A five-degree-of-freedom composite drive parallel mechanism with a dual-motion platform

Abstract

This invention discloses a five-degree-of-freedom composite drive parallel mechanism with a dual-moving platform, comprising a fixed platform, a lower moving platform, an upper moving platform, a first branch, a second branch, a third branch, and a fourth branch, wherein the first branch is a composite drive branch. The advantages of this invention are: the first moving component and the first driving component realize composite drive of the branches, reducing the number of branches and minimizing interference between branches while maintaining the number of degrees of freedom; the dual-moving platform design effectively increases the rotation angle of the moving platform, and rotation around the x-axis can be controlled independently; all drives in the parallel mechanism are linear drives, offering advantages such as high precision and ease of control.

Description

Technical Field

[0001] This invention belongs to the field of parallel mechanism technology, specifically relating to a five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform. Background Technology

[0002] Parallel mechanisms have advantages such as high rigidity, strong load-bearing capacity and high positioning accuracy, and therefore have good application prospects in the industrial manufacturing field, especially in precision machining and manufacturing, surgical robots and aerospace, where they can demonstrate their excellent performance.

[0003] The number of degrees of freedom in a parallel mechanism is usually the same as the number of active drive branches. When the number of degrees of freedom is greater than 3, too many branches lead to structural complexity and branch interference. Furthermore, due to the coupling of the branches, the angular deflection of the moving platform is relatively small, thus limiting its practical application. Therefore, designing a novel five-degree-of-freedom parallel mechanism that can effectively reduce the number of branches and increase the rotation angle of the moving platform while maintaining the same number of degrees of freedom has significant research value and broad application prospects. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform.

[0005] To achieve the above objectives, the present invention provides a five-degree-of-freedom composite drive parallel mechanism containing a dual-movement platform, comprising a fixed platform, a lower moving platform, an upper moving platform, a first branch I, a second branch II, a third branch III, and a fourth branch IV.

[0006] The fixed platform includes a base, a first movable component support, a second movable component support, and a first Hooke hinge support; wherein the first movable component support and the second movable component support are horizontally fixed to the left and middle parts of the top surface of the base in the front-back direction; the first Hooke hinge support is installed in the middle of the right side of the top surface of the base.

[0007] The lower moving platform is provided with a second Hooke hinge support, a first ball hinge support, and a first articulated support; the two second Hooke hinge supports are located at the front and rear ends of the lower moving platform, the first ball hinge support is located on one side of the bottom surface of the lower moving platform, and the first articulated support is fixed to the top surface of the lower moving platform; the upper moving platform is provided with a second ball hinge support on one side of the bottom surface, and a connecting member is located in the middle of the bottom surface; the first articulated support on the lower moving platform is hinged to the connecting member on the upper moving platform to form a first rotating pair;

[0008] The first branch I is a composite drive branch, including a first moving component and a first drive component; wherein the first moving component includes a first slide rail, a first lead screw, a first slider, a second hinged support, and a first motor; wherein the first slide rail is fixed on the support of the first moving component in the front-back direction; the first lead screw is arranged on one side of the first slide rail in a manner parallel to the first slide rail; the first motor is fixed to the outside of one end of the first slide rail and is connected to one end of the first lead screw through an output shaft; the first slider is connected to the first lead screw through a lead screw nut and is also connected to the first slide rail by sliding, and the top surface of the first slider is provided with a second hinged support; the first drive component includes a first telescopic rod and a second motor; wherein the second motor is connected to the first telescopic rod through an output shaft; the lower end of the first telescopic rod is hinged to the second hinged support to form a second revolute joint, and the upper end is provided with a first ball joint and is connected to the first ball joint support on the lower moving platform through the first ball joint;

[0009] The second branch II is the second drive assembly; the second drive assembly includes a second telescopic rod and a third motor; wherein the third motor is connected to the second telescopic rod through an output shaft; the lower end of the second telescopic rod is connected to the first Hooke hinge support through a first Hooke hinge, and the upper end is provided with a second ball hinge and is connected to the second ball hinge support of the upper moving platform through the second ball hinge;

