CN106272358A - A kind of four-freedom parallel connection robot mechanism - Google Patents
A kind of four-freedom parallel connection robot mechanism Download PDFInfo
- Publication number
- CN106272358A CN106272358A CN201610867406.9A CN201610867406A CN106272358A CN 106272358 A CN106272358 A CN 106272358A CN 201610867406 A CN201610867406 A CN 201610867406A CN 106272358 A CN106272358 A CN 106272358A
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- China
- Prior art keywords
- leg
- rotating shaft
- axis
- drive rod
- pedestal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The present invention provides a kind of four-freedom parallel connection robot mechanism, including frame, moving platform and the first leg being connected between frame and moving platform, second leg, 3rd leg and the 4th leg, the bottom of the first leg is rotatably installed in frame by the first cross connecting piece, the top of the first leg is arranged on moving platform by the 3rd axis of rotation, the bottom of the second leg is rotatably installed in frame by the second cross connecting piece, the top of the second leg is rotatably connected on moving platform by the 3rd cross connecting piece, the bottom of the 3rd leg is rotatably installed in frame by the 4th cross connecting piece, the top of the 3rd leg is arranged on moving platform by the tenth axis of rotation, the bottom of the 4th leg is rotatably installed in frame by the 5th cross connecting piece, the top of the 4th leg is rotatably installed on moving platform by spherical linkage；Mechanism's rigidity of the present invention is high, and work space is big, and dynamic property is good, and easily controllable, has a good application prospect.
Description
Technical field
The present invention relates to robot mechanism technical field, particularly relate to a kind of four-freedom parallel connection robot mechanism.
Background technology
Parallel institution has relative to serial mechanism that rigidity is big, bearing capacity is strong, cumulative errors are little, precision advantages of higher,
Six-degree-of-freedom parallel connection mechanism is capable of position and the stance adjustment of six-freedom degree, but generally, due to degree of freedom
The increase of number, number of branches also can increase accordingly, controls the complexity also the most corresponding increase of process.
In recent years, the four-freedom parallel mechanism in minority carrier generation lifetime is constantly by attention and the green grass or young crops of researcher
Looking at, and rigidity is high, work space is relatively big, and kinematic dexterity is good, and control such parallel institution simple is to be badly in need of now, and
Four-freedom parallel mechanism is less as the design of marine motor simulator, it is used as marine drilling and stablizes leveling platform
Design does not has substantially.
Summary of the invention
In view of this, the invention provides the four-freedom parallel that a kind of work space is big, rigidity is big and easily controllable
Device robot mechanism.
The present invention provides a kind of four-freedom parallel connection robot mechanism, including frame, moving platform and be connected to frame and
The first leg, the second leg, the 3rd leg and the 4th leg between moving platform, described first leg, described second leg, institute
Stating the 3rd leg and described 4th leg is the most scalable, the bottom of described first leg rotates peace by one first cross connecting piece
Being contained in described frame, described first cross connecting piece includes orthogonal first rotating shaft and the second rotating shaft, described first
Foot can be rotating around described first rotating shaft and the second axis of rotation, and the top of described first leg is arranged on by the 3rd axis of rotation
On described moving platform, the bottom of described second leg is rotatably installed in described frame by the second cross connecting piece, and described
Two cross connecting pieces include orthogonal 4th rotating shaft and the 5th rotating shaft, and described second leg can be rotating around described 4th rotating shaft
With described 5th axis of rotation, the top of described second leg is rotatably connected on described moving platform by the 3rd cross connecting piece
On, described 3rd cross connecting piece includes orthogonal 6th rotating shaft and the 7th rotating shaft, and described second leg can be rotating around institute
Stating the 6th rotating shaft and described 7th axis of rotation, the bottom of described 3rd leg is rotatably installed in institute by the 4th cross connecting piece
Stating in frame, described 4th cross connecting piece includes that orthogonal 8th rotating shaft and the 9th rotating shaft, described 3rd leg can divide
Not around described 8th rotating shaft and described 9th axis of rotation, the top of described 3rd leg is arranged on institute by the tenth axis of rotation
Stating on moving platform, the bottom of described 4th leg is rotatably installed in described frame by the 5th cross connecting piece, and the described 5th
Cross connecting piece includes orthogonal 11st rotating shaft and the 12nd rotating shaft, and described 4th leg can be rotating around the described 11st
Rotating shaft and described 12nd axis of rotation, the top of described 4th leg is rotatably installed in described moving platform by spherical linkage
On.
