Redundant parallel machine device

Abstract

The invention provides a redundant parallel machine device, and relates to the technical field of robots, the redundant parallel machine device comprises a base, and a plurality of driving sliding tables are slidably arranged on the base; the movable platform is arranged above the driving sliding table; the first end of each driving branch chain is connected with the movable platform, so that a parallel structure in which the movable platform is driven by the driving branch chains is formed; and the rotating mechanisms are rotationally connected with the driving sliding table, and the second end of each driving branch chain is arranged on the corresponding rotating mechanism in a sliding mode so as to form a series-connection branch chain with the driving branch chain. The redundant parallel machine device provided by the invention is remarkably improved in the aspects of improving the flexibility and expanding the working space, and particularly shows potential application value in the fields with high requirements on the operation accuracy and the flexibility, such as medical rehabilitation and the like.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a redundant parallel machine device. Background Art

[0002] Compared with traditional serial robots, parallel robots have been widely used in many fields, including but not limited to aerospace, manufacturing, and medical rehabilitation, due to their superior load-bearing capacity and precision. In particular, the Stewart (a six-degree-of-freedom parallel robot mechanism) parallel mechanism and its derivatives have demonstrated significant performance advantages in these applications.

[0003] Although existing parallel robots have performed well in many application fields, their workspace and dexterity are also significantly limited, especially compared with serial robots, their workspace and dexterity are seriously insufficient. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a redundant parallel machine device to solve the problem that although the parallel robots in the prior art perform well in many application fields, their workspace and dexterity are also significantly limited, especially compared with serial robots, their workspace and dexterity are seriously insufficient.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a redundant parallel machine device, including: a base, on which a plurality of driving slides are slidably provided; a moving platform, which is arranged above the driving slide; a plurality of driving branch chains, the first end of each driving branch chain is respectively connected to the moving platform to form a parallel structure in which the moving platform is driven by the plurality of driving branch chains; and a plurality of rotating mechanisms, which are rotatably connected to the driving slides, and the second end of each driving branch chain is slidably provided on the corresponding rotating mechanism to form a series branch chain with the driving branch chain.

[0006] In one embodiment of the present invention, the base includes: an annular slide rail, and the driving slide is installed on the annular slide rail and moves back and forth along the guide direction of the annular slide rail.

[0007] In one embodiment of the present invention, the driving slide includes: a first slider, a bottom of which is provided with an arc-shaped slide groove, and the arc-shaped slide groove slides with the annular slide rail; and a driver, which is installed on the first slider to drive the first slider to move back and forth along the guide direction of the annular slide rail.

[0008] In one embodiment of the present invention, the rotating mechanism is arranged along the radial direction of the base, and an end of the rotating mechanism away from the driving slide is close to the center of the base.

[0009] In one embodiment of the present invention, the rotating mechanism includes: a slide rail; a sliding drive unit, the sliding drive unit is installed on the slide rail, and the second end of the driving branch chain is connected to the power output end of the sliding drive unit to drive the second end of the driving branch chain to move back and forth along the guide direction of the slide rail; and a rotating drive unit, the rotating drive unit is installed on the driving slide, and the power output end of the rotating drive unit is connected to the slide rail to drive the rotating drive unit to flip back and forth.

[0010] In one embodiment of the present invention, a slide rail groove for installing the sliding driving part is provided on the slide rail.

[0011] In one embodiment of the present invention, the sliding drive unit includes: a second slider, the second slider is slidably disposed in the slide rail groove, and the second end of the driving branch chain is connected to the second slider; and a driving rod, the driving rod is installed in the slide rail groove and connected to the second slider to drive the second slider to move back and forth in the slide rail groove along the driving rod.

[0012] In one embodiment of the present invention, the rotation driving part includes: a first rotation pair, the first rotation pair includes a first rotation end and a second rotation end hinged to each other, the first rotation end is connected to the slide rail, and the second rotation end is connected to the driving slide; and a driving motor, the power output end of the driving motor is connected to the first rotation end to drive the first rotation end to rotate around the second rotation end.

[0013] In one embodiment of the present invention, the rotation angle range when the driving motor drives the first rotating end to rotate around the second rotating end is [0, 45°).

