Multi-sliding-rail redundant parallel mechanism

Abstract

The invention provides a multi-sliding-rail redundant parallel mechanism, and relates to the technical field of robots. The movable platform is arranged above the base; the first end of each driving branch chain is connected with the movable platform in the circumferential direction, so that a parallel structure in which the multiple driving branch chains drive the movable platform is formed; the rotating mechanisms are arranged on the base in the circumferential direction, and the second end of each driving branch chain is arranged on the corresponding rotating mechanism in a sliding mode so that the second end of each driving branch chain and the corresponding driving branch chain can form a series-connection branch chain. According to the redundant parallel mechanism provided by the invention, the working space and the flexibility of the mechanism can be effectively improved through unique arrangement of multiple sliding rails and introduction of the redundant degree of freedom, and the redundant parallel mechanism has wide application prospects in multiple fields such as automatic manufacturing, precise instrument control, simulation training and the like.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-slide rail redundant parallel mechanism. Background Art

[0002] Compared with serial mechanisms, parallel mechanisms have been widely used in many fields because they have stronger load-bearing capacity and higher precision. For example, the classic Stewart (a six-degree-of-freedom parallel robot mechanism) parallel mechanism and its derivatives have shown excellent performance in many fields such as heavy industry and medical rehabilitation.

[0003] However, parallel robots also have some significant disadvantages, such as small working space and poor dexterity. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a multi-slide redundant parallel mechanism for solving the problems of small working space and poor dexterity of the parallel robot in the prior art.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a multi-slide rail redundant parallel mechanism, including: a base; a moving platform, which is arranged above the base; a plurality of drive branches, wherein the first end of each drive branch is respectively connected to the moving platform to form a parallel structure in which the moving platform is driven by the plurality of drive branches; and a plurality of rotating mechanisms, wherein the rotating mechanism is arranged on the base, and the second end of each drive branch is slidably arranged on the corresponding rotating mechanism to form a series branch with the drive branch.

[0006] In one embodiment of the present invention, the rotating mechanism includes: a driving slide rail and a rotating drive assembly, the rotating end of the driving slide rail is rotatably connected to the rotating drive assembly, and the rotating drive assembly is installed on a base; the power output end of the driving slide rail is connected to the second end of the driving branch chain to drive the second end of the driving branch chain to slide back and forth along the guide direction of the driving slide rail.

[0007] In one embodiment of the present invention, the rotation drive assembly 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 rotation end of the driving slide rail, and the second rotation end is connected to the base; and a drive motor, the drive motor is installed at the second rotation end, and the power output end of the drive motor is connected to the first rotation end to drive the first rotation end to rotate around the second rotation end.

[0008] In one embodiment of the present invention, the driving slide rail includes: a slide rail body, on which a first slide rail groove is provided; a slider, which is slidably arranged in the first slide rail groove; and a driving rod, which is installed in the first slide rail groove and connected to the slider to drive the slider to move back and forth in the first slide rail groove along the driving rod.

[0009] In one embodiment of the present invention, at least two driving branches are connected to one slider.

[0010] 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 slider is connected to the telescopic driving rod through the second universal joint.

[0011] In one embodiment of the present invention, at least two driving branch chains form a pair of driving branch chains installed between the moving platform and the rotating mechanism, and at least three pairs of driving branch chains are arranged on the moving platform.

[0012] In one embodiment of the present invention, the redundant parallel mechanism further includes: a central support, which is installed in the middle of the base; wherein one end of the rotating mechanism is rotatably connected to the base, and the other end of the rotating mechanism is slidably disposed on the central support.

[0013] In one embodiment of the present invention, the central support includes: a base body, a side surface of the base body is provided with an arc-shaped slide rail in the circumferential direction, and the arc-shaped slide rail is provided with an arc-shaped slide rail groove that rotates with the rotating mechanism.

[0014] In one embodiment of the present invention, when the rotating mechanism slides in the arc-shaped slide rail groove, the corresponding rotation angle range is 0° to 30°.

