Double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism and its milling and grinding equipment

Abstract

The present invention provides a double-moving platform two-rotation one-translation three-degree-of-freedom parallel mechanism and milling and grinding equipment in the field of vibration reduction technology, including an upper moving platform, a lower moving platform, a first branch, a second branch and a third branch. The upper moving platform is connected to the lower moving platform, the first branch is connected to the upper moving platform, and the second branch and the third branch are connected to the lower moving platform. The present invention has the advantages of high precision, good rigidity, fixed rotation axis, easy control, etc. by setting a double-moving platform parallel mechanism. It can be used in the fields of milling and grinding of aviation structural parts to improve processing efficiency and save processing time.

Description

Technical Field

[0001] The present invention relates to the field of vibration reduction technology, and in particular to a double-action platform two-rotation-one-translation three-degree-of-freedom parallel mechanism and milling and grinding equipment thereof. Background Art

[0002] Compared with the traditional cantilever beam series mechanism, the parallel mechanism has a spatial multi-closed loop structure, which is composed of a fixed platform, a moving platform and multiple motion branches in parallel. By driving the motion branches, the output motion of the terminal moving platform can be changed. Based on the above structure, the parallel mechanism has the advantages of high precision, good rigidity, and strong posture adjustment ability, and has been widely used in mechanical processing, material handling and other fields.

[0003] Among parallel mechanisms with few degrees of freedom, parallel mechanisms with two rotations and one translation and three degrees of freedom are a hot topic of research. By installing a two-degree-of-freedom series swing head at the end of the parallel mechanism moving platform or combining the parallel mechanism with two large-stroke series guide rails, a five-degree-of-freedom hybrid mechanism can be formed, which can be used in the fields of milling and grinding of large aviation structural parts. The two-rotation-one-translation parallel mechanism with relatively mature applications has poor precision control during mechanism movement, and the non-redundant drive parallel mechanism will affect the overall stiffness of the mechanism. Therefore, it is very necessary to propose a two-rotation-one-translation three-degree-of-freedom parallel mechanism with a fixed axis and redundant drive.

[0004] Through prior art search, it was found that the US invention patent announcement number is US6431802B1, which discloses a Z3 parallel power spindle head based on a 3-PRS parallel mechanism. The two rotation axes in the 3-PRS parallel mechanism will change when the mechanism moves, which increases the difficulty of precise control. In addition, the 3-PRS parallel mechanism is a non-redundant drive parallel mechanism, resulting in unsatisfactory overall stiffness of the mechanism. This invention has the above-mentioned related problems.

[0005] Based on the above problems, the dual-action platform two-rotation one-shift three-degree-of-freedom parallel mechanism provided by the present invention is optimized and designed on this basis to improve the existing problems. Therefore, the present invention is cleverly designed and highly practical, can solve the above problems, and has better actual use effects. Summary of the invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a double-action platform two-rotation-one-translation three-degree-of-freedom parallel mechanism and milling and grinding equipment thereof.

[0007] According to the present invention, a double-moving platform two-rotation one-translation three-degree-of-freedom parallel mechanism comprises an upper moving platform, a lower moving platform, a first branch, a second branch and a third branch;

[0008] The upper moving platform is connected to the lower moving platform, the first branch is connected to the upper moving platform, and the second branch and the third branch are connected to the lower moving platform.

[0009] In some embodiments, the two first branches include a first moving pair, a first rotating pair, a first connecting rod, and a first rotating pair of an upper moving platform, wherein the first rotating pair of the upper moving platform is connected to the upper moving platform, the first rotating pair of the upper moving platform is fixedly arranged at one end of the first connecting rod, and the other end of the first connecting rod is connected to the first moving pair via the first rotating pair;

[0010] One of the second branches includes a second moving pair, a second rotating pair, a second connecting rod and a first ball joint, wherein the first ball joint is connected to the lower moving platform, the first ball joint is fixedly arranged at one end of the second connecting rod, and the other end of the second connecting rod is connected to the second moving pair via the second rotating pair;

[0011] The third branch includes a third movable pair, a second ball joint, a third connecting rod and a third ball joint. The third ball joint is connected to the lower moving platform. The third ball joint is fixed at one end of the third connecting rod. The other end of the third connecting rod is connected to the third movable pair through the second ball joint.