[0014] In one embodiment of the present invention, the driving branch chain includes: a telescopic driving rod, and a first universal joint and a second universal joint respectively installed at both ends of the telescopic driving rod, the moving platform is connected to the telescopic driving rod through the first universal joint, and the sliding rail is connected to the telescopic driving rod through the second universal joint.

[0015] As described above, a redundant parallel machine device of the present invention has the following beneficial effects: by driving the second end of the driving branch chain to slide back and forth in its guide direction through the driving rail, it can be realized that when the moving platform is driven by the driving branch chain, that is, under the premise of satisfying the basic working space of the Stewart parallel mechanism, the redundant degrees of freedom of the moving platform when working can be further increased by driving the second end of the driving branch chain through the driving rail. The series branch chain formed by the back and forth flipping of the driving rail on the driving slide and the circumferential rotation of the driving slide on the base can allow the driving slide to move freely on the base without angle restrictions, thereby improving the kinematic capability of the machine device, while also improving the dexterity of the machine device and expanding the working space, especially in areas with high requirements for operational accuracy and dexterity, such as medical rehabilitation, precision manufacturing, and aerospace, etc., which have good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the redundant parallel machine device of the present invention.

[0017] Figure 2 It is a schematic diagram of a state of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0018] Figure 3 For the present invention Figure 2 Top view of the .

[0019] Figure 4 This is a schematic diagram of another state of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0020] Figure 5 For the present invention Figure 4 Top view of the .

[0021] Figure 6 This is another state diagram of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0022] Figure 7 For the present invention Figure 6 Top view of the .

[0023] Component number description

[0024] Base 1; driving slide 2; moving platform 3; driving branch chain 4; rotating mechanism 5; annular slide rail 11; first slider 21; arc-shaped slide groove 22; slide rail 51; sliding drive unit 52; rotating drive unit 53; slide rail groove 511; second slider 521; driving rod 522; first rotating pair 531; first rotating end 5311; second rotating end 5312; telescopic driving rod 41; first universal joint 42; second universal joint 43. DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0027] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0028] See also Figure 1 In one embodiment of the present invention, the present invention provides a redundant parallel machine device, including: a base 1, on which a plurality of driving slides 2 are slidably provided; a moving platform 3, which is arranged above the driving slide 2; a plurality of driving branch chains 4, the first end of each driving branch chain 4 is respectively connected to the moving platform 3 to form a parallel structure in which the moving platform 3 is driven by the plurality of driving branch chains 4; and a plurality of rotating mechanisms 5, the rotating mechanisms 5 are rotatably connected to the driving slide 2, and the second end of each driving branch chain 4 is slidably provided on the corresponding rotating mechanism 5 to form a series branch chain with the driving branch chain 4.

[0029] It is not difficult to find from the above content that in the redundant parallel machine device of the present invention, by connecting multiple drive branches 4 with the moving platform 3, the movement of the moving platform 3 in the basic degree of freedom can be realized through the drive branches 4, that is, the six-degree-of-freedom situation under the classic Stewart parallel mechanism. Further, by connecting the rotating mechanism 5 with the drive branch 4, it can be realized that the lower end of the drive branch 4 is driven by the rotating mechanism 5 to slide back and forth on the rotating mechanism 5, thereby increasing the redundant degree of freedom of the moving platform 3 when it moves on the basis of the original use of the drive branch 4 to drive the moving platform 3 to move. And during the installation process of the rotating mechanism 5, by rotating the rotating mechanism 5 and installing it on the driving slide 2, the rotation of the rotating mechanism 5 relative to the driving slide 2 can be realized. Moreover, the driving slide 2 is also connected to the base 1, so that the driving slide 2 can be rotated relative to the base 1. By flipping the rotating mechanism 5 on the driving slide 2 and the rotation of the driving slide 2 on the base 1, the redundant degrees of freedom of the moving platform 3 during operation can be further increased. The multiple redundant degrees of freedom and multiple slide rail configurations introduced above can improve the dexterity of the machine device and expand the working space of the machine device, especially in fields that require high operational accuracy and dexterity, such as medical rehabilitation, precision manufacturing, and aerospace, etc., and can perform complex and delicate operational tasks, showing its potential application value.

[0030] Among them, redundant degrees of freedom refer to the additional degrees of freedom that a robot has when completing a task. Simply put, when the number of joints of a robot exceeds the minimum number of joints required to complete a task, redundant degrees of freedom are generated.

