A four-degree-of-freedom coaxial output mechanism

Abstract

The invention discloses a four-degree-of-freedom coaxial outputting mechanism. The four-degree-of-freedom coaxial outputting mechanism comprises a driving part, a transmission part, a following-up part and an actuating part, wherein the driving part drives the transmission part through a gear; the transmission part comprises four shafts which are mounted coaxially, sequentially comprise a shaft I, a second hollow shaft, a third hollow shaft and a fourth hollow shaft from inside to outside and can rotate independently; the following-up part is mounted on the top of the shaft I and is provided with two pairs of bevel gear structures; the actuating part comprises four driving arms which respectively comprise a first driving arm, a second driving arm, a third driving arm and a fourth driving arm; the third driving arm and the fourth driving arm are respectively connected with the third hollow shaft and the fourth hollow shaft fixedly, and whole-circle rotation can be realized; and the first driving arm and the second driving arm are in transmission connection with the shaft I and the second hollow shaft respectively through the two pairs of bevel gears, so that the four-degree-of-freedom coaxial outputting mechanism can rotate around a self rotating axis. The four-degree-of-freedom coaxial outputting mechanism has high-speed capacity and high acceleration capacity, and has axial symmetry.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a high-speed robot mechanism capable of full-circle rotation. Background technique [0002] In the automatic production lines in the fields of food and medicine, modern logistics, electronic information, high-risk chemicals, etc., it is usually necessary to sort, transport and place light-loaded and scattered materials at high speed. At present, the research on this type of manipulator is more and more extensive at home and abroad. The US patent US4392776, the European patent EP0169473 and the Chinese patent CN1779936 all involve a SCARA manipulator with three or four degrees of freedom. This type of robot mainly includes a frame, a drive Parts, active arm, driven arm and moving platform, although this type of robot can realize a full circle rotation in the motion plane, but because the mechanism itself adopts an open-loop structure, the inertia of the active and driven arms is relatively lar...

AI Technical Summary

Problems solved by technology

At present, the research on this type of manipulator is more and more extensive at home and abroad. The US patent US4392776, the European patent EP0169473 and the Chinese patent CN1779936 all involve a SCARA manipulator with three or four degrees of freedom. This type of robot mainly includes a frame, a drive Parts, active arm, driven arm and moving platform, although this type of robot can realize a full circle rotation in the motion plane, but because the mechanism itself adopts an open-loop structure, the inertia of the active and driven arms is relatively large. Under the condition of high speed and high acceleration, its dynamic characteristics are limited, and the rigidity and precision of the whole machine are low

For this reason, patent CN101973030 proposes a parallel manipulator that can realize full-circle rotation, but the drive of the third near-frame rod is directly driven by the motor and reducer installed on the rotating body, and the inertia of the moving parts is relatively large, which is also difficult to meet high-speed manipulators. and high acceleration conditions

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