Three-direction complete decoupling three-translation parallel mechanism

Abstract

The invention discloses a three-direction complete decoupling three-translation parallel mechanism which comprises a base, an X-direction driving module, a Y-direction driving module, a Z-direction driving module, an X-direction supporting and guiding module, a Y-direction supporting and guiding module, a Z-direction supporting and guiding module and a movable platform. The X-direction driving module comprises an X-direction linear motor and a first connecting piece, the Y-direction driving module comprises a Y-direction linear motor and a second connecting piece, and the Z-direction driving module comprises a Z-direction linear motor and a third connecting piece. The X-direction supporting and guiding module comprises a first connecting plate and a first cross guide rail, the Y-direction supporting and guiding module comprises a second connecting plate and a second cross guide rail, and the Z-direction supporting and guiding module comprises a third connecting plate, a third cross guide rail and a fourth cross guide rail. The mechanism can guarantee the consistency of motion input and output of the movable platform, complete decoupling of motion in three directions is achieved, the control strategy is simplified, the control precision is improved, the motion precision and the bearing capacity of the movable platform are improved, and the requirements for large-load bearing and small-displacement high-frequency reciprocating motion of the movable platform are met.

Description

Technical Field

[0001] The invention relates to the technical field of parallel mechanisms, and in particular to a three-way completely decoupled three-translation parallel mechanism. Background Art

[0002] At present, the three-translation parallel mechanism has the advantages of high rigidity, strong load capacity, and convenient analysis. It has obvious advantages for repetitive work with high speed and precision requirements such as sorting, grasping and labeling. In situations where small-range high-speed translation is required, the mechanism needs to have large load capacity, high precision, and high speed. The existing three-translation parallel mechanism has the disadvantages of complex branch chains, motion coupling, and difficult control.

[0003] Chinese patent CN113211417A discloses a high-rigidity redundant drive three-translation parallel mechanism with symmetrically distributed branches. There are four branches and four drive pairs between the fixed platform and the moving platform of the mechanism. The number of drive pairs is greater than the number of degrees of freedom, which is a redundant drive. The mechanism has high rigidity and load-bearing capacity and can be used in heavy-weight and high-speed applications. However, the number of drive pairs of the mechanism is large, and the three-way motion is coupled, which makes the control complex.

[0004] Therefore, it is necessary to propose a three-way fully decoupled three-translation parallel mechanism for use in scenarios with small displacement and high-speed reciprocating movement requirements. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a three-way fully decoupled three-translation parallel mechanism, which provides driving force to the moving platform through the X-axis drive module, the Y-axis drive module, and the Z-axis drive module respectively, so as to achieve the correspondence between the unidirectional motion input and output, ensure the consistency of the motion input and output of the moving platform, and simultaneously achieve complete decoupling of the motion in the three directions, simplify the control strategy, improve the control accuracy, and improve the motion accuracy and carrying capacity of the moving platform, so as to meet the requirements of large load bearing and small displacement high-frequency reciprocating motion of the moving platform.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: a three-way fully decoupled three-translation parallel mechanism, comprising a base, an X-direction drive module, a Y-direction drive module, a Z-direction drive module, an X-direction support and guide module, a Y-direction support and guide module, a Z-direction support and guide module and a moving platform;

[0007] The X-direction drive module includes an X-direction linear motor and a connecting piece 1, the motor shaft of the X-direction linear motor is fixedly connected to the connecting piece 1 in the X direction, the Y-direction drive module includes a Y-direction linear motor and a connecting piece 2, the motor shaft of the Y-direction linear motor is fixedly connected to the connecting piece 2 in the Y direction, the Z-direction drive module includes a Z-direction linear motor and a connecting piece 3, the motor shaft of the Z-direction linear motor is fixedly connected to the connecting piece 3 in the Z direction, the X-direction linear motor and the Y-direction linear motor are respectively horizontally mounted on the base, and the Z-direction linear motor is vertically mounted on the base;

