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Two-moving and one-rotating three-freedom-degree parallel mechanism

A technology with degrees of freedom and movable mechanism, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high-precision manufacturing of joints, large occupied space, small working space, etc., and achieve good promotion and application prospects, structure The effect of simplicity, carrying capacity and large workspace

Active Publication Date: 2020-05-08
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the published patent CN104858860A discloses a parallel mechanism with two translations and one rotation, the published patent CN107020615A discloses a three-degree-of-freedom two-translations-rotation parallel mechanism with motion decoupling, and the published patent CN107498541A ​​discloses a Two-translation-rotation three-degree-of-freedom parallel mechanism. The published patent CN105108742A discloses a decoupled two-translation-rotation parallel robot. The above-mentioned published patents all disclose a robot with a movement-rotation parallel mechanism; among them, the first three All the mechanisms that have been published patents contain spherical joints, which have the problems of high-precision manufacturing of joints and high cost. Although the mechanism disclosed by the decoupled two-translational-rotation parallel robot does not contain spherical joints, its It takes up a lot of space and the working space is relatively small, resulting in low universality

Method used

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  • Two-moving and one-rotating three-freedom-degree parallel mechanism
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  • Two-moving and one-rotating three-freedom-degree parallel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Such as figure 1 , figure 2 and image 3As shown, the two-movement-rotation three-degree-of-freedom parallel mechanism includes a fixed platform 1, a moving platform 2, two first movable mechanisms 3 and a second movable mechanism 4;

[0037] The fixed platform 1 is arranged horizontally and fixed on the frame above it; the movable platform 2 is arranged horizontally below the fixed platform 1, and a fixed boss 2a is arranged at the center of the top surface of the movable platform 2;

[0038] The first movable mechanism 3 comprises a first rotating pair 3a, a first connecting portion 3b, a second rotating pair 3c, a second connecting portion 3d, a third rotating pair 3e, a third connecting portion 3f and a first Hooke hinge 3g; wherein , the first connecting part 3b and the second connecting part 3d are flexibly connected through the second rotating pair 3c; the second connecting part 3d and the third connecting part 3f are flexibly connected through the third rotat...

Embodiment 2

[0047] Such as image 3 and Figure 4 As shown, the two-movement-one-rotation three-degree-of-freedom parallel mechanism is basically the same as the three-degree-of-freedom parallel mechanism in Embodiment 1, except that:

[0048] In this embodiment, the fixed boss 2a provided at the center of the top surface of the moving platform 2 is replaced by the seventh rotating pair 2b whose axis direction is perpendicular to the horizontal plane, and the fifth connecting part 4f of the second movable mechanism 4 is Vigorously connected to the seventh rotating pair 2b through the sixth rotating pair 4g;

[0049] The first mobile sub-slide rail 4a of the second mobile mechanism 4 is horizontally arranged and fixed on the frame above it, and one end of the first mobile sub-slide rail 4a is fixed on the side wall of the fixed platform 1, so that it is positioned on the bottom surface. The moving axis of the first mobile sub-slider 4b moving on the first mobile sub-slide rail 4a is para...

Embodiment 3

[0053] Such as Figure 5 and Figure 6 As shown, the two-movement-rotation three-degree-of-freedom parallel mechanism includes a fixed platform 1, a moving platform 2, two third movable mechanisms 5 and a second movable mechanism 4;

[0054] The fixed platform 1 is arranged horizontally and fixed on the frame above it; the movable platform 2 is arranged horizontally below the fixed platform 1, and a seventh rotation axis direction perpendicular to the horizontal plane is provided at the center of the top surface of the movable platform 2 Deputy 2b;

[0055] The 3rd movable mechanism 5 comprises the 8th revolving pair 5a, the 6th connecting part 5b, the 3rd Hooke hinge 5c, the 7th connecting part 5d and the 4th Hooke hinge 5e; Wherein, the 3rd Hooke hinge 5c comprises the movable connection The upper swivel pair and the lower swivel pair, the upper swivel pair is connected with the sixth connecting part 5b, and the lower swivel pair is connected with the seventh connecting pa...

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Abstract

The invention discloses a two-moving and one-rotating three-freedom-degree parallel mechanism. The two-moving and one-rotating three-freedom-degree parallel mechanism comprises a fixed platform, a moving platform, two first motion mechanisms and a second motion mechanism. The moving platform is located below the fixed platform. The second motion mechanism comprises a first moving pair, a fourth rotating pair, a fourth connecting portion a fifth rotating pair, a fifth connecting portion and a sixth rotating pair, all of which are connected in sequence, and the sixth rotating pair is connected with the fixed platform. Each first motion mechanism comprises a first rotating pair, a first connecting portion, a second rotating pair, a second connecting portion, a third rotating pair, a third connecting portion and a first hook joint, all of which are connected in sequence. The first rotating pairs and the first hook joints are movably connected to the moving platform and the fixed platform.The two first motion mechanisms are symmetrically arranged on the two sides of the second motion mechanism. In the mechanism, each motion mechanism is provided with only one drive part, operation andcontrol are easy, good flexibility and posture adjusting capacity are achieved, and the mechanism has the advantages of being high in precision and rigidity, good in dynamic performance and large in bearing capacity and work space.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a three-degree-of-freedom parallel mechanism with two movements and one rotation. Background technique [0002] Compared with the series mechanism, the parallel mechanism has the advantages of greater structural rigidity and bearing capacity, higher positioning accuracy and easier control, so parallel robots are widely used in industrial manufacturing and food packaging and other fields. Since industrial robots in many fields do not need 6 degrees of freedom to complete tasks, there is a greater demand for parallel robots with fewer degrees of freedom. Among them, the three-degree-of-freedom parallel robot is the most researched and applied parallel mechanism with few degrees of freedom. [0003] At present, three-degree-of-freedom parallel robots can be divided into four categories: three-rotation parallel mechanisms, such as 3-SPS / S type and other mechanisms; three-m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 刘凉戴腾达赵新华冯建峰李伟健乔志峰
Owner TIANJIN UNIVERSITY OF TECHNOLOGY