[0012] In some embodiments, the upper moving platform first rotating pair is connected to the upper moving platform, and the upper moving platform second rotating pair is fixedly provided on the upper moving platform, and the upper moving platform second rotating pair is connected to the lower moving platform.

[0013] In some implementations, two of the first branches are symmetrically disposed on one of the second branches and one of the third branches, and one of the second branch and one of the third branches are symmetrically disposed on two of the first branches.

[0014] In some embodiments, the first moving pair includes a first moving pair guide rail and a first moving pair slider, the first moving pair slider is connected to the first rotating pair, and the first moving pair slider is slidably disposed on the first moving pair guide rail;

[0015] The second moving pair comprises a second moving pair guide rail and a second moving pair slider, the second moving pair slider is connected to the second rotating pair, and the second moving pair slider is slidably arranged on the second moving pair guide rail;

[0016] The third moving pair includes a third moving pair guide rail and a third moving pair slider. The third moving pair slider is connected to the second ball joint, and the third moving pair slider is slidably arranged on the third moving pair guide rail.

[0017] In some embodiments, the first movable secondary guide rail, the second movable secondary guide rail, and the third movable secondary guide rail are all vertically arranged on a horizontal plane.

[0018] In some embodiments, the two first branches include a first frame rotation pair, a fourth movement pair, and a third rotation pair of the upper moving platform, and the third rotation pair of the upper moving platform is connected and arranged on the upper moving platform;

[0019] The first frame rotation pair comprises a first bearing seat, a second bearing seat and a first frame rotation pair shaft, wherein the first bearing seat and the second bearing seat are respectively fixedly arranged at the left and right ends of the first frame rotation pair shaft;

[0020] The fourth moving pair includes a fourth moving pair slider and a fourth moving pair connecting rod, the third rotating pair of the upper moving platform is fixedly arranged at one end of the fourth moving pair connecting rod, the first frame rotating pair shaft is connected to the fourth moving pair slider, and the fourth moving pair slider is slidably arranged on the fourth moving pair connecting rod;

[0021] One of the second branches includes a second frame rotation pair, a fifth movement pair and a fourth ball joint, and the fourth ball joint is connected and arranged on the lower moving platform;

[0022] The second frame rotation pair comprises a third bearing seat, a fourth bearing seat and a second frame rotation pair shaft; the third bearing seat and the fourth bearing seat are respectively fixedly arranged at the left and right ends of the second frame rotation pair shaft;

[0023] The fifth moving pair comprises a fifth moving pair slider and a fifth moving pair connecting rod, the fourth ball joint is fixedly arranged at one end of the fifth moving pair connecting rod, the second frame rotation pair shaft is connected and arranged on the fifth moving pair slider, and the fifth moving pair slider is slidably arranged on the fifth moving pair connecting rod;

[0024] One of the third branches includes a fifth bearing seat, a sixth bearing seat, a first Hooke's joint, a sixth moving pair and a fifth ball joint, and the fifth ball joint is fixedly arranged on the lower movable platform;

[0025] A first rotating shaft is fixedly arranged on the first Hooke's hinge, and the fifth bearing seat and the sixth bearing seat are fixedly arranged at left and right ends of the first rotating shaft;

[0026] The sixth movable pair comprises a sixth movable pair slider and a sixth movable pair connecting rod, the fifth ball joint is fixedly arranged at one end of the sixth movable pair connecting rod, and the sixth movable pair slider is slidably arranged on the sixth movable pair connecting rod;

[0027] A second rotating shaft is fixedly arranged on the first Hooke's hinge, and the second rotating shaft is connected to the sixth movable auxiliary sliding block.

[0028] In some embodiments, the third rotational pair of the upper moving platform is connected to the upper moving platform, and the second rotational pair of the upper moving platform is fixedly provided on the upper moving platform, and the second rotational pair of the upper moving platform is connected to the lower moving platform.

[0029] In some embodiments, the fifth movable sub-link is connected to the fourth ball joint, the sixth movable sub-link is connected to the fifth ball joint, the fourth movable sub-slider is connected to the first frame rotation sub-axis, and the fifth movable sub-slider is connected to the second frame rotation sub-axis.

