Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism

A technology of coupling mechanism and degrees of freedom, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large working space, inconvenient transportation and execution, incompetent volume and lightness of the series mechanism, and achieves good application prospects and high rigidity. , the effect of simple structure

Active Publication Date: 2016-05-04
中国冶金科技成果转化有限公司
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  • Abstract
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Problems solved by technology

The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mechanism has a large working space, simple and smart structure, but low strength, and is not suitable for heavy-duty occasions; the hybrid mechanism combines series and Parallel mechanisms perform effective compounding while breaking through the shortcomings of their respective

Method used

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  • Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism
  • Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism

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Example Embodiment

[0018] Such as figure 2 As shown, the first branch includes the first rotating pair (R11) of the frame, the first rod group (L1), the first rotating pair of node member one (R41), the fourth rotating pair of node member one (R44), The seventh rod group (L7), the first rotating pair of the moving platform (R51); the first rod group (L1) and the frame (N1) are connected by the first rotating pair (R11) of the frame, and the first rod group (L1) ) Is connected with node member one (N4) through the first rotating pair (R41) of node member one, and the seventh rod group (L7) is connected with node member one (N4) through the fourth rotating pair (R44) of node member one; The composition of the first rod group (L1) is expressed as a simple tandem kinematic chain -R11-R1-R41-, and the composition of the seventh rod group (L7) is expressed as a simple tandem kinematic chain -R44-R7-R51-.

[0019] The second branch includes the second rotating pair (R12) of the frame, the second rod gro...

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Abstract

The invention relates to a single-degree-of-freedom movement polycyclic symmetrical coupling mechanism. According to the geometric structure characteristics of all edges and vertexes of a spatial polyhedron ABCDA', two regular triangle components and three regular quadrangle components are connected through nine rod sets to obtain the coupling mechanism. Three revolute pair axes on each regular triangle component are located in a triangle plane, and the included angles formed between adjacent axes are 60 degrees. Four revolute pair axes of each regular quadrangle component are located in a plane where the component is located, the adjacent revolute pair axes are perpendicular, and the axes of opposite sides are parallel. Each rod set is obtained by connecting two auxiliary rods in series, the two auxiliary rods are same connecting rod pieces of the same structure, every two auxiliary rods comprise two connecting motion pairs which are revolute pairs, and the axes of the two revolute pairs are parallel. The mechanism has the beneficial effects of being large in rigidity, high in bearing capacity, stable in motion, simple in structure and convenient to assemble and maintain, and provides patent information and technical supports for domestic enterprises and research institutions.

Description

technical field [0001] The invention relates to a symmetrical coupling mechanism, relates to the technical field of mechanism application, and in particular relates to a robot actuator with single-degree-of-freedom movement. Background technique [0002] With the continuous development of mechanisms from simple to complex, from plane to space, and from single loop to multiple loops, mechanism innovation has always been the key and research hotspot of machine equipment innovation. In some high-intensity and heavy-duty occasions, it is very common to replace human labor with industrial mechanical arms. These occasions often require the actuator of the mechanical arm to have high strength, simple structure, low cost, convenient maintenance, and the characteristics of smooth movement and easy control of the end actuator. The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mec...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/02
CPCB25J9/02B25J9/08
Inventor 高慧芳刘婧芳余跃庆
Owner 中国冶金科技成果转化有限公司
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