A parallel mechanism with six-slideways and double moving platform

Abstract

This invention discloses a parallel mechanism comprising six sliding rails and a dual-moving platform, including a frame, an upper moving platform, a lower moving platform, a first branch, a second branch, and a third branch; the first, second, and third branches are composite branches. The frame is provided with a first sliding rail support and a second sliding rail support, wherein two of the first sliding rail supports are located on the left and right sides of the frame, and the second sliding rail support is located at the upper end of the frame. The advantages of this invention are: the combination of horizontal and vertical three-sliding rail structures increases the three-dimensional working space of the moving platform while maintaining high flexibility of the mechanism; the six-sliding rail structure facilitates control of the mechanism, improving its motion performance and control accuracy; the use of two moving platforms reduces interference between branches, facilitating individual angle control of the mechanism; and the use of a fixed-length rod mechanism facilitates processing and assembly, reducing manufacturing and maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of parallel mechanism technology, specifically to a parallel mechanism comprising six slide rails and a double-moving platform. Background Technology

[0002] Parallel mechanisms employ multi-branch parallel control braking platform actuators, which have advantages over serial mechanisms in terms of compact structure, high dexterity, and good dynamic characteristics. They can be applied to many fields such as machine tools, robots, aerospace vehicles, and optical communication systems, and have become a research hotspot in recent years.

[0003] Six-degree-of-freedom parallel mechanisms are widely used in machine tools, but they have drawbacks such as strong singularity and easy interference between branches. In most actual machining scenarios, five-degree-of-freedom mechanisms are mostly selected because they are simpler in structure, more efficient in transmission, and more convenient in control than six-degree-of-freedom parallel mechanisms. They have important research value and broad application prospects. Summary of the Invention

[0004] The purpose of this invention is to provide a parallel mechanism containing six slide rails and a double-moving platform to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a parallel mechanism comprising six slide rails and a dual-moving platform, including a frame, an upper moving platform, a lower moving platform, a first branch, a second branch, and a third branch; the first branch, the second branch, and the third branch are composite branches;

[0006] The frame is provided with a first slide rail support and a second slide rail support, wherein two of the first slide rail supports are located on the left and right sides of the frame, and the second slide rail support is located at the top of the frame.

[0007] The upper moving platform is provided with a first ball joint support and a first articulated support. The first ball joint support is located at one bottom end of the upper moving platform, and the first articulated support is located at the center of the lower surface of the upper moving platform. The lower moving platform is provided with two sets of second articulated supports. The two sets of second articulated supports are symmetrically arranged on the left and right sides of the lower moving platform. The upper moving platform and the lower moving platform are connected by the first articulated supports to form a first rotating pair.

[0008] The first branch I and the third branch III have the same structure. Both the first branch I and the third branch III include a first moving component, a first connecting rod, and a third moving component. The first moving component includes a first guide rail, a first slider, a first lead screw, and a first motor. The first guide rail is fixed to a first guide rail support on the frame. The first motor is fixed to the front end face of the frame, and the output shaft of the first motor is connected to the first lead screw. The first lead screw is parallel to the first guide rail. The first motor, the first lead screw, the first slider, and the first guide rail form a first moving pair. The third moving component includes a third guide rail, a third slider, a third lead screw, and a third... The motor, the third motor is fixed on the motor connecting seat of the third slide rail, the output shaft of the third motor is connected to the third lead screw, the third lead screw is perpendicular to the first slide rail, the third motor, the third lead screw, the third slider and the third slide rail constitute a third sliding pair, the third slider is provided with a third hinge support, one end of the first connecting rod is connected to the third hinge support and constitutes a second rotating pair, the other end of the first connecting rod is connected to the second hinge support and constitutes a third rotating pair; a third connecting rod is provided between the first branch I and the third branch III, and two first guide rails in the first branch I and the third branch III are fixed at the first slide rail support of the frame;

[0009] The second branch II includes a second moving component, a second connecting rod, and a fourth moving component. The second moving component includes a second slide rail, a second slider, a second lead screw, and a second motor. The second slide rail is fixed to the second slide rail support of the frame. The second motor is fixed to the upper surface of the frame, and the output shaft of the second motor is connected to the second lead screw. The second motor, the second lead screw, the second slider, and the second slide rail constitute a second moving pair. The second slider is connected to the fourth slide rail. The fourth moving component includes a fourth slide rail, a fourth slider, a fourth lead screw, and a fourth motor. The fourth motor is fixed to the fourth slide rail, and the output shaft of the fourth motor is connected to the fourth lead screw. The fourth motor, the fourth slider, and the fourth slide rail constitute a fourth moving pair. One end of the second connecting rod is provided with a first ball joint, which is connected to the upper moving platform. The fourth slider is provided with a fourth hinge support. The other end of the second connecting rod is connected to the fourth hinge support and constitutes a fourth rotating pair.