[0031] In one embodiment of the present invention, the installation of the driving slide 2 can be achieved by utilizing the base 1. Specifically, the base 1 includes: an annular slide rail 11, and the driving slide 2 is installed on the annular slide rail 11, and moves back and forth along the guide direction of the annular slide rail 11. In this embodiment, the base 1 includes an annular slide rail 11 for the driving slide 2 to slide in its specific structure, and of course, it can also include a seat body (not shown in the figure) for installing the annular slide rail 11. The annular slide rail 11 can be a boss shape for sliding installation of the driving slide 2. The annular slide rail 11 can be a circular ring shape, and of course, it can also be a circular arc shape arranged in circumferential segments, and the centers of all the circular arc shapes coincide at one point.

[0032] In one embodiment of the present invention, by utilizing the back-and-forth sliding of the driving slide 2 on the base 1, the redundant degree of freedom of the moving platform 3 can be increased when the moving platform 3 is working. Specifically, the driving slide 2 includes: a first slider 21, a curved slide groove 22 is provided at the bottom of the first slider 21, and the curved slide groove 22 is slidably matched with the annular slide rail 11; and a driver, which is installed on the first slider 21 to drive the first slider 21 to move back and forth along the guide direction of the annular slide rail 11. In this embodiment, when the driving slide 2 is installed on the curved slide rail 11 of the base 1, an curved slide groove 22 corresponding to the annular slide rail 11 is provided on one side of the bottom of the first slider 21. The curved slide groove 22 can be an arc shape corresponding to the annular slide rail 11, and the arc length of the entire first slider 21 along the annular sliding direction is less than the maximum slidable arc length on the curved slide rail 22. When the driving slide 2 rotates circumferentially on the base 1, it is an active rotation process, that is, it is driven to rotate by the driver installed on the first slider 21.

[0033] Specifically, the driver may include a servo motor and a gear. The gear is installed in the arc-shaped slide groove 22, and the servo motor is also installed on the first slider 21, and the power output end of the servo motor is connected to the gear. A toothed disc corresponding to the gear is provided on the annular slide rail 11 to realize meshing transmission between the gear and the toothed disc, so that the gear rotates and moves on the toothed disc under the power drive of the servo motor, thereby realizing the movement of the first slider 21 on the annular slide rail 11. Of course, the driver can also be other structures that can drive the first slider 21 to rotate circumferentially on the annular slide rail 11, which will not be described in detail here.

[0034] In one embodiment of the present invention, the first slider 21 is designed to allow the first slider 21 to move freely on the arc-shaped slide rail 22 without angle restrictions, which can greatly improve the kinematic capability of the robot.

[0035] In one embodiment of the present invention, in the structural arrangement of the rotating mechanism 5, the rotating mechanism 5 is arranged along the radial direction of the base 1, and one end of the rotating mechanism 5 away from the driving slide 2 is close to the center of the base 1. In this embodiment, by rotating one end of the rotating mechanism 5 to be connected to the driving slide 2, and the other end thereof pointing to the center of the base 1, the rotating mechanism 5 can be turned over in the upper area of ​​the base 1, thereby reducing the space occupied by the rotating mechanism 5 when turning over. For example, when one end of the rotating mechanism 5 is connected to the driving slide 2, the other end thereof can also point to a side away from the center of the base 1, so that the redundant degree of freedom of the moving platform 3 can be increased by increasing the turning of the rotating mechanism 5, but since the rotating mechanism 5 will extend out of the outside of the base 1 when it is in action, the space occupied by the rotating mechanism 5 will be increased. Specifically, the center is the rotation center when the driving slide 2 rotates around the base circumference.

[0036] In one embodiment of the present invention, the rotating mechanism 5 can realize the back and forth flipping on the driving slide 2, and can also realize driving the second end of the driving branch chain 3 to slide back and forth on the rotating mechanism 5, so as to increase the redundant degree of freedom of the moving platform 3 by flipping the rotating mechanism 5 and driving the second end of the driving branch chain 3 to slide. Specifically, the rotating mechanism 5 includes: a slide rail 51; a sliding drive unit 52, the sliding drive unit 52 is installed on the slide rail 51, the second end of the driving branch chain 4 is connected to the power output end of the sliding drive unit 52, so as to drive the second end of the driving branch chain 4 to move back and forth along the guide direction of the slide rail 51; and a rotating drive unit 53, the rotating drive unit 53 is installed on the driving slide 2, and the power output end of the rotating drive unit 53 is connected to the slide rail 51 to drive the rotating drive unit 53 to flip back and forth.

