CN-224209946-U - 6-Degree-of-freedom parallel robot driven by screw-nut pair

Abstract

A6-degree-of-freedom parallel robot driven by a screw-nut pair relates to the technical fields of mechanics and robots. The movable platform is characterized by comprising a frame, a movable platform and 6 movable branched chains connected in parallel between the frame and the movable platform, wherein each movable branched chain comprises a motor, guide rails, a screw rod, a nut, a sliding block, a connecting rod and a connecting plate, the motor is fixedly arranged on the connecting plate, an output shaft of the motor is connected with the screw rod, a pair of guide rails are respectively arranged on two sides of the screw rod in parallel, the nut is in threaded connection with the screw rod and is in sliding fit with the two guide rails, the top end of the connecting rod is fixedly connected with the nut, and the motor drives the screw rod to move through the nut so as to change the posture of the movable platform. The movable platform of the parallel robot has a large rotation range, can adapt to different processing paths and gesture requirements, and has a more compact structure and good structural rigidity.

Inventors

• CAO YING
• Qian qiuzhen
• TAN PEIYAO
• WANG WENZI
• ZHOU XUWEN
• RUI JIE
• WANG NING
• ZHAO YANQIN

Assignees

• 扬州大学

Dates

Publication Date

20260508

Application Date

20250527

Claims (7)

1. 1. A6-degree-of-freedom parallel robot driven by a screw-nut pair is characterized by comprising a frame, a movable platform and 6 moving branched chains connected in parallel between the frame and the movable platform, wherein each moving branched chain comprises a motor, guide rails, a screw, a nut, a sliding block, a connecting rod and a connecting plate, the motor is fixedly arranged on the connecting plate, an output shaft of the motor is connected with the screw, a pair of guide rails are respectively arranged on two sides of the screw in parallel, the nut is in threaded connection with the screw and is in sliding fit with the two guide rails, the sliding block is fixedly connected with the nut, two ends of the connecting rod are respectively connected with the sliding block and the movable platform, and the motor drives the screw to drive the connecting rod to move through the nut so as to change the posture of the movable platform.
2. 2. The 6-degree-of-freedom parallel robot driven by a lead screw nut pair according to claim 1, wherein the frame comprises a base, 6 upright posts and an upper top cover, and the upright posts are arranged between the upper top cover and the base.
3. 3. The 6-degree-of-freedom parallel robot driven by the lead screw nut pair according to claim 2, wherein the upper top cover and the base are formed by sequentially connecting three long rods and three short rods end to end, and the long rods and the short rods are distributed at intervals.
4. 4. A 6-degree-of-freedom parallel robot driven by a screw-nut pair according to claim 3, wherein the top of the moving branched chain is connected with the upper top cover through a hook joint, and the bottom of the moving branched chain is connected with the moving platform through a ball joint.
5. 5. The 6-degree-of-freedom parallel robot driven by a screw-nut pair according to claim 4, wherein 3 groups of upper bearing supports are uniformly distributed on the upper top cover, each group of upper bearing supports comprises two upper bearing supports installed at an interval of 100 degrees, and the moving branched chains are respectively installed and connected with the corresponding upper bearing supports through Hooke hinges.
6. 6. The 6-degree-of-freedom parallel robot driven by a screw-nut pair according to claim 5, wherein 3 groups of lower bearing supports are uniformly distributed on the movable platform, each group of lower bearing supports comprises two lower bearing supports which are installed in parallel, and the connecting rods are respectively installed and connected with the corresponding lower bearing supports through ball joints.
7. 7. The 6-degree-of-freedom parallel robot driven by the lead screw nut pair according to claim 1 or 6, wherein a drill bit or a milling cutter is installed on the movable platform, a workbench is arranged below the movable platform, and a clamp for clamping a workpiece is arranged on the workbench.

Description

6-Degree-of-freedom parallel robot driven by screw-nut pair Technical Field The utility model relates to the technical field of mechanics and robots, in particular to a 6-degree-of-freedom parallel robot driven by a screw-nut pair. Background In the processing work such as drilling, milling, the traditional robot has the following defects: 1) In some complex processing tasks, the robot is required to realize the motion with multiple degrees of freedom so as to adapt to different processing paths and gesture requirements, and the traditional robot is difficult to realize a complex motion track due to structural limitation; 2) In the application scene of high load or high processing force, the robot needs to have enough rigidity, otherwise, the processing precision is possibly reduced or equipment is possibly damaged due to structural deformation; 3) In some limited spaces, conventional robots may be difficult to install or operate due to their bulky structure, limiting their range of application. Therefore, in the high-precision machining task (such as drilling, milling and the like) of the traditional robot, the machining precision is difficult to ensure due to insufficient transmission precision or poor structural rigidity, so that the machining quality is unstable. Disclosure of utility model Aiming at the defects of the prior art, the utility model provides the 6-degree-of-freedom parallel robot driven by the screw-nut pair, wherein the moving platform of the parallel robot has a larger rotation range, can adapt to different processing paths and gesture requirements, and has more compact structure and good structural rigidity. The technical scheme of the utility model is as follows: A6-degree-of-freedom parallel robot driven by a screw-nut pair is characterized by comprising a frame, a movable platform and 6 moving branched chains connected in parallel between the frame and the movable platform, wherein each moving branched chain comprises a motor, guide rails, a screw, a nut, a sliding block, a connecting rod and a connecting plate, the motor is fixedly arranged on the connecting plate, an output shaft of the motor is connected with the screw, a pair of guide rails are respectively arranged on two sides of the screw in parallel, the nut is in threaded connection with the screw and is in sliding fit with the two guide rails, the sliding block is fixedly connected with the nut, two ends of the connecting rod are respectively connected with the sliding block and the movable platform, and the motor drives the screw to drive the connecting rod to move through the nut so as to change the posture of the movable platform. In the scheme, the 6-degree-of-freedom parallel robot realizes the adjustment of the complex motion track and the gesture of the moving platform in space through the cooperative control of 6 motion branched chains. And the parallel structure of the 6 moving branched chains has higher rigidity, can bear larger load and higher processing force, so that the robot is stable in a high-load processing task, and the processing efficiency and the reliability of equipment are improved. In addition, 6 motion branched chains are connected in parallel between the frame and the movable platform, so that the design is compact, the occupied space is small, and the installation and the use in a limited space are facilitated. In the scheme, the screw-nut pair consists of the motor, the screw, the guide rail, the nut and the like, has high transmission precision and can realize accurate displacement control. The screw rod is precisely driven by the motor, the nut is driven to axially displace along the guide rail, then the nut drives the connecting rods to displace through the sliding blocks, the 6 connecting rods are jointly connected with the movable platform, and the position and the gesture of the movable platform are precisely controlled, so that the machining precision is guaranteed. Further, the frame comprises a base, 6 stand columns and an upper top cover, wherein the stand columns are arranged between the upper top cover and the base. The frame structure is designed in such a way, not only provides a stable installation foundation for the movement branched chains, but also enhances the overall rigidity and stability of the frame through reasonably distributed upright posts, can better bear various forces and moments generated by the robot in the movement process, and improves the reliability of the robot under complex movement conditions. Furthermore, the upper top cover and the base are formed by connecting three long rods and three short rods end to end in sequence, and the long rods and the short rods are distributed at intervals. The structure of the upper top cover and the base is basically the same, the overall stability of the frame is guaranteed, the unique rod piece layout mode not only ensures the structural strength of the upper top cover and the base, but also optimizes the mass distributi