[0030] The present invention also provides a milling and grinding device, comprising the double-moving platform two-rotation-one-translation three-degree-of-freedom parallel mechanism.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention provides a double-action platform parallel mechanism, which has the advantages of high precision, good rigidity, fixed rotation axis, easy control, etc., and can be used in the fields of milling and grinding of aviation structural parts to improve processing efficiency and save processing time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0034] Figure 1 It is a three-dimensional structural schematic diagram of a first embodiment of a two-rotation-one-translation three-degree-of-freedom parallel mechanism of a double-action platform of the present invention;

[0035] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the first branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-action platform;

[0036] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of the second branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the middle double-movement platform;

[0037] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure of the third branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-action platform;

[0038] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the upper moving platform of the middle double moving platform two-rotation one-translation three-degree-of-freedom parallel mechanism;

[0039] Figure 6 for Figure 1 A schematic diagram of the three-dimensional structure of the lower moving platform of the middle double moving platform two-rotation one-translation three-degree-of-freedom parallel mechanism;

[0040] Figure 7 It is a schematic diagram of the three-dimensional structure of the second embodiment of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-action platform of the present invention;

[0041] Figure 8 for Figure 7 A schematic diagram of the three-dimensional structure of the first branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-action platform;

[0042] Fig. 9 for Figure 7 A schematic diagram of the three-dimensional structure of the second branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the middle double-movement platform;

[0043] Fig.10 for Figure 7 Schematic diagram of the three-dimensional structure of the third branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform.

[0044] Reference numerals:

[0045] First branch 1; first movable pair guide rail 11; first movable pair slider 12; first rotating pair 13;

[0046] The first connecting rod 14; the first rotating pair 15 of the upper movable platform; the first bearing seat 16; the second bearing seat 17;

[0047] The fourth movable pair slider 18; the fourth movable pair connecting rod 19; the third rotating pair 110 of the upper movable platform;

[0048] The first frame rotation secondary shaft 111; the second branch 2; the second movable secondary guide rail 21; the second movable secondary slider 22;

[0049] The second rotation pair 23; the second connecting rod 24; the first ball joint 25; the third bearing seat 26; the fourth bearing seat 27;

[0050] The fifth movable auxiliary slider 28; the fifth movable auxiliary connecting rod 29; the fourth ball joint 210; the second frame rotation auxiliary shaft 211;

[0051] The third branch 3; the third movable auxiliary guide rail 31; the third movable auxiliary slider 32; the second ball joint 33; the third connecting rod 34;

[0052] The third ball joint 35; the fifth bearing seat 36; the sixth bearing seat 37; the first Hooke's joint 38; the sixth movable auxiliary slider 39;

[0053] The sixth movable secondary connecting rod 310; the fifth ball joint 311; the first rotating shaft 312; the second rotating shaft 313;

[0054] The upper movable platform 4; the second rotating pair 41 of the upper movable platform; and the lower movable platform 5. DETAILED DESCRIPTION

[0055] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0056] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism of the present invention. Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the first branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform. Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure of the second branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform. Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the third branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform. Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the upper moving platform of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the middle double-moving platform. Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the lower moving platform of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the middle double-moving platform. Figure 7 It is a schematic diagram of the three-dimensional structure of the second embodiment of the double-action platform two-rotation-one-translation three-degree-of-freedom parallel mechanism of the present invention. Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the first branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform. Fig. 9 for Figure 7 Schematic diagram of the three-dimensional structure of the second branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform. Fig.10 for Figure 7 Schematic diagram of the three-dimensional structure of the third branch of the two-rotation-one-translation three-degree-of-freedom parallel mechanism of the double-moving platform in the middle. It includes an upper moving platform 4, a lower moving platform 5, a first branch 1, a second branch 2 and a third branch 3. The upper moving platform 4 is connected to the lower moving platform 5, the upper moving platform 4 is connected to the first branch 1, and the lower moving platform 5 is connected to the second branch 2 and the third branch 3.

[0057] Example 1

[0058] The two first branches 1 include a first moving pair, a first rotating pair 13, a first connecting rod 14 and an upper moving platform first rotating pair 15. The upper moving platform first rotating pair 15 is connected to the upper moving platform 4. The upper moving platform first rotating pair 15 is fixedly set at one end of the first connecting rod 14, and the other end of the first connecting rod 14 is connected to the first moving pair through the first rotating pair 13.

[0059] A second branch 2 includes a second movable pair, a second rotating pair 23, a second connecting rod 24 and a first ball joint 25. The first ball joint 25 is connected to the lower moving platform 5. The first ball joint 25 is fixed at one end of the second connecting rod 24. The other end of the second connecting rod 24 is connected to the second movable pair through the second rotating pair 23.