[0037] In this embodiment, the rotating mechanism 5 mainly includes a slide rail 51, a sliding drive unit 52 and a rotating drive unit 53. The sliding drive unit 52 is installed on the slide rail 51, and the rotating drive unit 53 installs the slide rail 51 on the driving slide 2. Thus, the second end of the driving branch chain 3 connected to the slide rail 51 can be driven to slide back and forth along the guide direction of the slide rail 51 by the sliding drive unit 52 on the slide rail 51, and the slide rail 51 can be driven to flip back and forth on the driving slide 2 by the rotating drive unit 53 when the slide rail 51 is connected to the driving slide 2. Thus, the redundant degrees of freedom of the moving platform 3 during operation are increased by the sliding drive unit 52 and the rotating drive unit 53, respectively, so that the dexterity of the moving platform 3 can be significantly improved during operation, and its working space is expanded.

[0038] In one embodiment of the present invention, the slide rail 51 can be used to install the sliding drive unit 52 and the rotating drive unit 53. Specifically, when installing the sliding drive unit 52, a slide rail groove 511 for installing the sliding drive unit 52 is provided on the slide rail 51. In this embodiment, the sliding drive unit 52 can be installed in the slide rail groove 511 provided on the slide rail 51, so as to achieve the second end of the drive branch chain 4 to slide back and forth along the guide direction of the slide rail groove 511 through the sliding drive unit 52. Of course, the slide rail 51 can also be provided with a guide rod (not shown in the figure) for installing the sliding drive unit 52, and the sliding drive unit 52 is slidably installed through the guide rod, so as to achieve the second end of the drive branch chain 4 to slide back and forth along the guide direction of the guide rod through the sliding drive unit 52.

[0039] In one embodiment of the present invention, the sliding driving part 52 is installed in the sliding groove 511, and the second end of the driving branch chain 4 is installed on the power output end of the sliding driving part 52, so as to realize that the sliding driving part 52 drives the driving branch chain 4 to move back and forth along the guiding direction of the sliding groove 511. Specifically, the sliding driving part 52 includes: a second slider 521, the second slider 521 is slidably arranged in the sliding rail groove 511, and the second end of the driving branch chain 4 is connected to the second slider 521; and a driving rod 522, the driving rod 522 is installed in the sliding rail groove 511, and is connected to the second slider 521, so as to drive the second slider 521 to move back and forth in the sliding rail groove 511 along the driving rod 522. In this embodiment, the sliding driving part 52 includes a second slider 521 and a driving rod 522 in its specific structural design. Among them, the second slider 521 is slidably arranged in the sliding rail groove 511, and the second slider 521 can move back and forth along the arrangement direction of the sliding rail groove 511. The driving rod 522 can drive the second sliding block 521 to actively move back and forth along the guiding direction of the slide rail groove 511 through the connection between the driving rod 522 and the second sliding block 521 .

[0040] Specifically, the driving rod 522 may include a screw and a servo motor. That is, by installing the servo motor on the slide rail 51, and connecting the power output end of the servo motor to the screw. The screw thread passes through the second slider 521, and then the screw can be driven to rotate by the servo motor, so that the second slider 521 can move back and forth along the arrangement direction of the screw and the slide rail groove 511. Of course, the driving rod 522 can also be a push rod motor, that is, the power output end of the push rod motor is connected to the second slider 521, so that the power of the push rod motor can push the second slider 521 to move back and forth along the guide direction of the slide rail groove 511. In addition, the driving rod 522 can also be a cylinder, and the way it drives the second slider 521 is similar to that of the push rod motor, which will not be repeated here.

[0041] In one embodiment of the present invention, the rotation driving part 53 is connected to the slide rail 51 through one end thereof, and is connected to the driving slide 2 at the other end, so as to realize driving the slide rail 51 to flip back and forth on the driving slide 2. Specifically, the rotation driving part 53 includes: a first rotation pair 531, the first rotation pair 531 includes a first rotation end 5311 and a second rotation end 5312 hinged to each other, the first rotation end 5311 is connected to the slide rail 51, and the second rotation end 5312 is connected to the driving slide 2; and a driving motor, the power output end of the driving motor is connected to the first rotation end 5311, so as to drive the first rotation end 5311 to rotate around the second rotation end 5312.

