A three-degree-of-freedom robot mechanism capable of realizing two levels and one rotation
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A robot and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large inertia, low stiffness and precision of the active arm and the driven arm, and achieve a simple and compact structure, clear movement mode, and realization of The effect of high speed and high acceleration
Active Publication Date: 2018-11-13
NANJING UNIV OF SCI & TECH
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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.
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[0020] The present invention will be further described in detail below in conjunction with embodiments:
[0021] Attached Figure 1-4 , A three-degree-of-freedom robot mechanism capable of achieving two levels and one rotation, comprising a fixed frame 1, a movable platform, and a first branch chain, a second branch chain and a third branch chain connecting the fixed frame 1 and the movable platform. The structure of the first branch and the second branch are identical, and they are distributed on both sides of the third branch;
[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-length first far frame rods 14 and a first lower connecting shaft 15; The first driving device 11 is fixed to the fixing frame 1, one end of the first near frame rod 12 is rotatably connected to the fixing frame 1, and is fixed to the driving end of the first driving device 11, and the other of the first n...
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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 achieving two levels and one rotation. Background technique [0002] In the automated 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 range of rapid movement in the plane, and follow the given The angle and height place the object being grabbed to another location. US Patent US4392776 (or EP0065859, JP57194888, ES8307152, EP0065859, IE820902L, IE52774), US5000653 (or WO8700789, EP0232292, ES2001359, DE35287769), US2005087034 (or EP1525957, JP2005125489, DE10349452), US6212968 (or patent DEEP4970169473), European Or JP61109681), Japanese patents JP2003275977, JP2003275978, JP2003275987, Bulgarian patent BG5129 and Chinese patent CN1779936, etc., all involve a three-degree-o...
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