Four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation

A robot and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of a large number of branches, unfavorable dynamic response characteristics of the mechanism, and large weight of the moving platform, so as to achieve a clear movement mode and reduce branch chains. Quantity, simple and compact effect

Active Publication Date: 2017-01-11
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the limitations of the above-mentioned mechanism are: the number of branch chains is large, and the weight of the moving platform is relatively large, which is not conducive to improving the dynamic response characteristics of the mechanism.

Method used

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  • Four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation
  • Four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation
  • Four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation

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Embodiment Construction

[0022] Below in conjunction with embodiment the present invention is described in further detail:

[0023] combined with Figure 1-4 , a four-degree-of-freedom robot mechanism that can realize three 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;

[0024] 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 fi...

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Abstract

The invention discloses a four-freedom-degree robot mechanism capable of achieving three-dimensional translation and one-dimensional rotation. The four-freedom-degree robot mechanism comprises a fixed frame, a moving platform, a first branched chain, a second branched chain and a third branched chain. The first branched chain, the second branched chain and the third branched chain are arranged between the fixed frame and the moving platform. The three branched chains each comprise a close frame bar and two parallel and equilong far frame bars. The third branched chain further comprises a rotating fork, and the rotating fork is rotationally connected with the fixed frame. One end of each close frame bar is connected with the fixed frame or the rotating fork, the other end of each close frame bar is spherically hinged to the corresponding far frame bars, and each far frame bar is spherically hinged to the moving platform. The moving platform comprises a main platform body and an auxiliary platform body which are rotationally connected. According to the mechanism, four-freedom-degree motion of three-dimensional translation and one-dimensional rotation is achieved through the three branched chains, and the manufacturing cost can be reduced easily.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a four-degree-of-freedom robot mechanism capable of realizing three levels and one rotation. Background technique [0002] The three-dimensional translation and one-dimensional rotation parallel mechanism has been widely used in the high-speed and light-load handling operations of automated production lines in the fields of food, medicine, modern logistics, and electronic information because it can meet the handling operations of space objects. [0003] The US patent No. US20090019960A1 discloses a high-speed parallel robot with four degrees of freedom, and the European patent No. EP1084802B1 discloses a four-degree-of-freedom parallel robot. Through the analysis of these two patents, it can be known that the existing A parallel mechanism that realizes three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chain inc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 汪满新黄田冯虎田宋远璞欧屹王禹林韩军
Owner NANJING UNIV OF SCI & TECH
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