CN213890020U - Three-degree-of-freedom transmission device and robot - Google Patents

Abstract

The application provides a three-degree-of-freedom transmission device and a robot, wherein the three-degree-of-freedom transmission device comprises a base body, a sliding seat, a lead screw spline transmission mechanism, a first driving mechanism and a second driving mechanism; the sliding seat can be arranged on the seat body in a front-back sliding manner along the guide rail; the first driving mechanism is in transmission connection with the spiral nut and is used for driving the spiral nut to rotate so as to enable the screw rod spline shaft to move up and down; the second driving mechanism is arranged on the base body, is in transmission connection with the spline nut, and is used for driving the spline nut to rotate so as to drive the screw rod spline shaft to rotate and/or driving the spline nut to move back and forth so as to drive the screw rod spline shaft to move back and forth. According to the screw rod spline transmission mechanism, the base body is provided with the screw rod spline transmission mechanism capable of moving back and forth, the first driving mechanism is used for driving the screw nut to rotate so as to realize the lifting movement of the screw rod spline shaft, the second driving mechanism is used for driving the spline nut to rotate or move back and forth so as to realize the back and forth movement and rotation of the screw rod spline shaft, and therefore three-degree-of-freedom transmission is realized, the occupied space is small, and the control is easy.

Description

Three-degree-of-freedom transmission device and robot

Technical Field

The application relates to the technical field of mechanical transmission, in particular to a three-degree-of-freedom transmission device and a robot.

Background

With the development of the industrial automation industry, more and more application scenes need to be applied to a multi-degree-of-freedom transmission structure, and the more degrees of freedom, the more diversified the operation in the actual application process is.

In the related scheme, the three degrees of freedom are performed by adopting joint series and parallel connection or based on a ball screw and the like, and the defects of large occupied space, difficult control and the like are inevitable.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems that the three-degree-of-freedom transmission device in a related scheme occupies a large space and is difficult to control, the three-degree-of-freedom transmission device which occupies a small space and is easy to control is provided.

The application provides a three degree of freedom transmission includes:

the base body is fixedly provided with a guide rail along the front-back direction;

the sliding seat can be arranged on the seat body in a front-back sliding manner along the guide rail;

the screw rod spline transmission mechanism comprises a screw rod spline shaft, a spiral nut and a spline nut; the screw nut and the spline nut are respectively matched and sleeved on the screw rod spline shaft; the spiral nut and the spline nut are both rotatably arranged on the sliding seat;

the first driving mechanism is arranged on the seat body, is in transmission connection with the spiral nut and is used for driving the spiral nut to rotate so as to enable the screw rod spline shaft to move up and down;

the second driving mechanism is arranged on the base body, is in transmission connection with the spline nut, and is used for driving the spline nut to rotate so as to drive the screw rod spline shaft to rotate and/or is used for driving the spline nut to move back and forth so as to drive the screw rod spline shaft to move back and forth.

Further, the first driving mechanism comprises a first motor, a first driving belt wheel, a first driven belt wheel and a first synchronous belt;

the first motor is arranged on the seat body and is close to one end of the seat body; the first driving belt wheel is arranged on an output shaft of the first motor;

the first driven belt wheel is coaxial and fixedly connected with the spiral nut;

the first synchronous belt is in transmission connection with the first driving belt wheel and the first driven belt wheel, so that the first motor can drive the first driven belt wheel and the screw nut to rotate when rotating, and the screw rod spline shaft can move up and down.

Further, the first driving mechanism further comprises a first fixed pulley;

the first fixed belt wheel is rotatably arranged on the seat body and is close to the other end of the seat body;

the first synchronous belt is sleeved on the first fixed belt wheel so as to be tensioned between the first fixed belt wheel and the first driving belt wheel.

Further, the first driving mechanism further comprises a first tension wheel and a second tension wheel;

the first tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the first driven belt wheel;

the second tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the first driven belt wheel;

the first tensioning wheel and the second tensioning wheel are used for pressing the first synchronous belt on the first driven pulley so as to increase the wrap angle of the first synchronous belt on the first driven pulley.

Further, the second driving mechanism comprises a second motor and a third motor, and the second motor and the third motor are used for driving the screw rod spline shaft to rotate and/or move back and forth;

the first motor, the second motor and the third motor are all close to the same end of the sliding seat.