[0008] The X-direction support and guiding module includes a connecting plate 1 and a cross guide rail 1, the connecting plate 1 is connected to the connecting piece 1, the cross guide rail 1 is slidably connected to the connecting plate 1 in the Y direction, and the cross guide rail 1 is slidably connected to the moving platform in the Z direction. The Y-direction support and guiding module includes a connecting plate 2 and a cross guide rail 2, the connecting plate 2 is connected to the connecting piece 2, the cross guide rail 2 is slidably connected to the connecting plate 2 in the X direction, and the cross guide rail 2 is slidably connected to the moving platform in the Z direction. The Z-direction support and guiding module includes a connecting plate 3, a cross guide rail 3 and a cross guide rail 4, the connecting plate 3 is connected to the connecting piece 3, the cross guide rail 3 is slidably connected to the connecting plate 3 in the X direction, the cross guide rail 3 is slidably connected to the moving platform in the Y direction, the cross guide rail 4 is slidably connected to the connecting plate 3 in the Y direction, and the cross guide rail 4 is slidably connected to the moving platform in the X direction.

[0009] The working principle of the three-translation parallel mechanism of the present invention is as follows: taking the X-direction drive module as an example, the X-direction drive module provides the driving force for the X-direction movement of the moving platform, so that the moving platform moves in the X-direction, and at the same time, the cross guide rail 2 and the connecting plate 2 slide relative to each other in the X-direction, and the cross guide rail 3 and the connecting plate 3 slide relative to each other in the X-direction, while the Y-direction drive module and the Z-direction drive module do not move with the movement of the X-direction drive module, so that the X-direction drive module can be controlled separately to realize the movement in the X-direction, as well as the decoupling of the movement in the Y-direction and the decoupling of the movement in the Z-direction. The operation principle of the Y-direction drive module and the Z-direction drive module is the same as that of the X-direction drive module, and the Y-direction drive module can also be controlled separately to realize the movement in the Y-direction, as well as the decoupling of the movement in the X-direction and the decoupling of the movement in the Z-direction, and the Z-direction drive module can also be controlled separately to realize the movement in the Z-direction, as well as the decoupling of the movement in the X-direction and the decoupling of the movement in the Y-direction.

[0010] Preferably, the axes of the motor shaft of the X-axis linear motor, the motor shaft of the Y-axis linear motor and the motor shaft of the Z-axis linear motor are perpendicular to each other and intersect at one point.

[0011] Preferably, the moving platform is in the shape of a square box with an opening facing downward, and a plurality of connecting through holes are provided on the top wall of the moving platform. The cross guide rail 1 is slidably connected to the Y-direction side wall of the moving platform in the Z direction, the cross guide rail 2 is slidably connected to the X-direction side wall of the moving platform in the Z direction, the cross guide rail 3 is slidably connected to the top wall of the moving platform in the Y direction, and the cross guide rail 4 is slidably connected to the top wall of the moving platform in the X direction.

[0012] As a further preference, the number of the cross guide rails 1, 2, 3 and 4 is two respectively, the two cross guide rails 1 are arranged side by side in the Y direction, the two cross guide rails 2 are arranged side by side in the X direction, the two cross guide rails 3 are arranged side by side in the X direction, the two cross guide rails 4 are arranged side by side in the Y direction, and the two cross guide rails 3 and the two cross guide rails 4 are all located on the inner side of the moving platform. The two cross guide rails 1, the two cross guide rails 2, the two cross guide rails 3 and the two cross guide rails 4 can improve the motion accuracy, the motion direction in the Z direction coincides with the gravity direction of the moving mass, and the two cross guide rails 3 and the two cross guide rails 4 can improve the bearing capacity of the mechanism.

