Parallel mechanism and stabilizing holder

Abstract

The application discloses a parallel mechanism, which comprises a fixed platform, an intermediate platform and a moving platform, the fixed platform is connected with the moving platform by three motion branches, a first connecting rod and a second connecting rod form a spherical pair with an intermediate connecting piece, the first connecting rod forms a rotary pair with the fixed platform, the second connecting rod forms a rotary pair with the moving platform, each motion branch comprises two spherical pairs and two rotary pairs, meanwhile, a sliding pair is constructed between the fixed platform and the moving platform by the intermediate platform and the intermediate connecting piece, under the coupling effect of the sliding pair constructed by the intermediate connecting piece and the intermediate platform, the relative rotation angle range of the first connecting rod and the second connecting rod is increased, and three branch drivers can drive the parallel mechanism to move. The application further provides a stabilizing holder, which comprises the parallel mechanism, a target device is arranged on the moving platform, the parallel mechanism can realize the stabilization of the target device, and the adaptability of the stabilizing holder is improved.

Description

Technical Field

[0001] This invention relates to the technical field of gimbals and their peripheral supporting facilities, and in particular to a parallel mechanism and a stabilized gimbal. Background Technology

[0002] Parallel mechanisms are widely used in mechanical design, especially in complex motion control systems. They enable multi-degree-of-freedom motion, improving the accuracy and stability of the mechanism, and are therefore widely applied in aerospace, industrial manufacturing, and medical equipment.

[0003] Traditional gimbal stabilization mechanisms are mostly serial mechanisms. Compared to serial mechanisms, parallel mechanisms have advantages such as higher load-bearing capacity, higher motion accuracy, and better dynamic response, making them more suitable for gimbal stabilization design. However, parallel mechanisms have the disadvantage of smaller workspace compared to serial mechanisms, resulting in less application of parallel mechanisms in the field of gimbal stabilization. For example, US Patent No. 4651589 proposes a 3-RSR three-degree-of-freedom parallel mechanism, such as... Figure 1 As shown, this mechanism is widely used in vehicle-mounted and shipborne stabilization platforms. However, since the 3-RSR parallel mechanism contains a spherical pair, and the swing range of the spherical pair is generally no more than ±50 degrees, the working space of the 3-RSR parallel mechanism is limited, which makes the working space of the stabilization motion based on the 3-RSR parallel mechanism unsatisfactory. Summary of the Invention

[0004] The purpose of this invention is to provide a parallel mechanism and a stabilized gimbal to solve the problems existing in the prior art, increase the workspace of the parallel mechanism, and improve the adaptability of the stabilized gimbal.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a parallel mechanism, comprising:

[0006] Determine the platform;

[0007] Intermediate platform;

[0008] A moving platform is connected to a fixed platform via three motion chains. Each motion chain includes a first link, an intermediate connector, and a second link. The first ends of the first and second links are rotatably connected to the intermediate connector to form a spherical joint. The second end of the first link is rotatably connected to the fixed platform to form a revolute joint. The second end of the second link is rotatably connected to the moving platform to form a revolute joint. The intermediate connector is slidably disposed on the intermediate platform to form a sliding joint. The intermediate platform is located between the fixed platform and the moving platform. Each motion chain is connected to a chain driver.

[0009] Preferably, the rotation axis of the rotating pair formed by the first connecting rod and the fixed platform is parallel to the plane of the fixed platform, and the rotation axis of the rotating pair formed by the second connecting rod and the moving platform is parallel to the plane of the moving platform.

[0010] Preferably, the branch drive is disposed on the fixed platform, and the output end of the branch drive is connected to the first connecting rod drive.

[0011] Preferably, the fixed platform includes a main plate and a mounting plate, the mounting plate being arranged perpendicular to the main plate, and the branch drive being fixed to the mounting plate.

[0012] Preferably, the intermediate platform has a guide rail, and the intermediate connector has a slider adapted to the guide rail, and the intermediate connector slides in conjunction with the guide rail.

[0013] Preferably, the three motion chains are evenly distributed circumferentially around the axes of the fixed platform and the moving platform.

[0014] Preferably, the intermediate platform is a frame structure; the moving platform is an equilateral triangular plate structure, and weight reduction holes are provided on the moving platform, the first connecting rod, and the second connecting rod.

[0015] Furthermore, the present invention also provides a stabilization gimbal that includes the above-described parallel mechanism.

[0016] Preferably, the stabilized gimbal further includes an end platform, which is detachably connected to the moving platform.

