Three-branched-chain six-freedom-degree robot drive mechanism

Abstract

The invention relates to a three-branched-chain six-freedom-degree robot drive mechanism which is mainly and technically characterized in that three branched chains identical in structure are arranged between a movable platform and a fixed platform, a fixed platform motor is arranged on a fixed platform motor support, and the fixed platform motor, second connection rods, first connection rods and the movable platform are sequentially connected; sliding guide rails are evenly distributed on the fixed platform in the circumferential direction, a guide rail top motor is arranged at the top end of each sliding guide rail, a screw rod is arranged in each sliding guide rail through a bearing, sliding blocks are arranged on the sliding guide rails in a sliding mode, and the middle portions of the sliding blocks are meshed with the screw rods in a spiral mode; connection sleeves are arranged on the outer sides of the sliding blocks and connected with the first connection rods in a sliding mode. The three-branched-chain six-freedom-degree robot drive mechanism is reasonable in design, has the advantages of being simple and reliable in structure, stable in movement of the movable platform, and the like, has good drive performance, robustness and bearing capacity, and can be applied to the fields of detection of machine tools and robots according to different needs.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a three-branched six-degree-of-freedom robot driving mechanism. Background technique [0002] Since the advent of parallel robots in 1938, they have been widely used in various fields of society due to their characteristics of high rigidity, strong bearing capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. At present, there are 2 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, and 6 degrees of freedom parallel robots. An essential feature of the 6 degrees of freedom parallel mechanism is that each branch has six independent degrees of freedom, or each Branches must be able to generate a six-dimensional displacement group. Therefore, on the basis of the Stewart six-degree-of-freedom parallel mechanism, by changing the type, arrangement order, and direction of the kinematic pairs in the bran...

AI Technical Summary

Problems solved by technology

[0004] The guide rails of the above-mentioned six-degree-of-freedom parallel mechanism are usually perpendicular to the static platform and arranged symmetrically, and require many drives, the control method is complicated (such as 3-PPSP parallel mechanism, 9 drives), or the motion forms generated are relatively few ( Such as Chinese patent CN102626871, 3 degrees of freedom)

In addition, the motion accuracy of a single branch chain seriously affects the motion form of the moving platform, making it difficult to achieve application effects in various fields

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