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Four-degree-of-freedom parallel robot mechanism

A degree of freedom and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that are prone to vibration and not conducive to improving the dynamic response characteristics of the mechanism, so as to reduce the difficulty of assembly, improve the stiffness and dynamic response characteristics, The effect of simple and compact structure

Inactive Publication Date: 2020-01-17
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the limitation of the above-mentioned mechanism is that: there is no supporting connecting piece between the remote frame rods, which is prone to vibration, which is not conducive to improving the dynamic response characteristics of the mechanism

Method used

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Embodiment Construction

[0023] In conjunction with the accompanying drawings, a four-degree-of-freedom high-speed parallel robot mechanism of the present invention includes a fixed frame 1, a moving platform, and a first branch chain, a second branch chain, and a third branch chain arranged between the fixed frame 1 and the moving platform. and the fourth branch;

[0024] The first branch and the second branch have the same structure, and the third branch and the fourth branch have the same structure;

[0025] The first branch chain includes a first rotating fork 11, a first driving device 12, a first near frame rod 13, two parallel and equal long first far frame rods 15, and a first rotating shaft 18; A rotating fork 11 is rotationally connected with the fixed frame 1, the first driving device 12 is fixedly connected with the first rotating fork 11, and one end of the first near frame rod 13 is rotationally connected with the first rotating fork 11, and is connected with the first rotating fork 11. ...

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Abstract

The invention discloses a four-degree-of-freedom parallel robot mechanism. The mechanism comprises a fixed frame, a movable platform and first, second, third and fourth branches arranged between the fixed frame and the movable platform; the first and second branches each comprise a rotating fork, a near-frame rod, two parallel and equal-length far-frame rods, and a rotating shaft, wherein the rotating fork is rotationally connected with the fixed frame, one end of the near-frame rod is rotatably connected with the rotating fork, the other end of the near-frame rod is connected with the far-frame rod by a spherical hinge, the far-frame rod is connected with the rotating shaft by a spherical hinge, and the rotating shaft is rotationally connected with the movable platform; and the third andfourth branched branches each comprise a rotating fork, a near-frame rod, two parallel and equal-length far-frame rods, wherein the rotating fork is rotationally connected with the fixing frame, one end of the near-frame rod is rotationally connected with the rotating fork, and the other end of the near-frame rod is connected with the farframe rod by a spherical hinge, and the far-frame rod is connected with the movable platform by a spherical hinge. The mechanism is ingenious in design and compact in structure, and can adapt to complex grasping and releasing environments.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a four-degree-of-freedom parallel robot mechanism. 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 includes two parts: a near frame bar and a fa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 刘庆伟张惠普刘思宇李振稷滕昊李正亮汪满新
Owner NANJING UNIV OF SCI & TECH
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