Further, described frame is fixed with the first pedestal, the second pedestal, the 3rd pedestal and the 4th pedestal, these four
Line composition one square between adjacent susceptors two-by-two in pedestal, described first axis of rotation connects described first pedestal, institute
State the 4th axis of rotation connect described second pedestal, described 8th axis of rotation connect described 3rd pedestal, described 11st turn
Axle is rotationally connected described 4th pedestal.
Further, described moving platform being fixed with the 5th pedestal, the 6th pedestal, the 7th pedestal and the 8th pedestal, these are four years old
Line composition one square between adjacent susceptors two-by-two in individual pedestal, described 3rd axis of rotation connects described 5th pedestal,
Described 7th axis of rotation connects described 6th pedestal, and described tenth axis of rotation connects described 7th pedestal, described spherical hinge
Chain is rotationally connected described 8th pedestal.
Further, described first leg includes the first drive rod and the second drive rod, and described second drive rod is by the
One moving sets does stretching motion in described first drive rod, and described second leg includes the 3rd drive rod and the 4th drive rod,
Described 4th drive rod does stretching motion by the second moving sets in described 3rd drive rod, and described 3rd leg includes the 5th
Drive rod and the 6th drive rod, described 6th drive rod does stretching motion by three moving sets in described 5th drive rod,
Described 4th leg includes the 7th drive rod and the 8th drive rod, and described 8th drive rod passes through the 4th moving sets the described 7th
Stretching motion is done in drive rod.
Further, the axis of described first rotating shaft and the dead in line of described 8th rotating shaft, the axle of described first rotating shaft
Line, the axis of described 4th rotating shaft are parallel to each other with the axis of described 11st rotating shaft, and the axis of described 3rd rotating shaft is with described
The axis of the tenth rotating shaft is parallel and is each perpendicular to the axis of described 7th rotating shaft.
Further, described first moving sets, described second moving sets, described three moving sets and described 4th moving sets
Driven respectively, dynamic described in described first leg, described second leg, described 3rd leg and described 4th leg co-controlling
The attitude of platform and position, it is achieved two rotational freedoms, the rotating shaft of a rotational freedom is the axis of described first rotating shaft
Direction, the axes intersect of the rotating shaft of another rotational freedom and described first rotating shaft and be parallel to the axis of the second rotating shaft, also
Realizing two one-movement-freedom-degrees, the direction of an one-movement-freedom-degree is the axis direction of described first rotating shaft, and another moves certainly
It is the normal vector direction that described first rotating shaft and described second rotating shaft form plane by the direction spent.
Further, described first moving sets, described second moving sets, described three moving sets and described 4th moving sets
All as active drive kinematic pair, type of drive is that motor drives or Driven by Hydraulic Cylinder.
Further, described four-freedom parallel connection robot mechanism can apply to field of marine equipment, transports including ocean
Leveling platform is stablized in dynamic simulator and marine drilling.
Technical scheme has the benefit that the four-freedom parallel connection robot mechanism of the present invention, mechanism
Rigidity is high, and work space is big, and dynamic property is good, and easily controllable, has a good application prospect.
Accompanying drawing explanation
Fig. 1 is the structural representation of four-freedom parallel connection robot mechanism of the present invention.
Fig. 2 is another structural representation of four-freedom parallel connection robot mechanism of the present invention.
