Three-degree-of-freedom parallel driving joint

Abstract

The invention discloses a three-degree-of-freedom parallel driving joint, and relates to a driving joint. The three-degree-of-freedom parallel driving joint comprises a joint motion connecting rod frame, a three-degree-of-freedom motion mechanism and a motor set; the three-degree-of-freedom motion mechanism comprises a connecting rod fixed frame, a torsion fixed frame and motion transfer modules;the joint motion connecting rod frame is rotationally connected with the connecting rod fixed frame; the connecting rod fixed frame is rotationally connected with the torsion fixed frame; the motion transfer modules are mounted on the connecting rod fixed frame and the torsion fixed frame; the torsion fixed frame is connected with an output end of the motor set, and can be rotated relative to themotor set; and the motion transfer modules are driven to move by the motor set to realize torsion, pitching and yawing motions of the joint motion connecting rod frame. The three-degree-of-freedom parallel driving joint is compact in structure, and can effectively reduce inertial loads of the motions of a terminal execution mechanism.

Description

technical field [0001] The invention relates to a driving joint, in particular to a parallel driving joint with three degrees of freedom. Background technique [0002] At present, in various manipulators and robots, the load requirements of the mechanical end are relatively high, and many robots are required to work in extreme cases, such as the limited space in the working condition, and the wearable robot work. Strict quality requirements. In this way, for the large load target, the series arrangement of the transmission can only realize the end load movement by simply increasing the motor, and cannot meet the requirements of space size, structural quality and load quality at the same time. In view of the research status of parallel drive joints, the current two-degree-of-freedom parallel drive is mainly used, but in actual situations, the use of three-degree-of-freedom joints is relatively extensive, so the two-degree-of-freedom parallel drive mode inevitably makes One ...

AI Technical Summary

Problems solved by technology

In this way, for large load targets, the series arrangement of the transmission can only realize the load movement at the end by simply increasing the motor, which cannot meet the needs of space size, structural quality and load quality at the same time.

Regarding the current research status of parallel drive joints, two-degree-of-freedom parallel drives are currently the mainstay, but in actual situations, three-degree-of-freedom joints are widely used, so the two-degree-of-freedom parallel drive method inevitably uses Parallel structure arrangement cannot be realized with one degree of freedom

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