[0017] Preferably, the stabilization gimbal further includes an end platform, which is rotatably connected to the moving platform. The rotation axis of the end platform is perpendicular to the plane of the moving platform, and the end platform is connected to an end driver.

[0018] The present invention achieves the following technical effects compared to the prior art:

[0019] The parallel mechanism of this invention connects a fixed platform to a moving platform via three kinematic chains. Both the first and second links form spherical joints with an intermediate connector. Simultaneously, the first link forms a revolute joint with the fixed platform, and the second link forms a revolute joint with the moving platform. Each kinematic chain includes two spherical joints and two revolute joints. Furthermore, a sliding joint is constructed between the fixed and moving platforms using the intermediate platform and intermediate connector, giving each kinematic chain eight degrees of freedom. The kinematic angle range of the spherical joints formed by the first and second links with the intermediate connector is ±θ (θ≠0). Under the coupling effect of the sliding joint constructed between the intermediate connector and the intermediate platform, the relative rotation angle range between the first and second links increases to ±2θ. Compared to the 3-RSR mechanism in the prior art, this significantly increases the working space of the parallel mechanism. In addition, each motion chain is connected to a chain driver. By setting an intermediate platform and intermediate connector, the present invention enables three chain drivers to drive the parallel mechanism, thereby increasing the workspace of the parallel mechanism and improving its adaptability.

[0020] The present invention also provides a stabilization gimbal, comprising the above-mentioned parallel mechanism, wherein the target device is placed on the moving platform, and the parallel mechanism can be used to stabilize the target device and improve the adaptability of the stabilization gimbal. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a 3-RSR three-degree-of-freedom parallel mechanism in the prior art;

[0023] Figure 2 This is a schematic diagram of the parallel mechanism disclosed in the embodiments of the present invention;

[0024] Figure 3 This is a partial structural schematic diagram of the parallel mechanism disclosed in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the kinematic branch of the parallel mechanism disclosed in the embodiments of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the ball joint shaft of the parallel mechanism disclosed in the embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the stabilization gimbal disclosed in the embodiments of the present invention;

[0028] Figure 7 This is a partial structural schematic diagram of the gimbal stabilization unit disclosed in an embodiment of the present invention.

[0029] Among them, 100 represents a parallel mechanism;

[0030] 1 is the fixed platform, 101 is the main plate, 102 is the mounting plate, 2 is the intermediate platform, 3 is the moving platform, 4 is the motion chain, 5 is the first connecting rod, 6 is the intermediate connecting piece, 7 is the second connecting rod, 8 is the chain driver, 9 is the ball joint shaft, 10 is the guide rail, 11 is the end platform, and 12 is the end driver. Detailed Implementation

[0031] 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.

[0032] The purpose of this invention is to provide a parallel mechanism and a stabilized gimbal to solve the problems existing in the prior art, increase the workspace of the parallel mechanism, and improve the adaptability of the stabilized gimbal.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] This invention provides a parallel mechanism 100, including a fixed platform 1, an intermediate platform 2, and a moving platform 3. The moving platform 3 is connected to the fixed platform 1 by three motion chains 4. Each motion chain 4 includes a first connecting rod 5, an intermediate connecting member 6, and a second connecting rod 7. The first end of the first connecting rod 5 and the first end of the second connecting rod 7 are rotatably connected to the intermediate connecting member 6 to form a spherical pair. The second end of the first connecting rod 5 is rotatably connected to the fixed platform 1 to form a revolute pair. The second end of the second connecting rod 7 is rotatably connected to the moving platform 3 to form a revolute pair. The intermediate connecting member 6 is slidably disposed on the intermediate platform 2 to form a sliding pair. The intermediate platform 2 is located between the fixed platform 1 and the moving platform 3. Each motion chain 4 is connected to a chain driver 8.

[0035] The parallel mechanism 100 of the present invention connects the fixed platform 1 to the moving platform 3 via three kinematic chains 4, as detailed below. Figure 2Both the first link 5 and the second link 7 form spherical joints with the intermediate connector 6. At the same time, the first link 5 forms a revolute joint with the fixed platform 1, and the second link 7 forms a revolute joint with the moving platform 3. Each kinematic branch 4 includes two spherical joints and two revolute joints. Meanwhile, a sliding joint is constructed between the fixed platform 1 and the moving platform 3 using the intermediate platform 2 and the intermediate connector 6, so that each kinematic branch 4 has eight degrees of freedom. The motion angle range of the spherical joints formed by the first link 5 and the intermediate connector 6, and the second link 7 and the intermediate connector 6, is ±θ (θ≠0). Under the coupling effect of the sliding joint constructed by the intermediate connector 6 and the intermediate platform 2, the relative rotation angle range of the first link 5 and the second link 7 is increased to ±2θ. Compared with the 3-RSR mechanism in the prior art, this greatly increases the working space of the parallel mechanism 100. In addition, each motion branch 4 is connected to a branch driver 8. By setting an intermediate platform 2 and an intermediate connector 6, the present invention enables three branch drivers 8 to drive the parallel mechanism 100 to move, thereby increasing the working space of the parallel mechanism 100 and improving its adaptability.

