CN104149084A - Three-branched-chain six-freedom-degree robot drive mechanism - Google Patents

Abstract

The invention relates to a three-branched six-degree-of-freedom robot drive mechanism, the main technical features of which are: three branch chains with the same structure are installed between the moving platform and the fixed platform; the motor of the fixed platform is installed on the motor bracket of the fixed platform. The fixed platform motor, the second connecting rod, the first connecting rod, and the moving platform are connected in sequence; the sliding guide rails are evenly installed on the fixed platform along the circumferential direction, the motor on the top of the guide rail is installed on the top of the sliding guide rail, and the screw is installed on the sliding guide rail through bearings Inside, the slider is slidably installed on the sliding guide rail, and the middle part of the slider is engaged with the lead screw in a spiral manner; the connecting sleeve is installed on the outside of the slider, and the connecting sleeve is slidably connected with the first connecting rod. The invention is reasonable in design, has the characteristics of simple and reliable structure, stable motion of the moving platform, etc., and has good driving ability, robustness, and bearing capacity, and can be applied to the fields of machine tools, robot detection and the like according to different needs.

Description

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

technical field

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

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 branch, while maintaining the six independent degrees of freedom of the branch, a new six-degree-of-freedom parallel mechanism model can be obtained.

The more representative six-degree-of-freedom parallel mechanisms are: 3-PPSP six-degree-of-freedom parallel mechanism proposed by Byun et al. in 1997, the Linpaod configuration proposed by the University of Stuttgart in Germany, and the highly flexible three-degree-of-freedom space parallel mechanism proposed by Liu Xinjun et al. Online (Chinese patent CN102626871) and a six-degree-of-freedom three-chain parallel robot mechanism (Chinese patent CNCN102699904) proposed by Zhang Jianjun of Hebei University of Technology and others.

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, and 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.

Contents of the invention

The object of the present invention is to overcome the deficiencies of the prior art, and provide a three-branch chain six-degree-of-freedom robot driving mechanism with reasonable design, simple structure, high precision and flexible control.

The present invention solves its technical problem and realizes by taking the following technical solutions:

A three-chain six-degree-of-freedom robot drive mechanism, including a moving platform and a fixed platform on which an actuator is installed, and three branch chains with the same structure are installed between the moving platform and the fixed platform; each branch chain includes a fixed platform motor bracket , fixed platform motor, first connecting rod, second connecting rod, connecting sleeve, lead screw, slider, guide rail top motor and sliding guide rail; the fixed platform motor bracket is evenly distributed on the fixed platform along the circumferential direction, and the described The fixed platform motor is installed on the fixed platform motor bracket, the output shaft of the fixed platform motor is connected to one end of the second connecting rod in rotation, the other end of the second connecting rod is connected in rotation to one end of the first connecting rod, and the The other end is rotationally connected with the moving platform; the sliding guide rail is evenly distributed on the fixed platform along the circumferential direction, and its length direction is perpendicular to the fixed platform, the motor on the top of the guide rail is installed on the top of the sliding guide rail, and the screw is installed through a bearing Inside the sliding guide rail, the slider is slidably installed on the sliding guide rail, and the middle part of the slider is engaged with the lead screw in a spiral manner; the connecting sleeve is installed on the outside of the sliding block, and the connecting sleeve is slidably connected with the first connecting rod .

Moreover, the output shaft of the fixed platform motor is connected to one end of the second connecting rod through a pin shaft, and the other end of the second connecting rod is connected to one end of the first connecting rod through a pin shaft, and the first connecting rod The other end of the rod is connected with the moving platform through a pin shaft.

Moreover, a threaded hole is formed in the middle of the slider, through which the screw rod and the slider are engaged and installed together; guide rail installation grooves are respectively formed on both sides of the threaded hole, through which the guide rail installation groove is slidably installed with the sliding guide rail together.

Moreover, a square hole is formed on the connecting sleeve, and the connecting sleeve and the first connecting rod are slidably connected together through the square hole.

Advantage and positive effect of the present invention are:

1. The present invention adopts three branch chains with the same structure and each branch chain is equipped with two drives, and the drives are relatively coupled, so that the mechanism has high flexibility; and the movement form of the branch chains is relatively simple and easy to ensure The precision and quality of the mechanism during operation.

2. The present invention can be aimed at different application fields, and the guide rail driving motor can be used as the main driving source, and the fixed platform motor can be used as the cooperative driving source, or the fixed platform motor can be used as the main driving source, and the motor can be used as the coordinated driving source to help the moving platform quickly prepare positioning.

3. The invention has reasonable design, simple and reliable structure, stable motion of the moving platform, etc., and has good driving ability, robustness, and bearing capacity, and can be applied to machine tools, robot detection and other fields according to different needs.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the structural representation of branched chain;

Fig. 3 is the structural representation of slider;

Fig. 4 is a structural schematic diagram of a connecting sleeve;

Figure 5 is a schematic diagram of the connection relationship between the sliding guide rail, the connecting sleeve, the slider, the screw rod and the motor on the top of the guide rail;

Among them, 1-fixed platform, 2-moving platform, 3-fixed platform motor bracket, 4-fixed platform motor, 5-first connecting rod, 6-second connecting rod, 7-connecting sleeve, 8-lead screw, 9 -slider, 10-rail top motor, 11-sliding guide rail; 12-first pin, 13-second pin, 14-third pin, 15-threaded hole, 16-rail mounting groove, 17-square hole.

