CN203973542U - A kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing - Google Patents
A kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing Download PDFInfo
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- CN203973542U CN203973542U CN201420378522.0U CN201420378522U CN203973542U CN 203973542 U CN203973542 U CN 203973542U CN 201420378522 U CN201420378522 U CN 201420378522U CN 203973542 U CN203973542 U CN 203973542U
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- complete cycle
- slide block
- plane
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Abstract
The utility model relates to a kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing, it is characterized in that: end hinge is connected with fixed platform by two identical side chains, each side chain is by a connecting rod and the slide block composition that is in series, wherein slide block is as the input of robot mechanism, fixed platform is circular guideway structure, the complete cycle that drives slide block can do in plane slides, and then makes robot end can realize the complete cycle revolution in plane.This mechanism can be used as industrial robot and realizes the operations such as sorting in plane, packing and encapsulation.The utlity model has simple and reliable for structure, be easy to manufacture, lightweight, high rigidity, the advantage such as cost is low, working space is large.
Description
Technical field:
The utility model belongs to industrial robot and mechanical manufacturing field, particularly a kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing.
Background technology:
On the automatic production line of the industries such as light industry, electronics, food and medicine, often need from a certain position, capture object by robot, planar do the revolution of large-scale fast moving and complete cycle.What completed this generic task mostly is tandem machine people in the past, its advantage is to have very large working space, can realize complete cycle revolution in plane, but series connection open-chain structure generally has larger inertia, its bearing capacity, rigidity and precision are lower, and inverse kinematic is also relatively difficult.
Plane two degrees of freedom parallel robot can be realized any track in plane, and its servo-drive arrangements of elements, in fixed platform, makes it have less inertia.Owing to adopting closed linkage in parallel, it has larger bearing capacity, rigidity and kinematic accuracy, and inverse kinematic is easy.Therefore in the last few years, it substituted traditional tandem machine people on the automatic production line of the industries such as light industry, electronics, food and medicine, had obtained important application.But its working space is less, be generally difficult to realize the revolution of complete cycle.
Summary of the invention:
The utility model can be realized the rotating plane two degrees of freedom of complete cycle parallel robot mechanism for not enough proposition of the prior art is a kind of, and it can realize complete cycle revolution in plane, has increased the working space of plane-parallel type formula robot.
The utility model solves the scheme that its technical problem adopts: a kind ofly can realize the rotating plane two degrees of freedom of complete cycle parallel robot mechanism, this mechanism is symmetrical structure, adopt the input that moving sets is this robot mechanism, the fixed platform of mechanism is circular guideway.Its structure is that mechanism's end hinge is connected with fixed platform by two identical side chains, for each side chain, by a connecting rod and a slide block, be composed in series, slide block is as the input of each branch, the fixed platform of robot mechanism is circular guideway, drive slide block on circular guideway, to slide by complete cycle, and then make robot mechanism end hinge can realize complete cycle revolution, increased the working space of robot.
By technique scheme, there is following effect in the utility model: adopts parallel structure, reduced inertia, be easy to realize the high speed operation of robot, improved rigidity and the bearing capacity of robot.Adopt circular guideway as fixed platform, can realize the complete cycle revolution of robot, increased the working space of robot.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present utility model;
In figure: 1 is fixed platform, 2 is the first slide block, and 3,7 is revolute pair, and 4 is first connecting rod, and 5 is end hinge, and 6 is second connecting rod, and 8 is the second slide block.
The specific embodiment:
Below in conjunction with the embodiment shown in accompanying drawing 1, be described in further detail:
In the embodiment shown in fig. 1: robot mechanism is symmetrical mechanism, end hinge 5 is connected with fixed platform 1 by two identical side chains, and these two side chains endways hinge 5 places are hinged.These two side chains all contain a connecting rod and a slide block.Wherein first connecting rod 4 is connected with the first slide block 2 by revolute pair 3, and second connecting rod 6 is connected with the second slide block 8 by revolute pair 7, and first connecting rod 4 and second connecting rod 6 are hinged at mechanism's end by end hinge 5.Fixed platform 1 is a circular guideway structure, and the first slide block 2 and the second slide block 8 slide along fixed platform, and because fixed platform 1 is circular configuration, the first slide block 2 and the second slide block 8 can be done the slip of complete cycle, and then realize the revolution that robot end can realize complete cycle.
Claims (2)
1. can realize the rotating plane two degrees of freedom of complete cycle parallel robot mechanism for one kind, it is characterized in that: end hinge is connected with fixed platform by two identical side chains, each side chain all contains a connecting rod and a slide block is in series, slide block is the input of each side chain, fixed platform is circular guideway, drive slide block to slide by complete cycle, robot can realize complete cycle revolution.
2. a kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing according to claim 1, it is characterized by fixed platform is circular guideway structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420378522.0U CN203973542U (en) | 2014-07-10 | 2014-07-10 | A kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420378522.0U CN203973542U (en) | 2014-07-10 | 2014-07-10 | A kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203973542U true CN203973542U (en) | 2014-12-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420378522.0U Expired - Fee Related CN203973542U (en) | 2014-07-10 | 2014-07-10 | A kind of rotating plane two degrees of freedom of complete cycle parallel robot mechanism of realizing |
Country Status (1)
| Country | Link |
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| CN (1) | CN203973542U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057443A (en) * | 2014-07-10 | 2014-09-24 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism capable of rotating by 360 degrees |
-
2014
- 2014-07-10 CN CN201420378522.0U patent/CN203973542U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057443A (en) * | 2014-07-10 | 2014-09-24 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism capable of rotating by 360 degrees |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150710 |
|
| EXPY | Termination of patent right or utility model |