54results about How to "Simple kinematics" patented technology

The invention relates to a four-freedom-degree single-action platform parallel mechanism capable of achieving motion of a selective compliance assembly robot arm (SCARA) and belongs to the technical field of parallel robots. The four-freedom-degree single-action platform parallel mechanism comprises a movable platform, a fixed platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein an actuator is installed on the movable platform, and the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected between the movable platform and the fixed platform and have the same structure. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain all contain movement pairs in active driving. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are respectively connected with the movable platform and the fixed platform to form a space parallel closed-loop mechanism, the space parallel closed-loop mechanism drives the movable platform to move through four input moving parts, and three-dimensional translational motion and one-dimensional rotation motion in a space are achieved. The parallel mechanism has the advantages of being simple in structure and relatively simple in kinematics, and the structural characteristics of a single platform are favorable for achieving high-speed and high-accelerating dynamic response characteristics.

The invention relates to a four-degree-of-degree single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation and belongs to the technical field of industrial robots. The mechanism comprises a moving platform for installing an actuator, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain which have same structures are connected between the moving platform and the fixed platform and respectively comprise a driving moving pair; and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected with the fixed platform and the moving platform respectively to form a parallel closed loop mechanism, and the parallel closed loop mechanism drives the moving platform to move through the four driving moving pairs so that three-dimensional translation and one-dimensional rotation in space are achieved. The parallel mechanism has structure characteristics of single platforms and is concise in structure and simple in kinematics, and achievement of high-speed movement is facilitated.

The invention relates to a three degree of freedom parallel mechanism and provides a three degree of freedom parallel robot mechanism which reduces the complexity degree of motion compensation and has a simpler kinematics. The technical scheme is that the three degree of freedom parallel robot mechanism comprises a moving platform, a fixed platform and three branches which connect the moving platform and the fixed platform, wherein structures of the three branches are completely the same; motion planes of the left branch and the right branch are superposed and are symmetrically distributed in relation to the moving platform; a motion plane of the central branch is superposed with symmetrical planes of the left branch and the right branch; and each branch is provided with a revolute pair, a connecting rod and a spherical hinge.

The invention relates to a redundant driving five-axis linkage hybrid machine tool which comprises a tool body, a column extender fixed on the tool body, a movable platform for installing a spindle, a working table for installing a workpiece to be cut, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are used for connecting the movable platform, the tool body and the column extender, and five-axis linkage control can be achieved. The redundant driving five-axis linkage hybrid machine tool has the advantages of being concise and compact in structure, relatively simple in kinematics, high in rigidity, good in repeated positioning accuracy, relatively large in working space and machine tool size ratio and the like.

A pressure welding device (1), especially a friction welding device, holds workpiece parts (2, 4) in clamping devices (6, 7) and axially moves the workpieces towards each other by means of a feed device (21). The pressure welding device (1) has a measuring device (8, 13), measuring in a contactless manner. The measuring device detects the surface condition and / or the concentricity and / or true running and / or the axial runout and / or radial runout in a front welding region (3, 5) of a workpiece part (2, 4).

The invention relates to a processing device (1) used for workpieces, especially vehicle bodies and vehicle body components. The processing device comprises a locating device which comprises at least one location drive (20, 21) used for the workpieces (4) and / or workpiece carriers (5), and one or more than one multi-axis manipulator (15, 16) which is preferably a programmable robot and comprises a processing tool (18) and a manipulator controller (19). The location drive is controllable and is connected with the manipulator controller (19). The locating device additionally comprises a controllable conveying device (10) used for received workpieces (4) and / or received workpiece carriers (5) and one or more than one connector (13, 14) used for connection with an external conveying device (9) used for the workpieces (4) and / or workpiece carriers (5). The invention also discloses processing equipment and a processing method used for the workpieces (4), especially the vehicle bodies and vehicle body components.

A device for concomitant opening or closing of two flaps of a door of an aircraft retractable landing gear. The device comprises a single actuating means for the opening or the closing of the two flaps under the effect of its extension or of its retraction. The actuating means comprises a first end linked to the structure of the aircraft, and a movable part. The device comprises a swinging arm comprising a first end linked by a pivot to the structure, and a second end linked to the movable part of the actuating means by a link having a degree of rotational freedom about an axis parallel to the axis of the pivot. The second end of the swinging arm is furthermore respectively linked to a first tie rod linked to a first of the two flaps, and to a second tie rod linked to a second of the two flaps.

