Five-degree-of-freedom parallel stable platform with space symmetric redundant drive

Abstract

The invention relates to the technical field of parallel motion mechanisms, in particular to a five-degree-of-freedom parallel stable platform with spatial symmetry redundant drive, which comprises a fixed platform, a movable platform and a sliding guide rail, a first branch mechanism and two second branch mechanisms are arranged between the fixed platform and the movable platform, the two second branch mechanisms are symmetrically arranged on the two sides of the movable platform, one end of the first branch mechanism and one end of each second branch mechanism are movably connected with the movable platform, and the other end of the first branch mechanism and the other end of each second branch mechanism are movably connected with the fixed platform through one sliding guide rail. The attitude stability of the movable platform can be guaranteed, and the reliability of the whole system is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel motion mechanisms, and specifically to a five-degree-of-freedom parallel stable platform with spatially symmetrical redundant drive and a method for using the platform. Background Art

[0002] A parallel mechanism is a mechanical structure that connects a moving platform and a fixed platform in parallel through multiple branches, which can achieve precise motion control with multiple degrees of freedom in space. Compared with the series mechanism, the parallel mechanism is particularly suitable for scenarios that require highly precise positioning and flexible motion control due to its stiffness advantage and high precision of the parallel structure. The drive unit of the parallel mechanism is usually fixed on a fixed platform or a frame, and the moving platform has higher dynamic performance due to its lighter mass burden when moving. This makes the parallel mechanism occupy an important position in industrial applications of high-precision machining, automated production and high-load operation, and has become one of the core structures in modern manufacturing technology.

[0003] The development of parallel mechanisms covers a variety of degrees of freedom configurations, from three degrees of freedom to five degrees of freedom, and then to six degrees of freedom parallel mechanisms, which are widely used in various industrial fields. For example, in the fields of aerospace, automobile manufacturing, robotics and medical equipment, the high stiffness, high precision and load capacity of parallel mechanisms have gradually replaced traditional series mechanisms and become an important technical support for high-end equipment manufacturing. In particular, the five-degree-of-freedom parallel mechanism is widely used in application scenarios such as high-precision assembly, complex surface processing and industrial automation due to its compact structure, strong flexibility and easy control.

[0004] The current parallel mechanism technology has some shortcomings, especially in terms of the flexibility, vibration isolation and overall stability of the moving platform. The three-degree-of-freedom parallel mechanism with one translation and two rotations is a typical representative of the parallel mechanism with fewer degrees of freedom. However, with the increasing requirements of modern industry for accuracy, load capacity and flexibility, the five-degree-of-freedom parallel mechanism with three translations and two rotations has gradually received more attention. However, the existing design still has obvious shortcomings in isolating the vibration of the fixed platform and maintaining the stability of the moving platform.

[0005] Impact of fixed platform shaking: In practical applications, fixed platforms often shake due to external environmental vibrations, changes in equipment working conditions, or the vibration characteristics of the equipment itself, which directly affects the attitude stability of the moving platform. For example, in the commissioning of aerospace equipment or the operation of precision instruments, the vibration of the fixed platform may cause unnecessary movement of the moving platform, thus affecting the overall accuracy and operating efficiency of the system. In addition, in ship test systems, the swaying of the fixed platform will also seriously affect the stability of the moving platform, especially in the test or calibration process that requires stable experimental conditions. This problem is more prominent.

[0006] Insufficient stiffness and dynamic performance: In the design of traditional five-DOF parallel mechanisms, the non-redundant drive structure results in limited stiffness of the system, which cannot cope with complex dynamic loads. When the fixed platform shakes, it is difficult for the moving platform to effectively isolate the vibration disturbance, which in turn affects the motion accuracy and system stability. Especially in high-load or dynamic operating environments, the response speed and stability of the existing design are difficult to balance, and the overall performance of the system is therefore limited.

[0007] Lack of redundant design: Most of the current five-DOF parallel mechanisms use non-redundant drive structures. Although they can meet basic motion requirements, the lack of redundant drive makes it difficult to maintain the stability of the moving platform under extreme working conditions when facing high-precision and high-load requirements. This limits its application in certain high-precision and high-load situations, and further amplifies the negative impact of the fixed platform shaking on system performance.