[0060] A third branch 3 includes a third movable pair, a second ball joint 33, a third connecting rod 34 and a third ball joint 35. The third ball joint 35 is connected to the lower moving platform 5. The third ball joint 35 is fixed at one end of the third connecting rod 34. The other end of the third connecting rod 34 is connected to the third movable pair through the second ball joint 33.

[0061] The upper moving platform first rotating pair 15 is connected to the upper moving platform 4 , and the upper moving platform second rotating pair 41 is fixedly arranged on the upper moving platform 4 , and the upper moving platform second rotating pair 41 is connected to the lower moving platform 5 .

[0062] Two first branches 1 are symmetrically arranged on one second branch 2 and one third branch 3, and one second branch 2 and one third branch 3 are symmetrically arranged on two first branches 1. In the two first branches: the axes of the two first rotation pairs 13 are parallel, and the axes of the two upper moving platform first rotation pairs 15 are parallel. In one second branch: the axis of the second rotation pair 23 is perpendicular to the axis of the first rotation pair 13 of the first branch.

[0063] The first moving pair includes a first moving pair guide rail 11 and a first moving pair slider 12 . The first moving pair slider 12 is connected to the first rotating pair 13 , and the first moving pair slider 12 is slidably disposed on the first moving pair guide rail 11 .

[0064] The second moving pair includes a second moving pair guide rail 21 and a second moving pair slider 22 . The second moving pair slider 22 is connected to the second rotating pair 23 , and the second moving pair slider 22 is slidably disposed on the second moving pair guide rail 21 .

[0065] The third moving pair includes a third moving pair guide rail 31 and a third moving pair slider 32 . The third moving pair slider 32 is connected to the second ball joint 33 , and the third moving pair slider 32 is slidably disposed on the third moving pair guide rail 31 .

[0066] The first moving auxiliary guide rail 11 , the second moving auxiliary guide rail 21 and the third moving auxiliary guide rail 31 are all vertically disposed on a horizontal plane.

[0067] In this embodiment, the first moving pair, the second moving pair and the third moving pair are all driving pairs.

[0068] In this embodiment, the driving mechanisms of the first moving pair, the second moving pair and the third moving pair are all ball screw mechanisms driven by motors (omitted in the figure). When the driving pair moves, the parallel mechanism can output two rotations and one translation three-degree-of-freedom motion.

[0069] Example 2

[0070] The two first branches 1 further include a first frame rotation pair, a fourth movement pair and an upper moving platform third rotation pair 110 , and the upper moving platform third rotation pair 110 is connected and arranged on the upper moving platform 4 .

[0071] The first frame rotation pair includes a first bearing seat 16 , a second bearing seat 17 and a first frame rotation pair shaft 111 . The first bearing seat 16 and the second bearing seat 17 are fixedly disposed at the left and right ends of the first frame rotation pair shaft 111 , respectively.

[0072] The fourth moving pair includes a fourth moving pair slider 18 and a fourth moving pair connecting rod 19, the third rotating pair 110 of the upper moving platform is fixedly arranged at one end of the fourth moving pair connecting rod 19, the first frame rotating pair shaft 111 is connected to the fourth moving pair slider 18, and the fourth moving pair slider 18 is slidably arranged on the fourth moving pair connecting rod 19. The axis of the third rotating pair 110 of the upper moving platform connected to the fourth moving pair connecting rod 19 is parallel to the axis of the first frame rotating pair and perpendicular to the axis of the fourth moving pair.

[0073] A second branch 2 further includes a second frame rotation pair, a fifth translation pair and a fourth ball joint 210 , and the fourth ball joint 210 is connected and arranged on the lower moving platform 5 .

[0074] The second frame rotation pair includes a third bearing seat 26, a fourth bearing seat 27 and a second frame rotation pair shaft 211. The third bearing seat 26 and the fourth bearing seat 27 are fixedly arranged at the left and right ends of the second frame rotation pair shaft 211 respectively.

[0075] The fifth moving pair includes a fifth moving pair slider 28 and a fifth moving pair connecting rod 29, a fourth ball joint 210 is fixedly arranged at one end of the fifth moving pair connecting rod 29, a second frame rotation pair shaft 211 is connected and arranged on the fifth moving pair slider 28, and the fifth moving pair slider 28 is slidably arranged on the fifth moving pair connecting rod 29. The second frame rotation pair axis connected to the fifth moving pair connecting rod 29 is perpendicular to the fifth moving pair axis and the first frame rotation pair axis of the first branch 1.

