Parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation

A staggered and parallel technology, applied in the field of robotics, can solve the problems of large size of the moving platform, poor force transmission effect, unfavorable mechanism efficiency, etc., achieving good rigidity and stability, satisfying complex pick-and-place operations, and long service life. Effect

Inactive Publication Date: 2011-08-24
青岛北洋天青数联智能有限公司
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  • Abstract
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Problems solved by technology

The limitations of the above-mentioned mechanism are: multiple parts of the moving platform of the mechanism are in the same plane, so that the size of the moving platform is large and the structure is not compact, and two adjacent branch chains are used to drive a part of the moving platform, so that The force transmission effect of the method is not good, the flexibility is poor, and it is not conducive to improving the efficiency of the mechanism

Method used

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  • Parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation
  • Parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation
  • Parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation

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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 parallel staggered 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 , two mutually parallel and equal-length far frame rods 5 a, 5 b and a lower connecting shaft 6 . 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 to the ...

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Abstract

The invention discloses a parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation, and the parallel mechanism comprises a moving platform. The moving platform comprises an upper platform and a lower platform, which are arranged in a horizontal manner; the lower platform consists of a pair of identical angle plates and a pair of parallel connecting rods with equal lengths; two ends of the two parallel connecting rods are rotatably connected with the two angle plates respectively; the two parallel connecting rods and the two angle plates form a structure of parallelogram; the upper platform is connected with the two parallel connecting rods of the lower platform through revolving pairs; the upper platform is parallel with the two angle plates, which are provided with lower connecting shafts; and the moving platform is connected with an end effector through an angle amplification mechanism. The parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation has the advantages of comparatively better [good] rigidity and stability, flexible motion, uniform stress and a long service lifetime, is capable of high speed grab, and meets the requirement of complex operations of grab and release.

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 parallel shifting 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 bar and a far frame bar. 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 c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 黄田赵学满王攀峰宋轶民梅江平赵庆白普俊刘松涛汪满新
Owner 青岛北洋天青数联智能有限公司
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