[0042] In this embodiment, the rotation driving part 53 includes a first rotation pair 531 and a driving motor in its specific structural design. That is to say, the slide rail 51 is movably connected to the driving slide 2 by using the first rotation pair 531, and then the slide rail 51 is driven to rotate by the driving motor through the first rotation pair 531. Specifically, the driving motor can be a servo motor. The driving motor can be installed on the driving slide 2, and its power output end is connected to the first rotating end 5311 by passing through the center of the second rotating end 5312, so that under the action of the driving motor, the first rotating end 5311 is rotated around the second rotating end 5312, thereby driving the slide rail 51 to rotate. Of course, the driving motor can also be installed on the second rotating end 5312, and its power output end is connected to the first rotating end 5311 by passing through the center of the second rotating end 5312, so that under the action of the driving motor, the first rotating end 5311 is rotated around the second rotating end 5312, thereby driving the slide rail 51 to rotate.

[0043] In one embodiment of the present invention, when the slide rail 51 rotates, its rotation range is [0, 45°), and the corresponding driving motor drives the first rotating end 5311 to rotate around the second rotating end 5312, and the angular range is [0, 45°), thereby further enhancing the movement ability of the machine device when the slide rail 51 is in this rotation range.

[0044] In one embodiment of the present invention, when the drive branch chain 4 is installed on the second slider 521, the number of drive branches 4 provided on each second slider 521 can be selectively adjusted according to the number of drive branches 4 required on the second slider 521. Specifically, at least two drive branches 4 are connected to one second slider 521. In this embodiment, the number of drive branches 4 provided on the second slider 521 of each sliding drive unit 52 is the same, which can ensure that the redundancy effect of the moving platform 3 is the same in each direction, and the same dexterity effect can be achieved. By connecting two drive branches 4 on one second slider 521, the general degree of freedom requirements of the moving platform 3 can be guaranteed. Of course, more drive branches 4 can also be installed, and under the coordinated driving, the moving platform 3 can meet specific working requirements.

[0045] In one embodiment of the present invention, the driving chain 4 and the moving platform 3 form a basic Stewart parallel mechanism, and the base 1, the driving slide 2 and the rotating mechanism 5 together form a redundant degree of freedom for the moving platform 3 when it is working, so as to improve the operating range and dexterity of the machine device. Among them, the driving chain 4 includes: a telescopic driving rod 41, and a first universal joint 42 and a second universal joint 43 respectively installed at both ends of the telescopic driving rod 41, the moving platform 3 is connected to the telescopic driving rod 41 through the first universal joint 42, and the slide rail 51 is connected to the telescopic driving rod 41 through the second universal joint 43.

[0046] In this embodiment, when the driving branch chain 4 is working, the driving force of the telescopic driving rod 41 is used to adjust the moving platform 3 to different angles. Specifically, one end of the telescopic driving rod 41 is connected to the moving platform 3 through the first universal joint 42, and the other end of the telescopic driving rod 41 is connected to the second slider 521 through the second universal joint 42. Thus, under the simultaneous telescopic driving action of multiple telescopic driving rods 41, the moving platform 3 can be rotated to a set angle and working state. And the first universal joint 42 and the second universal joint 43 can reach a corresponding state that matches the length of the telescopic driving rod 41 and the set angle of the moving platform 3.

[0047] In one embodiment of the present invention, the telescopic drive rod 41 may be a push rod motor, or a cylinder, to realize active driving of the moving platform 3. In the specific installation process, the telescopic drive rod 41 may be installed on the slider 53 through the second universal joint 43 at the non-driving end of the telescopic drive rod 41, and the power output end of the telescopic drive rod 41 may be connected to the moving platform 3 through the first universal joint 42. Then, when the length of the telescopic drive rod 41 changes, the moving platform 3 can reach the set working angle under the coordinated adjustment of the first universal joint 42 and the second universal joint 43.