[0013] As a further preferred embodiment, the cross guide rail 1 includes a guide rail seat 1, a Y guide rail 1 and a Z guide rail 1, the Y guide rail 1 is fixed on the connecting plate 1, the guide rail seat 1 is slidably connected to the Y guide rail 1 through a Y-direction slider 1, the guide rail seat 1 is slidably connected to the Z guide rail 1 through a Z-direction slider 1, and the Z guide rail 1 is slidably connected to the Y-direction side wall of the moving platform in the Z direction; the cross guide rail 2 includes a guide rail seat 2, an X guide rail 1 and a Z guide rail 2, the X guide rail 1 is fixed on the connecting plate 2, the guide rail seat 2 is slidably connected to the X guide rail 1 through an X-direction slider 1, the guide seat 2 is slidably connected to the Z guide rail 2 through a Z-direction slider 2, and the Z guide rail 2 is slidably connected to the X-direction side wall of the moving platform in the Z direction The cross guide rail three comprises a guide rail seat three, an X-guide rail two and a Y-guide rail two, the X-guide rail two is fixed on the connecting plate three, the guide rail seat three is slidably connected to the X-guide rail two through the X-direction slider two, the guide rail seat three is slidably connected to the Y-guide rail two through the Y-direction slider two, the Y-guide rail two is slidably connected to the top wall of the moving platform in the Y direction, the cross guide rail four comprises a guide rail seat four, an X-guide rail three and a Y-guide rail three, the Y-guide rail three is fixed on the connecting plate three, the guide rail seat four is slidably connected to the Y-guide rail three through the Y-direction slider three, the guide seat four is slidably connected to the X-guide rail three through the X-direction slider three, and the X-guide rail three is slidably connected to the top wall of the moving platform in the X direction.

[0014] As a further preference, the X-guide rail 1, X-guide rail 2, X-guide rail 3, Y-guide rail 1, Y-guide rail 2, Y-guide rail 3, Z-guide rail 1 and Z-guide rail 2 are all ball linear guides.

[0015] Preferably, support frame 1 and support frame 2 are fixed on the base, mounting component 1 is fixed on the X-axis linear motor, mounting component 2 is fixed on the Y-axis linear motor, and mounting component 1 and mounting component 2 are fixed on support frame 1 and support frame 2 respectively.

[0016] Preferably, the base is made of high-strength structural steel, and the moving platform is made of high-strength alloy.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1) The motion branches in the three directions of the X direction, Y direction and Z direction of the three-way fully decoupled three-translation parallel mechanism of the present invention are in parallel form, there is only one moving platform, the moving platform has a small inertial mass, and can realize high-frequency reciprocating motion of the moving platform while ensuring the motion accuracy, and has the characteristics of simple control, reliable support and guidance, and easy maintenance; the three-translation parallel mechanism of the present invention can be applied to the fine adjustment of the position of the space antenna, and the moving platform is connected to the main structure of the antenna to be adjusted to realize the position adjustment of the antenna;

[0019] 2) The three-way fully decoupled three-translation parallel mechanism of the present invention provides driving force to the moving platform through the X-direction driving module, the Y-direction driving module, and the Z-direction driving module, respectively, so as to achieve the correspondence between the unidirectional motion input and output, and ensure the consistency between the motion input and output of the moving platform;

[0020] 3) The three translation parallel mechanisms of the present invention cooperate with the cross guide rail 1, the cross guide rail 2, the cross guide rail 3 and the cross guide rail 4 to achieve complete decoupling of movement in the three directions of X, Y and Z, simplify the control strategy and improve the control accuracy; at the same time, the three translation parallel mechanisms of the present invention improve the movement accuracy and carrying capacity of the moving platform through the arrangement of the cross guide rail 1, the cross guide rail 2, the cross guide rail 3 and the cross guide rail 4, and meet the requirements of large load bearing and small displacement high-frequency reciprocating motion of the moving platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the appearance of the third translation parallel mechanism in the embodiment;

[0022] Figure 2 To correspond to Figure 1 The main view;

[0023] Figure 3 To correspond to Figure 1 A top view of

[0024] Figure 4 It is a top view of the third translation parallel mechanism in the embodiment after the moving platform is removed;

[0025] Figure 5 It is a partial cross-sectional schematic diagram of the third translation parallel mechanism in the embodiment;

[0026] Figure 6 This is a schematic diagram of the appearance of the X-direction driving module after being connected to the X-direction supporting and guiding module in the embodiment;

[0027] Figure 7 This is a schematic diagram of the appearance of the Y-axis driving module and the Y-axis supporting and guiding module after being connected in the embodiment;

[0028] Figure 8This is a schematic diagram of the appearance of the Z-direction driving module and the Z-direction supporting and guiding module after being connected in the embodiment;

[0029] Fig. 9 Schematic diagram of the appearance of the cross guide rail 4 in the embodiment;

