Six-freedom-degree controllable mechanism type link mechanism

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

Inactive Publication Date: 2015-05-20
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 six-degree-of-freedom controllable linkage mechanism, which solves the shortcomings of traditional serial robots about the large torque required, low rigidity and small working space

Method used

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  • Six-freedom-degree controllable mechanism type link mechanism
  • Six-freedom-degree controllable mechanism type link mechanism
  • Six-freedom-degree controllable mechanism type link 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 six-degree-of-freedom controllable linkage mechanism includes a column 2, a main arm 4, a first rocker arm 3, a second rocker arm 7, a first link 5, a second link 6, a third link The connecting rod 8 , the fourth connecting rod 9 , the connection block 22 , the fifth connecting rod 26 , the sixth connecting rod 12 and the seventh connecting rod 11 .

[0027] The bottom end of the column 2 is connected to the thirteenth rotating pair 27, and the top of the column 2 is connected to the first connecting end of the main arm 4 and the first connecting end of the first rocker arm 3 through the first rotating pair 13 respectively. The second connecting end of the arm 3 is connected to one end of the first connecting rod 5 through the second rotating pair 14, and the other end of the firs...

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Abstract

Provided is a six-freedom-degree controllable mechanism type link mechanism. A stand column is connected with one end of a main arm and a first connecting end of a first rocker arm, a second connecting end of the first rocker arm is connected with one end of a first connecting rod, and the other end of the first connecting rod is connected with a second connecting end of a second rocker arm; a first connecting end of the second rocker arm is connected with the other end of the main arm, a third connecting end of the second rocker arm is connected with one end of a second connecting rod, and the other end of the second connecting rod is connected with a third connecting end of the first rocker arm; one end of a third connecting rod is connected with a fourth connecting end of the second rocker arm, and the other end of the third connecting rod is connected with a fourth connecting rod; one end of a connecting block is connected with the stand column through a fixing pair, the other end of the connecting block is connected with a fifth connecting rod, and the fifth connecting rod, a sixth connecting rod, a seventh connecting rod and a second connecting end of the main arm are sequentially connected. The six-freedom-degree controllable mechanism type link mechanism has the advantages that working space is large, rigidity is high, the bearing capacity is high, and executing precision is high.

Description

technical field [0001] The invention relates to the field of robots, in particular to a six-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 six-degree-of-freedom controllable linkage mechanism, which solves...

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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