High-precision planar printing positioning parallel mechanism completely decoupled

Abstract

The application discloses a fully decoupled high-precision plane printing positioning parallel mechanism, which comprises a fixed platform unit and a movable platform unit, and a first supporting chain, a second supporting chain and a third supporting chain are arranged between the fixed platform unit and the movable platform unit; the fixed platform unit comprises a square fixed platform, two opposite parallel supports are arranged on the square platform, and a first parallel strip platform and a second parallel strip platform are arranged on the two opposite parallel supports and are parallel to each other; the movable platform unit comprises a first right triangle platform, a connecting long rod and a square movable platform which are sequentially connected, and the center of the inscribed circle of the first right triangle platform, the center of the connecting long rod and the center of the square movable platform are coincident. The fully decoupled high-precision plane printing positioning parallel mechanism solves the problems of complex structure, low precision and difficult control of the printing positioning device of the existing 3D additive printing machine.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a fully decoupled high-precision planar printing positioning parallel mechanism. Background Technology

[0002] With the development of parallel robots, parallel mechanisms, as the most active branch in the field of robot mechanics, have always received attention and favor from the academic and industrial communities both domestically and internationally. High-precision parallel positioning mechanisms have advantages such as high stiffness, high motion accuracy, and ease of control, and have been increasingly widely studied.

[0003] 3D additive printing machines are high-tech products integrating mechanics, electronic information technology, and automated control. They are currently among the most advanced intelligent printing machines and hold a vital position in the intelligent fabric printing industry. Advanced additive printing refers to high-precision 3D additive printing that achieves a certain thickness through multiple or even dozens of overprints. The accuracy of repeated printing directly determines the product quality. Applying a high-precision positioning platform to 3D additive printing machines can significantly improve production efficiency and product quality while reducing overall operating costs. Currently, existing printing positioning devices utilize computer image recognition technology to assist in printing positioning. However, these devices require a large number of parts, inevitably leading to significant structural errors. Furthermore, their hydraulic systems are complex and difficult to control. Moreover, traditional mechanical structures struggle to achieve micron-level precision positioning, failing to meet the high-precision positioning requirements of repeated printing. Additionally, research on decoupled parallel mechanisms with two translational and one rotational degrees of freedom is relatively limited, making it difficult to meet the practical selection needs of different industrial sectors. Summary of the Invention

[0004] The first objective of this invention is to provide a fully decoupled, high-precision planar printing positioning parallel mechanism, which solves the problems of complex structure, low precision, and difficult control of existing 3D additive printing machines' printing positioning devices.

[0005] The technical solution adopted in this invention is a fully decoupled high-precision planar printing positioning parallel mechanism, including a fixed platform unit and a moving platform unit, with a first branch, a second branch, and a third branch provided between the fixed platform unit and the moving platform unit; The fixed platform unit includes a square fixed platform, on which two relatively parallel supports are set. On the two relatively parallel supports, a first strip platform and a second strip platform are built. The moving platform unit includes a first equilateral triangular platform, a connecting rod and a square moving platform connected in sequence. The center of the circle inscribed in the first equilateral triangular platform, the center of the connecting rod and the center of the square moving platform coincide. One end of the first branch is connected to the first strip platform, and the other end of the first branch is connected to the first end of the connecting rod; one end of the second branch is connected to the second strip platform, and the other end of the second branch is connected to the second end of the connecting rod; one end of the third branch is connected to the square fixed platform, and the other end of the third branch is connected to the first equilateral triangle platform.

[0006] The invention is further characterized in that, The first branch chain includes an eleventh sliding joint P11, a first slider, a twelfth sliding joint P12, a third connecting rod, and a first virtual rotation center mechanism connected in sequence; the eleventh sliding joint P11 is also connected to the first strip platform; the first virtual rotation center mechanism is also connected to the first end of the connecting long rod. The third link is an L-shaped connecting rod.