[0030] The specific reference numerals in the figure are as follows:

[0031] 1-base, 11-support frame 1, 12-support frame 2, 2-moving platform, 21-connecting through hole, 22-top wall, 23-X-direction side wall, 24-Y-direction side wall, 31-X-direction linear motor, 32-connecting piece 1, 33-mounting piece 1, 41-Y-direction linear motor, 42-connecting piece 2, 43-mounting piece 2, 51-Z-direction linear motor, 52-connecting piece 3, 61-connecting plate 1, 62-cross guide rail 1, 63-guide rail seat 1, 64-Y-direction guide rail 1, 65-Z-direction guide rail 1, 66-Y-direction slider 1, 67-Z-direction slider 1, 71-connecting plate two, 72-cross guide rail two, 73-guide rail seat two, 74-X guide rail one, 75-Z guide rail two, 76-X slider one, 77-Z slider two, 81-connecting plate three, 82-cross guide rail three, 821-guide rail seat three, 822-X guide rail two, 823-Y guide rail two, 824-X slider two, 825-Y slider two, 83-cross guide rail four, 831-guide rail seat four, 832-X guide rail three, 833-Y guide rail three, 834-Y slider three, 835-X slider three. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below with reference to the accompanying drawings. The X direction / X direction, Y direction / Y direction, and Z direction / Z direction described in the present invention refer to the X direction, Y direction, and Z direction in three-dimensional coordinates, respectively. Figure 1 As shown in the lower left corner of the figure. The devices, components or structures not limited in the present invention all adopt conventional technical means in the art.

[0033] The three-way fully decoupled three-translation parallel mechanism of the embodiment, such as Figure 1 to Figure 5 As shown, it includes a base 1, an X-axis driving module, a Y-axis driving module, a Z-axis driving module, an X-axis supporting and guiding module, a Y-axis supporting and guiding module, a Z-axis supporting and guiding module and a moving platform 2. The moving platform 2 is in the shape of a square box with an opening facing downward, and a top wall 22 of the moving platform 2 is provided with a plurality of connecting through holes 21.

[0034] In this embodiment, Figure 6 As shown, the X-direction driving module includes an X-direction linear motor 31 and a connecting member 32. The motor shaft of the X-direction linear motor 31 is fixedly connected to the connecting member 32 in the X direction to provide driving force in the X direction; Figure 7As shown, the Y-direction driving module includes a Y-direction linear motor 41 and a second connecting member 42. The motor shaft of the Y-direction linear motor 41 is fixedly connected to the second connecting member 42 in the Y direction to provide a driving force in the Y direction; Figure 8 As shown, the Z-axis driving module includes a Z-axis linear motor 51 and a connecting member 3 52. The motor shaft of the Z-axis linear motor 51 is fixedly connected to the connecting member 3 52 in the Z direction to provide a driving force in the Z direction; the X-axis linear motor 31 and the Y-axis linear motor 41 are horizontally mounted on the base 1 respectively, and the Z-axis linear motor 51 is vertically mounted on the base 1. The motor shafts of the X-axis linear motor 31, the Y-axis linear motor 41 and the Z-axis linear motor 51 are perpendicular to each other and intersect at one point. Specifically, a support frame 11 and a support frame 2 12 are fixed on the base 1, a mounting member 1 33 is fixed on the X-axis linear motor 31, and a mounting member 2 43 is fixed on the Y-axis linear motor 41. The mounting member 1 33 and the mounting member 2 43 are fixed on the support frame 11 and the support frame 2 12 respectively.

