiding groove is formed in the disc surface of each arc gear; the four sliding blocks separately drive the arc gears to move through the guiding grooves; and a rotary shaft is driven to rotate through the gears, so that the end effector has three degrees of translation freedom and one degree of rotation freedom. The movable platform is compact in structure and is symmetrically arranged; movement is flexible; stress is uniform; movement precision is high; the integral structure is good in stability; the structure is simple; manufacture and repair are convenient; and requirement of complex grabbing and releasing operation is met.

The invention discloses a four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation. The four-degree-of-freedom robot mechanism comprises a fixed frame, a movable platform, a rotary table rotationally connected to the fixed frame, a first branched chain, a second branched chain and a third branched chain, wherein the first, second and third branched chains are arranged between the rotary table and the movable platform; each branched chain comprises a near-frame bar and two far-frame bars; the far-frame bars are parallel to and as long as each other; the third branched chain further comprises a conversion fork fixedly connected with the fixed frame; one end of each near-frame bar is connected with the rotary table or the conversion fork; the other end of each near-frame bar is connected with the corresponding far-frame bars via spherical hinges; the far-frame bars are connected with the movable platform via spherical hinges; the movable platform comprises a main platform and an accessory platform which can rotate relatively. The four-degree-of-freedom robot mechanism can realize whole-circle rotation, and has the advantage of large working space-rack size ratio.

The invention relates to a wheel train type movable platform for a four-axis parallel robot. The wheel train type movable platform comprises a main shaft, a subplatform I, a subplatform II and a four-axis parallel mechanism, wherein the subplatform I and the subplatform II are crossed with each other; two groups of relative branched chains are mounted on the four-axis parallel mechanism; each of the relative branched chains is provided with a lower connecting shaft; and the subplatform I and the subplatform II are fixedly connected with corresponding lower connecting shafts. The wheel train type movable platform is compact in structure, light and handy in design, large in transmission range and excellent in carrying capacity, meets the requirements of high-speed grab-put operation, adopts wheel train transmission, is reliable in transmission, can realize transmission of the main shaft, improves the transmission accuracy, is low in operating noise and high in efficiency, and meets the requirements of complicated grab-put operation.

The invention discloses a four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm. The mechanical arm comprises a fixing frame, a motion platform and four motion branch chains, wherein the four motion branch chains are symmetrically arranged between the fixing frame and the motion platform and have the same structure; a pair of synchronous belt wheels which are crossly connected through a cog belt are fixedly connected to two opposite near frame rods; the motion platform comprises four gear handles, four helical sectors, two helical gears, a base and an end effecter; the end effecter is rotatably hinged with the base; the rotation directions of the two helical gears are opposite, and the two helical gears are coaxially fixed with the end effecter; the four gear handles mutually form 90 degrees and rotatably connected with the base respectively through a rotation shaft; and when the branch chains are driven to move by corresponding driving devices, the two-dimensional translation in a plane and the one-dimensional rotation relative to the base of the end effecter can be achieved.

The invention discloses a five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion comprises a fixed mount, a movable platform and five branched chains with the same structure, wherein the branched chains are symmetrically arranged between the fixed mount and the movable platform; the fixed mount is fixedly connected with five driving devices; the movable platform comprises two ball arm seats, two mutually-parallel connecting rods with the equal length and a central plate; two groups of plane-surface parallelogram structures are respectively formed; a transmission mechanism is meshed by two groups of gears; the translational motion of the the two ball arm seats relative to the central plate or the rotation of the two groups of parallel connecting rods relative to the central plate is converted into two power inputs of a two-degree-of-freedom wrist; and under the action of the driving device, the three-dimensional translational motion of the movable platform and the two-dimensional rotation of the two-degree-of-freedom wrist are realized. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion, which is disclosed by the invention, has the advantages of symmetrical integral structure, even stressing of the movable platform, light motion part quality and big possibility of realizing high-velocity motion, and the complex fetching and releasing requirements can be satisfied.