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Swinging and translation plane mechanism and working method thereof

A technology of planar mechanism and working method, applied in the field of robotics, can solve problems such as low rigidity, low end precision, and poor dynamic performance

Pending Publication Date: 2020-02-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The tandem mechanism has the advantages of large working space and high flexibility. At the same time, there are also some shortcomings: not only the error accumulation of each member, the end precision is low, but also the inertia is large, the stiffness is low, and the dynamic performance is poor.
[0004] In the prior art, most of them are parallel mechanisms combining two, three, and four degrees of freedom. The mechanism is complex, and the stability of the mechanism is poor during operation, which cannot meet the working needs of only combining swing and translation.

Method used

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  • Swinging and translation plane mechanism and working method thereof

Examples

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Effect test

Embodiment 1

[0027] Such as figure 1 As shown, a planar mechanism of one swing and one translation includes a base 1, a first swing device 2, a telescopic device 3, a second swing device 4 and a moving platform 5, and the moving platform 5 passes through the first swing device 2 and the telescopic device respectively. 3. The second swinging device 4 is connected to the base 1, the first swinging device 2, the telescopic device 3, and the second swinging device 4 are all hinged with the moving platform 5, and the first swinging device 2 and the second swinging device 4 are respectively arranged on the telescopic device 3 sides. In practical application, the mechanism is fixed by the base 1, and the base 1 provides the supporting force; in operation, when doing translational movement, the first driver 21 and the second driver 41 reversely drive the swing degree of the first swing device 2 The same as the swing degree of the second swing device 4, the telescopic device 3 is driven to perform...

Embodiment 2

[0040] Such as figure 1 Shown, the working method of a kind of embodiment 1-swing-translation planar mechanism, comprises the steps:

[0041] When performing translational motion, the first driver 21 and the second driver 41 perform reverse drive, the swing degree of the first swing device 2 is the same as that of the second swing device 4, and the telescopic device 3 is driven to do telescopic movement, pushing the movable platform 5 do up and down translation;

[0042] When swinging, the swing degree of the first swing device 2 is different from the swing degree of the second swing device 4, and the expansion and contraction of the second swing device 4 remains unchanged, pushing the movable platform 5 to swing left and right;

[0043] Translation and swing can be performed simultaneously or separately.

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a swinging and translation plane mechanism. The swinging and translation plane mechanism comprises a base, a first swinging device, a telescopic device, a second swinging device and a movable platform, wherein the movable platform is connected with the base through the first swinging device, the telescopic device and the second swinging device correspondingly, the first swinging device and the second swinging device are both hinged with the movable platform, the end of the telescopic device is fixedly connectedwith the base, and the first swinging device and the second swinging device are arranged on two sides of the telescopic device respectively. According to the swinging and translation plane mechanism,only a few motors are needed, a simpler and symmetrical structure is used to finish translation, the prior art is improved through innovative improvement of the structure, the same effect is achievedby reducing the number of parts, the advantage of fast platform speed is embodied while the structure is simple, and the working efficiency is improved. In addition, the invention provides a workingmethod of the swinging and translational plane mechanism, so that the working stability and efficiency of the mechanism are improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a swing-translation planar mechanism and a working method thereof. Background technique [0002] In the existing robot of robotization operation, there are two types of mechanisms: series mechanism and parallel mechanism. The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: not only the error accumulation of each member, the end precision is low, but also the inertia is large, the stiffness is low, and the dynamic performance is poor. [0003] Parallel mechanism is a closed multi-loop mechanism with multiple degrees of freedom of motion and drives distributed on different loops. Compared with serial robots, parallel robots have a series of advantages such as high rigidity, strong carrying capacity, no accumulation of position errors, high precision, small self-weight load, and good motio...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 李丹赵聪王云鹏张智强杜晓龙孙长超
Owner TIANJIN UNIV
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