Parallel mechanism with two-movement and two-rotation movement

Abstract

The invention discloses a parallel mechanism with two-dimensional translation and two-dimensional rotation motion, which comprises a base, and a two-dimensional translation module is mounted on the base; the two-dimensional translation module comprises a first driving assembly, a rack is mounted on the first driving assembly, and a rotating module is mounted on the rack; the rotating module comprises a moving platform, the moving platform is rotationally connected with a first rotating frame and a second rotating frame, the first rotating frame is connected with a first shaft rotating driving module, and the second rotating frame is connected with a second shaft rotating driving module; through cooperation of the rotating module, the two-dimensional translation module, the first-axis rotation driving module and the second-axis rotation driving module, the motion platform can achieve two-dimensional translation motion in the Y-axis direction and the Z-axis direction in the plane and can also achieve rotation motion in the X-axis direction and the Y-axis direction. Position interference among a plurality of motion branch chains or between the motion platform and the motion branch chains is avoided.

Description

Technical Field

[0001] This invention relates to parallel mechanisms, and more specifically to a parallel mechanism having two displacement and two rotational motions. Background Technology

[0002] A parallel mechanism is a mechanism consisting of two or more connected branches, possessing two or more degrees of freedom, and driven in parallel. Parallel mechanisms achieve end-effector motion output through the coordinated action of multiple kinematic chains, exhibiting multi-closed-loop structural characteristics. Compared to traditional serial mechanisms, parallel mechanisms offer advantages such as compact structure, high stiffness, and fast dynamic response, achieving great success in applications such as automated production lines, advanced manufacturing equipment, biomedical devices, and aerospace motion simulation.

[0003] Although parallel mechanisms possess the characteristics of multi-branch closed-loop structures, they also introduce intractable structural defects. Geometric interference easily occurs between the motion platform and motion branches, and between motion branches themselves, significantly reducing the positional and attitude workspace of the parallel mechanism and failing to meet the requirements of most tasks. In particular, during the rotation of the motion platform in a parallel mechanism, the interference between motion branches and between motion branches is more severe than in pure translational motion. Compared to the positional workspace, the attitude workspace of a parallel mechanism is generally smaller, making it difficult to achieve structural designs with large attitude angles. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a parallel mechanism with two displacement and two rotation motions, which can solve the problem mentioned in the background art that the parallel mechanism has geometric interference and is difficult to achieve large attitude rotation angle, so as to make it have high rotation capability.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows.

[0006] A parallel mechanism with two-way translation and two-way rotation includes a base, on which a two-dimensional translation module that moves along the Z-axis and Y-axis is mounted; the two-dimensional translation module includes a first drive assembly slidably mounted on the base, a frame mounted on the first drive assembly, and a rotation module that rotates along the X-axis and Y-axis mounted on the frame; the rotation module includes a motion platform, which is rotatably connected to a first rotation frame and a second rotation frame, respectively; the first rotation frame is connected to a first-axis rotation drive module that drives the motion platform to rotate around the X-axis, and the second rotation frame is connected to a second-axis rotation drive module that drives the motion platform to rotate around the Y-axis.

[0007] The above-mentioned parallel mechanism with two-movement and two-rotation motions has a motion platform that is a T-shaped structure composed of a first shaft and a second shaft. The side of the first rotating frame near the motion platform is a U-shaped structure. The two ends of the U-shaped structure on the first rotating frame are respectively rotatably connected to the shaft ends of the second shaft set parallel to the Y-axis. The second rotating frame is rotatably connected to the shaft end of the first shaft set parallel to the X-axis on the motion platform.

[0008] The aforementioned parallel mechanism with two-movement and two-rotation motion includes a first driving component comprising a first slider and a second slider symmetrically arranged. A first link and a second link are hinged to the first slider, and the top ends of the first link and the second link are hinged to a top frame. A third link and a fourth link are hinged to the second slider, and the top ends of the third link and the fourth link are hinged to the top frame. The first slider and the second slider are slidably disposed on a base, and the first slider and the second slider are respectively connected to a first servo motor and a second servo motor.