[0007] The first virtual rotation center mechanism includes an eighth link, a ninth link, a tenth link, and an eleventh link; the eighth link is parallel to the ninth link; the tenth link is parallel to the eleventh link; the eighth link is connected to the third link, the tenth link, and the eleventh link respectively through the eleventh revolute joint R11, the twelfth revolute joint R12, and the thirteenth revolute joint R13; the ninth link is connected to the third link, the tenth link, and the eleventh link respectively through the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the sixteenth revolute joint R16; the tenth link is also connected to the first end of the connecting long rod through the seventeenth revolute joint R17; the eleventh link is also connected to the first end of the connecting long rod through the eighteenth revolute joint R18.

[0008] The eleventh moving part P11 is set as the moving drive part.

[0009] The second branch includes the twenty-first sliding joint P21, the second slider, the twenty-second sliding joint P22, the sixth link, and the second virtual rotation center mechanism, which are connected in sequence; the twenty-first sliding joint P21 is also connected to the second strip platform; the second virtual rotation center mechanism is also connected to the second end of the connecting rod.

[0010] The second virtual rotation center mechanism includes a twelfth link, a thirteenth link, a fourteenth link, and a fifteenth link; the twelfth link is parallel to the thirteenth link; the fourteenth link is parallel to the fifteenth link; the twelfth link is connected to the sixth link, the fourteenth link, and the fifteenth link respectively through the twenty-first revolute joint R21, the twenty-second revolute joint R22, and the twenty-third revolute joint R23; the thirteenth link is connected to the sixth link, the fourteenth link, and the fifteenth link respectively through the twenty-fourth revolute joint R24, the twenty-fifth revolute joint R25, and the twenty-sixth revolute joint R26; the fourteenth link is also connected to the second end of the connecting rod through the twenty-seventh revolute joint R27; the fifteenth link is also connected to the second end of the connecting rod through the twenty-eighth revolute joint R28.

[0011] The twenty-first moving part P21 is set as the moving drive part.

[0012] The third branch includes the thirty-first sliding joint P31, the sixteenth link, the thirty-second sliding joint P32, the third slider, the thirty-third sliding joint P33, and the second equilateral triangle platform, which are connected in sequence; the three endpoints of the second equilateral triangle platform are connected to the three endpoints of the first equilateral triangle platform through the first branch, the second branch, and the third branch, respectively. The thirty-first moving part P31 is also connected to the square fixed platform.

[0013] The first branch chain includes U-shaped joint U31, the nineteenth link, and U-shaped joint U32 connected in sequence; the second branch chain includes U-shaped joint U33, the twentieth link, and U-shaped joint U34 connected in sequence; the third branch chain includes U-shaped joint U35, the twenty-first link, and U-shaped joint U36 connected in sequence; U-shaped joints U31, U-shaped joints U33, and U-shaped joints U35 are respectively connected to the three endpoints of the second equilateral triangle platform; U-shaped joints U32, U-shaped joints U34, and U-shaped joints U36 are respectively connected to the three endpoints of the first equilateral triangle platform.

[0014] The thirty-first moving part P31 is set as a moving drive part.

[0015] The beneficial effects of this invention are: (1) The fully decoupled high-precision planar printing positioning parallel mechanism of the present invention has the characteristics of high positioning accuracy and compact structure. It solves the problems of non-decoupling of kinematics, relatively high control cost, and complex structure of printing positioning equipment in existing planar motion parallel mechanisms. The parallel mechanism of the present invention has the characteristics of high positioning accuracy, high rigidity, and good kinematic performance. It solves the problems of complex structure, low accuracy and difficult control of printing positioning device of existing 3D additive printing machine. It can be applied to the printing positioning device of 3D additive printing machine. Its high-precision positioning function can also be applied to fields such as integrated circuit manufacturing, aerospace alignment and docking, and high-precision positioning platform.