In figure: 1-frame, 11-the first pedestal, 12-the second pedestal, 13-the 3rd pedestal, 14-the 4th pedestal, 2-moving platform,
21-the 5th pedestal, 22-the 6th pedestal, 23-the 7th pedestal, 24-the 8th pedestal, 3-the first leg, 31-the first cross connecting piece,
311-the first rotating shaft, 312-the second rotating shaft, 32-the first drive rod, 33-the first moving sets, 34-the second drive rod, 35-the 3rd turn
Axle, 4-the second leg, 41-the second cross connecting piece, 411-the 4th rotating shaft, 412-the 5th rotating shaft, 42-the 3rd drive rod, 43-
Two moving sets, 44-the 4th drive rod, 45-the 3rd cross connecting piece, 451-the 6th rotating shaft, 452-the 7th rotating shaft, 5-the 3rd
Foot, 51-the 4th cross connecting piece, 511-the 8th rotating shaft, 512-the 9th rotating shaft, 52-the 5th drive rod, 53-three moving sets,
54-the 6th drive rod, 55-the tenth rotating shaft, 6-the 4th leg, 61-the 5th cross connecting piece, 611-the 11st rotating shaft, 612-
12 rotating shafts, 62-the 7th drive rod, 63-the 4th moving sets, 64-the 8th drive rod, 65-spherical linkage.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Refer to Fig. 1, The embodiment provides a kind of four-freedom parallel connection robot mechanism, including frame 1, move
First leg the 3, second leg the 4, the 3rd leg 5 and the 4th leg 6 in parallel between platform 2 and frame 1 and moving platform 2, machine
The first pedestal the 11, second pedestal the 12, the 3rd pedestal 13 and the 4th pedestal 14 it is fixed with on frame 1, the most adjacent in these four pedestals
Line composition one square between pedestal；The 5th pedestal the 21, the 6th pedestal of square distribution it is fixed with on the downside of moving platform 2
22, the 7th pedestal 23 and the 8th pedestal 24, line composition one square between adjacent susceptors two-by-two in these four pedestals.
First leg 3 includes the first cross connecting piece the 31, first drive rod 32 and the second drive rod 34.First drive rod 32
Lower end be rotationally connected the first pedestal 11 by the first cross connecting piece 31, the first cross connecting piece 31 includes orthogonal the
One rotating shaft 311 and the second rotating shaft 312, therefore, the first drive rod 32 can be rotating around the first rotating shaft 311 and the second rotating shaft 312 turns
Dynamic.First drive rod 32 connects the second drive rod 34, the first drive rod 32(cylinder barrel by the first moving sets 33) it is hollow, second
Drive rod 34(piston rod) in the first drive rod 32, do stretching motion by the first moving sets 33, thus regulate the first leg 3
Height.The upper end of the second drive rod 34 is rotationally connected the 5th pedestal 21 by the 3rd rotating shaft 35.Wherein, second rotating shaft 312
Axis is parallel with the axis of the 3rd rotating shaft 35, and vertical with the axis of the first moving sets 33.
Second leg 4 includes the second cross connecting piece the 41, the 3rd cross connecting piece the 45, the 3rd drive rod 42 and the 4th driving
Bar 44.The lower end of the 3rd drive rod 42 is rotationally connected the second pedestal 12, the second cross connecting piece by the second cross connecting piece 41
41 include orthogonal 4th rotating shaft 411 and the 5th rotating shaft 412, and therefore, the 3rd drive rod 42 can be rotating around the 4th rotating shaft
411 and the 5th rotating shaft 412 rotate.3rd drive rod 42 connects the 4th drive rod 44 by the second moving sets 43, the 3rd drive rod
44(cylinder barrel) it is hollow, the 4th drive rod 42(piston rod) in the 3rd drive rod 44, do flexible fortune by the second moving sets 43
Dynamic, thus regulate the height of the second leg 4.The upper end of the 4th drive rod 44 is rotationally connected the 6th by the 3rd cross connecting piece 45
Pedestal 22, the 3rd cross connecting piece 41 includes orthogonal 6th rotating shaft 451 and the 7th rotating shaft 452, therefore, the 4th drive rod
44 can rotate rotating around the 6th rotating shaft 451 and the 7th rotating shaft 452.Wherein, the axis of the 5th rotating shaft 412 and the 6th rotating shaft 451
Axis parallel and vertical with the axis of the second moving sets 43.