[0036] The rotation axis of the rotating pair formed by the first link 5 and the fixed platform 1 is parallel to the plane of the fixed platform 1, and the rotation axis of the rotating pair formed by the second link 7 and the moving platform 3 is parallel to the plane of the moving platform 3, which facilitates the control of the state of the parallel mechanism 100.

[0037] In this specific embodiment, the branch drive 8 is mounted on the fixed platform 1. The output end of the branch drive 8 is connected to the first connecting rod 5 for transmission. The branch drive 8 drives the first connecting rod 5 to rotate, thereby driving the moving branch 4 to move, and thus achieving the purpose of stabilizing the moving platform 3 in the vertical direction.

[0038] In other specific embodiments of the present invention, the fixed platform 1 includes a main body plate 101 and a mounting plate 102. The mounting plate has a regular hexagonal plate structure. The mounting plate 102 is arranged perpendicular to the main body plate 101. The branch drive 8 is fixed on the mounting plate 102. The mounting plate 102 has stepped holes and threaded holes to facilitate the installation, positioning, and fixing of the branch drive 8. In practical applications, the branch drive 8 can be a motor or other types of drive components. In addition, to facilitate the overall installation and fixing of the parallel mechanism 100, threaded holes can be opened on the main body plate 101 to facilitate the installation of the parallel mechanism 100 on the working platform. Here, the working platform specifically refers to the mounting base of the parallel mechanism 100 during operation.

[0039] It should also be noted that the intermediate connector 6 forms a spherical joint with the first connecting rod 5 and the second connecting rod 7 using the ball joint shaft 9. Please refer to [reference needed]. Figure 5This facilitates the disassembly and maintenance of the motion chain 4. One end of the ball joint shaft 9 is fixed to the intermediate connector 6, and the other end of the ball joint shaft 9 has a ball head. The ball head end of the ball joint shaft 9 rotates with the first connecting rod 5 and the second connecting rod 7 to form a spherical pair. In order to facilitate connection, each motion chain 4 has two ball joint shafts 9 connected to the intermediate connector 6, which improves the convenience of assembly and maintenance.

[0040] To improve the relative sliding smoothness between the intermediate connector 6 and the intermediate platform 2, the intermediate platform 2 is provided with a guide rail 10, and the intermediate connector 6 has a slider adapted to the guide rail 10. The slider is slidably set in the groove. The intermediate connector 6 and the guide rail 10 slide together. The cooperation between the guide rail 10 and the slider can also improve the accuracy of the sliding trajectory, and further improve the motion stability and reliability of the intermediate connector 6.

[0041] More specifically, the three motion chains 4 are evenly distributed around the axes of the fixed platform 1 and the moving platform 3, which improves the uniformity of force on the fixed platform 1, the moving platform 3 and the intermediate platform 2, and improves the structural stability of the parallel mechanism 100.

[0042] In addition, the intermediate platform 2 is a frame structure, reducing its mass. Three guide rails 10 are set on the three sides of the intermediate platform 2, and the slider of the intermediate connector 6 cooperates with the guide rails 10 to form a sliding pair. The moving platform 3 is an equilateral triangular plate structure with mounting planes and slots at its three vertices for connection with the motion chain 4. Weight reduction holes are provided on the moving platform 3, the first connecting rod 5, and the second connecting rod 7 to further reduce the mass of the parallel mechanism 100 and improve its adaptability. In practical applications, the first connecting rod 5 and the second connecting rod 7 can also be set as connecting rods with hollow structures to further reduce weight and improve the flexibility and response speed of the parallel mechanism 100. It should be noted that in this specific embodiment, both the fixed platform 1 and the moving platform 3 are plate structures, and the axes of the fixed platform 1 and the moving platform 3 refer to the axes perpendicular to the plane in which the fixed platform 1 and the moving platform 3 are located.

[0043] Furthermore, the present invention also provides a stabilization gimbal, including the above-mentioned parallel mechanism 100, which increases the working space of the stabilization gimbal by utilizing the parallel structure and improves the adaptability of the stabilization gimbal.