[0016] (2) The fully decoupled high-precision planar printing positioning parallel mechanism of the present invention has three degrees of freedom: two translations and one rotation in the planar plane. The mechanism is fully decoupled, that is, controlling one drive pair corresponds to realizing one degree of freedom of the moving platform, and is not affected by other branches. The structure of the mechanism is symmetrical about the rotation center, which is always fixed at the center of the moving platform. This ensures the rigidity of the kinematic chain as a supporting part, while also giving the entire mechanism high translation and rotation accuracy, and facilitating the processing, manufacturing, assembly and performance optimization of the parts. Attached Figure Description Figure 1 This is a schematic diagram of the external structure of the fully decoupled high-precision planar printing positioning parallel mechanism of the present invention. Figure 2 This is a schematic diagram of the fully decoupled high-precision planar printing positioning parallel mechanism of the present invention. Figure 3 This is a schematic diagram of the first angle of the branches in the fully decoupled high-precision planar printing positioning parallel mechanism of the present invention. Figure 4 This is a schematic diagram of the second angle of the branches in the fully decoupled high-precision planar printing positioning parallel mechanism of the present invention. Figure 5 This is a schematic diagram of the third angle of the branches in the fully decoupled high-precision planar printing positioning parallel mechanism of the present invention.

[0017] In the diagram, 1. Fixed platform unit, 2. First slider, 3. Third link, 4. First virtual rotation center mechanism, 5. Second slider, 6. Sixth link, 7. Moving platform unit, 8. Eighth link, 9. Ninth link, 10. Tenth link, 11. Eleventh link, 12. Twelfth link, 13. Thirteenth link, 14. Fourteenth link, 15. Fifteenth link, 16. Sixteenth link, 17. Third slider, 18. Second equilateral triangle platform, 19. Nineteenth link, 20. Twentieth link, 21. Twenty-first link, 22. Second virtual rotation center mechanism; 1-1. Square fixed platform; 1-2. Support; 1-3. First strip platform; 1-4. Second strip platform; 7-1. First equilateral triangular platform; 7-2. Connecting long rod; 7-3. Square moving platform. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0019] This invention provides a fully decoupled, high-precision planar printing positioning parallel mechanism, such as... Figure 1-5 It includes a fixed platform unit 1 and a moving platform unit 7, and a first branch, a second branch and a third branch are provided between the fixed platform unit 1 and the moving platform unit 7; The fixed platform unit 1 includes a square fixed platform 1-1, on which two relatively parallel supports 1-2 are provided. On the two relatively parallel supports 1-2, a first strip platform 1-3 and a second strip platform 1-4 are built. The moving platform unit 7 includes a first equilateral triangular platform 7-1, a connecting rod 7-2 and a square moving platform 7-3 connected in sequence. The center of the inscribed circle of the first equilateral triangular platform 7-1, the center of the connecting rod 7-2 and the center of the square moving platform 7-3 coincide. One end of the first branch is connected to the first strip platform 1-3, and the other end of the first branch is connected to the first end of the connecting rod 7-2; one end of the second branch is connected to the second strip platform 1-4, and the other end of the second branch is connected to the second end of the connecting rod 7-2; one end of the third branch is connected to the square fixed platform 1-1, and the other end of the third branch is connected to the first equilateral triangle platform 7-1.

[0020] The first branch chain includes an eleventh sliding joint P11, a first slider 2, a twelfth sliding joint P12, a third connecting rod 3, and a first virtual rotation center mechanism 4 connected in sequence; the eleventh sliding joint P11 is also connected to the first strip platform 1-3; the first virtual rotation center mechanism 4 is also connected to the first end of the connecting long rod 7-2; The third link 3 is an L-shaped connecting rod.

[0021] The first virtual rotation center mechanism 4 includes an eighth link 8, a ninth link 9, a tenth link 10, and an eleventh link 11; the eighth link 8 is parallel to the ninth link 9; the tenth link 10 is parallel to the eleventh link 11; the eighth link 8 is connected to the third link 3, the tenth link 10, and the eleventh link 11 respectively through the eleventh revolute joint R11, the twelfth revolute joint R12, and the thirteenth revolute joint R13; the ninth link 9 is connected to the third link 3, the tenth link 10, and the eleventh link 11 respectively through the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the sixteenth revolute joint R16; the tenth link 10 is also connected to the first end of the connecting long rod 7-2 through the seventeenth revolute joint R17; the eleventh link 11 is also connected to the first end of the connecting long rod 7-2 through the eighteenth revolute joint R18.

[0022] The eleventh moving part P11 is set as the moving drive part.

