A parallel-driven three-degree-of-freedom motion platform

Abstract

The present invention relates to a parallel-driven three-degree-of-freedom motion platform, comprising a workbench, wherein a fixed frame is arranged on the workbench, a vertical frame is arranged on the fixed frame, a horizontal frame is arranged on the vertical frame, a rotating frame is rotatably connected to the horizontal frame, a connecting wheel group is arranged on the rotating frame, and a driving mechanism is arranged on one side of the fixed frame; a transmission wheel group is arranged on the fixed frame and the vertical frame; when the parallel-driven three-degree-of-freedom platform moves, the load is borne by four driving motors at the same time, thereby reducing the rated power of the motor to one-fourth of the original; the driving motor is installed on the outside of the motion structure, and when the motion structure is adjusted, the driving motor does not need to move with the motion structure, thereby reducing the inertial load of the motion structure, improving the stability of the motion structure, and also improving the efficiency of the motion structure adjustment.

Description

Technical Field

[0001] The invention relates to a three-degree-of-freedom motion platform, in particular to a parallel-driven three-degree-of-freedom motion platform. Background Art

[0002] In the prior art, the three degrees of freedom of the motion platform are two degrees of freedom for planar motion and one degree of freedom for single-axis rotation. Such platforms are widely used in various robots, for example, in handling, operation, and tasks that need to be completed in a planar space, and many robots are required to work under extreme conditions, such as large volume restrictions in narrow spaces, and strict quality requirements in wearable robot conditions. In this way, for large load targets, the series arrangement of the transmission can only achieve the end load movement by simply increasing the motor, and the motor needs to be arranged at the joint. This method not only increases the inertia of movement, but also puts forward higher requirements on the power of the motor. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a parallel-driven three-degree-of-freedom motion platform in view of the deficiencies in the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a parallel-driven three-degree-of-freedom motion platform, including a workbench, a fixed frame is arranged on the workbench, a vertical frame is arranged on the fixed frame, a horizontal frame is arranged on the vertical frame, a rotating frame is rotatably connected to the horizontal frame, a connecting wheel group is arranged on the rotating frame, and a driving mechanism is arranged on one side of the fixed frame; a transmission wheel group is arranged on the fixed frame and the vertical frame, the driving mechanism is connected to the transmission wheel group and the connecting wheel group through a wire wheel group, and the driving mechanism is connected to a controller.

[0005] Preferably, the transmission wheel group includes an upward wheel group, a first downward wheel group, a second downward wheel group and a third downward wheel group, and the upward wheel group, the first downward wheel group, the second downward wheel group and the third downward wheel group are respectively arranged on a fixed frame, and the vertical frame is provided with a first side wheel group a, a first side wheel group b, a second side wheel group a and a second side wheel group b, and the horizontal frame is provided with a first horizontal wheel group and a second horizontal wheel group.

[0006] Preferably, the wire wheel group includes a first steel wire rope, a second steel wire rope, a third steel wire rope and a fourth steel wire rope, and the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope are respectively connected to the driving mechanism, the transmission wheel group and the connecting wheel group, and the ends of the first steel wire rope, the second steel wire rope, the third steel wire rope and the fourth steel wire rope are respectively fixed to the connecting wheel group.

[0007] Preferably, the driving mechanism comprises a first driving motor, a second driving motor, a third driving motor and a fourth driving motor, and each of the driving motors corresponds to a steel wire rope.

[0008] Preferably, the connecting wheel group includes a first connecting wheel, a second connecting wheel, a third connecting wheel and a fourth connecting wheel, and the first connecting wheel, the second connecting wheel, the third connecting wheel and the fourth connecting wheel are respectively provided with two tooth grooves, and the steel wire ropes are respectively provided on the corresponding connecting wheels, and the two ends of any steel wire rope are respectively provided on the two tooth grooves of the corresponding connecting wheel.

