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Three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction

A technology of robot and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low rigidity and precision, large inertia of the active arm and the slave arm, etc., to achieve clear movement mode, simple and compact structure, and improved Effects of Stiffness and Dynamic Response Properties

Active Publication Date: 2017-01-04
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of robot can realize a full circle rotation in the motion plane, so it has a large space for motion. However, due to the open-loop structure, the inertia of the active arm and the slave arm is large, and its stiffness and precision are low.

Method used

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  • Three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction
  • Three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction
  • Three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction

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Embodiment Construction

[0020] Below in conjunction with embodiment the present invention is described in further detail:

[0021] combined with Figure 1-4 , a three-degree-of-freedom robot mechanism that can realize two levels and one rotation, including a fixed frame 1, a moving platform, and a first branch chain, a second branch chain, and a third branch chain connecting the fixed frame 1 and the moving platform. The structure of the first branch chain and the second branch chain is exactly the same, and they are distributed on both sides of the third branch chain;

[0022] The first branch chain includes a first driving device 11, a first near frame rod 12, a first upper connecting shaft 13, two parallel and equal long first far frame rods 14 and a first lower connecting shaft 15; The first driving device 11 is fixedly connected with the fixed frame 1, and one end of the first frame rod 12 is rotationally connected with the fixed frame 1, and is fixedly connected with the driving end of the fir...

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Abstract

The invention discloses a three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction. The three-freedom-degree robot mechanism capable of translating in two directions and rotating in one direction comprises a fixed frame, a moving platform, and a first branched chain, a second branched chain and a third branched chain which are arranged between the fixed frame and the moving platform; each of the three branched chains comprises a near frame rod and two parallel far frame rods with equal lengths; the third branched chain also comprises a converting fork; the converting fork is fixedly connected with the fixed frame; one end of the near frame rod is connected with the fixed frame or the converting fork; the other end of the near frame rod is spherically hinged to the far frame rod; the far frame rod is spherically hinged to the moving platform; the moving platform comprises a primary platform and a secondary platform which can rotate relatively; the mechanism is high in rigidity, flexible in movement, and can realize high-speed grasping and releasing.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a three-degree-of-freedom robot mechanism capable of realizing two levels and one rotation. Background technique [0002] In the automatic packaging, packaging and logistics production lines of electronics, food, medicine, light industry and other industries, it is necessary to use a manipulator to grab an object from a certain position, and then make a large-scale rapid movement in the plane, and follow the given The angle and height place the object being grabbed at another location. 美国专利US4392776(或EP0065859、JP57194888、ES8307152、EP0065859、IE820902L、IE52774)、US5000653(或WO8700789、EP0232292、ES2001359、DE35287769)、US2005087034(或EP1525957、JP2005125489、DE10349452)、US6212968(或DE19934973)、欧洲专利EP0169473( or JP61109681), Japanese patents JP2003275977, JP2003275978, JP2003275987, Bulgarian patent BG5129 and Chinese patent CN1779936, etc., all relate to a three-degree-of-freedom or four-degree-of-freedo...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 汪满新冯虎田欧屹王禹林韩军宋远璞
Owner NANJING UNIV OF SCI & TECH
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