[0010] Preferably, both the frame and the lower moving platform are configured as plate structures.

[0011] Preferably, the first link, the second link, and the third link are all configured as plate-shaped rod structures.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. This invention combines a horizontal three-rail and a vertical three-rail structure to increase the three-dimensional working space of the moving platform while maintaining the high flexibility of the mechanism. The six-rail structure is used to control the mechanism, which facilitates the improvement of the mechanism's motion performance and control accuracy.

[0014] 2. The use of two moving platforms, one above the other, reduces interference between branches and facilitates individual angle control of the mechanism.

[0015] 3. The use of a fixed-length rod mechanism facilitates processing and assembly, reducing manufacturing and maintenance costs. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0017] Figure 2 A schematic diagram of a double-hinged branch in a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0018] Figure 3 A schematic diagram of a ball joint branch in a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0019] Figure 4 A schematic diagram of the base in a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0020] Figure 5 A schematic diagram of the double-moving platform in a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0021] Figure 6 A schematic diagram of the first slide rail in a parallel mechanism containing six slide rails and a double-moving platform provided by the present invention;

[0022] Figure 7 This invention provides a schematic diagram of the third slide rail in a parallel mechanism comprising six slide rails and a double-moving platform.

[0023] In the diagram: 1. Frame; 101. First slide rail support; 102. Second slide rail support; 2. Upper moving platform; 201. First ball joint support; 202. First articulated support; 3. Lower moving platform; 301. Second articulated support; 4. First moving assembly; 40. First sliding pair; 401. First slide rail; 402. First slider; 403. First lead screw; 5. Second moving assembly; 50. Second sliding pair; 501. Second slide rail; 502. Second slider; 503. Second lead screw; 6. Third moving assembly; 60. Third sliding pair; 601. Third slide rail; 602. 603. Third slider; 704. Third lead screw; 8. Second revolute joint; 905. Second hinge support; 10. First connecting rod; 11. Third revolute joint; 12. Second connecting rod; 13. Fourth revolute joint; 14. Fourth hinge support; 15. Fourth moving assembly; 16. Fourth moving joint; 17. Fourth lead screw; 18. Fourth connecting rod; 19. First motor; 20. Fifth motor. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please see Figure 1-7 The present invention provides a technical solution: a parallel mechanism containing six slide rails and a double-moving platform, including a frame 1, an upper moving platform 2, a lower moving platform 3, a first branch chain I, a second branch chain II, and a third branch chain III; the first branch chain I, the second branch chain II, and the third branch chain III are composite branches;

[0026] The frame 1 is equipped with a first slide rail support 101 and a second slide rail support 102, wherein the two slide rail supports of the first slide rail support 101 are installed on the left and right sides of the frame 1, and the second slide rail support 102 is installed on the upper end of the frame 1.

[0027] The upper moving platform 2 is equipped with a first ball joint support 201 and a first articulated support 202. The first ball joint support 201 is located at one end of the bottom of the upper moving platform, and the first articulated support 202 is located at the center of the lower surface of the upper moving platform. The lower moving platform 3 is equipped with two sets of second articulated supports 301. The two sets of second articulated supports 301 are symmetrically installed on the left and right sides of the lower moving platform 3. The upper moving platform 2 and the lower moving platform 3 are connected through the first articulated support 202 to form a first rotating pair 11.