[0015] Beneficial effects of the present invention: The present invention proposes a multi-slide redundant parallel mechanism, which is connected by rotation between the rotating mechanism and the base, and by sliding connection between the driving branch chain and the rotating mechanism. It can be achieved by driving the dynamic platform through the driving branch chain to ensure the original working space, and the redundant degree of freedom of the dynamic platform can be further increased under the cooperation of the rotating action of the rotating mechanism and the sliding action of the driving branch chain on the rotating mechanism. Its flexibility in the positional working space is 41 times that of the traditional Stewart parallel mechanism of the same size, which significantly expands the working space of the dynamic platform and can improve the dexterity of the dynamic platform when working. Moreover, the dexterity brought by the redundant mechanism of the dynamic platform can have a stronger load-bearing capacity and higher precision. Moreover, the above design not only optimizes the performance of the structure, but also greatly broadens its scope of application, especially in many fields such as heavy industry, medical rehabilitation, etc., it has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the redundant parallel mechanism 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 This is a schematic diagram of another state of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0019] Figure 4 For the present invention Figure 3 Top view of the .

[0020] Figure 5 This is another state diagram of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0021] Figure 6 For the present invention Figure 5 Top view of the .

[0022] Figure 7 This is another state diagram of a redundant parallel mechanism according to a preferred embodiment of the present invention.

[0023] Figure 8 For the present invention Figure 7 Top view of the .

[0024] Component number description

[0025] Base 1; moving platform 2; driving branch chain 3; rotating mechanism 4; central support 5; driving slide rail 41; rotating driving assembly 42; first rotating pair 421; first rotating end 4211; second rotating end 4212; slide rail body 411; first slide rail groove 412; slider 413; driving rod 414; first universal joint 32; second universal joint 33; seat base 51; arcuate slide rail 52; arcuate slide rail groove 521. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] See also Figure 1 In one embodiment of the present invention, the present invention provides a multi-slide redundant parallel mechanism, including: a base 1; a moving platform 2, the moving platform 2 is arranged above the base 1; a plurality of drive branches 3, the first end of each drive branch chain 3 is respectively connected to the moving platform 2 to form a parallel structure in which the moving platform 2 is driven by the plurality of drive branches 3; and a plurality of rotating mechanisms 4, the rotating mechanism 4 is arranged on the base 1, and the second end of each drive branch chain 3 is slidably arranged on the corresponding rotating mechanism 4 to form a series branch chain with the drive branch chain 3.

[0030] It is not difficult to find from the above content that in the redundant parallel mechanism of the present invention, by connecting multiple drive branches 3 with the moving platform 2, the movement of the moving platform 2 under the basic degree of freedom can be realized by the drive branches 3. Specifically, the driving force of the drive branches 3 connected in parallel to form a parallel structure toward the moving platform 2 can realize the multi-degree-of-freedom movement of the moving platform 2. On this basis, by installing multiple rotating mechanisms 4 on the base 1 respectively, and making each rotating mechanism 4 installed on the base 1 able to rotate back and forth. Moreover, when the second end of each drive branch chain 3 is connected to the rotating mechanism 4, the second end of the drive branch chain 3 is slidably connected to the rotating mechanism 4 to obtain a series branch chain formed by the drive branch chain 3 and the rotating mechanism 4. Under this parallel structure, by utilizing the rotation of the drive branch chain 3, the sliding of the second end of the drive branch chain 3 on the rotating mechanism 4, and the cooperation between the rotation of the drive branch chain 3 and the sliding of the drive branch chain 3, the redundant degrees of freedom of the moving platform 2 are further increased, the working space of the moving platform 2 is significantly increased, and the dexterity of the moving platform 2 when working is improved. The redundant parallel mechanism of the present invention can be used to form a robot arm, etc., which has better precision and can be widely used in many fields such as heavy industry, medical rehabilitation, etc.

