Parallel-driven four-degree-of-freedom series-parallel mechanical wrist swing head

Abstract

The invention relates to a parallel-driven four-degree-of-freedom series-parallel mechanical wrist swing head. A circular guide hole is formed in an extension body, and the extension body is arrangedin a mounting frame; and an extension cylinder is arranged in the circular guide hole of the extension body; a conical sleeve is arranged on the conical surface of the extension cylinder, the inner conical surface of the conical sleeve is attached to the conical surface of the extension cylinder, the outer cylindrical surface of the conical sleeve is further attached to the circular guide hole ofthe extension body, and the conical sleeve can rotate relatively and axially move relatively in the circular guide hole of the extension body; an adjusting block is arranged on the extension cylinderthrough a threaded pair and is tightly attached to the end face of the conical sleeve; one end of a connecting rod is connected with the extension cylinder through a ball pair, and the other end of the connecting rod is connected with a movable platform through a revolute pair; the movable platform is further connected with the extension body through a universal hinge; a U seat is arranged on themovable platform and can rotate relatively around the axis of the movable platform on the movable platform, and an electric spindle is arranged on the U seat and rotate relatively on the U seat.

Description

technical field [0001] The present invention relates to a mechanical wrist swing head, and more particularly, the present invention relates to a parallel-driven four-degree-of-freedom hybrid mechanical wrist swing head. Background technique [0002] The mechanical wrist swing head is mainly used in the field of machine tool processing, especially when processing some complex hollow workpieces, which cannot be processed by traditional machine tools at all, and it is difficult to meet some mechanical characteristics of the workpiece with 3D printing technology. At present, tandem robots are mostly used in the market for processing, but this kind of tandem robot has a long transmission chain and a large cumulative error, resulting in low machining accuracy, and poor rigidity when processing some hard material workpieces, which further reduces the tandem robot. The processing accuracy of conventional robots cannot be applied to the field of high-precision processing. [0003] T...

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Problems solved by technology

[0002] The mechanical wrist swing head is mainly used in the field of machine tool processing, especially when processing some complex hollow workpieces, which cannot be processed by traditional machine tools at all, and it is difficult to meet some mechanical characteristics of the workpiece with 3D printing technology.

At present, tandem robots are mostly used in the market for processing, but this kind of tandem robot has a long transmission chain and a large cumulative error, resulting in low machining accuracy, and poor rigidity when processing some hard material workpieces, which further reduces the tandem robot. The machining accuracy of traditional robots cannot be applied to the field of high-precision machining

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