[0009] Preferably, the first connecting wheel, the second connecting wheel, the third connecting wheel and the fourth connecting wheel are coaxially arranged.

[0010] Preferably, a slide rail is provided on one side wall of the fixing frame, and the vertical frame is slidably connected to the fixing frame via the slide rail.

[0011] Preferably, a slide groove is provided on the inner side wall of the vertical frame, and the horizontal frame is slidably connected to the vertical frame through the slide groove.

[0012] The beneficial effects of the present invention are as follows: when the parallel-driven three-degree-of-freedom platform moves, the load is borne by four drive motors at the same time, thereby reducing the rated power of the motor to one-fourth of the original; the drive motor is installed on the outside of the motion structure, and when the motion structure is adjusted, the drive motor does not need to move with the motion structure, thereby reducing the inertial load of the motion structure, improving the stability of the motion structure, and also improving the efficiency of the motion structure adjustment; while the rated required power of the drive motor decreases, the mass and volume of a single drive motor will also decrease accordingly, and the drive motors can be arranged in a centralized manner, thereby improving the compactness of the overall structure and facilitating the maintenance and installation of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of the present invention;

[0014] Figure 2 It is a schematic diagram of the structure of the first driving motor and the first steel wire rope in the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of the second drive motor and the second steel wire rope in the present invention;

[0016] Figure 4 It is a schematic diagram of the structure of the third drive motor and the third steel wire rope in the present invention;

[0017] Figure 5 It is a schematic diagram of the structure of the fourth drive motor and the fourth steel wire rope in the present invention;

[0018] In the figure: 1-working table, 2-fixed frame, 3-vertical frame, 4-horizontal frame, 5-rotating frame, 6-connecting wheel group, 61-first connecting wheel, 62-second connecting wheel, 63-third connecting wheel, 64-fourth connecting wheel, 7-driving mechanism, 71-first driving motor, 72-second driving motor, 73-third driving motor, 74-fourth driving wheel, 8-transmission wheel group, 81-upward wheel group, 821-first downward wheel group , 822-second downward wheel group, 823-third downward wheel group, 831-first side wheel group a, 832-first side wheel group b, 841-second side wheel group a, 842-second side wheel group b, 851-first horizontal wheel group, 852-second horizontal wheel group, 9-wire wheel group, 91-first steel wire rope, 92-second steel wire rope, 93-third steel wire rope, 94-fourth steel wire rope, 10-slide rail, 11-slide groove. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with embodiments, but the protection scope of the present invention is not limited thereto.

[0020] The present invention relates to a parallel-driven three-degree-of-freedom motion platform, comprising a workbench 1, a fixed frame 2 is arranged on the workbench 1, a vertical frame 3 is arranged on the fixed frame 2, a horizontal frame 4 is arranged on the vertical frame 3, a rotating frame 5 is rotatably connected to the horizontal frame 4, a connecting wheel group 6 is arranged on the rotating frame 5, and a driving mechanism 7 is arranged on one side of the fixed frame 2; a transmission wheel group 8 is arranged on the fixed frame 2 and the vertical frame 3, the driving mechanism 7 is connected to the transmission wheel group 8 and the connecting wheel group 6 through a wire wheel group 9, and the driving mechanism 6 is connected to a controller.

[0021] In this embodiment, a fixed frame 2 is connected to the upper end surface of the workbench 1, and the fixed frame 2 is slidably connected to the vertical frame 3, so that the vertical frame 3 can be adjusted in height in the vertical direction. A horizontal frame 4 is slidably connected to the vertical frame 3, so that the horizontal frame 4 can move in the horizontal direction. A rotating frame 5 is rotatably connected to the horizontal frame 4. The driving component 7 is connected to the fixed frame 2, the vertical frame 3 and the transmission wheel group 8 on the horizontal frame 4 through a wire rope. The ends of the wire rope are respectively fixed on the tooth grooves of the corresponding connecting wheels. When the driving motor rotates, it drives the wire rope to release the pre-tightened wire rope wrapped around the connecting wheel. By adjusting the direction of the four driving motors and the mutual coordination of the forces on the four wire ropes, the motion structure is powered to move in three degrees of freedom.

