Series-parallel parallel three-degree-of-freedom translational handling mechanism

Abstract

A series-parallel combined three-freedom-degree translation carrying mechanism comprises a base, a first linear driving unit, a first slider, a second linear driving unit, a third linear driving unit, a first connection rod, a second connection rod, a third connection rod, a second connection member and an operation tail end. A second slider is arranged on the second linear driving unit, a third slider is arranged on the third linear driving unit, the first linear driving unit is in series connection with the second linear driving unit and the third linear driving unit, and the second linear driving unit is in parallel connection with the third linear driving unit. The series-parallel combined three-freedom-degree translation carrying mechanism is of a series-parallel combined structure, enables distribution of the driving units to be compact, simplifies the structure, meanwhile reduces load inertia and is favorable for improving efficiency.

Description

technical field [0001] The invention relates to mechanical handling equipment, in particular to a series-parallel hybrid three-degree-of-freedom translational handling mechanism. Background technique [0002] In the fields of multi-station stamping, die forging, and automatic loading and unloading of production lines, three-degree-of-freedom translational handling of workpieces is often used. In order to complete the handling task, the manipulator or handling mechanism usually needs to complete such as figure 1 and figure 2 The trajectory shown. to achieve figure 1 and figure 2 Many devices adopt a Cartesian coordinate structure layout. That is, the linear drive devices in the three directions of X, Y, and Z are superimposed step by step, and finally realize the translation of the three degrees of freedom. [0003] However, for this three-degree-of-freedom translation method, since a large number of Cartesian coordinate mechanisms are used as series mechanisms in the...

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Problems solved by technology

[0003] However, for this three-degree-of-freedom translation method, since a large number of Cartesian coordinate mechanisms are used in the equipment as a series mechanism, each stage is the load of the previous stage, so the mass of the moving part of the mechanism is relatively large, which affects the driving force. The requirements are high, and it is not easy to achieve a high working tempo

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