[0044] In practical applications, the gimbal stabilization unit also includes an end platform 11, which is detachably connected to the moving platform 3 to facilitate the installation and positioning of the target device. While increasing the working space of the gimbal stabilization unit, it ensures the working reliability of both the gimbal stabilization unit and the target device. The detachable connection between the end platform 11 and the moving platform 3 can adapt to various types of target devices, further improving the adaptability of the gimbal stabilization unit.

[0045] In this specific embodiment, the stabilization gimbal also includes an end-effector platform 11, which is rotatably connected to the moving platform 3. Please refer to [reference needed]. Figure 7 The rotation axis of the end platform 11 is perpendicular to the plane of the moving platform 3. The end platform 11 is connected to the end driver 12, which drives the end platform 11 to connect. The target device is fixed on the end platform 11, which is equivalent to adding an output rotational degree of freedom to the parallel mechanism 100, controlling the movement of the target device on the end platform 11, and improving the flexibility and adaptability of the target device after it is placed on the end platform 11. In addition, stepped holes are provided on the moving platform 3 for installing the end platform 11 and limiting its movement, improving the ease of installation and removal of the end platform 11. It should be noted that the target device can be a shooting device or other types of equipment, which can be selected according to the actual working conditions; the end driver 12 can also be a motor or other types of drive components.

[0046] The parallel mechanism 100 of the present invention includes a fixed platform 1, an intermediate platform 2, a moving platform 3, and three motion chains 4. The motion chains 4 connect the moving platform 3, the intermediate platform 2, and the fixed platform 1 through kinematic pairs. Each motion chain 4 includes two revolute joints and two spherical joints connected in series. The intermediate connector 6 of the motion chain 4 cooperates with the intermediate platform 2 to form a sliding joint. The present invention uses the 3-RSP mechanism and the 3-PSR mechanism to share the coupling sliding joint, which improves the stiffness and load-bearing capacity of the parallel mechanism 100 while increasing the working space of the parallel mechanism 100. At the same time, the gimbal of the present invention adds an end platform 11 to the parallel mechanism 100, which is beneficial to further improve the flexibility and adaptability of the gimbal.

[0047] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A parallel mechanism, characterized in that, include: Determine the platform; Intermediate platform; A moving platform is connected to a fixed platform via three motion chains. Each motion chain includes a first link, an intermediate connector, and a second link. The first ends of the first and second links are rotatably connected to the intermediate connector to form a spherical joint. The second end of the first link is rotatably connected to the fixed platform to form a revolute joint. The second end of the second link is rotatably connected to the moving platform to form a revolute joint. The intermediate connector is slidably disposed on the intermediate platform to form a sliding joint. The intermediate platform is located between the fixed platform and the moving platform. Each motion chain is connected to a chain driver. The intermediate platform has a guide rail, which is a linear guide rail, and the intermediate connector has a slider adapted to the guide rail, and the intermediate connector slides in conjunction with the guide rail.

2. The parallel mechanism according to claim 1, characterized in that: The rotation axis of the rotating pair formed by the first connecting rod and the fixed platform is parallel to the plane where the fixed platform is located, and the rotation axis of the rotating pair formed by the second connecting rod and the moving platform is parallel to the plane where the moving platform is located.

3. The parallel mechanism according to claim 1, characterized in that: The branch drive is mounted on the fixed platform, and the output end of the branch drive is connected to the first connecting rod drive.

4. The parallel mechanism according to claim 3, characterized in that: The fixed platform includes a main plate and a mounting plate. The mounting plate is arranged perpendicular to the main plate, and the branch drive is fixed to the mounting plate.

5. The parallel mechanism according to any one of claims 1-4, characterized in that: The three kinematic chains are evenly distributed circumferentially around the axes of the fixed platform and the moving platform.

6. The parallel mechanism according to any one of claims 1-4, characterized in that: The intermediate platform is a frame structure; the moving platform is an equilateral triangular plate structure, and weight reduction holes are provided on the moving platform, the first connecting rod, and the second connecting rod.

7. A stabilization gimbal, characterized in that: It includes the parallel mechanism described in any one of claims 1-6.

8. The gimbal stabilization unit according to claim 7, characterized in that: It also includes an end platform, which is detachably connected to the moving platform.

9. The gimbal stabilization unit according to claim 7, characterized in that: It also includes an end platform, which is rotatably connected to the moving platform. The rotation axis of the end platform is perpendicular to the plane of the moving platform, and the end platform is connected to an end driver.

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