[0022] Furthermore, the transmission wheel group 8 includes an upward wheel group 81, a first downward wheel group 821, a second downward wheel group 822 and a third downward wheel group 823. The upward wheel group 81, the first downward wheel group 821, the second downward wheel group 822 and the third downward wheel group 823 are respectively arranged on the fixed frame 2, and the first side wheel group a831, the first side wheel group b832, the second side wheel group a841 and the second side wheel group b842 are arranged on the vertical frame 3, and the first horizontal wheel group 851 and the second horizontal wheel group 852 are arranged on the horizontal frame 4.

[0023] In an embodiment, any transmission wheel set includes a fixed rod, both ends of which are fixedly connected to transmission wheels, and any transmission wheel is provided with two wire grooves, and each wire rope corresponds to a different wire groove on the transmission wheel.

[0024] Furthermore, the wire wheel group 9 includes a first wire rope 91, a second wire rope 92, a third wire rope 93 and a fourth wire rope 94, and the first wire rope 91, the second wire rope 92, the third wire rope 93 and the fourth wire rope 94 are respectively connected to the driving mechanism 7, the transmission wheel group 8 and the connecting wheel group 6, and the ends of the first wire rope 91, the second wire rope 92, the third wire rope 93 and the fourth wire rope 94 are respectively fixed to the connecting wheel group 6.

[0025] Furthermore, the driving mechanism 7 includes a first driving motor 71, a second driving motor 72, a third driving motor 73 and a fourth driving motor 74, and each driving motor corresponds to a steel wire rope.

[0026] Furthermore, the connecting wheel group 6 includes a first connecting wheel 61, a second connecting wheel 62, a third connecting wheel 63 and a fourth connecting wheel 64, and two tooth grooves are respectively arranged on the first slide wheel 61, the second connecting wheel 62, the third connecting wheel 63 and the fourth connecting wheel 64, and the steel wire ropes are respectively arranged on the corresponding connecting wheels, and the two ends of any steel wire rope are respectively arranged on the two tooth grooves of the corresponding connecting wheel.

[0027] like Figure 2 As shown, the first steel wire rope 91 is connected to the output end of the first motor 71, the upward section of the first steel wire rope 91 passes through the second downward wheel group 822, the upward wheel group 81, the first side wheel group b832 and the first horizontal wheel group 851 in sequence, and the end is fixed on the first connecting wheel 61, the downward section of the first steel wire rope 91 passes through the first downward wheel group 821, the third downward wheel group 823, the first side wheel group a831, the second side wheel group a841, the second side wheel group b842 and the second horizontal wheel group 852 in sequence, and the end is fixed on the first connecting wheel 61, and the two ends of the first steel wire rope 91 are respectively fixed on the two tooth grooves of the first connecting wheel 61.

[0028] like Figure 3As shown, the second steel wire rope 92 is connected to the output end of the second motor 72, the upward section of the second steel wire rope 92 passes through the second downward wheel group 822, the upward wheel group 81, the first side wheel group b832 and the first horizontal wheel group 851 in sequence, and the end is fixed on the second connecting wheel 62, the downward section of the second steel wire rope 92 passes through the first downward wheel group 821, the third downward wheel group 823, the first side wheel group a831, the second side wheel group a841, the second side wheel group b842 and the second horizontal wheel group 852 in sequence, and the end is fixed on the second connecting wheel 62, the two ends of the second steel wire rope 92 are respectively fixed on the two tooth grooves of the second connecting wheel 62, and the two ends of the second steel wire rope 92 are cross-arranged, the end of the upward section of the second steel wire rope 92 is fixed on the right side of the second connecting wheel 62, and the end of the downward section of the second steel wire rope 92 is fixed on the left side of the second connecting wheel 62.