Further, the second driving mechanism comprises a second motor, a second driving pulley, a second synchronous belt, a second fixed pulley, a second driven pulley, a third motor, a third driving pulley, a third synchronous belt and a third fixed pulley;

the second motor and the third motor are both arranged on the seat body and are positioned near one end of the seat body;

the second fixed belt wheel and the third fixed belt wheel are both rotatably arranged on the seat body and are positioned near the other end of the seat body;

the second driving belt wheel is fixed on an output shaft of the second motor, the third driving belt wheel is fixed on an output shaft of the third motor, the second synchronous belt is sleeved on the second driving belt wheel and the second fixed belt wheel, and the third synchronous belt is sleeved on the third driving belt wheel and the third fixed belt wheel;

the second driven belt wheel is coaxial with the spline nut and is fixedly connected with the spline nut;

the left side and the right side of the second driven belt wheel are respectively in transmission connection with the second synchronous belt and the third synchronous belt, so that the screw rod spline shaft can rotate in situ when the second motor and the third motor rotate in the same direction, and the screw rod spline shaft can move back and forth when the second motor and the third motor rotate in opposite directions.

Further, the second driving mechanism further comprises a third tensioning wheel and a fourth tensioning wheel;

the third tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the second driven belt wheel; the fourth tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the second driven belt wheel; the third tensioning wheel and the fourth tensioning wheel are used for pressing the second synchronous belt on the second driven pulley so as to increase the wrap angle of the second synchronous belt on the second driven pulley.

Further, the second driving mechanism further comprises a fifth tensioning wheel and a sixth tensioning wheel;

the fifth tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the second driven belt wheel; the fourth tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the second driven belt wheel; the third tensioning wheel and the fourth tensioning wheel are used for pressing the second synchronous belt on the second driven pulley so as to increase the wrap angle of the second synchronous belt on the second driven pulley;

the fifth tensioning wheel is coaxial with the third tensioning wheel, and the fifth tensioning wheel is positioned below the third tensioning wheel;

the sixth tensioning wheel is coaxial with the fourth tensioning wheel, and the sixth tensioning wheel is positioned below the fourth tensioning wheel.

Further, the sliding seat comprises an upper seat plate, a lower seat plate and a plurality of sliding blocks matched with the guide rails;

the guide rail comprises an upper guide rail and a lower guide rail; the upper guide rail is fixed on the upper side of the seat body; the lower guide rail is fixed on the lower side of the seat body;

the upper seat plate is fixed on a sliding block matched on the upper guide rail and used for rotatably mounting the spiral nut;

the lower seat plate is fixed on a sliding block matched on the lower guide rail and is used for rotatably mounting the spline nut.

The application also provides a robot, which comprises the three-degree-of-freedom transmission device.

According to the technical scheme, the method has at least the following advantages and positive effects:

the application provides a three-degree-of-freedom transmission device, a screw rod spline transmission mechanism capable of moving back and forth is arranged on a base body, a first driving mechanism is used for driving a spiral nut to rotate so as to realize lifting movement of a screw rod spline shaft, a second driving mechanism is used for driving the spline nut to rotate or move back and forth so as to realize back and forth movement and rotation of the screw rod spline shaft, and therefore three-degree-of-freedom transmission is realized, the three-degree-of-freedom transmission device is small in occupied space and easy to control.

Drawings

Fig. 1 is a schematic perspective view of a three-degree-of-freedom actuator according to an embodiment of the present disclosure.

Fig. 2 is a schematic perspective view illustrating a three-degree-of-freedom transmission device according to an embodiment of the present disclosure after hiding a portion of a structure of a base.

Fig. 3 is a schematic front view of fig. 2.

Fig. 4 is a front view structural schematic diagram of the screw spline transmission mechanism mounted on the sliding seat in an embodiment of the present application.

Fig. 5 is a schematic top view of the belt drive principle in the first drive mechanism according to an embodiment of the present application.

Fig. 6 is a schematic top view of the belt drive principle in the second drive mechanism in an embodiment of the present application.

The reference numerals are explained below:

1. a base body; 11. a guide rail; 111. an upper guide rail; 112. a lower guide rail;

2. a slide base; 21. an upper seat plate; 22. a lower seat plate; 23. a slider;

3. a lead screw spline transmission mechanism; 31. a screw spline shaft; 32. a spiral nut; 33. a spline mother;

4. a first drive mechanism; 41. a first motor; 42. a first drive pulley; 43. a first fixed pulley; 44. a first synchronization belt; 45. a first driven pulley; 46. a first tensioning wheel; 47. a second tensioning wheel;

5. a second drive mechanism; 51. a second motor; 52. a second drive pulley; 53. a second synchronous belt; 54. a second fixed pulley; 55. a second driven pulley; 56. a third motor; 57. a third drive pulley; 58. a third synchronous belt; 59. a third fixed pulley; 510. a third tension pulley; 511. a fourth tensioning wheel; 512. a fifth tensioning wheel; 513. and a sixth tensioning wheel.

