Three-freedom-degree pneumatic horizontal moving parallel mechanism

A degree of freedom and parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of expensive parallel structure and achieve low production costs, easy control, and simple overall structure
CN110653797AActive Publication Date: 2020-01-07BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2020-01-07

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Abstract

The invention discloses a three-freedom-degree pneumatic horizontal moving parallel mechanism, and belongs to the field of parallel robots. The three-freedom-degree pneumatic horizontal moving parallel mechanism comprises a fixing platform, an upper spherical hinge, a drive air cylinder, a lower spherical hinge, a moving platform, a cylinder pair, a circular sliding rail, a front baffle, a rear baffle, a left moving pair, a right moving pair and a rotation pair. A drive branch chain is composed of the upper spherical hinge, the drive air cylinder and the lower spherical hinge. An auxiliary branch chain is composed of the cylinder pair, the circular sliding rail, the front baffle, the rear baffle, the left moving pair, the right moving pair and the rotation pair. The drive air cylinder telescopically drives the moving platform to move. The auxiliary branch chain moves along with the movement of the moving platform. The auxiliary branch chain is adopted for restraining rotation of the moving platform, the stable three-dimension horizontal movement of the moving platform is achieved, and meanwhile the rigidity of the mechanism is improved through the auxiliary branch chain. The three-freedom-degree pneumatic horizontal moving parallel mechanism does not include a rotation driving mechanism, the kinematics positive solution is simple, and control is convenient. The three-freedom-degree pneumatic horizontal moving parallel mechanism has the advantages that kinematical modeling is simple, work space is large, positioning precision is high and rigidity is large; and the three-freedom-degree pneumatic horizontal moving parallel mechanism can be used for grabbing, sorting and other operation of an automatic production line.
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Description

technical field

[0001] The invention belongs to the field of parallel robots, in particular to a space three-degree-of-freedom pneumatic translational parallel mechanism. Background technique

[0002] Due to its unique structural features, parallel robots have the advantages of greater rigidity, stronger carrying capacity, faster movement speed, and higher precision than serial robots. In actual industrial production, the three-translation parallel robot can basically meet the needs of most production operations, and is widely used in grasping operations in electronics, light industry, food and other industries.

[0003] At present, the most widely used translational parallel mechanism with three degrees of freedom is the Delta parallel mechanism (application number: US4976572) in 1988. The type of parallel structure is expensive. Tsai proposed a symmetrical 3-UPU three-translation parallel mechanism in 1996. There are also many scholars in China who have proposed a three...

Claims

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