[0008] Therefore, how to effectively isolate the shaking of the fixed platform and ensure the stability of the moving platform under high-precision operations and complex working conditions has become an important research direction in parallel mechanism technology. Summary of the invention

[0009] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a five-degree-of-freedom parallel stable platform with spatially symmetrical redundant drive and a method of using the same. Through the optimized spatially symmetrical structural design and redundant drive scheme, the platform significantly improves the rigidity and precision of the system, ensuring that the moving platform can effectively isolate the vibration of the fixed platform in a complex working environment, thereby achieving more stable operation. Especially under the condition of interference or vibration in the external environment, the present invention can ensure the posture stability of the moving platform and greatly improve the reliability of the overall system.

[0010] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a five-degree-of-freedom parallel stable platform with spatially symmetrical redundant drive, comprising a fixed platform, a moving platform and a sliding guide rail, a first branch mechanism and a second branch mechanism are arranged between the fixed platform and the moving platform, two second branch mechanisms are arranged, and the two second branch mechanisms are symmetrically arranged on both sides of the moving platform, one end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the moving platform, and the other end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the fixed platform through a sliding guide rail.

[0011] In some embodiments, the first branch mechanism includes a first slider, a first Hooke's joint, a first moving pair, a first rotating pair, a second Hooke's joint, a second moving pair, and a second rotating pair. The first Hooke's hinge and the second Hooke's hinge are respectively installed at two ends of the upper surface of the first sliding block, one end of the first moving pair is connected to the first Hooke's hinge, and the other end of the first moving pair is installed with a first rotating pair. One end of the second moving pair is connected to the second Hooke's hinge, and the other end of the second moving pair is provided with a second rotating pair. The two sides of the movable platform that are not connected to the second branch mechanism are respectively connected to the first rotation pair and the second rotation pair.

[0012] In some of the embodiments, a sliding guide rail perpendicular to the cross of the plane of the first slider is provided on the bottom surface of the fixed platform, and the center of the bottom surface of the first slider is connected to the sliding guide rail.

[0013] In some embodiments, the second branch mechanism includes a second slider, a third rotating pair, a third moving pair and a third Hooke's joint, one end of the third moving pair is connected to the second slider through the third rotating pair, and the other end of the third moving pair is connected to the fixed platform through the third Hooke's joint.

[0014] In some embodiments, two second branch mechanisms are symmetrically arranged based on the moving platform, and the second sliders of the two second branch mechanisms are symmetrically arranged on the fixed platform respectively. A sliding guide rail is arranged on the fixed platform corresponding to each second slider, and the second slider is connected to the corresponding sliding guide rail.

[0015] In some of the embodiments, two sliding guide rails connected to the second slider and a sliding guide rail connected to the first slider form an I-shaped structure on the fixed platform.

[0016] In some embodiments, the fixed rotation axes of the first and second Hooke's joints, and the axes of the two third rotation pairs are in the same plane and are parallel to the fixed platform.

[0017] In some embodiments, the axis of the third Hooke's joint passing through the center of the moving platform is in the same plane as the axis of the first revolute pair and coincides with the plane of the moving platform.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The stabilizing platform of the present invention has a significant ability to isolate the shaking of the fixed platform, ensuring that the dynamic platform can maintain stability under various external interferences. Its redundant design significantly improves the stiffness and load-bearing capacity of the platform, and reduces the problem of singular positions, enabling it to provide higher accuracy and stability in complex working environments. The symmetrically distributed branch chain design of the platform helps to further optimize its dynamic response performance, and is particularly suitable for application scenarios that require vibration isolation, such as marine test systems, aerospace equipment debugging, high-precision experimental platforms, etc. With the innovative design of this parallel mechanism, the performance and efficiency of industrial robots and CNC machine tools will be greatly improved. In addition, the platform is simple in design and easy to manufacture and install, which significantly reduces production costs and is suitable for large-scale industrial production. While maintaining high precision, the parallel mechanism has strong flexibility and can adapt to a variety of processing and operation requirements, especially for application scenarios that require extremely high processing accuracy. With its superior dynamic performance, the platform performs well in dynamic response, load capacity and control stability, and can fully meet the needs of modern industrial automation for high precision, high stability and high load.