[0035] In this embodiment, Figure 6 As shown, the X-direction support and guide module includes a connecting plate 61 and a cross guide rail 62, the connecting plate 61 is connected to the connecting member 32, the cross guide rail 62 is slidably connected to the connecting plate 61 in the Y direction, and the cross guide rail 62 is slidably connected to the Y-direction side wall 24 of the moving platform 2 in the Z direction; Figure 7 As shown, the Y-direction support and guide module includes a second connecting plate 71 and a second cross guide rail 72, the second connecting plate 71 is connected to the second connecting member 42, the second cross guide rail 72 is slidably connected to the second connecting plate 71 in the X direction, and the second cross guide rail 72 is slidably connected to the X-direction side wall 23 of the moving platform 2 in the Z direction; Figure 8 As shown, the Z-direction support and guiding module includes a connecting plate three 81, a cross guide rail three 82 and a cross guide rail four 83. The connecting plate three 81 is connected to the connecting piece three 52, the cross guide rail three 82 is slidably connected to the connecting plate three 81 in the X direction, the cross guide rail three 82 is slidably connected to the top wall 22 of the moving platform 2 in the Y direction, the cross guide rail four 83 is slidably connected to the connecting plate three 81 in the Y direction, and the cross guide rail four 83 is slidably connected to the top wall 22 of the moving platform 2 in the X direction.

[0036] In this embodiment, the cross guide rail 62 includes a guide rail seat 63, a Y guide rail 64 and a Z guide rail 65, the Y guide rail 64 is fixed on the connecting plate 61, the guide rail seat 63 is slidably connected to the Y guide rail 64 through a Y-direction slider 66, the guide rail seat 63 is slidably connected to the Z guide rail 65 through a Z-direction slider 67, and the Z guide rail 65 is slidably connected to the Y-direction side wall 24 of the moving platform 2 in the Z direction; the cross guide rail 2 72 includes a guide rail seat 2 73, an X-direction guide rail 74 and a Z-direction guide rail 2 75, the X-direction guide rail 74 is fixed on the connecting plate 2 71, the guide rail seat 2 73 is slidably connected to the X-direction side wall 24 of the moving platform 2 in the Z direction through an X-direction slider 76 The guide rail 1 74 is slidably connected, the guide rail seat 2 73 is slidably connected to the Z guide rail 2 75 through the Z-direction slider 2 77, and the Z guide rail 2 75 is slidably connected to the X-direction side wall 23 of the moving platform 2 in the Z direction; the cross guide rail 3 82 includes a guide rail seat 3 821, an X guide rail 2 822 and a Y guide rail 2 823, the X guide rail 2 822 is fixed on the connecting plate 3 81, the guide rail seat 3 821 is slidably connected to the X guide rail 2 822 through the X-direction slider 2 824, the guide rail seat 3 821 is slidably connected to the Y guide rail 2 823 through the Y-direction slider 2 825, and the Y guide rail 2 823 is slidably connected to the top wall 22 of the moving platform 2 in the Y direction, as shown in FIG. Fig. 9 As shown, the cross guide rail 483 includes a guide rail seat 4831, an X-guide rail 3832 and a Y-guide rail 3833, the Y-guide rail 3833 is fixed on the connecting plate 381, the guide rail seat 4831 is slidably connected to the Y-guide rail 3833 through a Y-direction slider 3834, the guide rail seat 4831 is slidably connected to the X-guide rail 3832 through an X-direction slider 3835, and the X-guide rail 3832 is slidably connected to the top wall 22 of the moving platform 2 in the X direction. The X-guide rail 174, the X-guide rail 2822, the X-guide rail 3832, the Y-guide rail 164, the Y-guide rail 2823, the Y-guide rail 3833, the Z-guide rail 165 and the Z-guide rail 275 are all ball linear guides.

[0037] In this embodiment, the number of the cross guide rail 1 62, the cross guide rail 2 72, the cross guide rail 3 82 and the cross guide rail 4 83 is two respectively, the two cross guide rails 1 62 are arranged side by side in the Y direction, the two cross guide rails 2 72 are arranged side by side in the X direction, the two cross guide rails 3 82 are arranged side by side in the X direction, the two cross guide rails 4 83 are arranged side by side in the Y direction, and the two cross guide rails 3 82 and the two cross guide rails 4 83 are all located on the inner side of the moving platform 2. By surrounding the Z-direction support guide module by the moving platform 2, the center of gravity of the moving load can be lowered.

[0038] In this embodiment, the base 1 is made of high-strength structural steel, so that the mechanism has a large motion mass foundation and rigidity, reducing the influence of the deformation of the base 1 during the load movement; the base 1 can be connected to the ground, workbench, etc. in the specific application scenario by bolts; the moving platform 2 is made of high-strength alloy with small mass and high rigidity, which is conducive to reducing the motion inertial mass and meeting the reliability of the structure during high-speed movement. The test device or other loads can be easily installed through the connecting through hole 21 on the moving platform 2.