[0029] like Figure 4 As shown, the third steel wire rope 93 is connected to the output end of the third motor 73, the upward section of the third steel wire rope 93 passes through the third downward wheel group 823, the upward wheel group 81, the first side wheel group a831, the second side wheel group a841, the second side wheel group b842 and the second horizontal wheel group 852 in sequence, and the end is fixed on the third connecting wheel 63, the downward section of the third steel wire rope 93 passes through the first downward wheel group 821, the second downward wheel group 822, the first side wheel group b832 and the first horizontal wheel group 851 in sequence, and the end is fixed on the third connecting wheel 63, and the two ends of the third steel wire rope 93 are respectively fixed on the two tooth grooves of the third connecting wheel 63.

[0030] like Figure 5 As shown, the fourth steel wire rope 94 is connected to the output end of the fourth motor 74, the upward section of the fourth steel wire rope 94 passes through the third downward wheel group 823, the upward wheel group 81, the first side wheel group a831, the second side wheel group a841, the second side wheel group b842 and the second horizontal wheel group 852 in sequence, and the end is fixed on the fourth connecting wheel 64, the downward section of the fourth steel wire rope 94 passes through the first downward wheel group 821, the second downward wheel group 822, the first side wheel group b832 and the first horizontal wheel group 851 in sequence, and the end is fixed on the fourth connecting wheel 64, the two ends of the fourth steel wire rope 94 are respectively fixed on the two tooth grooves of the fourth connecting wheel 64, the two ends of the fourth steel wire rope 94 are cross-arranged, the end of the upward section of the fourth steel wire rope 94 is fixed on the right side of the fourth connecting wheel 64, and the end of the downward section of the fourth steel wire rope 94 is fixed on the left side of the fourth connecting wheel 64.

[0031] Furthermore, the first slide wheel 61, the second connecting wheel 62, the third connecting wheel 63 and the fourth connecting wheel 64 are coaxially arranged.

[0032] In the embodiment, the first slide wheel 61, the second connecting wheel 62, the third connecting wheel 63 and the fourth connecting wheel 64 are respectively fixedly connected to the rotating frame 4, and the first slide wheel 61, the second connecting wheel 62, the third connecting wheel 63 and the fourth connecting wheel 64 are coaxially arranged.

[0033] Furthermore, a slide rail 10 is provided on one side wall of the fixed frame 2 , and the vertical frame 3 is slidably connected to the fixed frame 2 via the slide rail 10 .

[0034] Furthermore, a slide groove 11 is provided on the inner side wall of the vertical frame 3 , and the horizontal frame 4 is slidably connected to the vertical frame 3 via the slide groove 11 .

[0035] Working principle of the present invention:

[0036] When the vertical frame 3 moves in the vertical direction: the first drive motor 71 rotates forward, the second drive motor 72 rotates forward, the third drive motor 73 rotates reversely, and the fourth drive motor 74 rotates reversely. The rotating frame 5 and the horizontal frame 4 both receive a balancing force and do not move, and the vertical frame 3 is subjected to an upward pulling force, and the vertical frame 3 moves vertically upward; conversely, the first drive motor 71 rotates reversely, the second drive motor 72 rotates reversely, the third drive motor 73 rotates forward, and the fourth drive motor 74 rotates forward. The rotating frame 5 and the horizontal frame 4 both receive a balancing force and do not move, and the vertical frame 3 is subjected to a downward pulling force, and the vertical frame 3 moves vertically downward.