[0048] Preferably, at least two drive branches 4 form a pair of drive branches installed between the moving platform 3 and the drive rail 5, and at least three pairs of drive branches are arranged on the moving platform 3. In this embodiment, when the drive branch chain 4 is connected to the moving platform 3 to drive the moving platform to reach different working angles, the second ends of each two drive branches 4 can be connected to a drive rail 5, and the first ends thereof are connected to the moving platform 3. The two drive branches 4 form a pair of drive branches, and under the cooperation of the drive rail 5, the purpose of redundant degrees of freedom is achieved. Of course, when forming a pair of drive branches, the drive branches 4 can also be other numbers. When the drive rail 5, a pair of drive branches, and the sliding drive part 201 and the rotating drive part 202 on the drive slide 2 form a series branch chain, the series branch chain can be three groups. Of course, more series branches can also be arranged to form a redundant parallel structure according to work needs.

[0049] See also Figure 2 and Figure 3 In a preferred embodiment, the moving platform 3 is located at the lower left of the base 1 under the drive of the driving slide 2, the driving branch chain 4 and the rotating mechanism 5. Figure 2 As shown, the rotation angles of the two rotating mechanisms 5 at the left front end and the right front end are basically the same, and the rotation angle of the rotating mechanism 5 at the rear end is smaller than the rotation angles of the two rotating mechanisms 5 at the left front end and the right front end. The two driving branches 4 at the left front end are the shortest, and the two driving branches 4 on the rotating mechanism 5 at the right front end and the two driving branches 4 on the rotating mechanism 5 at the rear end push the moving platform 3 toward the top of the rotating mechanism 5 at the left front end, so that the moving platform 3 is located as shown in FIG. Figure 2 The one shown in FIG. 1 is at the lower left position of the base 1 .

[0050] See also Figure 4 and Figure 5 In a preferred embodiment, the moving platform 3 is located in the middle of the base 1 near the driving slide 2, the driving chain 4 and the rotating mechanism 5. Figure 4 The middle and rear end is above a rotating mechanism 5 and is directed toward Figure 4 The rotating mechanism 5 at the front right end is deflected on one side. Figure 4 As shown, the rotation angles of the two rotating mechanisms 5 at the rear end and the right front end are basically the same, and the rotation angle of the rotating mechanism 5 at the left front end is smaller than the rotation angles of the two rotating mechanisms 5 at the rear end and the right front end. Of the two driving branch chains 4 at the rear end, the length of the driving branch chain 4 near the left side is greater than the length of the driving branch chain 4 near the right side; of the two driving branch chains 4 at the left front end, the length of the driving branch chain 4 near the rear side is greater than the length of the driving branch chain 4 near the front side, so as to achieve the pushing of the moving platform 3 to the position as shown in FIG. Figure 5 The central part of the base 1 is shown near Figure 4The position above the middle and rear end rotating mechanism 5 is as follows Figure 4 The rotating mechanism 5 at the middle right front end is deflected on one side.

[0051] See also Figure 6 and Figure 7 In a preferred embodiment, the moving platform 3 is located in the middle of the base 1 and moves toward the middle of the base 1 under the drive of the driving slide 2, the driving chain 4 and the rotating mechanism 5. Figure 6 The left front end rotation mechanism 5 shown in the figure is deflected on one side. At this time, the rotation angle of the left front end rotation mechanism 5 is smaller than the rotation angle of the rear end rotation mechanism 5; the rotation angle of the rear end rotation mechanism 5 is smaller than the rotation angle of the right front end rotation mechanism 5. Of the two drive branches 4 at the right front end, the length of the drive branch chain 4 near the rear end is greater than the length of the drive branch chain 4 near the front end; of the two drive branches 4 at the rear end, the length of the drive branch chain 4 near the right end is greater than the length of the drive branch chain 4 near the left end, thereby pushing the moving platform 3 to the position as shown in the figure. Figure 7 The shown one is located in the middle of the base 1 and faces Figure 6 The rotating mechanism 5 at the left front end shown in the figure is deflected to one side.

