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Parallel mechanism capable of realizing four-degree-of-freedom movement

A technology with degrees of freedom and movement, applied in the field of robotics, can solve problems such as inflexible driving methods, uneven force conditions, and unfavorable mechanisms for smooth operation, so as to avoid uneven force, good rigidity and stability, and uniform force Effect

Active Publication Date: 2011-11-02
WUHU IROBSYS ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that there are only two parts driven by the moving platform of the mechanism, and these two parts are equivalent to a set of opposite sides of a parallelogram. run smoothly

Method used

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  • Parallel mechanism capable of realizing four-degree-of-freedom movement
  • Parallel mechanism capable of realizing four-degree-of-freedom movement
  • Parallel mechanism capable of realizing four-degree-of-freedom movement

Examples

Experimental program
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Effect test

Embodiment 1

[0017] see Figure 1 ~ Figure 3 , the present invention is a parallel mechanism that can realize four-degree-of-freedom movement, including 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; The branch chain is composed of a near frame rod 3, an upper connecting shaft 4, two mutually parallel and equal-length far frame rods 5a and a far frame rod 5b. One end of the near frame rod 3 is affixed to the output end of the drive device 1 fixed on the fixed mount 2, and the other end of the near frame rod 3 is affixed to the upper connecting shaft 4; the far frame rod 5a and the far frame rod 5b One end of each branch is respectively ball-hinged with the upper connecting shaft 4 through a ball hinge, and the other end is respectively ball-hinged with the lower connecting shaft 6 affixed to the moving platform 7 through a ball hinge; the lower connection on each branch chain ...

Embodiment 2

[0023] see Figure 4 , its overall structure is the same as that of Embodiment 1. The difference from Embodiment 1 is that the moving platform adopts a reconfigured structure of the moving platform of Embodiment 1. The fixed first angled plate 8a, the second angled plate 8b, the third angled plate 8c and the fourth angled plate 8d, the first angled plate 8a, the second angled plate 8b, the third angled plate 8c and the fourth angled plate 8d are clockwise Arrangement; the first corner plate 8a is provided with a first corner dividing mechanism, and the first corner dividing mechanism includes a first gear 9a, a second gear 9b, a first corner dividing link 10a and a second corner dividing link 10b, the first gear 9a and the second gear 9b are symmetrically arranged along the center line of the first angle plate 8a, and are connected with the first angle plate 8a through a rotating pair; the first angle-dividing connecting rod 10a One end of one end is affixed to the first gear...

Embodiment 3

[0026] see Figure 5, its overall structure is the same as that of Embodiment 1. The difference from Embodiment 1 is that the moving platform adopts a reconfigured structure of the moving platform of Embodiment 1. The fixed first angled plate 8a, the second angled plate 8b, the third angled plate 8c and the fourth angled plate 8d, the first angled plate 8a, the second angled plate 8b, the third angled plate 8c and the fourth angled plate 8d are clockwise Arrangement; the first corner plate 8a is provided with a first corner dividing mechanism, and the first corner dividing mechanism includes a first gear 9a, a second gear 9b, a first corner dividing link 10a and a second corner dividing link 10b, the first gear 9a and the second gear 9b mesh with each other and are arranged symmetrically along the center line of the first angle plate 8a, and are connected with the first angle plate 8a through a rotating pair; One end of the connecting rod 10a is affixed to the first gear 9a, ...

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Abstract

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.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel mechanism of a robot with four degrees of freedom in space. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose a parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, including 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 part...

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白普俊刘松涛赵庆汪满新
Owner WUHU IROBSYS ROBOT CO LTD
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