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Multi-degree-of-freedom controllable mechanism type connecting rod mechanism

A link mechanism and mechanism-type technology, applied in the field of robots, can solve the problems of large torque required, low stiffness, and small work space, and achieve the effects of reducing active torque, good dynamic performance, and improving work space

Inactive Publication Date: 2015-04-29
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom controllable linkage mechanism, which solves the shortcomings of traditional tandem robots about the large torque required, low rigidity and small working space

Method used

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  • Multi-degree-of-freedom controllable mechanism type connecting rod mechanism
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  • Multi-degree-of-freedom controllable mechanism type connecting rod mechanism

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] Such as Figure 1-Figure 7 As shown, a multi-degree-of-freedom controllable mechanism linkage mechanism includes a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first connecting rod 5, a second connecting rod 6, a third The connecting rod 8 , the fourth connecting rod 9 , the slider 23 , the fifth connecting rod 25 , the sixth connecting rod 12 and the seventh connecting rod 11 .

[0027] The bottom end of the column 2 is connected to the fourteenth rotating pair 29, and the top end of the column 2 is connected to the first connecting end of the main arm 4 and the first connecting end of the first rocking arm 3 through the first rotating pair 13, and the first rocking arm 3. The second connecting end is connected to one end of the first connecting rod 5 through the second rotating pair 14, and ...

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Abstract

The invention discloses a multi-degree-of-freedom controllable mechanism type connecting rod mechanism. A stand column and one end of a main arm are connected with a first connection end of a first rocker arm; the second connection end of the first rocker arm is connected with one end of a first connecting rod; the other end of the first connecting rod is connected with the second connection end of a second rocker arm; the first connection end of the second rocker arm is connected with the other end of the main arm; the third connection end of the second rocker arm is connected with one end of a second connecting rod; the other end of the second connecting rod is connected with the third connection end of the first rocker arm; one end of a third connecting rod is connected with the fourth connection end of the second rocker arm; the other end of the third connecting rod is connected with a fourth connecting rod; one end of a sliding block is connected with the stand column via a moving pair; the other end of the sliding block is connected with a fifth connecting rod; the fifth connecting rod, a sixth connecting rod, a seventh connecting rod and the third connection end of the main arm are successively connected. The multi-degree-of-freedom controllable mechanism type connecting rod mechanism has the advantages of large working space, high rigidity, high bearing capability and high execution precision.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom controllable mechanism linkage mechanism. Background technique [0002] Compared with the traditional serial robot, the parallel robot has no cumulative error, high precision, compact structure, large bearing capacity, high rigidity and small inertia of the actuator. and other characteristics, the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed, and good in dynamic response; but the obvious disadvantages of parallel robots are small working space and complex structure. Existing manipulators with partial closed chains such as MOTOMAN-K10 in engineering do not solve the problems of industrial robots. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom controllable linkage mechanism, which so...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 蔡敢为范雨张林李智杰张永文李荣康朱凯君王龙王小纯李岩舟杨旭娟
Owner GUANGXI UNIV
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