[0076] A third branch 3 further includes a fifth bearing seat 36 , a sixth bearing seat 37 , a first Hooke's joint 38 , a sixth movable pair and a fifth ball joint 311 , and the fifth ball joint 311 is connected and arranged on the lower movable platform 5 .

[0077] The first rotating shaft 312 is fixedly arranged on the first Hooke's hinge 38, and the fifth bearing seat 36 and the sixth bearing seat 37 are fixedly arranged at the left and right ends of the first rotating shaft 312. The first rotating shaft of the first Hooke's hinge 38 cooperates with the fifth bearing seat 36 and the sixth bearing seat 37 installed on the frame to form a rotating pair.

[0078] The sixth movable sub-slider includes a sixth movable sub-slider 39 and a sixth movable sub-connecting rod 310 , the fifth ball joint 311 is fixedly set at one end of the sixth movable sub-connecting rod 310 , the first rotating shaft 312 is connected to the sixth movable sub-slider 39 , and the sixth movable sub-slider 39 is slidably set on the sixth movable sub-connecting rod 310 .

[0079] The first Hooke's joint 38 is fixed with a second rotating shaft 313, which is connected to the sixth movable secondary slider 39. The axis of the second rotating shaft 313 of the first Hooke's joint is perpendicular to the axis of the first rotating shaft 312 of the first Hooke's joint and the sixth movable secondary axis.

[0080] The upper moving platform third rotational pair 110 is connected to the upper moving platform 4 , and the upper moving platform second rotational pair 41 is fixedly disposed on the upper moving platform 4 , and the upper moving platform second rotational pair 41 is connected to the lower moving platform 5 .

[0081] The fifth movable sub-link 29 is connected to the fourth ball joint 210 , the sixth movable sub-link 310 is connected to the fifth ball joint 311 , the fourth movable sub-slider 18 is connected to the first frame rotation sub-shaft 111 , and the fifth movable sub-slider 28 is connected to the second frame rotation sub-shaft 211 .

[0082] In this embodiment, in the two first branches: the axes of the two first frame rotation pairs 111 are parallel. The axes of the two upper movable platform third rotation pairs 110 are parallel.

[0083] In this embodiment, the fourth moving pair, the fifth moving pair and the sixth moving pair are all driving pairs.

[0084] In this embodiment, the driving mechanisms of the fourth moving pair, the fifth moving pair and the sixth moving pair are all ball screw mechanisms driven by motors (omitted in the figure). When the driving pair moves, the parallel mechanism can output two rotations and one translation three-degree-of-freedom motion.

[0085] Example 3

[0086] Based on the first and second embodiments, a milling and grinding device provided in accordance with the present invention comprises a double-moving platform, two-rotation, one-translation, three-degree-of-freedom parallel mechanism.

[0087] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0088] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism, characterized in that: It includes an upper moving platform, a lower moving platform, a first branch, a second branch and a third branch; The upper moving platform is connected to the lower moving platform, the upper moving platform is connected to the first branch, and the lower moving platform is connected to the second branch and the third branch; The two first branches include a first moving pair, a first rotating pair, a first connecting rod and a first rotating pair of an upper moving platform, wherein the first rotating pair of the upper moving platform is connected to the upper moving platform, the first rotating pair of the upper moving platform is fixedly arranged at one end of the first connecting rod, and the other end of the first connecting rod is connected to the first moving pair through the first rotating pair; One of the second branches includes a second moving pair, a second rotating pair, a second connecting rod and a first ball joint, wherein the first ball joint is connected to the lower moving platform, the first ball joint is fixedly arranged at one end of the second connecting rod, and the other end of the second connecting rod is connected to the second moving pair via the second rotating pair; One of the third branches includes a third moving pair, a second ball joint, a third connecting rod and a third ball joint, wherein the third ball joint is connected to the lower moving platform, the third ball joint is fixedly arranged at one end of the third connecting rod, and the other end of the third connecting rod is connected to the third moving pair via the second ball joint; The first rotating pair of the upper moving platform is connected and arranged on the upper moving platform, and the second rotating pair of the upper moving platform is fixedly arranged on the upper moving platform, and the second rotating pair of the upper moving platform is connected and arranged with the lower moving platform; The two first branches are symmetrically arranged on one second branch and one third branch, and the one second branch and one third branch are symmetrically arranged on two first branches.