[0037] When the horizontal frame 4 moves in the horizontal direction: the first drive motor 71 rotates forward, the second drive motor 72 rotates forward, the third drive motor 73 rotates forward, and the fourth drive motor 74 rotates forward; the vertical frame 3 and the rotating frame 5 both receive a balancing force and do not move, the horizontal frame 4 is subjected to a pulling force to the left, and the translation frame 31 moves to the left; conversely, the first drive motor 71 reverses, the second drive motor 72 reverses, the third drive motor 73 reverses, and the fourth drive motor 74 reverses, the vertical frame 3 and the rotating frame 5 both receive a balancing force and do not move, the horizontal frame 4 is subjected to a pulling force to the right, and the horizontal frame 4 moves to the right.

[0038] When the rotating frame 5 needs to rotate: the first drive motor 71 rotates forward, the second drive motor 72 rotates reversely, the third drive motor 73 rotates forward, and the fourth drive motor 74 rotates reversely; the vertical frame 3 and the horizontal frame 4 both receive a balancing force and do not move, the rotating frame 5 is subjected to a pulling force to the left, and the rotating frame 5 rotates counterclockwise; conversely, the first drive motor 71 rotates reversely, the second drive motor 72 rotates forward, the third drive motor 73 rotates reversely, and the fourth drive motor 74 rotates forward, the vertical frame 3 and the horizontal frame 4 both receive a balancing force and do not move, the rotating frame 5 is subjected to a pulling force to the right, and the rotating frame 5 rotates clockwise.

[0039] The above-described embodiment is only a preferred solution of a parallel-driven three-degree-of-freedom motion platform of the present invention, and does not limit the present invention in any form. There are other variations and modifications without exceeding the technical solutions described in the claims.