[0028] The first branch I and the third branch III have the same structure. Both the first branch I and the third branch III include a first moving component 4, a first connecting rod 8, and a third moving component 6. The first moving component 4 includes a first guide rail 401, a first slider 402, a first lead screw 403, and a first motor 16. The first guide rail 401 is fixed at the first guide rail support 101 of the frame 1. The first motor 16 is fixed on the front end face of the frame 1, and the output shaft of the first motor 16 is connected to the first lead screw 403. The first lead screw 403 is parallel to the first guide rail 401. The first motor 16, the first lead screw 403, the first slider 402, and the first guide rail 401 form a first moving pair 40. The third moving component 6 includes a third guide rail 601, a third slider 602, a third lead screw 603, and a third moving component 6. The third motor 18 is fixed on the motor connector of the third slide rail 601. The output shaft of the third motor 18 is connected to the third lead screw 603, which is perpendicular to the first slide rail 401. The third motor 18, the third lead screw 603, the third slider 602, and the third slide rail 601 constitute the third sliding pair 60. The third slider 602 is equipped with a third hinge support 701. One end of the first connecting rod 8 is connected to the third hinge support 701 and constitutes the second rotary pair 7. The other end of the first connecting rod 8 is connected to the second hinge support 301 and constitutes the third rotary pair 9. A third connecting rod 15 is installed between the first branch I and the third branch III. The two first guide rails 401 in the first branch I and the third branch III are fixed at the first slide rail support 101 of the frame 1.

[0029] The second branch II includes a second moving assembly 5, a second connecting rod 12, and a fourth moving assembly 14. The second moving assembly 5 includes a second slide rail 501, a second slider 502, a second lead screw 503, and a second motor 17. The second slide rail 501 is fixed to the second slide rail support 102 of the frame 1. The second motor 17 is fixed to the upper surface of the frame 1, and the output shaft of the second motor 17 is connected to the second lead screw 503. The second motor 17, the second lead screw 503, the second slider 502, and the second slide rail 501 constitute a second moving pair 50. The second slider 502 is connected to the fourth slide rail 141. Component 14 includes a fourth slide rail 141, a fourth slider 142, a fourth lead screw 143, and a fourth motor 19. The fourth motor 19 is fixed on the fourth slide rail 141, and the output shaft of the fourth motor 19 is connected to the fourth lead screw 143. The fourth motor 19, the fourth slider 142, and the fourth slide rail 141 constitute a fourth sliding pair 140. One end of the second connecting rod 12 is equipped with a first ball joint 10, which is connected to the upper moving platform 2. A fourth hinge support 131 is installed on the fourth slider 142, and the other end of the second connecting rod 12 is connected to the fourth hinge support 131 and constitutes a fourth rotating pair 13.

[0030] Both the frame 1 and the lower moving platform 3 are installed as plate structures;

[0031] The first link 8, the second link 12, and the third link 15 are all installed as plate-shaped rod structures.