[0039] The motion branches in the three directions of X, Y and Z of the three-way completely decoupled three-translation parallel mechanism are in parallel form, and there is only one moving platform. The moving platform has a small inertial mass, which can realize high-frequency reciprocating motion of the moving platform while ensuring the motion accuracy. It has the characteristics of simple control, reliable support and guidance, and easy maintenance.

[0040] Taking the X-direction drive module in this embodiment as an example, when working, the X-direction drive module provides the driving force for the X-direction movement of the moving platform 2, so that the moving platform 2 moves in the X-direction, and at the same time, the cross guide rail 2 72 and the connecting plate 2 71 slide relative to each other in the X-direction, and the cross guide rail 3 82 and the connecting plate 3 81 slide relative to each other in the X-direction, while the Y-direction drive module and the Z-direction drive module do not move with the movement of the X-direction drive module, so that the X-direction drive module can be controlled separately to realize the movement in the X-direction, as well as the decoupling of the movement in the Y-direction and the decoupling of the movement in the Z-direction. The operation principle of the Y-direction drive module and the Z-direction drive module is the same as that of the X-direction drive module, and the Y-direction drive module can also be controlled separately to realize the movement in the Y-direction, as well as the decoupling of the movement in the X-direction and the decoupling of the movement in the Z-direction, and the Z-direction drive module can also be controlled separately to realize the movement in the Z-direction, as well as the decoupling of the movement in the X-direction and the decoupling of the movement in the Y-direction. The complete decoupling of the motion in the three directions of X, Y and Z is conducive to simplifying the control strategy, improving the control accuracy, and improving the motion accuracy and carrying capacity of the moving platform, so as to meet the requirements of large load bearing and small displacement high-frequency reciprocating motion of the moving platform. The above three-translation parallel mechanism can be applied to the micro-adjustment of the position of the space antenna, connecting the moving platform with the main body of the antenna that needs to be adjusted to achieve the position adjustment of the antenna.

Claims

1. A three-way fully decoupled three-translation parallel mechanism, characterized in that: It includes a base, an X-axis driving module, a Y-axis driving module, a Z-axis driving module, an X-axis supporting and guiding module, a Y-axis supporting and guiding module, a Z-axis supporting and guiding module and a moving platform; The X-direction drive module includes an X-direction linear motor and a connecting piece 1, the motor shaft of the X-direction linear motor is fixedly connected to the connecting piece 1 in the X direction, the Y-direction drive module includes a Y-direction linear motor and a connecting piece 2, the motor shaft of the Y-direction linear motor is fixedly connected to the connecting piece 2 in the Y direction, the Z-direction drive module includes a Z-direction linear motor and a connecting piece 3, the motor shaft of the Z-direction linear motor is fixedly connected to the connecting piece 3 in the Z direction, the X-direction linear motor and the Y-direction linear motor are respectively horizontally mounted on the base, and the Z-direction linear motor is vertically mounted on the base; The X-direction support and guiding module includes a connecting plate 1 and a cross guide rail 1, the connecting plate 1 is connected to the connecting piece 1, the cross guide rail 1 is slidably connected to the connecting plate 1 in the Y direction, and the cross guide rail 1 is slidably connected to the moving platform in the Z direction. The Y-direction support and guiding module includes a connecting plate 2 and a cross guide rail 2, the connecting plate 2 is connected to the connecting piece 2, the cross guide rail 2 is slidably connected to the connecting plate 2 in the X direction, and the cross guide rail 2 is slidably connected to the moving platform in the Z direction. The Z-direction support and guiding module includes a connecting plate 3, a cross guide rail 3 and a cross guide rail 4, the connecting plate 3 is connected to the connecting piece 3, the cross guide rail 3 is slidably connected to the connecting plate 3 in the X direction, the cross guide rail 3 is slidably connected to the moving platform in the Y direction, the cross guide rail 4 is slidably connected to the connecting plate 3 in the Y direction, and the cross guide rail 4 is slidably connected to the moving platform in the X direction.

