Three-degree-of-freedom full-rotation parallelism keeping mechanism
A full-rotation, degree-of-freedom technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult full-turn motions, achieve the effects of rich choices, reduced constraints, and increased degrees of freedom
Active Publication Date: 2016-05-25
WUHU IROBSYS ROBOT CO LTD
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Problems solved by technology
[0003] With the popularization of parallel robots, the use of parallel mechanisms is becoming more and more widespread. However, although parallel mechanisms are high-speed, stable, rigid, strong in carrying capacity, small in error, and high in precision, they are usually limited by their own structure and difficult to perform full-turn motion. Limits the use of parallel mechanisms
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[0012] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.
[0013] like Figure 1 to Figure 3 As shown, the three-degree-of-freedom full-rotation parallel mechanism includes a first-level solid shaft 1 and a moving platform 11. The outer front part of the first-level solid shaft 1 is movable with a second-level hollow shaft 2. The second-level hollow shaft 2 Both the front and rear ends are provided with a first-level end cover stuck on the first-level solid shaft 1 to limit the position, the second-level hollow shaft 2 can rotate relative to the first-level solid shaft 1, and the outer front part of the second-level hollow shaft 2 Covered with a three-stage hollow shaft 3, the front and rear ends of the three-stage hollow shaft 3 are all provided with two-stage end caps stuck on the two-stage hollow shaft 2 to limit the position, and the three-...
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The invention relates to a three-degree-of-freedom full-rotation parallelism keeping mechanism which comprises a primary solid shaft and a movable platform. The front portion of the outer side of the primary solid shaft is movably sleeved with a secondary hollow shaft. The front end and the rear end of the secondary hollow shaft are each provided with a primary end cover clamped to the primary hollow shaft for limiting. The secondary hollow shaft can rotate relative to the primary solid shaft. The front portion of the outer side of the secondary hollow shaft is sleeved with a tertiary hollow shaft. The front end and the rear end of the tertiary hollow shaft are each provided with a secondary end cover clamped to the secondary hollow shaft for limiting. The tertiary hollow shaft can rotate relative to the secondary hollow shaft. The tertiary hollow shaft is fixedly sleeved with a front near frame bar. The left end of the front near frame bar is connected with a front far frame bar in a hinged mode. The front far frame bar and the rear far frame bar are connected and motion of a movable panel is limited; due to the fact that constraint is greatly reduced and the degree of freedom of the movable panel is improved compared with an existing parallel mechanism, the movable panel can more freely and flexibly conduct grasping or other operates at a more special angle.
Description
technical field [0001] The invention relates to the technical field of parallel robot equipment, in particular to a three-degree-of-freedom full-rotation parallelism mechanism. Background technique [0002] The sorting, packaging, random inspection and stacking of products in industrial production are highly repetitive and monotonous tasks. With the improvement of industrial automation, the utilization rate of robots in these tasks is increasing. On the one hand, the use of industrial robots can avoid the danger in the process of producing dangerous goods, on the other hand, it can greatly improve the production efficiency of factories, reduce labor costs, and have long-term benefits. Robots used for these purposes generally fall into two categories, one is parallel robots and the other is serial robots. Parallel robots usually have the characteristics of high speed, stability, high rigidity, strong carrying capacity, small error, high precision, small self-weight but small...
Claims
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IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 梅江平刘彦敏方志炜臧家炜孙玉德
Owner WUHU IROBSYS ROBOT CO LTD