Detailed Description

Exemplary embodiments that embody features and advantages of the present application will be described in detail in the following description. It is to be understood that the present application is capable of various modifications in various embodiments without departing from the scope of the application, and that the description and drawings are to be taken as illustrative and not restrictive in character.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The appearance of "and/or" in this document means either a "and" relationship or an "or" relationship, for example, "A and/or B" means "A and B" or "A or B" for the two cases, corresponding to the three possible outcomes of "A", "B" or "A and B".

Referring to fig. 1 and 2, an embodiment of the present application provides a three-degree-of-freedom transmission device, including a base 1, a sliding seat 2, a lead screw spline transmission mechanism 3, a first driving mechanism 4, and a second driving mechanism 5. The first driving mechanism 4 is used for driving the screw spline shaft 31 of the screw spline transmission mechanism 3 to move up and down, and the second driving mechanism 5 is used for driving the screw spline shaft 31 to move back and forth and rotate.

The seat body 1 is rectangular or arm-shaped. Two parallel guide rails 11 are arranged on the upper and lower sides of the seat body 1. The part of the seat body 1 for installing the sliding seat 2 is vertically penetrated.

The guide rail 11 includes an upper guide rail 111 and a lower guide rail 112. The upper rail 111 is fixed to the upper side of the housing 1. The lower rail 112 is fixed to the lower side of the housing 1.

The carriage 2 comprises an upper seat plate 21 and a lower seat plate 22. The upper seat plate 21 is slidably provided above the seat body 1 along the upper rail 111 by a slider 23. The lower seat plate 22 is slidably disposed in the seat body 1 along the lower guide rail 112 by means of the slider 23.

Referring to fig. 3 and 4, the screw spline transmission 3 includes a screw spline shaft 31, a screw nut 32, and a spline nut 33.

The screw nut 32 is sleeved on the screw rod spline shaft 31, the screw nut 32 is matched with threads on the screw rod spline shaft 31, and the screw nut 32 can drive the screw rod spline shaft 31 to move up and down when rotating. The screw nut 32 is rotatably provided on the upper seat plate 21 of the seat body 1.

The spline nut 33 is sleeved on the screw rod spline shaft 31, the spline nut 33 is matched with the spline groove on the screw rod spline shaft 31, and the spline nut 33 can drive the screw rod spline shaft 31 to rotate when rotating. The spline nut 33 is rotatably provided on the lower plate 22 of the seat body 1.

With continued reference to fig. 3 and 5, the first drive mechanism 4 includes a first motor 41, a first drive pulley 42, a first fixed pulley 43, a first timing belt 44, a first driven pulley 45, a first tension pulley 46, and a second tension pulley 47.

The first drive pulley 42, the first fixed pulley 43, the first driven pulley 45, the first tension pulley 46, and the second tension pulley 47 are all synchronous pulleys that can mesh with the first synchronous belt 44.

The first motor 41 is fixed to the seat body 1 and located near one end (rear end) of the seat body 1. The first drive pulley 42 is fixed to an output shaft of the first motor 41. Thus, when the first motor 41 is operated, the first drive pulley 42 is rotated.

In the embodiment of the present application, an end of the seat body 1 close to the first motor 41 is referred to as a rear end of the seat body 1, and an end of the seat body 1 far away from the first motor 41 is referred to as a front end of the seat body 1. The direction in which the left side of the seat body 1 faces when viewed from the rear end to the front end of the seat body 1 is referred to as left, and the direction in which the right side of the seat body 1 faces is referred to as right.

The first driven pulley 45 is coaxially and fixedly connected to the nut 32. Therefore, the first driven belt wheel 45 rotates to drive the screw nut 32 to rotate, and further drive the screw spline shaft 31 to move up and down.

The first driven pulley 45 is located inside the circulation path formed by the first synchronous belt 44 and is engaged with the first synchronous belt 44, so that the first synchronous belt 44 can drive the first driven pulley 45 to rotate when circulating, and further drive the screw spline shaft 31 to move up and down.

The first fixed pulley 43 is rotatably disposed on the seat body 1 near the other end (front end) of the seat body 1 and away from the first motor 41 for tensioning the first synchronous belt 44.