A convertible vehicle is provided with a rear windshield and a rear roof element that laterally comprises C pillars that are at least substantially located next to the rear windshield, adjoining which is at least one front roof element, arranged upstream thereof in the direction of travel when the roof is closed. In order to open the roof the rear roof element can move rearward and downward, and the front roof element can swivel toward the rear roof element. When the roof is open, the C pillars can be swiveled inward in relation to a center section comprising the windshield about axes into a position lying above the center position when the roof is open, and the axes when the roof is closed have at least one component in the direction of travel and one upwardly directed component.

The invention discloses a dual quaternion modeling and control-based three-joint space manipulator system. The dual quaternion modeling and control-based three-joint space manipulator system includes an ultrasonic detector, a visual sensor mounted on a spacecraft, a spaceborne computer, an A / D conversion circuit, a voltage boosting circuit, a motor, an interface A, an interface B and a display computer. According to the dual quaternion modeling and control-based three-joint space manipulator system of the invention, dual quaternion is adopted to perform kinematics and dynamics modeling on the manipulator system, and kinematics and dynamics equations are simpler; dual quaternion is adopted to perform control system design corresponding to the kinematics and dynamics equations of the manipulator system, and therefore, a controller can be simper, and control accuracy is not decreased; since the kinematics, dynamics and control system models are simpler, the degree of freedom of the manipulator system of the invention is higher than that of a conventional manipulator. The manipulator designed in the invention is a degree-of-freedom system.

The invention discloses a wrist unit which is realized based on a direct-drive joint of a hydraulic swing cylinder, and relates to an industrial robot spherical wrist. During non-singular configuration, axes of rotary shafts of hydraulic swing cylinders of three stages are mutually and perpendicularly crossed on one point in space to define a spherical wrist structure. The hydraulic swing cylinderat the first stage realizes deflection of the spherical wrist, and can realize a maximal deflection angle of 220 degrees; and the two ends of the rotary shaft of the hydraulic swing cylinder at the second stage extend out of the swing cylinder end covers to realize pitching of the spherical wrist, so that a maximal pitching angle of 220 degrees can be realized. The hydraulic swing cylinder at thethird stage realizes turnover of the spherical wrist, so that a maximal turnover angle of 225 degrees can be realized. The hydraulic direct-drive three-freedom spherical wrist disclosed by the invention does not need to use a high-precision speed reducer, has a series of advantages of being simple in structure, great in density, high in load / specific gravity ratio, strong in bearing ability, andthe like, and is suitable for working conditions such as large-power heavy-load drive and electromagnetic environmental sensitivity.

The invention designs an active type ankle artificial limb mechanism with functions of linkage energy storage and barycenter self-regulation. A basic structure comprises a driving motor, a base, a series spring system of a muscle-like three-loop linkage mechanism, a parallel spring system of a muscle-like smooth crank slider mechanism, a pressure sensor, a carbon fiber artificial foot, a heel buffer spring system, a barycenter self-regulating block system, an angle transducer and a driving shaft. The two linkage type spring systems can achieve energy storage and energy release continuously, provide energy for the artificial limb mechanism, and reduce energy output of the motor. Moreover, the linkage mechanism has the advantages of simple structure, easy manufacturing, low production cost and the like. Biological joints are non-uniform geometry, thereby showing nonstationarity of ankle flexion-extension rotating axes; the barycenter self-regulating block system can achieve such functionand the function of self-regulation of human body barycenter and the ankle artificial limb mechanism, conforms to the movement characteristic of ankles, improves the comfort level of the artificial limb mechanism during walking, and prolongs the service life of the ankle artificial limb mechanism.

The invention concerns a roller track device based on simple kinematics, enabling reduction of the number of parts and production costs of the assembly as well as its space requirement, and designed for being fitted on new handling apparatuses as well as for retrofitting. The invention also concerns a platform or fork handling apparatus equipped with such a device. The roller track device (10) comprises a substantially horizontal table (21) whereon are mounted ball sockets (23), with a rack (31) mounted on top provided with openings (32) arranged opposite the balls (23). The rack (31) is mobile relative to the table (21) between a high position wherein it conceals the balls (23). A handle (41) coupled to the rack (31) enable its displacement in horizontal translation (Th). The openings (32) provided in the rack (31) consist of elliptical slots, which in combination with the spherical profiles of the underlying roller track device in the form of a platform with balls is also applicable to caster track platforms. The invention is useful for transferring heavy loads in a substantially horizontal plane with a platform handling apparatus for machine-tools, presses, injection machines and the like.