[0031] like Figure 1As shown, in one embodiment of the present invention, the second end of each driving branch chain 3 is slidably disposed on the corresponding rotating mechanism 4 to form a series branch chain with the driving branch chain 3. Specifically, each rotating mechanism 4 includes: a driving rail 41 and a rotating drive assembly 42, the rotating end of the driving rail 41 is rotatably connected to the rotating drive assembly 42, and the rotating drive assembly 42 is installed on the base 1; the power output end of the driving rail 41 is connected to the second end of the driving branch chain 3 to drive the second end of the driving branch chain 3 to slide back and forth along the guide direction of the driving rail 41.

[0032] In this embodiment, in the rotating mechanism 4, the driving rail 41 and the rotating driving assembly 42 are both actively driven. That is to say, when the driving rail 41 is controlled to rotate, the driving rail 41 can be actively rotated according to the control signal. Similarly, when the second end of the driving branch chain 3 is controlled to move back and forth along the driving rail 41, the driving rail 41 moves back and forth with the second end of the driving branch chain 3 by actively driving. Thereby, the active rotation of the driving rail 41 on the base 1 and the active sliding of the second end of the driving branch chain 3 on the driving rail 41 are realized, and the redundant degree of freedom of the moving platform 2 is increased, thereby increasing the working space of the moving platform 2 and improving the dexterity during work. Specifically, when the driving rail 41 is actively rotated, the driving rail 41 is driven by the power output end of the rotating driving assembly 42 installed between the driving rail 41 and the base 1, so that the driving rail 41 rotates back and forth.

[0033] In one embodiment of the present invention, the driving rail 41 can be driven to rotate on the base 1 by using the rotating drive assembly 42, so as to increase the redundant degree of freedom of the moving platform 2 by using the rotation angle change of the driving rail 4. Specifically, the rotating drive assembly 42 includes: a first rotating pair 421, the first rotating pair 421 includes a first rotating end 4211 and a second rotating end 4212 hinged to each other, the first rotating end 4211 is connected to the rotating end of the driving rail 41, and the second rotating end 4212 is connected to the base 1; and a driving motor, the driving motor is installed at the second rotating end 4212, and the power output end of the driving motor is connected to the first rotating end 4211 to drive the first rotating end 4211 to rotate around the second rotating end 4212.

[0034] In this embodiment, when the rotation drive assembly 42 drives the driving rail 41 to rotate, the driving rail 41 is rotated by using a driving motor to drive the first rotating pair 421. Specifically, the first rotating pair 421 is formed by two first rotating ends 4211 and a second rotating end 4212 that are hinged at an angle to each other. The driving motor can be a servo motor. The driving motor can be installed on the second rotating end 4212, and the power output end of the driving motor passes through the rotation center of the second rotating end 4212 and is connected to the rotation center of the first rotating pair 4211, so that the first rotating end 4211 can rotate around the second rotating end 4212 under the drive of the driving motor, thereby driving the driving rail 41 to rotate back and forth, so as to increase the redundant degree of freedom of the moving platform 2. In addition, because the second rotating end 4212 is installed on the base 1, the driving motor can also be directly installed on the base 1, and then the power output end of the driving motor is directly passed through the rotation center of the second rotating end 4212 and connected to the rotation center of the first rotating end 4211, so that under the power of the driving motor, the first rotating end 4211 and the driving slide rail 41 can rotate back and forth together.

[0035] In one embodiment of the present invention, the second end of the driving branch chain 3 is acted upon by the driving force of the driving rail 41, so that the second end of the driving branch chain 3 can move back and forth on the driving rail 41. Specifically, the driving rail 41 includes: a rail body 411, on which a first rail groove 412 is provided; a slider 413, which is slidably disposed in the first rail groove 412; and a driving rod 414, which is installed in the first rail groove 412 and connected to the slider 413 to drive the slider 413 to move back and forth in the first rail groove 412 along the driving rod 414.

