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Six degree-of-freedom three-limb parallel robot mechanism

A three-chain, degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of insufficient succinct structure, inability to adapt to high-speed motion, and large mass, and achieve lower quality and better dynamic performance. , the effect of streamlining the organization

Active Publication Date: 2012-10-03
唐山海容智能机器人科技有限公司
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Problems solved by technology

The Chinese patent (ZL200810052792.1) introduces a parallel robot mechanism with a three-degree-of-freedom moving platform nested in a branch chain that can continuously rotate. Adapt to the requirements of high-speed movement

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  • Six degree-of-freedom three-limb parallel robot mechanism

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Embodiment Construction

[0007] The present invention is further described below in conjunction with the embodiments and the accompanying drawings, but the embodiments do not limit the protection scope of the claims of the present application.

[0008] The six-degree-of-freedom three-branched parallel robot mechanism (referred to as the parallel robot mechanism for short, see figure 1 ) including the moving platform 4 and the base 5 (that is, the static platform) and three moving branches with the same structure connected between the base 5 and the moving platform 4, namely the first moving branch 1 and the second moving branch 2 and the third kinematic branch 3. Each moving branch includes: screw A2, screw pair A3, nut A4, nut rotation pair A5, driving rotation pair B3, moving pair B4, sliding rod 9, a lower hook hinge 7, connecting rod 6 and an upper tiger G hinge 8. The screw pair A3 driven by the first motor A1 fixed on the base 5, the nut rotation pair A5 whose rotation axis is parallel to the ...

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Abstract

The invention discloses a six degree-of-freedom three-limb parallel robot mechanism which comprises a base, a moving platform and three kinetic limbs. The three kinetic limbs have same structures and are connected between the base and the moving platform. The six degree-of-freedom three-limb parallel robot mechanism is characterized in that each of the kinetic limbs comprises a screw pair, a driving turning pair, a nut turning pair, a moving pair, an upper hook joint and a lower hook joint, wherein the driving turning pair and the nut turning pair are coaxially arranged, the screw pair is fixed on the base and connected with a first motor in a driving mode, and the first motor is fixed on the base; turning axes of the two turning pairs are parallel to an axis of the screw pair, the driving turning pair is installed on the base, and the nut turning pair is installed on a nut; the moving pair is composed of a sliding rod and a hollow turning shaft of the driving turning pair, the sliding rod penetrates through the hollow turning shaft in a nest mode, the moving direction of the sliding rod is parallel to an axis of the diving turning pair, the driving turning pair is driven by a second motor by means of a transmission mechanism, and the second motor is fixed on the base; and the lower hook joint is installed at the tail end of a moving auxiliary sliding rod piece, and the upper hook joint is connected with the moving platform.

Description

technical field [0001] The invention relates to a parallel robot technology in the field of mechanics, in particular to a parallel robot mechanism with six degrees of freedom and three branch chains. Background technique [0002] Stewart mechanism (ie 6-SPS mechanism) is a six-degree-of-freedom parallel robot mechanism. It consists of a moving platform, a static platform, and six identical kinematic chains (SPS) connecting the moving and static platforms. Each kinematic chain contains a A ball joint (S) connected to a moving platform, a moving pair (P) and a ball joint (S) connected to a static platform, Stewart mechanisms are widely used in motion simulators, CNC machine tools, micro-manipulation robots, space docking and many other modern cutting-edge technical field. Some six-degree-of-freedom mechanisms are based on the Stewart mechanism, such as the 3-2-1 structure six-degree-of-freedom orthogonal parallel machine tool (ZL03102884.5), which uses six branches divided in...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 张建军李为民韩潇马俊杰高靖尹桐
Owner 唐山海容智能机器人科技有限公司
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