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A three-degree-of-freedom hybrid robot mechanism

A robot and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as high cost, slow moving speed, and limit the working performance of the mechanism, and achieve the improvement of dynamic characteristics and the forward and inverse solutions of mechanism kinematics. Simple, easy to install and maintain

Active Publication Date: 2016-05-04
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Linear transmission mechanisms such as screw rods, racks, etc. have high cost and slow moving speed, which will limit the working performance of the mechanism

Method used

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  • A three-degree-of-freedom hybrid robot mechanism
  • A three-degree-of-freedom hybrid robot mechanism
  • A three-degree-of-freedom hybrid robot mechanism

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Embodiment Construction

[0025] The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments.

[0026] like Figure 1 to Figure 3 As shown, a three-degree-of-freedom hybrid robot mechanism includes a frame 1, a rotating platform 2, an end moving platform 3 and a branch chain 4 connecting the rotating platform 2 and the end moving platform 3, and the rotating platform 2 passes through the first rotation The pair 51 is connected with the frame 1, and can drive the terminal moving platform 3 and the branch chain 4 connected thereto to perform a rotational movement relative to the frame 1. The frame 1 is provided with a first rotating platform for driving the rotating platform 2 to rotate. A rotating electrical machine 61 and two second rotating...

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Abstract

The invention discloses a hybrid robot mechanism with three degrees of freedom. The hybrid robot mechanism with three degrees of freedom comprises a rack, a rotary platform, a tail movable platform and a branch chain, wherein the rotary platform and the tail movable platform are connected by the branch chain; the rotary platform is connected with the rack by virtue of a first rotary pair; the branch chain comprises two driving branch chains and two restraint branch chains; two driven arms in the driven branch chains are connected with the tail movable platform only by virtue of a public rotary pair. Spatial internal three-dimensional movement can be realized by the tail movable platform, postures are kept constant, the operating space is large, the dynamic property is good, kinematics forward and reverse solution is simple, the manufacturing cost of the mechanism is low, and the hybrid robot mechanism belongs to a light-type robot and is applicable to industrial tasks such as large-range catching and releasing operations.

Description

technical field [0001] The invention relates to the field of robot mechanisms, in particular to a three-degree-of-freedom hybrid robot mechanism suitable for large-scale pick-and-place operations. Background technique [0002] In the process of robot development, people initially studied tandem robots. When we need the robot to have greater rigidity, carrying capacity and quick response ability in practical applications, another robot structure-parallel robot is needed. Among them, in the fields of food and drug packaging and sorting, assembly and production of electronic products, etc., parallel robots with few degrees of freedom, represented by the Delta3 mechanism proposed by Reymond Clavel in the 1980s, have been widely used. However, because this kind of mechanism is protected by a patent, it is restricted in practical application. [0003] Therefore, many new parallel or hybrid mechanisms with few degrees of freedom have been proposed to replace the above-mentioned m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/107
Inventor 张宪民魏骏杨童艺龙
Owner SOUTH CHINA UNIV OF TECH
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