[0009] The above-mentioned parallel mechanism with two-movement and two-rotation motion includes a second drive assembly that is slidably mounted on a base along the Y-axis direction in the first axis rotation drive module. The second drive assembly has the same structure as the first drive assembly. A bracket is provided on the second drive assembly. The top of the bracket is hinged to the first transmission frame through a first hinge shaft. The other end of the first transmission frame is hinged to the second transmission frame. The other end of the second transmission frame is hinged to a first hinge seat provided on the frame and the second transmission frame is connected to the first rotating frame. The ends of the first transmission frame and the second transmission frame rotate along the X-axis direction, respectively.

[0010] The above-mentioned parallel mechanism with two-movement and two-rotation motion includes a second shaft rotation drive module comprising an intermediate platform that can move up and down. The intermediate platform is hinged to a third transmission frame via a second hinge shaft. The other end of the third transmission frame is hinged to the upper part of a fourth transmission frame. The middle part of the fourth transmission frame is hinged to a second hinge seat mounted on the frame. The lower part of the fourth transmission frame is hinged to a second rotating frame. The end of the third transmission frame and the upper and lower parts of the fourth transmission frame rotate along the Y-axis direction, respectively.

[0011] The above-mentioned parallel mechanism with two-transfer and two-rotation motion has an L-shaped intermediate platform. One end of the intermediate platform is connected to the third drive assembly through a first planar linkage assembly, and the other end is connected to the fourth drive assembly through a second planar linkage assembly. The third drive assembly is slidably mounted on the base along the X-axis direction, and the fourth drive assembly is movable on the base along the Y-axis direction. The third and fourth drive assemblies have the same structure as the first drive assembly.

[0012] The above-mentioned parallel mechanism with two-transfer and two-rotation motion includes a first planar linkage assembly comprising a third hinge seat disposed on a third drive assembly, wherein a fifth link and a sixth link are respectively hinged on the third hinge seat, the other ends of the fifth link and the sixth link are hinged to an intermediate platform, the fifth link and the sixth link are of equal length and arranged in parallel, and the second planar linkage assembly has the same structure as the first planar linkage assembly.

[0013] Due to the adoption of the above technical solutions, the technical progress achieved by this invention is as follows.

[0014] This invention provides a parallel mechanism with two translational and two rotational motions. Through the cooperation of a rotation module, a two-dimensional translation module, a first-axis rotation drive module, and a second-axis rotation drive module, the motion platform can not only achieve two-dimensional translational motion along the Y-axis and Z-axis in the plane, but also achieve rotational motion around the X-axis and Y-axis, giving it two translational degrees of freedom and two rotational degrees of freedom. Furthermore, through the positional allocation of the first, second, third, and fourth drive components, positional interference between multiple motion chains or between the motion platform and the motion chains is avoided, giving it a high rotational capability adaptable to large attitude angles. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the specific structure of the present invention; Figure 2 This is a schematic diagram of the specific structure of the two-dimensional translation module; Figure 3 A schematic diagram of the specific structure of the second axis rotation drive module; Figure 4 This is a schematic diagram showing the specific structure of the connection between the two-axis rotary drive module and the rotation module. Figure 5 This is a schematic diagram of the specific structure of the rotating module.

[0016] Wherein: 101. Base, 102. First drive assembly, 103. Frame, 104. First hinge seat, 105. Second hinge seat, 106. Motion platform, 107. First rotating frame, 108. Second rotating frame, 109. Second drive assembly, 110. Support, 111. First hinge shaft, 112. First transmission frame, 113. Second transmission frame, 114. Intermediate platform, 115. Second hinge shaft, 116. Third... 117. Transmission frame, 118. Fourth transmission frame, 119. Third drive assembly, 120. First planar link assembly, 121. Fourth drive assembly, 122. Second planar link assembly, 123. First slider, 124. Second slider, 125. First link, 126. Third link, 127. Fourth link, 128. Top frame, 129. Third hinge seat, 130. Fifth link, 131. Sixth link. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] A parallel mechanism with two translational and two rotational motions, such as Figures 1 to 5 As shown, the system includes a base 101, on which a two-dimensional translation module that moves along the Z-axis and Y-axis is mounted. The two-dimensional translation module includes a first drive assembly 102 slidably mounted on the base 101. A frame 103 is mounted on the first drive assembly 102. A rotation module that rotates around the X-axis and Y-axis is mounted on the frame 103. The rotation module includes a motion platform 106. The motion platform 106 is rotatably connected to a first rotation frame 107 and a second rotation frame 108, respectively. The first rotation frame 107 is connected to a first-axis rotation drive module that drives the motion platform 106 to rotate around the X-axis, and the second rotation frame 108 is connected to a second-axis rotation drive module that drives the motion platform 106 to rotate around the Y-axis.