[0010] The third branch III and the fourth branch IV have the same structure, with their lower ends symmetrically arranged at the front and rear of the second moving component support. Both include a second moving component and a fixed-length rod. The second moving component includes a second slide rail, a second lead screw, a second slider, a third Hooke hinge support, and a fourth motor. The second slide rail is fixed to the front or rear of the second moving component support. The second lead screw is arranged parallel to the second slide rail on one side. The fourth motor is fixed to the outside of one end of the second slide rail and connected to one end of the second lead screw via an output shaft. The second slider is connected to the second lead screw via a lead screw nut and is also connected to the second slide rail via a sliding mechanism. The top surface of the second slider is provided with a third Hooke hinge support. The upper end of the fixed-length rod is connected to a second Hooke hinge support on the lower moving platform via a second Hooke hinge, and the lower end is connected to a third Hooke hinge support via a third Hooke hinge.

[0011] Both the lower moving platform and the upper moving platform are plate-shaped structures.

[0012] The fixed-length rod is provided with weight-reducing holes.

[0013] Compared with the prior art, the advantages of this invention are:

[0014] 1. The first moving component and the first driving component realize the composite driving of the branches, which can reduce the number of branches and reduce the interference between branches while ensuring the number of degrees of freedom.

[0015] 2. The dual-moving platform design effectively increases the rotation angle of the moving platform, and the rotation around the x-axis can be controlled independently.

[0016] 3. All drives in the parallel mechanism are linear drives, which have the advantages of high precision and easy control. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0018] Figure 2 A schematic diagram of the stationary platform in the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0019] Figure 3 A schematic diagram of the lower moving platform and the upper moving platform in the five-degree-of-freedom composite drive parallel mechanism containing a dual-moving platform provided by the present invention;

[0020] Figure 4 A schematic diagram of the first moving component in the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0021] Figure 5 A schematic diagram of the first branch in the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0022] Figure 6 A schematic diagram of the second branch in the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0023] Figure 7 A schematic diagram of the second moving component in the five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention;

[0024] Figure 8 This is a schematic diagram of the third branch of a five-degree-of-freedom composite drive parallel mechanism containing a dual-motion platform provided by the present invention. Detailed Implementation

[0025] 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.

[0026] like Figure 1 — Figure 8As shown, the five-degree-of-freedom composite drive parallel mechanism with dual-movement platforms provided by the present invention includes a fixed platform 1, a lower moving platform 2, an upper moving platform 3, a first branch I, a second branch II, a third branch III, and a fourth branch IV.

[0027] The fixed platform 1 includes a base 101, a first movable component support 102, a second movable component support 103, and a first Hooke hinge support 104; wherein the first movable component support 102 and the second movable component support 103 are horizontally fixed to the left and middle parts of the top surface of the base 101 in the front-back direction; the first Hooke hinge support 104 is installed in the middle of the right side of the top surface of the base 101.

[0028] The lower moving platform 2 is provided with a second Hooke hinge support 201, a first ball hinge support 202, and a first articulated support 203; the two second Hooke hinge supports 201 are located at the front and rear ends of the lower moving platform 2, the first ball hinge support 202 is located on one side of the bottom surface of the lower moving platform 2, and the first articulated support 203 is fixed to the top surface of the lower moving platform 2; the upper moving platform 3 is provided with a second ball hinge support 301 on one side of the bottom surface, and a connecting member is provided in the middle of the bottom surface; the first articulated support 203 on the lower moving platform 2 is hinged to the connecting member on the upper moving platform 3 to form a first rotating pair 15;

[0029] The first branch I is a composite drive branch, including a first moving component 4 and a first drive component 5; wherein the first moving component 4 includes a first slide rail 401, a first lead screw 402, a first slider 403, a second hinged support 404, and a first motor 16; wherein the first slide rail 401 is fixed on the first moving component support 102 in the front-back direction; the first lead screw 402 is arranged parallel to the first slide rail 401 on one side of the first slide rail 401; the first motor 16 is fixed to the outside of one end of the first slide rail 401 and is connected to one end of the first lead screw 402 through an output shaft; the first... A slider 403 is connected to a first lead screw 402 via a lead screw nut, and is also connected to a first slide rail 401 via a sliding mechanism. The top surface of the first slider 403 is provided with a second hinge support 404. The first drive assembly 5 includes a first telescopic rod 501 and a second motor 17. The second motor 17 is connected to the first telescopic rod 501 via an output shaft. The lower end of the first telescopic rod 501 is hinged to the second hinge support 404 to form a second revolute joint 9. The upper end is provided with a first ball joint 10 and is connected to a first ball joint support 202 on the lower moving platform 2 via the first ball joint 10.