A spherical parallel mechanism comprises a base and a moving platform; at least two groups of moving branch chains are arranged between the base and the moving platform; each group of the moving branch chains includes two driving connecting rods and two driven connecting rods; in the same group of the moving branch chains, the two driving connecting rods are rotationally connected with the base through base rotating pairs separately, each driving connecting rod is rotationally connected with one driven connecting rod through a connecting rod rotating pair correspondingly, the two driven connecting rods are rotationally connected through an output rotating pair, the connecting point of the two driven connecting rods is an output reference point, and the output reference point is rotationally connected with the moving platform through a moving platform rotating pair; and the axes of the base rotating pairs, the connecting rod rotating pairs, the output rotating pairs and the moving platform rotating pairs intersect at the same point. The spherical parallel mechanism is high in load capacity, high in positioning precision and large in working space, no driving motor is arranged on a moving component for the whole mechanism, and thus the structure is simple and light.

The invention discloses a wire-driven snake-shaped arm robot capable of realizing bending motion decoupling. The wire-driven snake-shaped arm robot capable of realizing bending motion decoupling comprises a near-end structure section, a far-end structure section, driving wires and a driving device; wherein the near-end structure section comprises a near-end joint provided with a first revolute pair and a second revolute pair; the rotating axis of the first revolute pair coincides with the end surface of a near-end base disc; the rotating axis of the second rotating pair coincides with the endface of a near-end tail end disc; the far-end structure joint comprises a far-end joint provided with a third revolute pair and a fourth revolute pair; the rotating axis of the third revolute pair coincides with the end face of a far-end base disc; the rotating axis of the fourth revolute pair coincides with the end face of a far-end tail end disc; and extension or retraction of all the driving wires is controlled through the driving device; therefore, bending of the wire-driven snake-shaped arm robot is controlled; and bending motion decoupling is achieved in the bending process, therefore, kinematics of the robot can be effectively simplified, and the control difficulty is reduced.

The invention relates to a three-translation high-speed sorting parallel manipulator comprising a fixed platform, a movable platform, and three branch chains, wherein the first branch chain comprises a first rotation pair, a first driving arm, a second rotation pair, a connection rod, a third rotation pair, a first connection piece, and a fourth rotation pair; the second branch chain and the first branch chain are same in structure; the third branch chain is arranged between the first branch chain and the second branch chain; the third branch chain comprises a first moving pair, a second driving arm, a fifth rotation pair, a connection arm, a sixth rotation pair, a second connection piece and a second moving pair. The three-translation high-speed sorting parallel manipulator has the beneficial effects of being simple in structure, convenient to install, high in bearing capacity, large in work space, and easy to control. The structure is in symmetrical distribution; the appearance is attractive; the center of gravity of the manipulator is balanced; characteristics of little weak coupling and little input are achieved; the three-translation high-speed sorting parallel manipulator is wide in application range, and can be used for sorting, assembling and manufacturing in an assembly line and production of medical robots, parallel machine tools, smart home and sensors.

The invention discloses a wire-driven structure joint capable of realizing bending motion decoupling. The wire-driven structure joint comprises at least two wire-driven joints connected end to end, afirst wire and a second wire, wherein the first wire and the second wire are connected with the wire-driven joints in series; the wire-driven joints comprise base discs, connecting rods and tail end discs; the base discs and the connecting rods are connected to form first rotating pairs; rotating axes of the first rotating pairs are overlapped with the end surfaces of the base discs; the tail enddiscs and the connecting rods are connected to form second rotating pairs; rotating axes of the second rotating pairs are overlapped with the end surfaces of the tail end discs; the first wire penetrates through all the wire-driven joints in sequence, and drives the second rotating pairs to rotate; and the second wire penetrates through all the wire-driven joints in sequence, and drives the firstrotating pairs to rotate. The wire-driven structure joint can realize the bending decoupling motion in two degrees of freedom, can effectively simplify the robot kinematics, and reduces the control difficulty.

A plane symmetry overconstrained mixed-connected robot comprises a movable platform, a two-freedom-degree rotating head connected to the tail end of the movable platform and a fixing frame; the center of the head end of the movable platform is fixedly connected with the tail end of a first branch chain, the head end of the first branch chain penetrates the center of the fixing frame, the body portion of the first branch chain is in hinged connection with the center of the fixing frame, a second branch chain and a third branch chain are symmetrically hinged to the two side edges of the movable platform, a fourth branch chain is hinged to the position, between the second branch chain and the third branch chain, of the side edge of the movable platform, under primary configuration, the formed robot is of a space plane symmetry structure, and the plane symmetry overconstrained mixed-connected robot has the beneficial effects that the kinematics is simple, the structure is compact, the manufacturing and mounting manufacturability is good, and the work space rack volume ratio is large.