2. The three-way fully decoupled three-translation parallel mechanism according to claim 1, characterized in that: The axes of the motor shaft of the X-axis linear motor, the motor shaft of the Y-axis linear motor and the motor shaft of the Z-axis linear motor are perpendicular to each other and intersect at one point.

3. A three-way fully decoupled three-translation parallel mechanism according to claim 1 or 2, characterized in that: The movable platform is in the shape of a square box with an opening facing downward, and a plurality of connecting through holes are provided on the top wall of the movable platform. The cross guide rail 1 is slidably connected to the Y-direction side wall of the movable platform in the Z direction, the cross guide rail 2 is slidably connected to the X-direction side wall of the movable platform in the Z direction, the cross guide rail 3 is slidably connected to the top wall of the movable platform in the Y direction, and the cross guide rail 4 is slidably connected to the top wall of the movable platform in the X direction.

4. The three-way fully decoupled three-translation parallel mechanism according to claim 3, characterized in that: The number of the cross guide rails 1, 2, 3 and 4 is two respectively. The two cross guide rails 1 are arranged side by side in the Y direction, the two cross guide rails 2 are arranged side by side in the X direction, the two cross guide rails 3 are arranged side by side in the X direction, the two cross guide rails 4 are arranged side by side in the Y direction, and the two cross guide rails 3 and the two cross guide rails 4 are both located on the inner side of the moving platform.

5. The three-way fully decoupled three-translation parallel mechanism according to claim 3, characterized in that: The cross guide rail 1 includes a guide rail seat 1, a Y guide rail 1 and a Z guide rail 1, the Y guide rail 1 is fixed on the connecting plate 1, the guide rail seat 1 is slidably connected to the Y guide rail 1 through a Y-direction slider 1, the guide rail seat 1 is slidably connected to the Z guide rail 1 through a Z-direction slider 1, and the Z guide rail 1 is slidably connected to the Y-direction side wall of the moving platform in the Z direction; The cross guide rail 2 includes a guide rail seat 2, an X-direction guide rail 1 and a Z-direction guide rail 2, the X-direction guide rail 1 is fixed on the connecting plate 2, the guide rail seat 2 is slidably connected to the X-direction guide rail 1 through an X-direction slider 1, the guide rail seat 2 is slidably connected to the Z-direction guide rail 2 through a Z-direction slider 2, and the Z-direction guide rail 2 is slidably connected to the X-direction side wall of the moving platform in the Z direction; The cross guide rail three includes a guide rail seat three, an X-guide rail two and a Y-guide rail two, the X-guide rail two is fixed on the connecting plate three, the guide rail seat three is slidably connected to the X-guide rail two through the X-direction slider two, the guide rail seat three is slidably connected to the Y-guide rail two through the Y-direction slider two, the Y-guide rail two is slidably connected to the top wall of the moving platform in the Y direction, the cross guide rail four includes a guide rail seat four, an X-guide rail three and a Y-guide rail three, the Y-guide rail three is fixed on the connecting plate three, the guide rail seat four is slidably connected to the Y-guide rail three through the Y-direction slider three, the guide seat four is slidably connected to the X-guide rail three through the X-direction slider three, and the X-guide rail three is slidably connected to the top wall of the moving platform in the X direction.

6. The three-way fully decoupled three-translation parallel mechanism according to claim 4, characterized in that: The X-guide rail 1, X-guide rail 2, X-guide rail 3, Y-guide rail 1, Y-guide rail 2, Y-guide rail 3, Z-guide rail 1 and Z-guide rail 2 are all ball linear guides.

7. The three-way fully decoupled three-translation parallel mechanism according to claim 1, characterized in that: A support frame 1 and a support frame 2 are fixed on the base, a mounting piece 1 is fixed on the X-axis linear motor, and a mounting piece 2 is fixed on the Y-axis linear motor. The mounting piece 1 and the mounting piece 2 are fixed on the support frame 1 and the support frame 2 respectively.

8. The three-way fully decoupled three-translation parallel mechanism according to claim 1, characterized in that: The base is made of high-strength structural steel, and the moving platform is made of high-strength alloy.

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