[0019] like Figure 4 As shown, the motion platform 106 is a T-shaped structure composed of a first axis and a second axis. The side of the first rotating frame 107 near the motion platform 106 is a U-shaped structure. The two ends of the U-shaped structure on the first rotating frame 107 are respectively rotatably connected to the shaft ends of the second axis set parallel to the Y-axis. The second rotating frame 108 is rotatably connected to the shaft end of the first axis set parallel to the X-axis on the motion platform 106, thereby enabling the motion platform to rotate around the X-axis or the Y-axis respectively, and the two movements do not interfere with each other.

[0020] The rotation module rotates spherically around the intersection of the first and second axes, with the center of the sphere. The maximum angle of rotation of the motion platform 106 around the X-axis or Y-axis is ±90°, which is suitable for application scenarios with large attitude rotation requirements.

[0021] The first axis rotation drive module includes a second drive assembly 109 that is slidably mounted on the base 101 along the Y-axis direction, such as... Figure 2 As shown, a bracket 110 is provided on the second drive assembly 109. The top of the bracket 110 is hinged to the first transmission frame 112 via a first hinge shaft 111. The other end of the first transmission frame 112 is hinged to the second transmission frame 113. The other end of the second transmission frame 113 is hinged to the first hinge seat 104 provided on the frame 103. The second transmission frame 113 is connected to the first rotating frame 107. The second transmission frame 113 drives the first rotating frame 107 to rotate synchronously. The ends of the first transmission frame 112 and the second transmission frame 113 rotate along the X-axis direction, respectively.

[0022] The second axis rotation drive module includes a vertically movable intermediate platform 114, such as... Figure 3As shown, the intermediate platform 114 is hinged to the third transmission frame 116 via the second hinge shaft 115, and the other end of the third transmission frame 116 is hinged to the upper part of the fourth transmission frame 117.

[0023] The middle part of the fourth transmission frame 117 is hinged to the second hinge seat 105 provided on the frame 103, such as Figure 5 As shown, the lower part of the fourth transmission frame 117 is hinged to the second rotating frame 108. The end of the third transmission frame 116 and the upper and middle parts of the fourth transmission frame 117 rotate along the Y-axis. The lower part of the fourth transmission frame performs spherical motion with the intersection of the first and second axes as the center of the sphere, and cooperates to realize the two-dimensional rotation of the motion platform to avoid motion interference.

[0024] The intermediate platform 114 is L-shaped. One end of the intermediate platform 114 is connected to the third drive assembly 118 through the first planar linkage assembly 119, and the other end is connected to the fourth drive assembly 120 through the second planar linkage assembly 121. The third drive assembly 118 is slidably mounted on the base 101 along the X-axis direction, and the fourth drive assembly 120 is slidably mounted on the base 101 along the Y-axis direction. That is, one side of the base 101 connected to the third drive assembly is perpendicular to the other side of the base 101 connected to the fourth drive assembly. The intermediate platform moves stably up and down through the cooperation of the third drive assembly, the first planar linkage assembly, the fourth drive assembly, and the second planar linkage assembly.

[0025] The first drive component 102 and the second drive component 109 are arranged in a staggered parallel manner. Specifically, the first drive component 102 and the second drive component 109 are respectively slidably arranged on different parallel tracks on the same side of the base 101.

[0026] The first drive assembly 102, the second drive assembly 109, the third drive assembly 118, and the fourth drive assembly 120 have the same structure, including a first slider 122 and a second slider 123 arranged symmetrically. A first connecting rod 124 and a second connecting rod 125 are hinged to the first slider 122. The top ends of the first connecting rod 124 and the second connecting rod 125 are hinged to the top frame 128. A third connecting rod 126 and a fourth connecting rod 127 are hinged to the second slider 123. The top ends of the third connecting rod 126 and the fourth connecting rod 127 are hinged to the top frame 128.

[0027] The first link 124 and the third link 126 are symmetrically arranged about the center of the top frame 128, and the second link 125 and the fourth link 127 are symmetrically arranged about the center of the top frame 128.