The first synchronous belt 44 is sleeved and tensioned on the first driving pulley 42, the first fixed pulley 43 and the first driven pulley 45. The first driving pulley 42 and the first fixed pulley 43 are located at the foremost and rearmost ends of the circulation path formed by the first timing belt 44, respectively.

The first tension pulley 46 and the second tension pulley 47 are rotatably provided below the upper seat plate 21 of the carriage 2, and are respectively located at the front side and the rear side of the first driven pulley 45, so as to press the first synchronous belt 44 against the first driven pulley 45 from the outside of the circulation path formed by the first synchronous belt 44, thereby increasing the wrap angle of the first synchronous belt 44 on the first driven pulley 45 and improving the reliability of transmission.

In some embodiments, the first fixed pulley 43 may not be provided, and a pulley capable of moving in synchronization with the carriage 2 may be provided at the rear side of the first motor 41 to engage with the first timing belt 44, thereby always maintaining the tensioned state of the first timing belt 44. The technical object is also achieved if the length of the first timing belt 44 is adjustable, so that the first timing belt 44 is always in a suitably tensioned state during the forward and backward movement of the carriage 2.

In some embodiments, the first driving mechanism 4 for driving the screw spline shaft 31 to move up and down may be replaced by a motor directly connected with the screw nut 32 or other driving device with light weight arranged on the sliding base 2, where the bending moment, inertia and the like allow.

With continued reference to fig. 2 and 6, the second drive mechanism 5 includes a second motor 51, a second drive pulley 52, a second timing belt 53, a second fixed pulley 54, a second driven pulley 55, a third motor 56, a third drive pulley 57, a third timing belt 58, a third fixed pulley 59, a third tensioning pulley 510, a fourth tensioning pulley 511, a fifth tensioning pulley 512, and a sixth tensioning pulley 513.

The second motor 51 and the third motor 56 are fixed on the seat body 1 in parallel and are close to the rear end of the seat body 1, so that the first motor 41, the second motor 51 and the third motor 56 are centralized and arranged at the rear end, the occupied space is reduced, and the load inertia and the bending moment in the movement process are reduced.

The second driving pulley 52 is fixed on the output shaft of the second motor 51, and the second motor 51 can drive the second driving pulley 52 to rotate when operating.

The second fixed pulley 54 and the third fixed pulley 59 are both rotatably disposed on the seat body 1, and are juxtaposed near the front end of the seat body 1.

The second driven pulley 55 is coaxially and fixedly connected with the spline nut 33. Therefore, when the second driven pulley 55 rotates, the spline nut 33 is driven to rotate, and the screw spline shaft 31 is driven to rotate. The second driven pulley 55 can drive the screw spline shaft 31 to move back and forth when moving back and forth.

The second driven pulley 55 has a large upper and lower width so that the upper and lower portions thereof can be used to engage the second and third timing belts 53 and 58, respectively, without mechanical interference.

The second timing belt 53 is sleeved on the second driving pulley 52, the second driven pulley 55 and the second fixed pulley 54. The second driving pulley 52 and the second fixed pulley 54 are respectively located at the rearmost and foremost ends of the circulating path formed by the operation of the second timing belt 53, thereby tensioning the second driven pulley 55.

The third tensioning wheel 510 and the fourth tensioning wheel 511 are both rotatably disposed above the lower seat plate 22, and are used for pressing the second timing belt 53 onto the second driven pulley 55 from the outside of the second timing belt 53, so as to increase the wrap angle of the second timing belt 53 on the driven pulley and increase the transmission reliability.

The third driving pulley 57 is fixed to an output shaft of the third motor 56, and the third motor 56 can drive the third driving pulley 57 to rotate when operating.

The third timing belt 58 is fitted over the third driving pulley 57, the third driven pulley, and the third fixed pulley 59. The third driving pulley 57 and the third fixed pulley 59 are located at the rearmost and foremost ends of the circulating path formed by the operation of the third timing belt 58, respectively, to thereby tension the third driven pulley.

With continued reference to fig. 4, a fifth tensioning wheel 512 is coaxially and rotatably disposed above the lower seat plate 22 with respect to the third tensioning wheel 510. The sixth tension pulley 513 is provided above the lower seat plate 22 coaxially with the fourth tension pulley 511 in a rotatable manner. And a fifth tension pulley 512 and a sixth tension pulley 513 for pressing the third timing belt 58 against the second driven pulley 55 from the outside of the third timing belt 58, thereby increasing the wrap angle of the third timing belt 58 on the driven pulley and increasing the transmission reliability.