[0052] In summary, the present invention drives the second end of the driving branch chain 4 to slide back and forth in the guide direction by the driving rail 5, so that the moving platform 3 can be driven by the driving branch chain 4, that is, under the premise of satisfying the basic working space of the Stewart parallel mechanism, the redundant degree of freedom of the moving platform 3 can be further increased by the driving rail 5 driving the second end of the driving branch chain 4 to slide. The series branch chain formed by the back and forth flipping of the driving rail 5 on the driving slide 2 and the circumferential rotation of the driving slide 2 on the base 1 can allow the driving slide 2 to move freely on the base 1 without angle restrictions, thereby improving the kinematic ability of the machine device, and at the same time, improving the dexterity of the machine device and expanding the working space, especially in the fields with high requirements for operation accuracy and dexterity, such as medical rehabilitation, precision manufacturing and aerospace, etc., which have good application prospects. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0053] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A redundant parallel machine device, characterized in that: include: A base (1), wherein a plurality of driving slides (2) are slidably provided on the base (1); A moving platform (3), wherein the moving platform (3) is arranged above the driving slide (2); a plurality of drive branch chains (4), wherein the first end of each of the drive branch chains (4) is respectively connected to the moving platform (3) to form a parallel structure in which the moving platform (3) is driven by the plurality of drive branch chains (4); as well as A plurality of rotating mechanisms (5) are rotatably connected to the driving slide (2), and the second end of each driving branch chain (4) is slidably disposed on the corresponding rotating mechanism (5) to form a series branch chain with the driving branch chain (4).

2. The redundant parallel machine device according to claim 1, characterized in that: The base (1) comprises: An annular slide rail (11), the driving slide platform (2) is mounted on the annular slide rail (11) and moves back and forth along the guide direction of the annular slide rail (11).

3. The redundant parallel machine device according to claim 2, characterized in that: The driving slide (2) comprises: A first sliding block (21), wherein a curved sliding groove (22) is provided at the bottom of the first sliding block (21), and the curved sliding groove (22) is slidably matched with the annular sliding rail (11); and A driver is installed on the first slider (21) to drive the first slider (21) to move back and forth along the guiding direction of the annular slide rail (11).

4. The redundant parallel machine device according to claim 1, characterized in that: The rotating mechanism (5) is arranged along the radial direction of the base (1), and one end of the rotating mechanism (5) away from the driving slide table (2) is close to the center of the base (1).

5. The redundant parallel machine device according to any one of claims 1 to 4, characterized in that: The rotating mechanism (5) comprises: Slide rail (51); a sliding drive unit (52), the sliding drive unit (52) being mounted on the slide rail (51), the second end of the driving branch chain (4) being connected to the power output end of the sliding drive unit (52) so as to drive the second end of the driving branch chain (4) to move back and forth along the guide direction of the slide rail (51); and A rotation driving part (53), wherein the rotation driving part (53) is mounted on the driving slide (2), and a power output end of the rotation driving part (53) is connected to the slide rail (51) to drive the rotation driving part (53) to flip back and forth.

6. The redundant parallel machine device according to claim 5, characterized in that: The slide rail (51) is provided with a slide rail groove (511) for installing the slide drive unit (52).

7. The redundant parallel machine device according to claim 6, characterized in that: The sliding drive unit (52) comprises: a second sliding block (521), the second sliding block (521) being slidably disposed in the sliding rail groove (511), the second end of the driving branch chain (4) being connected to the second sliding block (521); and A driving rod (522), wherein the driving rod (522) is installed in the slide rail groove (511) and is connected to the second sliding block (521) to drive the second sliding block (521) to move back and forth in the slide rail groove (511) along the driving rod (522).

8. The redundant parallel machine device according to claim 5, characterized in that: The rotation driving unit (53) comprises: a first rotating pair (531), the first rotating pair (531) comprising a first rotating end (5311) and a second rotating end (5312) hinged to each other, the first rotating end (5311) being connected to the slide rail (51), and the second rotating end (5312) being connected to the driving slide table (2); and A driving motor, wherein a power output end of the driving motor is connected to the first rotating end (5311) to drive the first rotating end (5311) to rotate around the second rotating end (5312).

9. The redundant parallel machine device according to claim 8, characterized in that: The rotation angle range when the driving motor drives the first rotating end (5311) to rotate around the second rotating end (5312) is [0, 45°).

10. The redundant parallel machine device according to claim 5, characterized in that: The drive branch chain (4) comprises: A telescopic driving rod (41), and a first universal joint (42) and a second universal joint (43) respectively mounted at two ends of the telescopic driving rod (41); the moving platform (3) is connected to the telescopic driving rod (41) via the first universal joint (42); and the slide rail (51) is connected to the telescopic driving rod (41) via the second universal joint (43).

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