Detailed ways

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

A three-branched six-degree-of-freedom robot drive mechanism, as shown in Figures 1 to 5, includes a moving platform (2) and a fixed platform (1) on which actuators are installed, and the moving platform (2) and the fixed platform (1) Three branch chains with the same structure are installed between them. 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:

The fixed platform motor support (3) is evenly distributed on the fixed platform (1) along the circumferential direction, the fixed platform motor (4) is installed on the fixed platform motor support, and the output shaft of the fixed platform motor (4) passes through the first pin shaft (12) is connected with the second connecting rod (6), and the other end of the second connecting rod (6) is connected with an end of the first connecting rod (5) by the second bearing pin (13), and the first connecting rod ( 5) The other end is connected with the moving platform (2) through the third pin shaft (14).

The sliding guide rail (11) is evenly distributed on the fixed platform (1) along the circumferential direction, and its length direction is perpendicular to the fixed platform (1). The bearing form is placed inside the slide guide rail (11), and a threaded hole (15) is formed in the middle of the slide block (9), and guide rail installation grooves (16) are respectively formed on both sides of the thread hole (15), and the slide block (9) ) is slidingly matched with the sliding guide rail (11), and the sliding block (9) and the lead screw (8) are engaged in a spiral manner; a connecting sleeve (7) is arranged on the side of the sliding block (9), and the connecting sleeve (7) ) and the slider (9) are connected in the form of a pin shaft, and a square hole (17) is formed in the middle of the connecting sleeve (7), through which the first connecting rod (5) is slidably connected.

The working principle of the three-branched six-degree-of-freedom robot drive mechanism is: when the motor (10) on the top of the guide rail is working, the screw (8) is driven to rotate, and the slider (9) is driven to move up and down along the sliding guide rail (11), thereby making the connection The sleeve (7) drives the first connecting rod (5) to rotate around the second pin shaft (13), which is the connecting pin between the first connecting rod (5) and the second connecting rod (6); in addition , drive the fixed platform motor (4), so that the second connecting rod (6) rotates around the axis of the fixed platform motor (4), and then pull the first connecting rod (5) to slide along the square hole in the connecting sleeve (7), and with The connecting sleeve (7) rotates around the sliding block (9), and the rotating shaft is the first pin shaft (12) between the connecting sleeve (7) and the sliding block (9). The first connecting rod (5) and the second connecting rod (6) can be driven by cooperatively controlling the fixed platform motor (4) and the guide rail top motor (10) to realize the movement of the moving platform (2) with six degrees of freedom.

It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive, so the present invention includes and is not limited to the embodiments described in the specific implementation, and those skilled in the art according to the technology of the present invention Other implementations derived from the scheme also belong to the protection scope of the present invention.

Claims (4)

1. a three-branch chain six-freedom degree robot driving mechanism, comprises moving platform and fixed platform that actuator is installed, it is characterized in that: three side chains that structure is identical are installed between moving platform and fixed platform; Each side chain includes fixed platform electric machine support, fixed platform motor, first connecting rod, second connecting rod, adapter sleeve, leading screw, slide block, guide rail top motor and rail plate; Described fixed platform electric machine support is uniform being arranged in fixed platform along the circumferential direction, described fixed platform motor is arranged on fixed platform electric machine support, the output shaft of this fixed platform motor and one end of second connecting rod are rotationally connected, the other end of second connecting rod and one end of first connecting rod are rotationally connected, and the other end and the moving platform of first connecting rod are rotationally connected; Described rail plate is the uniform fixed platform that is arranged on along the circumferential direction, its length direction is perpendicular to fixed platform, described guide rail top motor is arranged on the top of rail plate, described leading screw is arranged on the inside of rail plate by bearing type, described slide block is slidably mounted on rail plate, and this slide block middle part adopts spiral way to engage with leading screw; Described adapter sleeve is arranged on the outside of slide block, and this adapter sleeve and first connecting rod are slidably connected.

2. a kind of three-branch chain six-freedom degree robot driving mechanism according to claim 1, it is characterized in that: the output shaft of described fixed platform motor is connected with one end of second connecting rod by bearing pin, the other end of described second connecting rod is connected with one end of first connecting rod by bearing pin, and the other end of described first connecting rod is connected with moving platform by bearing pin.

3. a kind of three-branch chain six-freedom degree robot driving mechanism according to claim 1, is characterized in that: described slide block middle part is shaped with screwed hole, by this screwed hole, screw mandrel is engaged and is installed together with slide block; Both sides at screwed hole are shaped with respectively guide rails assembling groove, together with being slidably installed with rail plate by this guide rails assembling groove.

4. a kind of three-branch chain six-freedom degree robot driving mechanism according to claim 1, is characterized in that: on described adapter sleeve, be shaped with a square opening, together with by this square opening, adapter sleeve being slidably connected with first connecting rod.