With continued reference to fig. 6, the portions of the second timing belt 53 and the third timing belt 58 that mesh with the second driven pulley 55 are located on the left and right sides of the second driven pulley 55, respectively. Therefore, under the condition that the parameters of the second driving pulley 52 and the third driving pulley 57 are the same, the output shaft of the second motor 51 and the output shaft of the third motor 56 rotate in the same direction at the same speed, so as to drive the second driven pulley 55 to rotate in place and further drive the screw spline shaft 31 to rotate in place; the output shaft of the second motor 51 and the output shaft of the third motor 56 rotate in the same speed and reverse directions, so that the second driven belt wheel 55 can be driven to move back and forth along with the sliding seat 2, and further the screw rod spline shaft 31 is driven to move back and forth; the output shaft of the second motor 51 and the output shaft of the third motor 56 rotate at different speeds, and can drive the screw spline shaft 31 to move back and forth while rotating.

In some embodiments, the first synchronous belt 44, the second synchronous belt 53 and the third synchronous belt 58 can be replaced by a chain, and the pulleys can be replaced by chain wheels meshed with the chain, so that the same technical purpose can be achieved.

In some embodiments, the second driving mechanism 5 for driving the screw spline shaft 31 to move back and forth and rotate can also be realized by two driving mechanisms for driving the sliding seat 2 to move back and forth and driving the spline nut 33 to rotate respectively.

The present application further provides a robot, which includes the three-degree-of-freedom transmission device described in any of the above embodiments, so as to perform transmission through the three-degree-of-freedom transmission device.

The following describes a working process of the three-degree-of-freedom transmission device of the present application with a robot equipped with the three-degree-of-freedom transmission device:

one end of the screw spline shaft 31 is provided with a manipulator. In the initial state, the sliding seat 2 and the screw rod spline transmission mechanism 3 are close to the rear end of the seat body 1, so that the borne bending moment of the seat body 1 is reduced under the condition of nonuse.

When the robot is used, the driving device on the robot drives the seat body 1 to swing to the position facing the target object. The second motor 51 and the third motor 56 of the second driving mechanism 5 are simultaneously started and reversely rotated at a constant speed, so that the sliding base 2 and the lead screw spline transmission mechanism 3 are driven to move forwards to the position corresponding to the target object.

After the screw spline transmission mechanism 3 moves to the position corresponding to the target object, the first motor 41 of the first driving mechanism 4 operates to drive the screw spline shaft 31 of the screw spline transmission mechanism 3 to move downwards until the manipulator reaches the target object. After the manipulator grabs the target object, the second motor 51 and the third motor 56 of the second driving mechanism 5 are simultaneously started and rotate at the same speed in the same direction to drive the screw spline shaft 31 to rotate, so as to drive the manipulator installed on the screw spline shaft 31 to rotate the target object.

After the robot arm can also grab the target object, the first motor 41 of the first driving mechanism 4 is started to lift the target object, and then the driving device on the robot drives the base body 1 to swing, so as to transfer the target object to another position by cooperating with the action of the first driving mechanism 4, and rotate the target object to the correct direction. Then, the first driving mechanism 4 drives the screw spline shaft 31 to move downward, and the target object is accurately positioned.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (10)

1. A three degree-of-freedom actuator comprising:

the base body is fixedly provided with a guide rail along the front-back direction;

the sliding seat can be arranged on the seat body in a front-back sliding manner along the guide rail;

the screw rod spline transmission mechanism comprises a screw rod spline shaft, a spiral nut and a spline nut; the screw nut and the spline nut are respectively matched and sleeved on the screw rod spline shaft; the spiral nut and the spline nut are both rotatably arranged on the sliding seat;

the first driving mechanism is arranged on the seat body, is in transmission connection with the spiral nut and is used for driving the spiral nut to rotate so as to enable the screw rod spline shaft to move up and down;

the second driving mechanism is arranged on the base body, is in transmission connection with the spline nut, and is used for driving the spline nut to rotate so as to drive the screw rod spline shaft to rotate and/or is used for driving the spline nut to move back and forth so as to drive the screw rod spline shaft to move back and forth.

