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Four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation

A technology of robot and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as rigidity, precision and acceleration asymmetry, difficult design of moving platform, large size of moving platform, etc., to meet complex pick-and-place operations requirements, high speed and acceleration capabilities, and good precision

Active Publication Date: 2017-01-04
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This layout not only makes the design of the moving platform difficult, but also requires a large size of the moving platform. In addition, since the driving device of the branch chain C is fixed on one of the active arms of the branch chains A and B, it will cause the branch chains A and B to be affected. Asymmetry of forces and inertia of moving parts, branch C is not always in the middle of branches A and B, resulting in asymmetry of stiffness, accuracy and acceleration

Method used

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  • Four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation
  • Four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation
  • Four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation

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Embodiment Construction

[0022] Below in conjunction with embodiment the present invention is described in further detail:

[0023] combined with Figure 1-4 , a four-degree-of-freedom robot mechanism capable of full rotation in the present invention includes a fixed frame 1, a rotating table 2, a rotating table driving device 3, a moving platform, and a first branch chain connecting the rotating table 2 and the moving platform. , the second branch and the third branch,

[0024] The rotary table driving device 3 is fixedly connected to the fixed frame 1, the rotary table 2 is rotationally connected to the fixed frame 1, and is fixedly connected to the driving end of the rotary table driving device 3;

[0025] The first branch chain and the second branch chain structure are identical, and are distributed on both sides of the third branch chain;

[0026] The first branch chain includes a first driving device 11, a first near frame rod 12, a first upper connecting shaft 13, two parallel and equal long ...

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Abstract

The invention discloses a four-degree-of-freedom robot mechanism capable of realizing whole-circle rotation. The four-degree-of-freedom robot mechanism comprises a fixed frame, a movable platform, a rotary table rotationally connected to the fixed frame, a first branched chain, a second branched chain and a third branched chain, wherein the first, second and third branched chains are arranged between the rotary table and the movable platform; each branched chain comprises a near-frame bar and two far-frame bars; the far-frame bars are parallel to and as long as each other; the third branched chain further comprises a conversion fork fixedly connected with the fixed frame; one end of each near-frame bar is connected with the rotary table or the conversion fork; the other end of each near-frame bar is connected with the corresponding far-frame bars via spherical hinges; the far-frame bars are connected with the movable platform via spherical hinges; the movable platform comprises a main platform and an accessory platform which can rotate relatively. The four-degree-of-freedom robot mechanism can realize whole-circle rotation, and has the advantage of large working space-rack size ratio.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a four-degree-of-freedom robot mechanism capable of full-circle rotation. Background technique [0002] In the automatic packaging, packaging and logistics production lines of electronics, food, medicine, light industry and other industries, it is necessary to use a manipulator to grab an object from a certain position, and then make a large-scale rapid movement in the plane, and follow the given The angle and height place the object being grabbed at another location. 美国专利US4392776(或EP0065859、JP57194888、ES8307152、EP0065859、IE820902L、IE52774)、US5000653(或WO8700789、EP0232292、ES2001359、DE35287769)、US2005087034(或EP1525957、JP2005125489、DE10349452)、US6212968(或DE19934973)、欧洲专利EP0169473( or JP61109681), Japanese patents JP2003275977, JP2003275978, JP2003275987, Bulgarian patent BG5129 and Chinese patent CN1779936, etc., all relate to a three-degree-of-freedom or four-degree-of-freedom SCARA (Selective...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 汪满新黄田冯虎田宋远璞王禹林欧屹韩军
Owner NANJING UNIV OF SCI & TECH
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