Bar-wheel combined type three-translation one-rotation parallel mechanism

A combined and parallel technology, applied in the field of robots, can solve problems such as unfavorable mechanism efficiency, uneven force, and uncompact structure, and achieve the effects of ingenious and unique design, avoiding low service life, and good structural rigidity and stability.

Active Publication Date: 2012-05-23
江苏金邦电气工程有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The limitations of the above-mentioned mechanism are: the driven part of the moving platform of the mechanism is equivalent to a set of opposite sides of a parallelogram, the structure is not compact, the movement is not flexible, and the force is uneven, which is not conducive to improving the efficiency of the mechanism

Method used

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  • Bar-wheel combined type three-translation one-rotation parallel mechanism
  • Bar-wheel combined type three-translation one-rotation parallel mechanism
  • Bar-wheel combined type three-translation one-rotation parallel mechanism

Examples

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Embodiment Construction

[0010] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0011] see figure 1 , a lever-wheel combined three-level-one-rotation parallel mechanism of the present invention, comprising a fixed frame 2, a moving platform 7, and four branch chains with the same structure symmetrically arranged between the fixed frame 2 and the moving platform 7; each branch chain It is composed of a near frame rod 3, an upper connecting shaft 4, and two mutually parallel and equal-length far frame rods 5a and 5b. One end of the near frame rod 3 is affixed to the output end of the drive device 1 fixed on the fixed frame 2, and the other end of the near frame rod 3 is affixed to the upper connecting shaft 4; one end of the far frame rod 5a, 5b The ball hinges are respectively connected with the upper connecting shaft 4 ...

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Abstract

The invention discloses a bar-wheel combined type three-translation one-rotation parallel mechanism which comprises a movable platform; the movable platform consists of two angle dividing mechanisms which are distributed horizontal and symmetrically; each angle dividing mechanism comprises a supporting plate, two angle dividing connecting bars, and two angle dividing gears; the angle dividing connecting bars are fixedly connected with the angle dividing gears; the angle dividing gears are hinged with the supporting plate; the angle dividing gears on the two angle dividing connecting bars are mutually engaged and are symmetrically arranged relative to the central line of the supporting plate; two adjacent lower connecting shafts are arranged on the supporting plate; the angle dividing connecting bars of the two angle dividing mechanisms are correspondingly connected one by one through a rotating pair; the four angle dividing connecting bars of the two angle dividing mechanisms form a structure similar to a diamond; an angle enlarging mechanism is fixedly connected with the supporting plate of any angle dividing mechanism; and a tail end actuator is fixedly connected with each angleenlarging mechanism. The bar-wheel combined type three-translation one-rotation parallel mechanism has the advantages of skillful and unique design, and good structural rigidity and good stability; moreover, the bar-wheel combined type three-translation one-rotation parallel mechanism can easily realize high speed motions, and can satisfy the requirements of complex grabbing and loosening operations.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose a rod-wheel combined three-level one-rotation parallel mechanism, which includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame rod and a far frame rod. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be parallel to each other, and the other two parts are ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 黄田赵学满王攀峰梅江平宋轶民刘松涛白普俊赵庆汪满新
Owner 江苏金邦电气工程有限公司
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