2. The three degree-of-freedom actuator of claim 1 wherein the first drive mechanism includes a first motor, a first drive pulley, a first driven pulley, and a first timing belt;

the first motor is arranged on the seat body and is close to one end of the seat body; the first driving belt wheel is arranged on an output shaft of the first motor;

the first driven belt wheel is coaxial and fixedly connected with the spiral nut;

the first synchronous belt is in transmission connection with the first driving belt wheel and the first driven belt wheel, so that the first motor can drive the first driven belt wheel and the screw nut to rotate when rotating, and the screw rod spline shaft can move up and down.

3. A three degree-of-freedom drive arrangement according to claim 2, characterised in that the first drive mechanism further comprises a first fixed pulley;

the first fixed belt wheel is rotatably arranged on the seat body and is close to the other end of the seat body;

the first synchronous belt is sleeved on the first fixed belt wheel so as to be tensioned between the first fixed belt wheel and the first driving belt wheel.

4. The three degree-of-freedom actuator of claim 2, wherein the first drive mechanism further includes a first tension pulley and a second tension pulley;

the first tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the first driven belt wheel;

the second tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the first driven belt wheel;

the first tensioning wheel and the second tensioning wheel are used for pressing the first synchronous belt on the first driven pulley so as to increase the wrap angle of the first synchronous belt on the first driven pulley.

5. The three-degree-of-freedom transmission device according to claim 2, wherein the second driving mechanism comprises a second motor and a third motor, and the second motor and the third motor are used for driving the screw rod spline shaft to rotate and/or move back and forth;

the first motor, the second motor and the third motor are all close to the same end of the sliding seat.

6. The three-degree-of-freedom transmission device according to claim 1, wherein the second driving mechanism includes a second motor, a second driving pulley, a second synchronous belt, a second fixed pulley, a second driven pulley, a third motor, a third driving pulley, a third synchronous belt, and a third fixed pulley;

the second motor and the third motor are both arranged on the seat body and are positioned near one end of the seat body;

the second fixed belt wheel and the third fixed belt wheel are both rotatably arranged on the seat body and are positioned near the other end of the seat body;

the second driving belt wheel is fixed on an output shaft of the second motor, the third driving belt wheel is fixed on an output shaft of the third motor, the second synchronous belt is sleeved on the second driving belt wheel and the second fixed belt wheel, and the third synchronous belt is sleeved on the third driving belt wheel and the third fixed belt wheel;

the second driven belt wheel is coaxial with the spline nut and is fixedly connected with the spline nut;

the left side and the right side of the second driven belt wheel are respectively in transmission connection with the second synchronous belt and the third synchronous belt, so that the screw rod spline shaft can rotate in situ when the second motor and the third motor rotate in the same direction, and the screw rod spline shaft can move back and forth when the second motor and the third motor rotate in opposite directions.

7. The three degree of freedom actuator of claim 6, wherein the second drive mechanism further includes a third tension pulley and a fourth tension pulley;

the third tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the second driven belt wheel; the fourth tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the second driven belt wheel; the third tensioning wheel and the fourth tensioning wheel are used for pressing the second synchronous belt on the second driven pulley so as to increase the wrap angle of the second synchronous belt on the second driven pulley.

8. The three degree of freedom actuator of claim 7, wherein the second drive mechanism further includes a fifth tension pulley and a sixth tension pulley;

the fifth tensioning wheel is rotatably arranged on the sliding seat and positioned on the front side of the second driven belt wheel; the fourth tensioning wheel is rotatably arranged on the sliding seat and is positioned at the rear side of the second driven belt wheel; the third tensioning wheel and the fourth tensioning wheel are used for pressing the second synchronous belt on the second driven pulley so as to increase the wrap angle of the second synchronous belt on the second driven pulley;

the fifth tensioning wheel is coaxial with the third tensioning wheel, and the fifth tensioning wheel is positioned below the third tensioning wheel;

the sixth tensioning wheel is coaxial with the fourth tensioning wheel, and the sixth tensioning wheel is positioned below the fourth tensioning wheel.

9. The three degree-of-freedom actuator of claim 1, wherein the slide carriage includes an upper seat plate, a lower seat plate, and a plurality of sliders that cooperate with the guide rails;

the guide rail comprises an upper guide rail and a lower guide rail; the upper guide rail is fixed on the upper side of the seat body; the lower guide rail is fixed on the lower side of the seat body;

the upper seat plate is fixed on a sliding block matched on the upper guide rail and used for rotatably mounting the spiral nut;

the lower seat plate is fixed on a sliding block matched on the lower guide rail and is used for rotatably mounting the spline nut.

10. A robot comprising the three-degree-of-freedom actuator according to any one of claims 1 to 9.

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