3rd leg 5 includes the 4th cross connecting piece the 51, the 5th drive rod 52 and the 6th drive rod 54.5th drive rod 52
Lower end be rotationally connected the 3rd pedestal 13 by the 4th cross connecting piece 51, the 4th cross connecting piece 51 includes orthogonal the
Eight rotating shaft 511 and the 9th rotating shafts 512, therefore, the 5th drive rod 52 can be rotating around the 8th rotating shaft 511 and the 9th rotating shaft 512 turns
Dynamic.5th drive rod 52 connects the 6th drive rod 54 by three moving sets 53, the 5th drive rod 54(cylinder barrel) it is hollow, the 6th
Drive rod 52(piston rod) in the 5th drive rod 54, do stretching motion by three moving sets 53, thus regulate the 3rd leg 5
Height.The upper end of the 6th drive rod 54 is rotationally connected the 7th pedestal 23 by the tenth rotating shaft 55.Wherein, the 9th rotating shaft 512
Axis is parallel with the axis of the tenth rotating shaft 55, and vertical with the axis of three moving sets 53.
4th leg 6 includes the 5th cross connecting piece the 61, the 7th drive rod 62 and the 8th drive rod 64.7th drive rod 62
Lower end be rotationally connected the 4th pedestal 14 by the 5th cross connecting piece 61, the 5th cross connecting piece 61 includes orthogonal the
11 rotating shaft the 611 and the 12nd rotating shafts 612, therefore, the 7th drive rod 62 can be rotating around the 11st rotating shaft 611 and the 12nd turn
Axle 612 rotates.7th drive rod 62 connects the 8th drive rod 64 by the 4th moving sets 63, the 7th drive rod 62(cylinder barrel) be
Sky, the 8th drive rod 64(piston rod) in the 7th drive rod 62, do stretching motion by the 4th moving sets 63, thus regulate the
The height of four legs 6.The upper end of the 8th drive rod 64 is rotationally connected the 8th pedestal 24 by spherical linkage 65, the 8th drive rod 64
Can be that fulcrum rotates in the range of the conical space that spherical linkage 65 retrains with the junction point of spherical linkage 65.Wherein,
The axis of the 12nd rotating shaft 612 is vertical with the axis of the 4th moving sets 63.
Wherein, the axis of the first rotating shaft 311 and the dead in line of the 8th rotating shaft 511, the axis of the 4th rotating shaft 411, the tenth
The axis of one rotating shaft 611 and the axis of the first rotating shaft 311 are parallel to each other, the axis of the 3rd rotating shaft 35 and the axis of the tenth rotating shaft 55
Parallel and be each perpendicular to the axis of the 7th rotating shaft 452.
It is the structure chart after exercise of the mechanism in Fig. 1 with reference to Fig. 2, Fig. 2.Line a is the first rotating shaft 311 and the 8th rotating shaft
511 common axis, line b intersects with line a and is parallel to the axis of the second rotating shaft 312, and line c is the first rotating shaft 311 and second turn
Axle 312 forms the normal vector of plane.First moving sets the 33, second moving sets 43, three moving sets 53 and the 4th moving sets 63 points
Not driven, wherein the attitude of first leg the 3, second leg the 4, the 3rd leg 5 and the 4th leg 6 co-controlling moving platform 2 is real
Existing two rotational freedoms, the rotating shaft of a rotational freedom is line a direction, and the rotating shaft of another rotational freedom is line b side
To, also realizing two one-movement-freedom-degrees, the direction of an one-movement-freedom-degree is line a direction, the direction of another one-movement-freedom-degree
It it is line c direction.
In the embodiment of the present invention, first moving sets the 33, second moving sets 43, three moving sets 53 and the 4th moving sets 63 are equal
As active drive kinematic pair, type of drive can be that motor drives or Driven by Hydraulic Cylinder.
Four-freedom parallel connection robot mechanism of the present invention can apply to field of marine equipment, including marine motor simulator
Leveling platform is stablized with marine drilling.
In this article, the involved noun of locality such as forward and backward, upper and lower is with during in accompanying drawing, parts are positioned at figure and zero
Part position each other defines, and is intended merely to the clear and convenient of expression technology scheme.Should be appreciated that the described noun of locality
Use should not limit the scope that the application is claimed.