[0023] The second branch includes the twenty-first sliding joint P21, the second slider 5, the twenty-second sliding joint P22, the sixth link 6, and the second virtual rotation center mechanism 22, which are connected in sequence; the twenty-first sliding joint P21 is also connected to the second strip platform 1-4; the second virtual rotation center mechanism 22 is also connected to the second end of the connecting long rod 7-2.

[0024] The second virtual rotation center mechanism 22 includes a twelfth link 12, a thirteenth link 13, a fourteenth link 14, and a fifteenth link 15; the twelfth link 12 is parallel to the thirteenth link 13; the fourteenth link 14 is parallel to the fifteenth link 15; the twelfth link 12 is connected to the sixth link 6, the fourteenth link 14, and the fifteenth link 15 respectively through the twenty-first revolute joint R21, the twenty-second revolute joint R22, and the twenty-third revolute joint R23; the thirteenth link 13 is connected to the sixth link 6, the fourteenth link 14, and the fifteenth link 15 respectively through the twenty-fourth revolute joint R24, the twenty-fifth revolute joint R25, and the twenty-sixth revolute joint R26; the fourteenth link 14 is also connected to the second end of the connecting long rod 7-2 through the twenty-seventh revolute joint R27; the fifteenth link 15 is also connected to the second end of the connecting long rod 7-2 through the twenty-eighth revolute joint R28.

[0025] The twenty-first moving part P21 is set as the moving drive part.

[0026] The third branch includes the thirty-first sliding joint P31, the sixteenth link 16, the thirty-second sliding joint P32, the third slider 17, the thirty-third sliding joint P33, and the second equilateral triangle platform 18, which are connected in sequence. The three endpoints of the second equilateral triangle platform 18 are connected to the three endpoints of the first equilateral triangle platform 7-1 through the first branch, the second branch, and the third branch, respectively. The thirty-first moving part P31 is also connected to the square fixed platform 1-1.

[0027] The first branch chain includes U-shaped joint U31, nineteenth link 19, and U-shaped joint U32 connected in sequence; the second branch chain includes U-shaped joint U33, twentieth link 20, and U-shaped joint U34 connected in sequence; the third branch chain includes U-shaped joint U35, twenty-first link 21, and U-shaped joint U36 connected in sequence; U-shaped joints U31, U-shaped joints U33, and U-shaped joints U35 are respectively connected to the three endpoints of the second equilateral triangle platform 18; U-shaped joints U32, U-shaped joints U34, and U-shaped joints U36 are respectively connected to the three endpoints of the first equilateral triangle platform 7-1. The three branch chains (3UU) consisting of the U-shaped joints, links, and U-shaped joints connecting the second equilateral triangle platform 18 and the first equilateral triangle platform 7-1 have identical structural parameters.

[0028] The thirty-first moving part P31 is set as a moving drive part.

[0029] By controlling the eleventh moving joint P11, the twenty-first moving joint P21, and the thirty-first moving joint P31 of the drive pair respectively, the moving platform can achieve three degrees of freedom: movement along the X-axis of the fixed coordinate system, movement along the Y-axis, and rotation around the center of the moving platform. This achieves the function and effect of precise positioning. When this device is applied to a 3D additive printing machine, it can assist in printing positioning through computer recognition technology and machine vision. Especially for processes that require multiple or even dozens of overprints, it can ensure good printing efficiency and quality.

[0030] Figure 2-5 In this parallel mechanism, the moving platform unit 7 comprises a first equilateral triangular platform 7-1, a connecting rod 7-2, and a square moving platform 7-3 connected in sequence. The center of the inscribed circle of the first equilateral triangular platform 7-1, the center of the connecting rod 7-2, and the center of the square moving platform 7-3 coincide. The connecting rod 7-2 is always parallel to one side of the first equilateral triangular platform 7-1. The moving platform unit 7 serves as the end effector of this parallel mechanism. During printing, it can act as a alignment platform for the screen printing plate or as a printing platform for textiles, bearing the pressure of screen printing. In other positioning applications, this end effector can be used as needed.