[0036] In this embodiment, when the driving rail 41 drives the second end of the driving branch chain 3 to move back and forth, the second end of the driving branch chain 3 is connected to the slider 413. In addition, the slider 413 is installed in the first rail groove 412, and the driving rod 414 is used to connect the slider 413, so that the slider 413 can be driven by the driving rod 414 to move back and forth along the arrangement direction of the first rail groove 412. Thus, while the redundant degree of freedom is improved by the back and forth rotation of the driving rail 41 on the base 1, the redundant degree of freedom of the moving platform 2 is further improved by using the connection between the second end of the driving branch chain 3 and the slider 413.

[0037] Specifically, the first slide rail groove 412 is a linear slide rail groove, and the slider 413 slides linearly in the first slide rail groove 412. The driving rod 414 may include a driving screw and a servo motor. That is, by installing the servo motor on the slide rail body 411, by connecting the power output end of the servo motor with one end of the driving screw, the driving screw thread passes through the slider 413 and both ends thereof can be rotatably installed on the slide rail body 411. In order to achieve the driving force of the servo motor, the driving screw is rotated, thereby driving the slider 413 to move back and forth in the slide rail body 411. Of course, the driving rod 414 can be a push rod motor, that is, by installing the push rod motor on the slide rail body 411, and connecting the power output end of the push rod motor with the slider 413, so as to achieve the power output end of the push rod motor to drive the slider 413 to move back and forth in the first slide rail groove 412 along the guide direction of the first slide rail groove 412. Thus, the redundant degree of freedom of the moving platform 2 is further increased by utilizing the second end of the driving branch chain 3 to slide back and forth on the driving slide rail 41. The driving rod 414 can also be a cylinder, and the way in which it drives the slider 413 to move back and forth is the same as that of the push rod motor, which will not be described in detail here.

[0038] In one embodiment of the present invention, when the driving branch chain 3 is installed on the slider 413, the number of driving branch chains 3 provided on each slider 413 can be selectively adjusted according to the number of driving branch chains 3 required on the slider 413. Specifically, at least two driving branch chains 3 are connected to one slider 413. In this embodiment, the number of driving branch chains 3 provided on the slider 413 of each driving rail 41 is the same, which can ensure that the redundancy effect of the moving platform 2 is the same in each direction, and the same dexterity effect can be achieved. By connecting two driving branch chains 3 on one slider 413, the general degree of freedom requirements of the moving platform 2 can be guaranteed. Of course, more driving branch chains 3 can also be installed, and under the coordinated driving, the moving platform 2 can meet specific working requirements.

[0039] In one embodiment of the present invention, the driving branch chain 3 is connected to the moving platform 2 at its first end and to the driving slide rail 41 at its second end, so as to utilize the driving branch chain 3 to achieve the basic degree of freedom requirement of the moving platform 2. Specifically, the driving branch chain 3 includes: a telescopic driving rod 31, and a first universal joint 32 and a second universal joint 33 respectively installed at both ends of the telescopic driving rod 31, the moving platform 2 is connected to the telescopic driving rod 31 through the first universal joint 32, and the slider 413 is connected to the telescopic driving rod 31 through the second universal joint 33.

[0040] In this embodiment, when the driving branch chain 3 is working, the driving force of the telescopic driving rod 31 is used to adjust the moving platform 2 to different angles. Specifically, one end of the telescopic driving rod 31 is connected to the moving platform 2 through the first universal joint 32, and the other end of the telescopic driving rod 31 is connected to the slider 413 through the second universal joint 32. Thus, under the simultaneous telescopic driving action of multiple telescopic driving rods 31, the moving platform 2 can be rotated to a set angle. And the first universal joint 32 and the second universal joint 33 can reach a corresponding state of matching the length of the telescopic driving rod 31 and the set angle of the moving platform 2.

[0041] Specifically, the telescopic drive rod 31 can be a push rod motor, or a cylinder. To realize active driving of the moving platform 2. During the specific installation process, the telescopic drive rod 31 can be installed on the slider 413 through the second universal joint 33 at the non-driving end of the telescopic drive rod 31, and the power output end of the telescopic drive rod 31 is connected to the moving platform 2 through the first universal joint 32. Then, when the length of the telescopic drive rod 31 changes, the moving platform 2 can reach the set working angle under the coordinated adjustment of the first universal joint 32 and the second universal joint 33.