[0019] Details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand. The present application is fully described and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the first branch mechanism of the present invention; Figure 3 This is a schematic diagram of the second branch structure of the present invention.

[0021] In the figure: 1. Fixed platform; 2. Moving platform; 3. Sliding guide rail connected to the second branch mechanism; 4. Sliding guide rail connected to the first branch mechanism; 5. First slider; 11. First Hooke's joint; 12. First moving pair; 13. First rotating pair; 21. Second Hooke's joint; 22. Second moving pair; 23. Second rotating pair; 6. The second slider; 31 (41), the third rotation pair; 32 (42), the third translation pair; 33 (43), the third Hooke's hinge. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-3The present invention provides a technical solution: a five-degree-of-freedom parallel stable platform with spatially symmetrical redundant drive, comprising a fixed platform, a moving platform and a sliding guide rail, a first branch mechanism and a second branch mechanism are arranged between the fixed platform and the moving platform, two second branch mechanisms are arranged, and the two second branch mechanisms are symmetrically arranged on both sides of the moving platform, one end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the moving platform, and the other end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the fixed platform through a sliding guide rail.

[0024] The first branch mechanism includes a first slider, a first Hooke's joint, a first moving pair, a first rotating pair, a second Hooke's joint, a second moving pair, and a second rotating pair. The first Hooke's hinge and the second Hooke's hinge are respectively installed at two ends of the upper surface of the first sliding block, one end of the first moving pair is connected to the first Hooke's hinge, and the other end of the first moving pair is installed with a first rotating pair. One end of the second moving pair is connected to the second Hooke's hinge, and the other end of the second moving pair is provided with a second rotating pair. The two sides of the movable platform that are not connected to the second branch mechanism are respectively connected to the first rotation pair and the second rotation pair.

[0025] A sliding guide rail perpendicular to the cross of the plane of the first sliding block is arranged on the bottom surface of the fixed platform, and the center of the bottom surface of the first sliding block is connected to the sliding guide rail.

[0026] The above design ensures the high efficiency and accuracy of the moving platform movement. At the same time, by coinciding the axes of the first rotating pair and the second rotating pair with the plane of the moving platform, the moving platform can rotate freely within a larger range, which greatly improves the adaptability of the mechanism in isolating the shaking of the fixed platform.

[0027] The second branch mechanism includes a second slider, a third rotating pair, a third moving pair and a third Hooke's joint. One end of the third moving pair is connected to the second slider through the third rotating pair, and the other end of the third moving pair is connected to the fixed platform through the third Hooke's joint.

[0028] The second branch mechanisms are symmetrically arranged with two based on the moving platform, and the second sliders of the two second branch mechanisms are symmetrically arranged on the fixed platform respectively. A sliding guide rail is arranged on the fixed platform corresponding to each second slider, and the second slider is connected to the corresponding sliding guide rail.

[0029] Two sliding guide rails connected with the second sliding block and a sliding guide rail connected with the first sliding block form an I-shaped structure on the fixed platform.

[0030] The third Hooke's joint is directly connected to the moving platform. Its structure ensures the stability of the moving platform. Even if the fixed platform shakes due to external interference, the precise posture of the moving platform can be maintained. By setting a rotation axis at the center of the moving platform and another axis coinciding with the plane of the moving platform, the smooth movement of the moving platform is effectively guaranteed.

[0031] The fixed rotation axes of the first and second Hooke's joints and the axes of the two third rotation pairs are in the same plane and parallel to the fixed platform. The axis of the third Hooke's joint passing through the center of the moving platform is in the same plane as the axis of the first rotation pair and coincides with the plane of the moving platform.

[0032] This optimized spatial geometry design enhances the stability of the platform in terms of earthquake resistance and isolation of external vibrations, making it suitable for complex working environments.

[0033] In addition, the rotation axes of the first Hooke's joint and the second Hooke's joint remain parallel to their respective rotation secondary axes. Through this precise design, the platform can maintain excellent motion coordination and dynamic stability under high load, so that the moving platform can remain stable when the fixed platform is disturbed by external factors.

