VARIABLE-DRIVE MODE LINKAGE BRANCH, AND PARALLEL MECHANISM COMPRISING SAME

WIPO Patent Application WO/2019/128457

A1

A variable-drive mode linkage branch and a parallel mechanism comprising same. The variable-drive mode linkage branch comprises a support unit, a drive unit, a drive mode switching unit, and a parallelogram branch. The support unit comprises a support plate (12) and bearing housings (5, 7) for mounting the other units. The drive unit consists of a servo motor (11), a motor case (10), and a central rotating shaft (23). The drive mode switching unit comprises two electromagnetic clutches (6, 8) and two electromagnetic brakes (9, 13). The parallelogram branch comprises an upper connecting rod (4), a lower connecting rod (3), an auxiliary rod (2), and an output rod (1). By changing the states of the electromagnetic clutches and the electromagnetic brakes, the positions of the driving torque and the reaction torque of the servo motor can be changed, so that different rods in the parallelogram branch can be driven, and thus three drive modes and switching therebetween can be achieved; the performance of the mechanism is improved by switching the drive mode of the mechanism, and the motion and force transmission performances of the mechanism in the working space are improved without changing the configuration and additionally introducing redundant drive; the present invention has a simple structure and is easy to control.

SHAO ZHUFENG (CN)
ZHANG ZHAOKUN (CN)
WANG LIPING (CN)
TANG XIAOQIANG (CN)
DENG HAO (CN)

PCT/CN2018/113091

July 04, 2019

October 31, 2018

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UNIV TSINGHUA (CN)

B25J17/02

CN108127686A	2018-06-08
CN104260083A	2015-01-07
CN105798891A	2016-07-27
CN204976631U	2016-01-20
ES2262428A1	2006-11-16
JP2003080480A	2003-03-18

BEIJING ZHONGSUO INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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