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Double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions

A double-parallel, four-sided technology, applied in the field of robotics, can solve problems such as weak load capacity, large moving platform size, and uncompact structure, and achieve good rigidity and stability, uniform force, and long service life.

Inactive Publication Date: 2012-06-27
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The limitations of the above mechanism are: the size of the moving platform of the mechanism is large, the structure is not compact, the rigidity of the mechanism is poor, and the load capacity is not strong

Method used

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  • Double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions
  • Double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions
  • Double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions

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Embodiment Construction

[0017] The present invention will be further described in detail below in combination with specific embodiments.

[0018] Such as figure 1 As shown, the double-parallel three-level-one-rotation parallel mechanism of the present invention includes 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 drive device 1 is fixedly connected to the fixed frame 2, and each branch chain 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 fixedly connected 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 fixedly connected to the upper connecting shaft 4 . One end of the remote frame rods 5a and 5b is respectively ball-hinged with the upper connecting shaft 4 through a ball hinge, and the other end i...

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Abstract

The invention discloses a double-parallelism type parallel mechanism with three-dimensional translation and one-dimensional rotation functions, which comprises a fixed frame, a movable platform and four branched chains with identical structures. The branched chains are symmetrically arranged between the fixed frame and the movable platform, driving devices are fixedly connected onto the fixed frame, each branched chain consists of a near frame rod and a parallelism structure, the movable platform comprises a main platform and two auxiliary platforms which are arranged horizontally, the two auxiliary platforms are respectively rotationally connected with the main platform by two groups of parallel connecting rods with equal lengths so as to form two parallelism structures, an end actuator is rotationally connected onto the main platform, a pinion is fixedly connected onto the end actuator, and two sectors which have identical structures and are meshed with the pinion are arranged on the main platform, are respectively fixedly connected with the two parallel connecting rods in the two parallelism structures on the main platform and are coincident with a rotating shaft. The movable platform of the double-parallelism type parallel mechanism is fine in force transmission effect, long inn service life and light in design.

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] Publication No. US20090019960A1, published on January 22, 2009, discloses a parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, including four active branch chains and a dynamic platform, each branch chain It includes two parts, the near frame rod and the 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 赵学满王攀峰
Owner TIANJIN UNIV
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