[0030] The second branch II is the second drive assembly 6; the second drive assembly 6 includes a second telescopic rod 601 and a third motor 18; wherein the third motor 18 is connected to the second telescopic rod 601 through an output shaft; the lower end of the second telescopic rod 601 is connected to the first Hooke hinge support 104 through the first Hooke hinge 11, and the upper end is provided with a second ball hinge 12 and is connected to the second ball hinge support 301 of the upper moving platform 3 through the second ball hinge 12;

[0031] The third branch III and the fourth branch IV have the same structure, with their lower ends symmetrically arranged at the front and rear parts of the second moving component support 103. Both include a second moving component 7 and a fixed-length rod 8. The second moving component 7 includes a second slide rail 701, a second lead screw 702, a second slider 703, a third Hooke hinge support 704, and a fourth motor 19. The second slide rail 701 is fixed to the front or rear of the second moving component support 103. The second lead screw 702 is arranged parallel to the second slide rail 701 on one side of the second slide rail 701. The four motors 19 are fixed to the outer side of one end of the second slide rail 701 and connected to one end of the second lead screw 702 through the output shaft; the second slider 703 is connected to the second lead screw 702 through the lead screw nut and is also connected to the second slide rail 701 through sliding, and the top surface of the second slider 703 is provided with a third Hooke hinge support 704; the upper end of the fixed length rod 8 is connected to a second Hooke hinge support 201 on the lower moving platform 2 through the second Hooke hinge 14, and the lower end is connected to the third Hooke hinge support 704 through the third Hooke hinge 13.

[0032] Both the lower moving platform 2 and the upper moving platform 3 are plate-shaped structures.

[0033] The fixed-length rod 8 is provided with a weight-reducing hole.

[0034] The working principle of the five-degree-of-freedom composite drive parallel mechanism with a dual-motion platform provided by this invention is described below: Now, taking the axis of the second rotary joint 9 as the x-axis, pointing towards the first motor 16, the z-axis is perpendicular to the surface of the base 101 and points from the bottom surface to the top surface, and the y-axis conforms to the right-hand rule. The five-degree-of-freedom composite drive parallel mechanism with a dual-motion platform provided by this invention selects the first lead screw 402 on the first moving component 4, the first telescopic rod 501 on the first drive component 5, the second telescopic rod 601 on the second drive component 6, and the second lead screws 702 on the two second moving components 7 as active pairs, which can realize the control of the upper moving platform 3 in five degrees of freedom: three translations and two rotations. The axis of the second revolute joint 9 is always perpendicular to the z-axis. The intersection of the rotation axes of the two second Hooke hinges 14 and the two third Hooke hinges 13 is always in a plane, restricting the rotation of the upper moving platform 3 around the z-axis. When the first lead screw 402 and the two second lead screws 702 move in the same direction and at equal distances, the upper moving platform 3 can move freely along the x-axis. When the first telescopic rod 501 extends or retracts, it will push the lower moving platform 2 to translate as a whole, thereby driving the upper moving platform 3 to move along the y-axis. When the first lead screw 402 is locked and the two second lead screws 702 move in opposite directions and at equal distances, the upper moving platform 3 can move along the z-axis. When the two second lead screws 702 move in the same direction or in opposite directions but at unequal distances, the upper moving platform 3 can rotate around the y-axis. When the first telescopic rod 501 is locked and the second telescopic rod 601 extends or retracts, since the axis of the first revolute joint 15 is parallel to the x-axis, the moving platform can rotate around the x-axis.

[0035] 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.