[0032] Working Principle: Taking the front-to-back direction of frame 1 as the x-axis, the left-to-right direction as the y-axis, and the vertical direction as the z-axis, this design incorporates a parallel mechanism of six slide rails and a double-moving platform. The tracks and sliders corresponding to the third and fourth slide rails on the first branch I, second branch II, and third branch III, as well as the tracks and sliders corresponding to the first and second slide rails, are selected as active pairs. This allows for control of the upper moving platform 2 with five degrees of freedom: two rotations and three movements. Because of the three-dimensional distribution of the first branch I, second branch II, and third branch III, constraints are provided for the rotation of the upper moving platform 2 around the z-axis. Fixing the second slider 502 and the third slider 602, and simultaneously cooperating with the first slider 402 and the fourth slider 142, allows for the movement of the upper moving platform 2 in the x-axis direction. Fixing the first slider 402, and simultaneously cooperating with the second slider 502, third slider 602, and fourth slider 142, allows for the movement of the upper moving platform 2 in the y-axis direction. Fixing the first slider 402 and the second slider 502... The third slider 602 and the fourth slider 142 work together to realize the degree of freedom of movement of the upper moving platform 2 in the z-axis direction; fixing the first slider 402 and the second slider 502, the third slider 602 and the fourth slider 142 work together to realize the degree of freedom of rotation of the upper moving platform 2 about the x-axis direction; fixing the first slider 402, the second slider 502 and the third slider 602, the fourth slider 142 realizes the degree of freedom of rotation of the upper moving platform 2 about the y-axis direction; finally, the upper moving platform 2 has a total of five degrees of freedom, two rotations and three translations.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A parallel mechanism comprising six sliding rails and a double moving platform, characterized in that: The machine frame (1), the upper movable platform (2), the lower movable platform (3), the first branch chain (I), the second branch chain (II) and the third branch chain (III) are provided; The first slide rail support (101) and the second slide rail support (102) are arranged on the machine frame (1), wherein two slide rail supports in the first slide rail support (101) are arranged on the left and right sides of the machine frame (1), and the second slide rail support (102) is arranged on the upper end of the machine frame (1); The first spherical hinge support (201) and the first hinge support (202) are arranged on the upper movable platform (2), the first spherical hinge support (201) is located at one end of the bottom of the upper movable platform, the first hinge support (202) is located at the center of the lower surface of the upper movable platform, two groups of second hinge supports (301) are arranged on the lower movable platform (3), and the two groups of second hinge supports (301) are symmetrically arranged on the left and right sides of the lower movable platform (3), and the upper movable platform (2) and the lower movable platform (3) are connected through the first hinge support (202) to form the first rotating pair (11); The first branch (I) and the third branch (III) have the same structure, and the first branch (I) and the third branch (III) both comprise a first moving assembly (4), a first connecting rod (8) and a third moving assembly (6), the first moving assembly (4) comprises a first sliding rail (401), a first sliding block (402), a first lead screw (403) and a first motor (16), the first sliding rail (401) is fixed at a first sliding rail support (101) of a rack (1), the first motor (16) is fixed on the front end face of the rack (1), and the output shaft of the first motor (16) is connected to the first lead screw (403), the first lead screw (403) is parallel to the first sliding rail (401), a first moving pair (40) is formed between the first motor (16), the first lead screw (403), the first sliding block (402) and the first sliding rail (401), the third moving assembly (6) comprises a third sliding rail (601), a third sliding block (602), a third lead screw (603) and a third motor (18), the third motor (18) is fixed on a motor connecting seat of the third sliding rail (601), the output shaft of the third motor (18) is connected to the third lead screw (603), the third lead screw (603) is perpendicular to the first sliding rail (401), a third moving pair (60) is formed by the third motor (18), the third lead screw (603), the third sliding block (602) and the third sliding rail (601), a third hinged support (701) is arranged on the third sliding block (602), one end of the first connecting rod (8) is connected with the third hinged support (701) and constitutes a second rotating pair (7), the other end of the first connecting rod (8) is connected with the second hinged support (301) and constitutes a third rotating pair (9); a third connecting rod (15) is arranged between the first branch (I) and the third branch (III), and the two first sliding rails (401) in the first branch (I) and the third branch (III) are fixed at the first sliding rail support (101) of the rack (1); The second branch (II) comprises a second moving assembly (5), a second connecting rod (12) and a fourth moving assembly (14), the second moving assembly (5) comprises a second sliding rail (501), a second sliding block (502), a second lead screw (503) and a second motor (17), the second sliding rail (501) is fixed at the second sliding rail support (102) of the rack (1), the second motor (17) is fixed on the upper surface of the rack (1), and the output shaft of the second motor (17) is connected to the second lead screw (503), the second motor (17), the second lead screw (503), the second sliding block (502) and the second sliding rail (501) constitute a second moving pair (50), the second sliding block (502) is connected with the fourth sliding rail (141), the fourth moving assembly (14) comprises a fourth sliding rail (141), a fourth sliding block (142), a fourth lead screw (143) and a fourth motor (19), the fourth motor (19) is fixed on the fourth sliding rail (141), and the output shaft of the fourth motor (19) is connected to the fourth lead screw (143), the fourth motor (19), the fourth sliding block (142) and the fourth sliding rail (141) constitute a fourth moving pair (140), one end of the second connecting rod (12) is provided with a first spherical hinge (10), the first spherical hinge (10) is connected with the upper movable platform (2), the fourth sliding block (142) is provided with a fourth hinge support (131), the other end of the second connecting rod (12) is connected with the fourth hinge support (131) and constitutes a fourth rotating pair (13).

2. The parallel mechanism with six-slideways and double moving platform according to claim 1, wherein: The rack (1) and the lower movable platform (3) are both provided in a plate-shaped structure.

3. The parallel mechanism with six-slid-rails and double moving platform according to claim 1, wherein: The first connecting rod (8), the second connecting rod (12) and the third connecting rod (15) are all provided in a plate-shaped rod structure.

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