[0042] Preferably, at least two drive branches 3 form a pair of drive branches installed between the moving platform 2 and the rotating mechanism 4, and at least three pairs of drive branches are arranged on the moving platform 2. In this embodiment, when the drive branch 3 is connected to the moving platform 2 to drive the moving platform to reach different working angles, the second ends of each two drive branches 3 can be connected to a rotating mechanism 4, and the first ends thereof are connected to the moving platform 2. The two drive branches 3 form a pair of drive branches, and with the cooperation of the rotating mechanism 4, the purpose of redundant degrees of freedom is achieved. Of course, when forming a pair of drive branches, the drive branches 3 can also be other numbers. When the rotating mechanism 4 and a pair of drive branches form a series branch chain, the series branch chain can be three groups. Of course, more series branches can also be set to form a redundant parallel structure according to work needs.

[0043] Furthermore, in one embodiment of the present invention, when the rotating mechanism 4 rotates, one end thereof is rotatably connected to the base 1, and the other end thereof can also be provided with a guide structure to ensure the stability of the rotating mechanism 4 during operation. Specifically, the redundant parallel mechanism further includes: a central support 5, which is mounted in the middle of the base 1; wherein one end of the rotating mechanism 4 is rotatably connected to the base 1, and the other end of the rotating mechanism 4 is slidably mounted on the central support 5.

[0044] In this embodiment, when the rotating mechanism 4 is rotationally guided by the central support 5, one end of the rotating mechanism 4 is rotationally connected to the base 1, and the other end of the rotating mechanism 4 is slidably set on the central support 5, so that when the rotating mechanism 4 rotates around the connection end with the base 1, the other end of the rotating mechanism 4 can be guided by the central support 5.

[0045] Specifically, the central support 5 includes: a base body 51, a curved slide rail 52 is provided on the circumferential side of the base body 51, and the curved slide rail 52 is provided with a curved slide rail groove 521 that cooperates with the rotating mechanism 4 in rotation. In this embodiment, when the central support 5 guides the rotating mechanism 4, the corresponding end of the rotating mechanism 4 will be inserted into the curved slide rail groove 521 of the curved slide rail 52 corresponding to the side of the central support 5. Thereby, when the rotating mechanism 4 rotates, the other corresponding end will be guided in the curved slide rail groove 521. In addition, the design curvature of the curved slide rail 52 corresponds to the rotation curvature of the rotating mechanism 4, so as to guide the end surface of the rotating mechanism 4 through the curved slide rail 52. In a specific design, the curved slide rail 52 can be a curved guide plate, and the curved slide rail groove 521 is a groove body opened on the curved guide plate. And the thickness of the groove body is the same along the rotation direction of the rotating mechanism 4. When the driving rod 414 is a combination of the driving lead screw and the servo motor in the above-mentioned embodiment, the driving lead screw can be designed to extend out of the slide rail body 411 and be inserted into the arc-shaped slide rail groove 521. In other words, when the slide rail body 411 rotates, it can be guided by the movement of the end of the driving lead screw in the arc-shaped slide rail groove 521.

[0046] Preferably, the corresponding angular range when the rotating mechanism 4 slides in the arc-shaped slide rail groove 521 is 0° to 30°. In this embodiment, when the rotating mechanism 4 rotates, the allowable angular range of the rotating mechanism 4 in the arc-shaped slide rail groove 521 is 0° to 30°. This angle range is obtained by genetic algorithm deduction and optimization. Under the same conditions, this angle range can ensure that the mechanism obtains a larger working space while ensuring that there is no interference between the driving branch chain 3 and the rotating mechanism 4 when performing corresponding actions. Thereby, while ensuring the smoothness and reliability of the operation of the mechanism, its application possibilities are expanded.

