Three-degree-of-freedom parallel robot

Abstract

The invention provides a three-degree-of-freedom parallel robot. The robot comprises a fixed platform, a movable platform and three transmission rod assemblies; each transmission rod assembly is correspondingly provided with a driving assembly; each driving assembly comprises a ball screw; each ball screw is provided with a screw nut; each transmission rod assembly comprises a driving arm, an L-shaped transmission arm and a connecting piece; one end of each driving arm is hinged to the outer wall surface of the corresponding screw nut, and the other end of the driving arm is hinged to the upper end of the corresponding L-shaped transmission arm; the L-shaped corner of each L-shaped transmission arm is hinged to the fixed platform; the axes of hinge points on the driving arms and the L-shaped transmission arms are parallel, the upper ends of the connecting pieces are universally connected with the lower ends of the L-shaped transmission arms, and the lower ends of the connecting pieces are universally connected with the movable platform. According to the three-degree-of-freedom parallel robot, the ball screws, the screw nuts, the driving arms and the L-shaped transmission arms are matched to form crank connecting rod mechanisms to drive the movable platform, and the high precision, reversibility and high efficiency of the ball screws can ensure the operation reliability and accuracy of the parallel robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a three-degree-of-freedom parallel robot. Background technique [0002] DELTA parallel robot is also called triangle robot. It is mainly composed of drive motor, main robot arm, auxiliary robot arm, fixed platform, moving platform, claws and other components. Its overall shape resembles three upside-down triangles, hence the name. The DELTA robot is a typical three-degree-of-freedom mechanical arm mechanism in space. Because the drive group is evenly distributed on the fixed frame, it has the characteristics of compact structure, light weight, high positioning accuracy, and fast movement speed. It is suitable for applications in food, medicine and electronics. Handling, processing and assembly of light objects such as products. [0003] Because the parallel robot has no cumulative error, the precision is also very high. The parallel robot can place the drive on the static platfo...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: in order to overcome the parallel robot in the prior art, the speed reducer is used to reduce the speed to increase the output torque, but the gear of the reducer is easy to wear or damage, which will lead to the decline of motion accuracy and eventually lead to the position of the moving platform. and attitude accuracy is difficult to guarantee, the present invention provides a three-degree-of-freedom parallel robot

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