[0031] like Figure 4 The first virtual rotation center mechanism 4 and the second virtual rotation center mechanism 22 have the same structure. Each virtual rotation center mechanism consists of two sets of parallel rods of equal length connected by revolute joints. The distance between adjacent revolute joints is equal, and the two mechanisms are centrally symmetrically distributed along the center of the moving platform. This virtual rotation center mechanism achieves the rotation of the end effector around the virtual center by planarly fitting two sets of parallel four-bar linkages. The end effector is fixedly connected to the moving platform unit 7. Since the double parallel four-bar linkages are connected to the connecting rods by revolute joints, and the rotation axis of the revolute joints on the virtual rotation center is always parallel to the Z-axis of the fixed coordinate system, when the end effector rotates passively, the other parts also move passively, but this does not affect the degree of freedom of movement of the other two branches. The third link 3 and the sixth link 6 connected to the two virtual rotation center mechanisms are always stationary relative to the moving platform and pass through the rotation axis of the moving platform. The rod parts of the moving platform unit 7 connected to them are centrally symmetrical about the moving platform unit 7 and are always parallel to one side of the first equilateral triangle platform 7-1. In actual use, the dimensions of the tenth link 10, the eleventh link 11, the fourteenth link 14, and the fifteenth link 15 can be adjusted according to the actual situation to adjust the distance of the virtual rotation center, making the design of the mechanism more reasonable.

[0032] like Figure 5The third branch mechanism 3UU in the structure has a helical degree of freedom, possessing both a translational and a rotational degree of freedom. The axis of the translational direction is parallel to the Z-axis of the fixed coordinate system, and the axis of the translational direction is the rotational axis of the rotational degree of freedom. This axis passes through the geometric centers of the upper platform (first equilateral triangular platform 7-1) and the lower platform (second equilateral triangular platform 18). The upper and lower platforms are two parallel equilateral triangular platforms of unequal dimensions. The upper platform is the moving platform of the mechanism, and the lower platform is connected to the third slider 17 via the sliding joint P33. The three branch chains have identical structural dimensions and are evenly distributed at the three vertices of the triangular platforms. This allows the moving platform of the mechanism to rotate along the translational axis of the second equilateral triangular platform 18, i.e., it always rotates around the center of the moving platform itself, thus ensuring the rotational accuracy of the mechanism. In the initial position, one side of the second equilateral triangular platform 18 is parallel to the Y-axis of the fixed coordinate system, and one side of the first equilateral triangular platform 7-1 of the moving platform unit 7 is parallel to the X-axis of the fixed coordinate system. The U-shaped joint consists of two mutually perpendicular rotating joints. Its compact structure provides greater rigidity compared to the other joints. In addition, the three UU branches support the moving platform unit 7 simultaneously, thus ensuring the ability of the moving platform unit 7 to bear loads in the vertical direction. This allows the mechanism to withstand the weight of the fabric and the pressure of screen printing well during the printing process.

[0033] Among them, the axes of motion of prismatic joints P11, P22, and P33 are parallel to each other and simultaneously parallel to the Y-axis of the fixed coordinate system. This ensures that when prismatic joint P11 is driven, the moving platform unit 7 can move along the Y-axis of the fixed coordinate system without being affected by the constraints of the other two branches. The axes of motion of prismatic joints P21, P12, and P32 are parallel to each other and simultaneously parallel to the X-axis of the fixed coordinate system. This ensures that when prismatic joint P21 is driven, the moving platform unit 7 can move along the X-axis without being affected by the constraints of the other two branches. The axis of the thirty-first prismatic joint P31 is parallel to the Y-axis of the fixed coordinate system. Driving prismatic joint P31 causes the upper platform of the 3UU mechanism to rotate along the axis parallel to the Z-axis of the fixed coordinate system, thereby causing the moving platform unit 7 to rotate along the axis parallel to the Z-axis of the fixed coordinate system. At the same time, due to the local rotation of the virtual rotation center mechanism, the rotational degree of freedom is not affected by the structural constraints of the other two branches. The above explains the kinematic mechanism of the mechanism, namely the driving method and the degree of freedom of the mechanism, and also shows that the mechanism has the characteristic of complete decoupling, that is, controlling one driving pair corresponds to realizing one degree of freedom of the moving platform unit 7, which is not affected by the constraints of other branches.