[0047] See also Figure 2In a preferred embodiment, in a pair of driving branches of the left tandem branches, the length dimension of a driving branch chain 3 near the front side is smaller than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the right tandem branches, the length dimension of the driving branch chain 3 near the front side is larger than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the rear tandem branches, the lengths of the two driving branches 3 are the same. Moreover, in this state, the rotation angle of the rotating mechanism 4 of the left tandem branch is smaller than the rotation angle of the rotating mechanism 4 of the right tandem branch. The rotation angle of the rotating mechanism 4 of the right tandem branch is equal to the rotation angle of the rotating mechanism 4 of the rear tandem branch.

[0048] See also Figure 3 and Figure 4 In a preferred embodiment, in a pair of driving branches of the series branches on the left side, the length dimension of a driving branch chain 3 near the front side is greater than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the series branches on the right side, the length dimension of a driving branch chain 3 near the front side is smaller than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the series branches on the rear side, the length dimension of a driving branch chain 3 near the left side is smaller than the length dimension of a driving branch chain 3 near the right side. And the length dimensions of the two driving branches 3 on the right side are smaller than the length dimensions of the two driving branches 3 on the left and rear sides. The rotation angles of the rotating mechanisms 4 in the left and rear series branches are equal, and are both smaller than the rotation angle of the rotating mechanism 4 in the right series branch. In this state, the corresponding moving platform 2 is located in the right front of the entire redundant parallel mechanism.

[0049] See also Figure 5 and Figure 6 In a preferred embodiment, in a pair of driving branches of the left series branch chain, the length dimension of a driving branch chain 3 near the front side is greater than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the right series branch chain, the length dimension of a driving branch chain 3 near the front side is less than the length dimension of a driving branch chain 3 near the rear side. In a pair of driving branches of the rear series branch chain, the length dimension of a driving branch chain 3 near the left side is less than the length dimension of a driving branch chain 3 near the right side. The length dimensions of the two driving branches 3 on the right side are less than the length dimensions of the two driving branches 3 on the left side, and the length dimensions of the two driving branches 3 on the left side are less than the length dimensions of the two driving branches 3 on the rear side. The rotation angles of the rotating mechanisms 4 in the left and right series branches are equal and both are greater than the rotation angle of the rotating mechanism 4 in the rear series branch chain. In this state, the corresponding moving platform 2 is located in the right front of the entire redundant parallel mechanism and approaches the middle position between the two adjacent rotating mechanisms 4 on the right side.

[0050] See also Figure 7 and Figure 8In a preferred embodiment, in a pair of driving branches of the series branches on the left side, the length dimension of a driving branch chain 3 close to the front side is smaller than the length dimension of a driving branch chain 3 close to the rear side. In a pair of driving branches of the series branches on the rear side, the length dimension of a driving branch chain 3 close to the left side is larger than the length dimension of a driving branch chain 3 close to the right side. In a pair of driving branches of the series branches on the right side, the length dimensions of the two driving branches 3 are equal. The rotation angle of the rotating mechanism 4 of the series branch on the right side is equal to the rotation angle of the rotating mechanism 4 of the series branch on the rear side, and both are larger than the rotation angle of the rotating mechanism 4 of the series branch on the left side. In this state, the corresponding moving platform 2 is located in the middle position between the two adjacent rotating mechanisms 4 on the left side of the entire redundant parallel mechanism.

[0051] In summary, the present invention is connected on the base 1 by rotation between the rotating mechanism 4 and the base 1, and by sliding connection between the driving branch chain 3 and the rotating mechanism 4. It can be achieved that the driving branch chain 3 drives the moving platform 2 to ensure the original working space, and the redundant degree of freedom of the moving platform 2 can be further increased under the cooperation of the rotating action of the rotating mechanism 4 and the sliding action of the driving branch chain 3 on the rotating mechanism 4. Its flexibility in the positional working space is 41 times that of the traditional Stewart parallel mechanism of the same size, which significantly expands the working space of the moving platform 2 and can improve the dexterity of the moving platform 2 when working. Moreover, the dexterity brought by the redundant mechanism of the moving platform 2 can have a stronger carrying capacity and higher precision, and can be widely used in many fields such as medical rehabilitation, automated manufacturing, precision instrument control and simulation training. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0052] 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 multi-slide redundant parallel mechanism, characterized in that: include: Base (1); A moving platform (2), wherein the moving platform (2) is arranged above the base (1); a plurality of drive branch chains (3), wherein the first end of each of the drive branch chains (3) is respectively connected to the moving platform (2) to form a parallel structure in which the moving platform (2) is driven by the plurality of drive branch chains (3); and A plurality of rotating mechanisms (4) are provided on the base (1), and the second end of each driving branch chain (3) is slidably provided on the corresponding rotating mechanism (4) to form a series branch chain with the driving branch chain (3).