[0036] 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 five-degree-of-freedom parallel mechanism with compound driving and double moving platform, characterized in that: The five-degree-of-freedom parallel mechanism with double moving platforms comprises a fixed platform (1), a lower moving platform (2), an upper moving platform (3), a first branch chain I, a second branch chain II, a third branch chain III and a fourth branch chain IV; The fixed platform (1) comprises a base (101), a first moving assembly support (102), a second moving assembly support (103) and a first hooke joint support (104); the first moving assembly support (102) and the second moving assembly support (103) are horizontally fixed on the top surface of the base (101) at the left side and the middle part of the base (101) along the front-rear direction; the first hooke joint support (104) is installed at the right middle part of the top surface of the base (101); The lower moving platform (2) is provided with a second hooke joint support (201), a first spherical hinge support (202) and a first hinge support (203); the two second hooke joint supports (201) are arranged at the front and rear ends of the lower moving platform (2), the first spherical hinge support (202) is arranged at one side of the bottom surface of the lower moving platform (2), and the first hinge support (203) is fixed on the top surface of the lower moving platform (2); the bottom surface of the upper moving platform (3) is provided with a second spherical hinge support (301), and the middle part of the bottom surface is provided with a connecting piece; the first hinge support (203) on the lower moving platform (2) is hingedly connected with the connecting piece on the upper moving platform (3) to form a first rotational pair (15); The first branch chain I is a compound driving branch chain, comprising a first moving assembly (4) and a first driving assembly (5); the first moving assembly (4) comprises a first sliding rail (401), a first lead screw (402), a first sliding block (403), a second hinge support (404) and a first motor (16); the first sliding rail (401) is fixed on the first moving assembly support (102) along the front-rear direction; the first lead screw (402) is arranged on one side of the first sliding rail (401) in parallel with the first sliding rail (401); the first motor (16) is fixed on the outside of one end of the first sliding rail (401) and connected with one end of the first lead screw (402) through an output shaft; the first sliding block (403) is connected with the first lead screw (402) through a lead screw nut and connected with the first sliding rail (401) through sliding, and the top surface of the first sliding block (403) is provided with the second hinge support (404); the first driving assembly (5) comprises a first telescopic rod (501) and a second motor (17); the second motor (17) is connected with the first telescopic rod (501) through an output shaft; the lower end of the first telescopic rod (501) is hingedly connected with the second hinge support (404) to form a second rotational pair (9), and the upper end is provided with a first spherical hinge (10) and connected with the first spherical hinge support (202) on the lower moving platform (2) through the first spherical hinge (10); The second branch chain II is a second driving assembly (6); the second driving assembly (6) comprises a second telescopic rod (601) and a third motor (18); the third motor (18) is connected with the second telescopic rod (601) through an output shaft; the lower end of the second telescopic rod (601) is connected with a first hooke joint support (104) through a first hooke joint (11), and the upper end is provided with a second spherical hinge (12) and connected with a second spherical hinge support (301) of an upper moving platform (3) through the second spherical hinge (12); The third branch chain III and the fourth branch chain IV are the same in structure, are symmetrically arranged at the front and rear parts of the second moving assembly support (103) at the lower end, and each comprises a second moving assembly (7) and a fixed-length rod (8); the second moving assembly (7) comprises a second sliding rail (701), a second lead screw (702), a second sliding block (703), a third hooke joint support (704) and a fourth motor (19); the second sliding rail (701) is fixed at the front part or the rear part of the second moving assembly support (103); the second lead screw (702) is arranged on one side of the second sliding rail (701) in parallel with the second sliding rail (701); the fourth motor (19) is fixed outside one end of the second sliding rail (701) and connected with one end of the second lead screw (702) through an output shaft; the second sliding block (703) is connected with the second lead screw (702) through a lead screw nut and connected with the second sliding rail (701) in a sliding mode, and the top surface of the second sliding block (703) is provided with the third hooke joint support (704); the upper end of the fixed-length rod (8) is connected with one second hooke joint support (201) on the lower moving platform (2) through a second hooke joint (14), and the lower end is connected with the third hooke joint support (704) through a third hooke joint (13).

2. The five-DOF hybrid-driven parallel mechanism with double moving platform according to claim 1, characterized in that: The lower moving platform (2) and the upper moving platform (3) are plate-shaped structures.

3. The five-DOF hybrid-driven parallel mechanism with double moving platform according to claim 1, characterized in that: The fixed-length rod (8) is provided with a weight-reducing hole.

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