[0034] In practical use, it is applied to the printing positioning device of a 3D additive printing machine. It drives the servo linear electric cylinder P31 to make the positioning platform rotate along the parallel axis of the Z-axis of the fixed coordinate system, while the parallel axis passes through the center above and below the fixed platform; it drives the servo linear electric cylinder P21 to make the positioning platform translate along the X-axis of the fixed coordinate system; and it drives the servo linear electric cylinder P11 to make the positioning platform translate along the Y-axis of the fixed coordinate system.

[0035] This invention presents a fully decoupled, high-precision planar printing positioning parallel mechanism. By independently controlling three servo linear electric cylinders, the moving platform achieves two degrees of freedom in motion and one in rotation, solving the problems of complex structure, low precision, and difficult control in existing 3D additive printing machine positioning devices. The three driving linear electric cylinders in this invention exhibit extremely small driving errors, providing high motion accuracy during positioning and high rigidity during printing, thus ensuring high precision and efficiency in the printing process. Widespread application of this device in 3D additive printing machines will enhance the automation level of related enterprises, increase brand awareness, and improve the economic benefits of related industries. The positioning mechanism of this device is not only applicable to the textile printing positioning field but also suitable for high-precision positioning applications in precision testing and manufacturing, biomedicine, optoelectronics, and other fields.

[0036] Example 1 A fully decoupled high-precision planar printing positioning parallel mechanism, such as Figure 1-5 It includes a fixed platform unit 1 and a moving platform unit 7, and a first branch, a second branch and a third branch are provided between the fixed platform unit 1 and the moving platform unit 7; The fixed platform unit 1 includes a square fixed platform 1-1, on which two relatively parallel supports 1-2 are provided. On the two relatively parallel supports 1-2, a first strip platform 1-3 and a second strip platform 1-4 are built. The moving platform unit 7 includes a first equilateral triangular platform 7-1, a connecting rod 7-2 and a square moving platform 7-3 connected in sequence. The center of the inscribed circle of the first equilateral triangular platform 7-1, the center of the connecting rod 7-2 and the center of the square moving platform 7-3 coincide. One end of the first branch is connected to the first strip platform 1-3, and the other end of the first branch is connected to the first end of the connecting rod 7-2; one end of the second branch is connected to the second strip platform 1-4, and the other end of the second branch is connected to the second end of the connecting rod 7-2. The first and second branches are centrally symmetrical about the center of the connecting rod 7-2; one end of the third branch is connected to the square fixed platform 1-1, and the other end of the third branch is connected to the first equilateral triangle platform 7-1.

[0037] Example 2 A fully decoupled high-precision planar printing positioning parallel mechanism, such as Figure 1-5It includes a fixed platform unit 1 and a moving platform unit 7, and a first branch, a second branch and a third branch are provided between the fixed platform unit 1 and the moving platform unit 7; The fixed platform unit 1 includes a square fixed platform 1-1, on which two relatively parallel supports 1-2 are provided. On the two relatively parallel supports 1-2, a first strip platform 1-3 and a second strip platform 1-4 are built. The moving platform unit 7 includes a first equilateral triangular platform 7-1, a connecting rod 7-2 and a square moving platform 7-3 connected in sequence. The center of the inscribed circle of the first equilateral triangular platform 7-1, the center of the connecting rod 7-2 and the center of the square moving platform 7-3 coincide. One end of the first branch is connected to the first strip platform 1-3, and the other end of the first branch is connected to the first end of the connecting rod 7-2; one end of the second branch is connected to the second strip platform 1-4, and the other end of the second branch is connected to the second end of the connecting rod 7-2. The first and second branches are centrally symmetrical about the center of the connecting rod 7-2; one end of the third branch is connected to the square fixed platform 1-1, and the other end of the third branch is connected to the first equilateral triangle platform 7-1.