[0028] The first link 124 and the second link 125 are of equal length and are arranged in parallel. The third link 126 and the fourth link 127 are parallel and of equal length. The ends of the first link 124, the second link 125, the third link 126 and the fourth link 127 rotate along an axis perpendicular to the direction of slider movement.

[0029] The first slider 122 and the second slider 123 are slidably disposed on the base 101, and the first slider 122 and the second slider 123 are respectively connected to the first servo motor and the second servo motor.

[0030] The first slider 122 and the second slider 123, the first connecting rod 124 and the second connecting rod 125, the third connecting rod 126 and the fourth connecting rod 127, and the top frame 128 form an isosceles trapezoidal structure. The first slider 122 and the second slider 123 are the lower bases of the isosceles trapezoid, the top frame 128 is the upper side of the isosceles trapezoid, the first connecting rod and the second connecting rod form the left side of the isosceles trapezoid, and the third connecting rod and the fourth connecting rod form the right side of the isosceles trapezoid. By moving the first slider and the second slider on the base, the top frame can be driven to perform two-dimensional motion in the plane of the isosceles trapezoid.

[0031] The first planar link assembly 119 and the second planar link assembly 121 have the same structure, including a third hinge seat 129 disposed on the top frame 128. A fifth link 130 and a sixth link 131 are respectively hinged on the third hinge seat 129. The other ends of the fifth link 130 and the sixth link 131 are hinged to the intermediate platform 114. The fifth link 130 and the sixth link 131 are of equal length and are arranged in parallel. The ends of the fifth link 130 and the sixth link 131 rotate along an axis parallel to the direction of slider movement.

[0032] In use, the position of the motion platform on the Y-axis and Z-axis is first adjusted by the first drive component to achieve the adjustment of the two-dimensional translational degree of freedom. At the same time, the position of the intermediate platform is adjusted accordingly so that the third transmission frame, the fourth transmission frame, and the second hinge seat are in the same plane.

[0033] Specifically, if the Z-axis position needs to be adjusted, control the first and second sliders to move in opposite directions at the same speed. If the Y-axis position needs to be adjusted, control the first and second sliders to move in the same direction at the same speed. The method for adjusting the position of the intermediate platform is the same as the method for adjusting the position of the frame.

[0034] Then, the motion platform is adjusted to rotate along the X-axis by the first axis rotation drive module, and the motion platform is adjusted to rotate along the Y-axis by the second axis rotation drive module, thereby realizing the adjustment of the rotational degree of freedom of the motion platform.

[0035] Specifically, the first and second sliders in the first drive assembly are controlled to adjust the position of their top frame along the Y-axis or Z-axis. Then, under the linkage of the first and second transmission frames, the first rotating frame drives the first shaft to rotate. At this time, the second rotating frame and the first hinge seat support the first shaft. Meanwhile, the first shaft rotates relative to the second rotating frame and the first hinge seat, realizing the adjustment of the angle in the X-axis direction. At the same time, the second rotating frame is hinged to the fourth transmission frame, so that the position of the second rotating frame can be adjusted in time when the motion platform rotates along the X-axis, ensuring stable rotation.

[0036] The control system coordinates the operation of the third and fourth drive components, and, under the linkage of the first and second planar linkage components, drives the intermediate platform to move synchronously up and down, and drives the third and fourth transmission frames to move. The fourth transmission frame drives the second rotating frame and the second shaft to rotate, so that the first rotating frame and the second shaft rotate relative to each other, thereby realizing the adjustment of the angle in the Y-axis direction.

[0037] This invention provides a parallel mechanism with two translational and two rotational motions. Through the cooperation of a rotation module, a two-dimensional translation module, a first-axis rotation drive module, and a second-axis rotation drive module, the motion platform can not only achieve two-dimensional translational motion along the Y-axis and Z-axis in the plane, but also achieve rotational motion around the X-axis and Y-axis, giving it two translational degrees of freedom and two rotational degrees of freedom. Furthermore, through the positional allocation of the first, second, third, and fourth drive components, positional interference between multiple motion chains or between the motion platform and the motion chains is avoided, giving it a high rotational capability adaptable to large attitude angles.