[0034] Through this technical solution, the first slider, the second slider, the first moving pair, the second moving pair, and the third moving pair described in this application are linear drive pairs, which can achieve fast and accurate movement control. This design provides a simple and intuitive operation mode for the control system, which helps to better isolate the vibration of the fixed platform.

[0035] The sliding rails of the slider and the fixed platform adopt the linear module design of the guide rail slide to ensure the smoothness and stability of the platform during movement and reduce the impact of vibration transmission on the moving platform. The design of the guide rail slide not only reduces friction and wear, but also significantly extends the service life of the system and enhances its reliability in long-term work.

[0036] The first moving pair, the second moving pair, and the third moving pair all use guide rail screw linear modules. This design provides the mechanism with precise position control and powerful driving capabilities. Under high load and complex working conditions, the high load-bearing capacity of the screw module enables the platform to effectively cope with various challenges in the work, especially when isolating the dynamic vibration of the fixed platform, the moving platform can still maintain high-precision movement.

[0037] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A five-degree-of-freedom parallel stabilized platform with spatially symmetrical redundant drive, characterized in that: It includes a fixed platform, a movable platform and a sliding guide rail. A first branch mechanism and a second branch mechanism are arranged between the fixed platform and the movable platform. Two second branch mechanisms are arranged, and the two second branch mechanisms are symmetrically arranged on both sides of the movable platform. One end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the movable platform, and the other end of the first branch mechanism and the two second branch mechanisms are respectively movably connected to the fixed platform through a sliding guide rail.

2. A five-degree-of-freedom parallel stabilized platform with spatially symmetrical redundant drive according to claim 1, characterized in that: The first branch mechanism includes a first slider, a first Hooke's joint, a first moving pair, a first rotating pair, a second Hooke's joint, a second moving pair, and a second rotating pair. The first Hooke's hinge and the second Hooke's hinge are respectively installed at two ends of the upper surface of the first sliding block, one end of the first moving pair is connected to the first Hooke's hinge, and the other end of the first moving pair is installed with a first rotating pair. One end of the second moving pair is connected to the second Hooke's hinge, and the other end of the second moving pair is provided with a second rotating pair. The two sides of the movable platform that are not connected to the second branch mechanism are respectively connected to the first rotation pair and the second rotation pair.

3. The five-degree-of-freedom parallel stabilized platform with spatially symmetrical redundant drive according to claim 2, characterized in that: A sliding guide rail perpendicular to the cross of the plane of the first sliding block is arranged on the bottom surface of the fixed platform, and the center of the bottom surface of the first sliding block is connected to the sliding guide rail.

4. The five-DOF parallel stabilized platform with spatially symmetrical redundant drive according to claim 3, characterized in that: The second branch mechanism includes a second slider, a third rotating pair, a third moving pair and a third Hooke's joint. One end of the third moving pair is connected to the second slider through the third rotating pair, and the other end of the third moving pair is connected to the fixed platform through the third Hooke's joint.

5. The five-DOF parallel stabilized platform with spatially symmetrical redundant drive according to claim 4, characterized in that: The second branch mechanisms are symmetrically arranged with two based on the moving platform, and the second sliders of the two second branch mechanisms are symmetrically arranged on the fixed platform respectively. A sliding guide rail is arranged on the fixed platform corresponding to each second slider, and the second slider is connected to the corresponding sliding guide rail.

6. A five-DOF parallel stabilized platform with spatially symmetrical redundant drive according to claim 5, characterized in that: Two sliding guide rails connected with the second sliding block and a sliding guide rail connected with the first sliding block form an I-shaped structure on the fixed platform.

7. A five-DOF parallel stabilized platform with spatially symmetrical redundant drive according to claim 6, characterized in that: The fixed rotation axes of the first Hooke's joint and the second Hooke's joint, and the axes of the two third rotation pairs are in the same plane and are parallel to the fixed platform.

8. The five-DOF parallel stabilized platform with spatially symmetrical redundant drive according to claim 7, characterized in that: The axis of the third Hooke's joint passing through the center of the moving platform is in the same plane as the axis of the first revolving pair and coincides with the plane of the moving platform.

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