Claims

1. A parallel-driven three-degree-of-freedom motion platform, comprising a workbench (1), characterized in that: The workbench (1) is provided with a fixed frame (2), the fixed frame (2) is provided with a vertical frame (3), the vertical frame (3) is provided with a horizontal frame (4), the horizontal frame (4) is rotatably connected with a rotating frame (5), the rotating frame (5) is provided with a connecting wheel group (6), and a driving mechanism (7) is provided on one side of the fixed frame (2); the fixed frame (2), the vertical frame (3) and the horizontal frame (4) are provided with a transmission wheel group (8), the driving mechanism (7) is connected to the transmission wheel group (8) and the connecting wheel group (6) through a wire wheel group (9), and the driving mechanism (7) is connected to a controller; The transmission wheel group (8) comprises an upward wheel group (81), a first downward wheel group (821), a second downward wheel group (822) and a third downward wheel group (823); the upward wheel group (81), the first downward wheel group (821), the second downward wheel group (822) and the third downward wheel group (823) are respectively arranged on the fixed frame (2); the vertical frame (3) is provided with a first side wheel group a (831), a first side wheel group b (832), a second side wheel group a (841) and a second side wheel group b (842); the horizontal frame (4) is provided with a first horizontal wheel group (851) and a second horizontal wheel group (852); The wire wheel assembly (9) comprises a first wire rope (91), a second wire rope (92), a third wire rope (93) and a fourth wire rope (94); the first wire rope (91), the second wire rope (92), the third wire rope (93) and the fourth wire rope (94) are respectively connected to the driving mechanism (7), the transmission wheel assembly (8) and the connecting wheel assembly (6); and the ends of the first wire rope (91), the second wire rope (92), the third wire rope (93) and the fourth wire rope (94) are respectively fixed to the connecting wheel assembly (6); The driving mechanism (7) comprises a first driving motor (71), a second driving motor (72), a third driving motor (73) and a fourth driving motor (74), each of the driving motors corresponding to a steel wire rope; The connecting wheel set (6) comprises a first connecting wheel (61), a second connecting wheel (62), a third connecting wheel (63) and a fourth connecting wheel (64); the first connecting wheel (61), the second connecting wheel (62), the third connecting wheel (63) and the fourth connecting wheel (64) are respectively provided with two tooth grooves; the steel wire ropes are respectively provided on the corresponding connecting wheels; the two ends of any of the steel wire ropes are respectively provided on the two tooth grooves of the corresponding connecting wheels; the first connecting wheel (61), the second connecting wheel (62), the third connecting wheel (63) and the fourth connecting wheel (64) are coaxially arranged; A slide rail (10) is provided on one side wall of the fixed frame (2), the vertical frame (3) is slidably connected to the fixed frame (2) via the slide rail (10), a slide groove (11) is provided on the inner side wall of the vertical frame (3), and the horizontal frame (4) is slidably connected to the vertical frame (3) via the slide groove (11); The first steel wire rope (91) is connected to the output end of the first drive motor (71); the upward section of the first steel wire rope (91) passes through the second downward wheel group (822), the upward wheel group (81), the first side wheel group b (832) and the first horizontal wheel group (851) in sequence, and the end is fixed to the first connecting wheel (61); the downward section of the first steel wire rope (91) passes through the first downward wheel group (821), the third downward wheel group (823), the first side wheel group a (831), the second side wheel group a (841), the second side wheel group b (842) and the second horizontal wheel group (852) in sequence, and the end is fixed to the first connecting wheel (61); the two ends of the first steel wire rope (91) are respectively fixed to the two tooth grooves of the first connecting wheel (61); The second steel wire rope (92) is connected to the output end of the second drive motor (72); the upward section of the second steel wire rope (92) passes through the second downward wheel group (822), the upward wheel group (81), the first side wheel group b (832) and the first horizontal wheel group (851) in sequence; the end is fixed to the second connecting wheel (62); the downward section of the second steel wire rope (92) passes through the first downward wheel group (821), the third downward wheel group (823), the first side wheel group a (831), the second side wheel group (851) in sequence; The ends of the wheel group a (841), the second side wheel group b (842) and the second horizontal wheel group (852) are fixed on the second connecting wheel (62), the two ends of the second steel wire rope (92) are respectively fixed on the two tooth grooves of the second connecting wheel (62), the two ends of the second steel wire rope (92) are arranged crosswise, the end of the upward section of the second steel wire rope (92) is fixed on the right side of the second connecting wheel (62), and the end of the downward section of the second steel wire rope (92) is fixed on the left side of the second connecting wheel (62); The third steel wire rope (93) is connected to the output end of the third drive motor (73); the upward section of the third steel wire rope (93) passes through the third downward wheel group (823), the upward wheel group (81), the first side wheel group a (831), the second side wheel group a (841), the second side wheel group b (842) and the second horizontal wheel group (852) in sequence, and the end is fixed to the third connecting wheel (63); the downward section of the third steel wire rope (93) passes through the first downward wheel group (821), the second downward wheel group (822), the first side wheel group b (832) and the first horizontal wheel group (851) in sequence, and the end is fixed to the third connecting wheel (63); the two ends of the third steel wire rope (93) are respectively fixed to the two tooth grooves of the third connecting wheel (63); The fourth steel wire rope (94) is connected to the output end of the fourth drive motor (74). The upward section of the fourth steel wire rope (94) passes through the third downward wheel group (823), the upward wheel group (81), the first side wheel group a (831), the second side wheel group a (841), the second side wheel group b (842) and the second horizontal wheel group (852) in sequence, and the end is fixed to the fourth connecting wheel (64). The downward section of the fourth steel wire rope (94) passes through the first downward wheel group (821), the second downward wheel group (831), the second side wheel group a (841), the second side wheel group b (842) and the second horizontal wheel group (852) in sequence. The ends of the running wheel group (822), the first side running wheel group b (832) and the first horizontal wheel group (851) are fixed on the fourth connecting wheel (64), the two ends of the fourth steel wire rope (94) are respectively fixed on the two tooth grooves of the fourth connecting wheel (64), the two ends of the fourth steel wire rope (94) are cross-arranged, the end of the upward section of the fourth steel wire rope (94) is fixed on the right side of the fourth connecting wheel (64), and the end of the downward section of the fourth steel wire rope (94) is fixed on the left side of the fourth connecting wheel (64).

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