Claims

1. A parallel mechanism with two displacement and two rotational motions, characterized in that: The system includes a base (101), on which a two-dimensional translation module that moves along the Z-axis and Y-axis is mounted; the two-dimensional translation module includes a first drive assembly (102) slidably mounted on the base (101), a frame (103) mounted on the first drive assembly (102), and a rotation module that rotates around the X-axis and Y-axis mounted on the frame (103); the rotation module includes a motion platform (106), which is rotatably connected to a first rotating frame (107) and a second rotating frame (108), respectively; the first rotating frame (107) is connected to a first-axis rotation drive module that drives the motion platform (106) to rotate around the X-axis, and the second rotating frame (108) is connected to a second-axis rotation drive module that drives the motion platform (106) to rotate around the Y-axis.

2. A parallel mechanism with two displacement and two rotational motions according to claim 1, characterized in that: The motion platform (106) is a T-shaped structure composed of a first axis and a second axis. The side of the first rotating frame (107) near the motion platform (106) is a U-shaped structure. The two ends of the U-shaped structure on the first rotating frame (107) are respectively rotatably connected to the shaft end of the second axis set parallel to the Y axis. The second rotating frame (108) is rotatably connected to the shaft end of the first axis set parallel to the X axis on the motion platform (106).

3. A parallel mechanism with two displacement and two rotational motions according to claim 1, characterized in that: The first drive assembly (102) includes a first slider (122) and a second slider (123) arranged symmetrically. A first connecting rod (124) and a second connecting rod (125) are hinged on the first slider (122), and the top ends of the first connecting rod (124) and the second connecting rod (125) are hinged on the top frame (128). A third connecting rod (126) and a fourth connecting rod (127) are hinged on the second slider (123), and the top ends of the third connecting rod (126) and the fourth connecting rod (127) are hinged on the top frame (128). The first slider (122) and the second slider (123) are slidably arranged on the base (101), and the first slider (122) and the second slider (123) are respectively connected to the first servo motor and the second servo motor.

4. A parallel mechanism with two displacement and two rotational motions according to claim 1, characterized in that: The first axis rotation drive module includes a second drive assembly (109) that is slidably mounted on a base (101) along the Y-axis direction. The second drive assembly (109) has the same structure as the first drive assembly (102). A bracket (110) is provided on the second drive assembly (109). The top of the bracket (110) is hinged to the first transmission frame (112) through a first hinge shaft (111). The other end of the first transmission frame (112) is hinged to the second transmission frame (113). The other end of the second transmission frame (113) is hinged to the first hinge seat (104) provided on the frame (103). The second transmission frame (113) is connected to the first rotating frame (107). The ends of the first transmission frame (112) and the second transmission frame (113) rotate along the X-axis direction, respectively.

5. A parallel mechanism with two displacement and two rotational motions according to claim 1, characterized in that: The second axis rotation drive module includes a vertically movable intermediate platform (114). The intermediate platform (114) is hinged to the third transmission frame (116) via a second hinge shaft (115). The other end of the third transmission frame (116) is hinged to the upper part of the fourth transmission frame (117). The middle part of the fourth transmission frame (117) is hinged to the second hinge seat (105) provided on the frame (103). The lower part of the fourth transmission frame (117) is hinged to the second rotating frame (108). The end of the third transmission frame (116) and the upper and lower parts of the fourth transmission frame (117) rotate along the Y-axis direction respectively.

6. A parallel mechanism with two displacement and two rotational motions according to claim 4, characterized in that: The intermediate platform (114) is L-shaped. One end of the intermediate platform (114) is connected to the third drive assembly (118) through the first planar linkage assembly (119), and the other end is connected to the fourth drive assembly (120) through the second planar linkage assembly (121). The third drive assembly (118) is slidably mounted on the base (101) along the X-axis direction, and the fourth drive assembly (120) is slidably mounted on the base (101) along the Y-axis direction. The third drive assembly (118) and the fourth drive assembly (120) have the same structure as the first drive assembly (102).

7. A parallel mechanism with two displacement and two rotational motions according to claim 5, characterized in that: The first planar link assembly (119) includes a third hinge seat (129) disposed on the third drive assembly (118). A fifth link (130) and a sixth link (131) are respectively hinged on the third hinge seat (129). The other end of the fifth link (130) and the sixth link (131) are hinged to the intermediate platform (114). The fifth link (130) and the sixth link (131) are of equal length and are arranged in parallel. The second planar link assembly (121) has the same structure as the first planar link assembly (119).

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