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Hybrid robot based on four-branched-chain two-rotation and one-movement parallel mechanism

A four-branch chain and robot technology, applied in the field of robotics, can solve the problem that the structural rigidity is not easy to guarantee, and achieve the effect of reducing the design difficulty, strong adaptability, and improving the overall structural rigidity.

Active Publication Date: 2018-10-16
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This patent is an isomorphic situation of the previous patent, the type and number of kinematic pairs are exactly the same as it, and there is also the problem that the structural rigidity is not easy to guarantee

Method used

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  • Hybrid robot based on four-branched-chain two-rotation and one-movement parallel mechanism
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  • Hybrid robot based on four-branched-chain two-rotation and one-movement parallel mechanism

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Embodiment Construction

[0031] Exemplary embodiments, features, and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0032] Such as figure 1 As shown, a hybrid robot based on a four-chain two-rotation-one-movement parallel mechanism includes a parallel mechanism, a swing head mechanism and a mobile platform, such as image 3 As shown, the parallel mechanism includes a driving branch chain, a follow-up branch chain 19, a fixed platform 11, a rotating bracket 9, a fixed support 6, an intermediate platform 3 and a moving platform 2, and the follow-up branch chain 19 and the first drive branch chain constitute a Drive branch chain 7, the second drive branch chain 8 and the 3rd drive branch cha...

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Abstract

The invention relates to a hybrid robot based on a four-branched-chain two-rotation and one-movement parallel mechanism. The hybrid robot comprises a parallel mechanism, a rocking head mechanism and amobile platform; the parallel mechanism comprises a driving branched chain, a following branched chain, a fixed platform, a rotating bracket, a fixed bracket, a middle platform and a movable platform; four branched chains consist of the following branched chain, and a first driving branched chain, a second driving branched chain and a third driving branched chain which form the driving branched chain; the fixed platform is of a convex structure; the fixed bracket and the rotating bracket are hinged into the fixed platform; the first driving branched chain, the following branched chain and thethird driving branched chain are hinged into a frame body of the fixed bracket in sequence; the second driving branched chain is hinged into the rotating bracket; the following branched chain is fixed with the middle platform; the first driving branched chain and the third driving branched chain are hinged with the two sides of the middle platform; the middle platform is hinged with the movable platform; the movable platform is hinged with the second driving branched chain; the bottom of the movable platform is hinged with the rocking head mechanism; and the fixed platform of the parallel mechanism is connected with the mobile platform.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a hybrid robot based on a four-branched two-rotation-one-movement parallel mechanism. Background technique [0002] At present, five-axis milling and boring machines and serial robots are mainly used in the processing of aerospace composite material components in my country. The positioning accuracy and repeat positioning accuracy of products are difficult to meet the design requirements, and the hybrid robot combines the advantages of serial and parallel robots. It is a composite material with high precision. An important development direction of drilling and milling. At present, hybrid robots based on two-rotation-one-movement three-degree-of-freedom (2R1T) parallel mechanisms have good development prospects. Among them, hybrid robots developed abroad, such as Tricept, Ecospeed, and Exechon, have been successfully used in aerospace and automotive applications. And other fields wit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 许允斗徐郑和赵云张东胜杨帆岳义姚建涛周玉林赵永生
Owner YANSHAN UNIV
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