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A three-branched six-degree-of-freedom robot driving mechanism

A technology of driving mechanism and degree of freedom, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems that the motion accuracy of a single branch chain affects the motion form of the moving platform, it is difficult to achieve the application effect, and the control method is complicated, etc., to achieve a simple structure Reliable, well-designed, simple motion effects

Inactive Publication Date: 2015-09-09
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A three-branched six-degree-of-freedom robot driving mechanism
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  • A three-branched six-degree-of-freedom robot driving mechanism

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Embodiment Construction

[0021] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0022] A three-branched six-degree-of-freedom robot drive mechanism, such as Figure 1 to Figure 5 As shown, it includes a moving platform (2) and a fixed platform (1) on which actuators are installed, and three branch chains with the same structure are installed between the moving platform (2) and the fixed platform (1). Each branch chain includes a fixed platform motor bracket (3), a fixed platform motor (4), a first connecting rod (5), a second connecting rod (6), a connecting sleeve (7), a lead screw (8), a slide Block (9), guide rail top motor (10) and sliding guide rail (11), the specific connection relation of described branch chain and moving platform (2), fixed platform (1) is as follows:

[0023] The fixed platform motor support (3) is evenly distributed on the fixed platform (1) along the circumferential direction, the fixed platform mo...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 张小俊王永奉范顺成刘更谦陈贵亮
Owner HEBEI UNIV OF TECH
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