The invention discloses a five-degree-of-freedom parallel mechanism with a double-acting platform and a six-degree-of-freedom ship-borne stabilized platform based on the parallel mechanism. The ship-borne stabilized platform comprises a five-degree-of-freedom parallel mechanism with double movable platforms and a rotary table system; the parallel mechanism comprises a base, a movable platform and three branch mechanisms connected between the movable platform and the base, and a first branch comprises a sub-movable platform and three sub-branch mechanisms which are completely the same and are symmetrically distributed on the sub-movable platform in a central rotation mode; the second branch and the third branch are symmetrically arranged relative to the movable platform, the parallel mechanism can achieve three degrees of freedom of movement and two degrees of freedom of rotation, the rotary table system is installed on the movable platform, and the rotary table has the degree of freedom of vertical rotation, so three-dimensional movement and three-dimensional rotation of the ship-borne stabilized platform are achieved. The six-degree-of-freedom jolting motion compensation device has the advantages of being large in attitude space, high in rigidity, high in bearing capacity, high in precision and the like, and various ship-borne stability requirements can be met.

The invention provides a linkage mechanism capable of achieving precise vertical rectilinear motion. The linkage mechanism comprises a pedestal, connecting blocks, a motion platform, connecting rods and rotating pairs, wherein the connecting rods and the rotating pairs are connected between the pedestal and the motion platform. The connecting rods and the pairs of the mechanism are in mirror symmetrical structure. The linkage mechanism has the advantages that in the stretching and retracting process of the linkage mechanism, the motion platform can achieve vertical rectilinear motion, and thelinkage mechanism is simple in kinematics, easy to drive and high in rigidity and bearing capacity; and meanwhile, the mechanism is compact in structure, small in size in complete retraction and convenient to store. Thus, the linkage mechanism has good application prospects in space stretchable supporting arms, stretchable wings and stretchable tongs.

The invention discloses a parallel robot with a large working space and low inertia. The robot comprises a rack, a dynamic operation table, and three same branches connected between the rack and the dynamic operation table and uniformly and circumferentially distributed along a central axis of the rack, wherein each branch sequentially comprises a parallelogram coupling drive assembly, a sixth rotational joint assembly, a driven rod piece, a seventh rotational joint assembly and a universal hinge from the rack to the dynamic operation table. The parallel robot with the large working space andthe low inertia provided by the invention has the advantages that six drive motors are arranged on the rack and have no follow-up movement, and each branch is concise and compact in structure, so thatthe mechanism has the characteristics of low inertia, light weight, large working space, easiness in processing and manufacturing and the like, and has a favorable application prospect.

The present invention relates to an agricultural haymaking machine comprising a chassis resting on the ground by at least one wheel and intended to be coupled to a tractor able to move the machine in a direction of advance, a carrier carrying a plurality of rotors being swivel mounted to the chassis around a central pin oriented transversally to the direction of advance, each rotor being driven around a respective drive axis, and a lift actuator, articulated to the chassis on one hand and to the carrier on another hand, being able to make the carrier pivot around the central pin relative to the chassis, the machine being able to adopt a headland configuration in which the carrier is raised, as well as a work configuration in which the carrier rests on the ground by means of at least one support. The central pin is rigidly attached to the carrier, and the machine comprises a positioning actuator able to move the central pin relative to the chassis to change the position of the drive axes relative to the ground.

The invention discloses a wire-driven joint capable of decoupling bending motion, comprising a base plate, a connecting rod, an end plate, a first wire and a second wire; the base plate is connected with the connecting rod to form a second A rotary pair, the rotation axis of the first rotary pair coincides with the end face of the base plate; the end plate is connected with the connecting rod to form a second rotary pair, the rotation axis of the second rotary pair coincides with The end faces of the end disks are coincident; one end of the first wire is fixedly connected to the end disk, and the other end passes through the end disk, the connecting rod, the first rotating pair and the base disk in turn; one end of the second wire It is fixedly connected with the end plate, and the other end passes through the end plate, the second rotating pair, the connecting rod and the base plate in sequence. The invention can realize the decoupling of the wire-driven joints in the directions of two degrees of freedom, and can effectively simplify the kinematics of the robot and reduce the difficulty of control.