In the case of not conflicting, the feature in embodiment herein-above set forth and embodiment can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (8)
1. a four-freedom parallel connection robot mechanism, including frame and moving platform, it is characterised in that: described four-degree-of-freedom is in parallel
Robot mechanism also includes the first leg, the second leg, the 3rd leg and the 4th leg being connected between frame and moving platform,
Described first leg, described second leg, described 3rd leg and described 4th leg are the most scalable, under described first leg
Portion is rotatably installed in described frame by one first cross connecting piece, and described first cross connecting piece includes orthogonal
One rotating shaft and the second rotating shaft, described first leg can be rotating around described first rotating shaft and the second axis of rotation, described first leg
Top be arranged on described moving platform by the 3rd axis of rotation, the bottom of described second leg pass through the second cross connecting piece
Being rotatably installed in described frame, described second cross connecting piece includes orthogonal 4th rotating shaft and the 5th rotating shaft, described
Second leg can be rotating around described 4th rotating shaft and described 5th axis of rotation, and the 3rd cross is passed through on the top of described second leg
Connector is rotatably connected on described moving platform, and described 3rd cross connecting piece includes orthogonal 6th rotating shaft and the 7th turn
Axle, described second leg can be rotating around described 6th rotating shaft and described 7th axis of rotation, and the bottom of described 3rd leg is passed through
4th cross connecting piece is rotatably installed in described frame, described 4th cross connecting piece include orthogonal 8th rotating shaft and
9th rotating shaft, described 3rd leg can be rotating around described 8th rotating shaft and described 9th axis of rotation, described 3rd leg upper
Portion is arranged on described moving platform by the tenth axis of rotation, and the bottom of described 4th leg is rotated by the 5th cross connecting piece
Being arranged in described frame, described 5th cross connecting piece includes orthogonal 11st rotating shaft and the 12nd rotating shaft, described
4th leg can be rotating around described 11st rotating shaft and described 12nd axis of rotation, and the top of described 4th leg is by spherical
Hinge is rotatably installed on described moving platform.
2. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that: it is fixed with first in described frame
Pedestal, the second pedestal, the 3rd pedestal and the 4th pedestal, in these four pedestals, line composition one between adjacent susceptors is square two-by-two
Shape, described first axis of rotation described first pedestal of connection, described 4th axis of rotation described second pedestal of connection, the described 8th
Axis of rotation connects described 3rd pedestal, and described 11st axis of rotation connects described 4th pedestal.
3. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that: it is fixed with the on described moving platform
Five pedestals, the 6th pedestal, the 7th pedestal and the 8th pedestal, in these four pedestals, line composition one between adjacent susceptors is being just two-by-two
Square, described 3rd axis of rotation connects described 5th pedestal, and described 7th axis of rotation connects described 6th pedestal, and described the
Ten axis of rotation connect described 7th pedestal, and described spherical linkage is rotationally connected described 8th pedestal.
4. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that: described first leg includes first
Drive rod and the second drive rod, described second drive rod does stretching motion by the first moving sets in described first drive rod,
Described second leg includes the 3rd drive rod and the 4th drive rod, and described 4th drive rod passes through the second moving sets the described 3rd
Doing stretching motion in drive rod, described 3rd leg includes that the 5th drive rod and the 6th drive rod, described 6th drive rod pass through
Three moving sets does stretching motion in described 5th drive rod, and described 4th leg includes the 7th drive rod and the 8th driving
Bar, described 8th drive rod does stretching motion by the 4th moving sets in described 7th drive rod.
5. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that: the axis of described first rotating shaft with
The dead in line of described 8th rotating shaft, the axis of described first rotating shaft, axis and described 11st rotating shaft of described 4th rotating shaft
Axis be parallel to each other, the axis of described 3rd rotating shaft is parallel with the axis of described tenth rotating shaft and is each perpendicular to described 7th turn
The axis of axle.
6. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that: described first moving sets, described
Second moving sets, described three moving sets and described 4th moving sets are driven respectively, described first leg, described second
The attitude of moving platform described in foot, described 3rd leg and described 4th leg co-controlling and position, it is achieved two rotatably mounted
Degree, the rotating shaft of a rotational freedom is the axis direction of described first rotating shaft, and the rotating shaft of another rotational freedom is with described
The axes intersect of the first rotating shaft and be parallel to the axis of the second rotating shaft, also realizes two one-movement-freedom-degrees, an one-movement-freedom-degree
Direction be the axis direction of described first rotating shaft, the direction of another one-movement-freedom-degree is described first rotating shaft and described second
Rotating shaft forms the normal vector direction of plane.
7. four-freedom parallel connection robot mechanism as claimed in claim 4, it is characterised in that: described first moving sets, described
Second moving sets, described three moving sets and described 4th moving sets are all as active drive kinematic pair, and type of drive is motor
Drive or Driven by Hydraulic Cylinder.
8. four-freedom parallel connection robot mechanism as claimed in claim 1, it is characterised in that: described four-freedom parallel device
Robot mechanism can apply to field of marine equipment, stablizes leveling platform including marine motor simulator and marine drilling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610867406.9A CN106272358B (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610867406.9A CN106272358B (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106272358A true CN106272358A (en) | 2017-01-04 |
| CN106272358B CN106272358B (en) | 2019-03-22 |
Family
ID=57715976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610867406.9A Expired - Fee Related CN106272358B (en) | 2016-09-30 | 2016-09-30 | A kind of four-freedom parallel connection robot mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN106272358B (en) |
Cited By (5)
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| CN107337148A (en) * | 2017-07-04 | 2017-11-10 | 哈尔滨工业大学 | A kind of lifting mechanism of big stroke levelling |
| CN108860446A (en) * | 2018-07-09 | 2018-11-23 | 哈尔滨工程大学 | A kind of parallel connection multiple degrees of freedom cavitation device |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN109534215A (en) * | 2018-12-12 | 2019-03-29 | 燕山大学 | A kind of suspension type hoistway Work robot |
| CN112062036A (en) * | 2019-06-10 | 2020-12-11 | 杭州海康机器人技术有限公司 | Lifting device |
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| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
| CN1962192A (en) * | 2006-11-24 | 2007-05-16 | 哈尔滨工业大学 | Five-axle linked tandem and parallel digital control polishing machine tool |
| CN103029122A (en) * | 2012-12-11 | 2013-04-10 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| JP2014233819A (en) * | 2013-06-04 | 2014-12-15 | 株式会社前田精密製作所 | Three degrees of freedom introduction mechanism and four degrees of freedom lifter mechanism |
| CN206066429U (en) * | 2016-09-30 | 2017-04-05 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
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| CN1962192A (en) * | 2006-11-24 | 2007-05-16 | 哈尔滨工业大学 | Five-axle linked tandem and parallel digital control polishing machine tool |
| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
| CN103029122A (en) * | 2012-12-11 | 2013-04-10 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
| JP2014233819A (en) * | 2013-06-04 | 2014-12-15 | 株式会社前田精密製作所 | Three degrees of freedom introduction mechanism and four degrees of freedom lifter mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107337148A (en) * | 2017-07-04 | 2017-11-10 | 哈尔滨工业大学 | A kind of lifting mechanism of big stroke levelling |
| CN107337148B (en) * | 2017-07-04 | 2019-11-01 | 哈尔滨工业大学 | A kind of lifting mechanism of big stroke levelling |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN108860446A (en) * | 2018-07-09 | 2018-11-23 | 哈尔滨工程大学 | A kind of parallel connection multiple degrees of freedom cavitation device |
| CN109534215A (en) * | 2018-12-12 | 2019-03-29 | 燕山大学 | A kind of suspension type hoistway Work robot |
| CN112062036A (en) * | 2019-06-10 | 2020-12-11 | 杭州海康机器人技术有限公司 | Lifting device |
| CN112062036B (en) * | 2019-06-10 | 2022-05-03 | 杭州海康机器人技术有限公司 | Lifting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272358B (en) | 2019-03-22 |
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