[0038] The first branch chain includes the eleventh sliding joint P11, the first slider 2, the twelfth sliding joint P12, the third connecting rod 3, and the first virtual rotation center mechanism 4, which are connected in sequence; the eleventh sliding joint P11 is also connected to the first strip platform (1-3); the first virtual rotation center mechanism 4 is also connected to the first end of the connecting long rod 7-2; The third link 3 is an L-shaped connecting rod.

[0039] Example 3 A fully decoupled high-precision planar printing positioning parallel mechanism, such as Figure 1-5 It includes a fixed platform unit 1 and a moving platform unit 7, and a first branch, a second branch and a third branch are provided between the fixed platform unit 1 and the moving platform unit 7; The fixed platform unit 1 includes a square fixed platform 1-1, on which two relatively parallel supports 1-2 are provided. On the two relatively parallel supports 1-2, a first strip platform 1-3 and a second strip platform 1-4 are built. The moving platform unit 7 includes a first equilateral triangular platform 7-1, a connecting rod 7-2 and a square moving platform 7-3 connected in sequence. The center of the inscribed circle of the first equilateral triangular platform 7-1, the center of the connecting rod 7-2 and the center of the square moving platform 7-3 coincide. One end of the first branch is connected to the first strip platform 1-3, and the other end of the first branch is connected to the first end of the connecting rod 7-2; one end of the second branch is connected to the second strip platform 1-4, and the other end of the second branch is connected to the second end of the connecting rod 7-2. The first and second branches are centrally symmetrical about the center of the connecting rod 7-2; one end of the third branch is connected to the square fixed platform 1-1, and the other end of the third branch is connected to the first equilateral triangle platform 7-1.

[0040] The first branch chain includes an eleventh sliding joint P11, a first slider 2, a twelfth sliding joint P12, a third connecting rod 3, and a first virtual rotation center mechanism 4 connected in sequence; the eleventh sliding joint P11 is also connected to the first strip platform 1-3; the first virtual rotation center mechanism 4 is also connected to the first end of the connecting long rod 7-2; The third link 3 is an L-shaped connecting rod.

[0041] The first virtual rotation center mechanism 4 includes an eighth link 8, a ninth link 9, a tenth link 10, and an eleventh link 11; the eighth link 8 is parallel to the ninth link 9; the tenth link 10 is parallel to the eleventh link 11; the eighth link 8 is connected to the third link 3, the tenth link 10, and the eleventh link 11 respectively through the eleventh revolute joint R11, the twelfth revolute joint R12, and the thirteenth revolute joint R13; the ninth link 9 is connected to the third link 3, the tenth link 10, and the eleventh link 11 respectively through the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the sixteenth revolute joint R16; the tenth link 10 is also connected to the first end of the connecting long rod 7-2 through the seventeenth revolute joint R17; the eleventh link 11 is also connected to the first end of the connecting long rod 7-2 through the eighteenth revolute joint R18.

Claims

1. A fully decoupled high-precision planar printing positioning parallel mechanism, characterized in that, It includes a fixed platform unit (1) and a moving platform unit (7), with a first branch, a second branch and a third branch provided between the fixed platform unit (1) and the moving platform unit (7); The fixed platform unit (1) includes a square fixed platform (1-1), on which two relatively parallel supports (1-2) are set, and on the two relatively parallel supports (1-2) are a first strip platform (1-3) and a second strip platform (1-4) that are parallel to each other; the moving platform unit (7) includes a first equilateral triangle platform (7-1), a connecting rod (7-2) and a square moving platform (7-3) connected in sequence, the center of the circle inscribed in the first equilateral triangle platform (7-1), the center of the connecting rod (7-2) and the center of the square moving platform (7-3) coincide; One end of the first branch is connected to the first strip platform (1-3), and the other end of the first branch is connected to the first end of the connecting rod (7-2); one end of the second branch is connected to the second strip platform (1-4), and the other end of the second branch is connected to the second end of the connecting rod (7-2); one end of the third branch is connected to the square fixed platform (1-1), and the other end of the third branch is connected to the first equilateral triangle platform (7-1).

2. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 1, characterized in that, The first branch includes an eleventh sliding joint P11, a first slider (2), a twelfth sliding joint P12, a third connecting rod (3), and a first virtual rotation center mechanism (4) connected in sequence; the eleventh sliding joint P11 is also connected to the first strip platform (1-3); the first virtual rotation center mechanism (4) is also connected to the first end of the connecting long rod (7-2); The third link (3) is an L-shaped connecting rod.

3. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 2, characterized in that, The first virtual rotation center mechanism (4) includes an eighth link (8), a ninth link (9), a tenth link (10), and an eleventh link (11); the eighth link (8) is parallel to the ninth link (9); the tenth link (10) is parallel to the eleventh link (11); the eighth link (8) is connected to the third link (3), the tenth link (10), and the eleventh link (11) respectively through the eleventh revolute joint R11, the twelfth revolute joint R12, and the thirteenth revolute joint R13; the ninth link (9) is connected to the third link (3), the tenth link (10), and the eleventh link (11) respectively through the fourteenth revolute joint R14, the fifteenth revolute joint R15, and the sixteenth revolute joint R16; the tenth link (10) is also connected to the first end of the connecting long rod (7-2) through the seventeenth revolute joint R17; the eleventh link (11) is also connected to the first end of the connecting long rod (7-2) through the eighteenth revolute joint R18.

4. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 2, characterized in that, The eleventh moving joint P11 is configured as a moving drive joint.

5. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 2, characterized in that, The second branch includes a 21st sliding joint P21, a second slider (5), a 22nd sliding joint P22, a sixth link (6), and a second virtual rotation center mechanism (22) connected in sequence; the 21st sliding joint P21 is also connected to the second strip platform (1-4); the second virtual rotation center mechanism (22) is also connected to the second end of the connecting rod (7-2).

6. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 5, characterized in that, The second virtual rotation center mechanism (22) includes a twelfth link (12), a thirteenth link (13), a fourteenth link (14), and a fifteenth link (15); the twelfth link (12) is parallel to the thirteenth link (13); the fourteenth link (14) is parallel to the fifteenth link (15); the twelfth link (12) is connected to the sixth link (6) and the fourteenth link (14) respectively through the twenty-first revolute joint R21, the twenty-second revolute joint R22, and the twenty-third revolute joint R23. The 13th link (13) is connected to the 6th link (6), the 14th link (14), and the 15th link (15) respectively through the 24th revolute joint R24, the 25th revolute joint R25, and the 26th revolute joint R26; the 14th link (14) is also connected to the second end of the connecting rod (7-2) through the 27th revolute joint R27; the 15th link (15) is also connected to the second end of the connecting rod (7-2) through the 28th revolute joint R28.

7. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 5, characterized in that, The 21st moving joint P21 is set as a moving drive joint.

8. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 2, characterized in that, The third branch includes the thirty-first sliding joint P31, the sixteenth link (16), the thirty-second sliding joint P32, the third slider (17), the thirty-third sliding joint P33, and the second equilateral triangle platform (18) connected in sequence; the three endpoints of the second equilateral triangle platform (18) are connected to the three endpoints of the first equilateral triangle platform (7-1) through the first branch, the second branch and the third branch respectively; The thirty-first moving part P31 is also connected to the square fixed platform (1-1).

9. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 8, characterized in that, The first branch chain includes U-shaped sub-link U31, the nineteenth link (19), and U-shaped sub-link U32 connected in sequence; the second branch chain includes U-shaped sub-link U33, the twentieth link (20), and U-shaped sub-link U34 connected in sequence; the third branch chain includes U-shaped sub-link U35, the twenty-first link (21), and U-shaped sub-link U36 connected in sequence; U-shaped sub-link U31, U-shaped sub-link U33 and U-shaped sub-link U35 are respectively connected to the three endpoints of the second equilateral triangle platform (18); U-shaped sub-link U32, U-shaped sub-link U34 and U-shaped sub-link U36 are respectively connected to the three endpoints of the first equilateral triangle platform (7-1).

10. The fully decoupled high-precision planar printing positioning parallel mechanism according to claim 8, characterized in that, The thirty-first moving joint P31 is configured as a moving drive joint.

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