A three-degree-of-freedom climbing parallel robot with swinging traction legs mainly comprises a moving table, three drive legs, three traction legs, a reset mechanism, a traction leg swinging mechanism and a laser gun. The three drive legs and the three traction legs are alternately and uniformly distributed between the moving table and a sucked workpiece in the circumferential direction. The driver legs can perform telescopic movement, the upper ends of the drive legs are connected to the middle portion of the traction legs and the moving table through rotation pairs and ball pairs respectively, and the lower ends of the drive legs are connected to a permanent magnetic chuck through ball pairs. When the robot climbs wall, at least three suction plates suck the workpiece, the reset mechanism forces the driver legs to reset, and the traction leg swinging mechanism forces the traction legs to swing to enable the robot to climb on the workpiece wall. When the robot is in positioning machining, six suction plates suck the workpiece, the reset mechanism and the traction leg swinging mechanism are out of work, the traction legs exert elastic traction force with no motion constraint to the moving table, and the robot serves as a three-degree-of-freedom parallel robot. The three-degree-of-freedom climbing parallel robot with the swinging traction legs is simple in structure, large in suction force, less in drive amount and easy to control and has a three-degree-of-freedom flexible operation and steering wall climbing function.
Three-degree-of-freedom climbing parallel robot with swinging traction legs
2015-05-27
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs
Online Contents | 2016
|Six-degree-of-freedom parallel wall-climbing robot for machining large complex parts
Europäisches Patentamt | 2023
|