2. The double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism according to claim 1 is characterized in that: The first moving pair comprises a first moving pair guide rail and a first moving pair slider, the first moving pair slider is connected to the first rotating pair, and the first moving pair slider is slidably arranged on the first moving pair guide rail; The second moving pair comprises a second moving pair guide rail and a second moving pair slider, the second moving pair slider is connected to the second rotating pair, and the second moving pair slider is slidably arranged on the second moving pair guide rail; The third moving pair includes a third moving pair guide rail and a third moving pair slider. The third moving pair slider is connected to the second ball joint, and the third moving pair slider is slidably arranged on the third moving pair guide rail.

3. The double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism according to claim 2 is characterized in that: The first movable secondary guide rail, the second movable secondary guide rail and the third movable secondary guide rail are all vertically arranged on a horizontal plane.

4. A double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism, characterized in that: It includes an upper moving platform, a lower moving platform, a first branch, a second branch and a third branch; The upper moving platform is connected to the lower moving platform, the upper moving platform is connected to the first branch, and the lower moving platform is connected to the second branch and the third branch; The two first branches further include a first frame rotation pair, a fourth moving pair and a third rotation pair of an upper moving platform, and the third rotation pair of the upper moving platform is connected and arranged on the upper moving platform; The first frame rotation pair comprises a first bearing seat, a second bearing seat and a first frame rotation pair shaft, wherein the first bearing seat and the second bearing seat are respectively fixedly arranged at the left and right ends of the first frame rotation pair shaft; The fourth moving pair includes a fourth moving pair slider and a fourth moving pair connecting rod, the third rotating pair of the upper moving platform is fixedly arranged at one end of the fourth moving pair connecting rod, the first frame rotating pair shaft is connected to the fourth moving pair slider, and the fourth moving pair slider is slidably arranged on the fourth moving pair connecting rod; One of the second branches also includes a second frame rotation pair, a fifth movement pair and a fourth ball joint, and the fourth ball joint is connected and arranged on the lower moving platform; The second frame rotation pair comprises a third bearing seat, a fourth bearing seat and a second frame rotation pair shaft; the third bearing seat and the fourth bearing seat are respectively fixedly arranged at the left and right ends of the second frame rotation pair shaft; The fifth moving pair comprises a fifth moving pair slider and a fifth moving pair connecting rod, the fourth ball joint is fixedly arranged at one end of the fifth moving pair connecting rod, the second frame rotation pair shaft is connected and arranged on the fifth moving pair slider, and the fifth moving pair slider is slidably arranged on the fifth moving pair connecting rod; One of the third branches also includes a fifth bearing seat, a sixth bearing seat, a first Hooke's joint, a sixth moving pair and a fifth ball joint, and the fifth ball joint is fixedly arranged on the lower moving platform; A first rotating shaft is fixedly arranged on the first Hooke's hinge, and the fifth bearing seat and the sixth bearing seat are fixedly arranged at left and right ends of the first rotating shaft; The sixth moving pair comprises a sixth moving pair slider and a sixth moving pair connecting rod, the fifth ball joint is fixedly arranged at one end of the sixth moving pair connecting rod, the first rotating shaft is connectedly arranged on the sixth moving pair slider, and the sixth moving pair slider is slidably arranged on the sixth moving pair connecting rod; A second rotating shaft is fixedly arranged on the first Hooke's hinge, and the second rotating shaft is connected to the sixth movable auxiliary sliding block.

5. The double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism according to claim 4 is characterized in that: The third rotating pair of the upper moving platform is connected to the upper moving platform, and the second rotating pair of the upper moving platform is fixedly arranged on the upper moving platform, and the second rotating pair of the upper moving platform is connected to the lower moving platform.

6. The double-action platform two-rotation one-translation three-degree-of-freedom parallel mechanism according to claim 4 is characterized in that: The fifth movable sub-link is connected to the fourth ball joint, the sixth movable sub-link is connected to the fifth ball joint, the fourth movable sub-slider is connected to the first frame rotation sub-shaft, and the fifth movable sub-slider is connected to the second frame rotation sub-shaft.

7. A milling and grinding device, characterized in that: It comprises a two-rotation-one-translation three-degree-of-freedom parallel mechanism of a double-action platform according to any one of claims 1-3 or claims 4-6.

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