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Four-degree-of-freedom parallel mechanism with hinged movable platform

A degree of freedom and moving platform technology, applied in the field of robotics, can solve the problems of complex high-speed dynamic response and complex structure, and achieve the effect of meeting the requirements of high-speed picking operation, high rigidity and simple structure

Inactive Publication Date: 2017-07-18
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this type of parallelogram articulated moving platform has good kinematic performance, it also has problems such as relatively complex structure and complex high-speed dynamic response.

Method used

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  • Four-degree-of-freedom parallel mechanism with hinged movable platform
  • Four-degree-of-freedom parallel mechanism with hinged movable platform
  • Four-degree-of-freedom parallel mechanism with hinged movable platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0013] A four-degree-of-freedom parallel mechanism with an articulated moving platform in this embodiment is as follows: figure 1 , figure 2 As shown, it includes a fixed platform 1, a hinged moving platform 8, and the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain arranged between the fixed platform 1 and the hinged moving platform 8 Chain IV.

[0014] Four driving devices 2 are fixed on the fixed platform 1 .

[0015] Such as figure 2 As shown, the articulated moving platform 8 includes an upper moving platform 8-1 and a lower moving platform 8-2; a planetary gear speed increaser 9 is fixed on the lower moving platform 8-2, and the planetary gear speed increasing The input end of the device 9 is fixedly connected with the upper moving platform 8-1, and the output end of the planetary gear speed increaser 9 can be installed with an end effector.

[0016] The first branch chain I and the third branch chain III hav...

Embodiment 2

[0020] A four-degree-of-freedom parallel mechanism with an articulated moving platform in this embodiment is as follows: image 3 As shown, it includes a fixed frame 10, the same hinged moving platform 8 as in Embodiment 1, and the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV. The fixed frame 10 is fixedly provided with four vertically arranged guide rails. The first branch chain I and the third branch chain III have the same structure; the first branch chain I and the third branch chain III both include a slider A 11-1, an upper connecting rod A 4-1, a left connecting rod A 5-1. The right connecting rod A6-1 and the lower connecting rod A 7-1; the second branch chain II and the fourth branch chain IV have the same structure; the second branch chain II and the fourth branch chain IV both include Slider B 11-2, upper connecting rod B 4-2, left connecting rod B 5-2, right connecting rod B 6-2 and lower connecting ro...

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PUM

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Abstract

The invention discloses a four-degree-of-freedom parallel mechanism with a hinged movable platform. The parallel mechanism comprises a fixed platform, the hinged movable platform and a first branched chain, a second branched chain, a third branched chain and a fourth branched chain which are arranged between the fixed platform and the hinged movable platform, wherein the hinged movable platform comprises an upper movable platform and a lower movable platform, the upper movable platform and the lower movable platform are connected through a revolute pair, a planetary gear accelerator is fixedly arranged on the lower movable platform, and the input end of the planetary gear accelerator is fixedly connected with the upper movable platform; and the first branched chain and the third branched chain are the same in structure, and the second branched chain and the fourth branched chain are the same in structure. According to the parallel mechanism, the planetary gear accelerator is adopted as an amplifying mechanism, so that the high transmission ratio is easy to achieve; and the mounting mode of the parallel mechanism is simple.

Description

technical field [0001] The invention relates to a robot, in particular to a four-degree-of-freedom space parallel mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] Parallel mechanisms with three-dimensional translational and one-dimensional rotational degrees of freedom can satisfy the spatial handling of operating objects, so they are widely used in automated production lines in the fields of food and medicine, modern logistics, and electronic information. In this field, the first parallel mechanism to realize the application is the Delta mechanism proposed by Clavel. Adding a RUPU branch chain on the basis of the Delta mechanism can realize one-dimensional rotational motion on the moving platform. This improved Delta mechanism is promoted by ABB and applied to sorting operations in food packaging and other production lines. Due to the passive movement of the RUPU branch chain, this type of Delta mechanism is not suita...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 汪从哲张毅周详宇
Owner CHONGQING UNIV OF POSTS & TELECOMM