2. The multi-slide redundant parallel mechanism according to claim 1, characterized in that: The rotating mechanism (4) comprises: A driving rail (41) and a rotation driving assembly (42), wherein the rotation end of the driving rail (41) is rotationally connected to the rotation driving assembly (42), and the rotation driving assembly (42) is mounted on the base (1); The power output end of the driving slide rail (41) is connected to the second end of the driving branch chain (3) to drive the second end of the driving branch chain (3) to slide back and forth along the guiding direction of the driving slide rail (41).

3. The multi-slide redundant parallel mechanism according to claim 2, characterized in that: The rotary drive assembly (42) comprises: a first rotating pair (421), the first rotating pair (421) comprising a first rotating end (4211) and a second rotating end (4212) which are hinged to each other, the first rotating end (4211) being connected to the rotating end of the driving slide rail (41), and the second rotating end (4212) being connected to the base (1); and A driving motor is installed at the second rotating end (4212), and a power output end of the driving motor is connected to the first rotating end (4211) to drive the first rotating end (4211) to rotate around the second rotating end (4212).

4. The multi-slide redundant parallel mechanism according to claim 2, characterized in that: The driving slide rail (41) comprises: A slide rail body (411), wherein the slide rail body (411) is provided with a first slide rail groove (412); a sliding block (413), the sliding block (413) being slidably disposed in the first sliding rail groove (412); and A driving rod (414), wherein the driving rod (414) is installed in the first slide rail groove (412) and is connected to the slider (413) to drive the slider (413) to move back and forth along the driving rod (414) in the first slide rail groove (412).

5. The multi-slide redundant parallel mechanism according to claim 4, characterized in that: At least two of the driving branches (3) are connected to one of the sliding blocks (413).

6. The multi-slide redundant parallel mechanism according to claim 4 or 5, characterized in that: The drive branch chain (3) comprises: A telescopic driving rod (31), and a first universal joint (32) and a second universal joint (33) respectively mounted at two ends of the telescopic driving rod (31), the moving platform (2) is connected to the telescopic driving rod (31) via the first universal joint (32), and the sliding block (413) is connected to the telescopic driving rod (31) via the second universal joint (33).

7. The multi-slide redundant parallel mechanism according to claim 1, characterized in that: At least two of the drive branch chains (3) form a pair of the drive branch chains installed between the moving platform (2) and the rotating mechanism (4), and at least three pairs of the drive branch chains are arranged on the moving platform (2).

8. The multi-slide redundant parallel mechanism according to claim 1, characterized in that: The redundant parallel mechanism also includes: A central support (5), wherein the central support (5) is installed in the middle of the base (1); One end of the rotating mechanism (4) is rotatably connected to the base (1), and the other end of the rotating mechanism (4) is slidably disposed on the central support (5).

9. The multi-slide redundant parallel mechanism according to claim 8, characterized in that: The central support (5) comprises: A seat base (51), wherein an arc-shaped slide rail (52) is provided on the circumferential side of the seat base (51), and the arc-shaped slide rail (52) is provided with an arc-shaped slide rail groove (521) that is rotatably matched with the rotating mechanism (4).

10. The multi-slide redundant parallel mechanism according to claim 9, characterized in that: When the rotating mechanism (4) slides in the arc-shaped slide rail groove (521), the corresponding rotation angle range is 0° to 30°.

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