Multi-degree-of-freedom parallel mechanism

Abstract

The utility model provides a multi-degree-of-freedom parallel mechanism, which comprises a mechanism main body, a lower adjusting assembly, an adjusting rack and an upper adjusting assembly, and a fixed platform seat is arranged at the lower end of the internal composition of the mechanism main body. Compared with the prior art, the mechanism has the advantages that the mechanism body, the lower adjusting assembly, the adjusting rack and the upper adjusting assembly are additionally arranged, a first adjusting motor in the lower adjusting assembly drives an adjusting gear to rotate and enables the adjusting gear to move on the adjusting rack, and a first adjusting rod in the upper adjusting assembly is driven to move; a group of second adjusting motors drive a single group of first adjusting rods to rotate and change the angle between the first adjusting rods and the second adjusting rods and the angle between the second adjusting rods and the connecting seat in linkage with the second adjusting rods, and the lower ends of the first adjusting rods and the upper ends of the second adjusting rods are detachable, so that the free adjusting range can be widened; the limiting piece is installed on one side of the adjusting sliding rail and can conduct internal and external adjusting limiting on the lower adjusting assembly.

Description

Technical Field

[0001] The utility model belongs to the technical field of parallel mechanical systems, in particular to a multi-freedom parallel mechanism. Background Art

[0002] A multi-degree-of-freedom parallel mechanism is a mechanical system consisting of multiple connecting rods connected by joints, capable of achieving movement in multiple directions. This mechanism is characterized by high rigidity, high precision, and good dynamic performance, and is widely used in robotics, precision machining, aerospace, and other fields. Unlike serial mechanisms, all connecting rods of a parallel mechanism are directly connected between the moving platform and the fixed platform. This structure allows each connecting rod to act on the moving platform simultaneously, thereby improving the rigidity and stability of the system. The design and use of a multi-degree-of-freedom parallel mechanism have different structures and degrees of freedom depending on the application scenario, and most of the multi-degree-of-freedoms have more than two degrees of freedom. Some demanding use scenarios can have up to six degrees of freedom for complex adjustment. In some multi-degree-of-freedom parallel mechanisms, the drive assembly of the adjustment component drives multiple adjustment components at the same time, resulting in a limited adjustment range and an inability to achieve higher degrees of freedom for adjustment, which affects the use scenario of the multi-degree-of-freedom parallel mechanism.

[0003] In summary, the adjustment limitations of the driving components affect the usage scenarios of the multi-degree-of-freedom parallel mechanism, so it is hoped to propose a new structure to solve the above technical problems. Utility Model Content

[0004] In view of the deficiencies in the prior art, the present invention aims to provide a multi-degree-of-freedom parallel mechanism to solve the problems raised in the above-mentioned background technology.

[0005] The utility model is realized through the following technical solutions: a multi-degree-of-freedom parallel mechanism, comprising: a mechanism main body, a lower adjusting component, an adjusting rack and an upper adjusting component, the lower end of the internal component of the mechanism main body is provided with a fixed platform seat, the upper surface of the fixed platform seat is fixedly connected with four groups of adjusting slide rails for assisting the movement and adjustment of the lower adjusting component, a lower adjusting component is provided above the adjusting slide rail, and a mounting groove for installing the adjusting rack is provided on the side surface of one end of each group of the adjusting slide rails, an adjusting rack is installed on the inner side of the mounting groove by bolt connection, an upper adjusting component for increasing the adjustment freedom is provided above the lower adjusting component, and the lower end of the internal component of the upper adjusting component is provided with four groups of adjusting rods for adjustment.

[0006] As a preferred embodiment, a rotation groove is provided on the outer side surface of the upper end of the adjusting rod, and the inner side of the rotation groove is connected to the adjusting rod 2 through a rotating shaft. The upper end of the internal component of the upper adjusting component is provided with a bearing seat for connecting to the moving platform.

[0007] As a preferred embodiment, a fixing seat is fixedly connected to the lower surface of the bearing seat, and four groups of connecting seats for connecting with the adjusting rod 2 are fixedly connected to the outside of the fixing seat. The connecting seat and the adjusting rod 2 are fixed by a pin shaft, and the upper end of the adjusting rod 2 can rotate between the connecting seat to perform auxiliary adjustment of the bearing seat, and the upper end of the adjusting rod 2 can be disassembled.

[0008] As a preferred embodiment, a connection hole is provided on the lower surface of a lower end of the adjusting rod, and an adjusting slider is provided at the lower end of the internal component of the lower adjusting assembly, and the adjusting slider is movably engaged with the adjusting slide rail.

[0009] As a preferred embodiment, a connecting platform is fixedly connected above the adjusting slider, and an adjusting motor 2 is provided on the inner side of the connecting platform. Connecting threaded holes are provided on the outer side surface of the upper end of the adjusting motor 2 and the outer side surface of the lower end of the adjusting rod. The upper end of the adjusting motor 2 and the connecting hole are engaged with each other and are fixed by screwing bolts into the connecting threaded holes. The adjusting motor 2 can drive the adjusting rod 1 to rotate and thus adjust it freely, and the lower end of the adjusting rod can be disassembled.

[0010] As a preferred embodiment, an adjusting motor is provided on the inner side of one end of the adjusting slider, an adjusting gear is connected to the outer side of a lower end of the adjusting motor, and the adjusting gear is meshed with the adjusting rack.

[0011] As a preferred embodiment, a limiter is provided on the outer side of the other end of the adjusting slide rail for limiting the movement of the lower adjusting assembly, and a fixing plate is provided at the middle position of the internal component of the limiter;

[0012] The outer side surfaces of the fixing plate and the other end of the adjusting slide rail are both provided with fixing threaded holes, and both ends of the fixing plate are fixedly connected to the limit plates. The limit member is fixed to the other end of the adjusting slide rail by bolts. The limit member is installed on one side of the adjusting slide rail and can limit the inward and outward adjustment of the lower adjusting component.

[0013] After adopting the above technical scheme, the beneficial effect of the utility model is: by adding the main body of the mechanism, the lower adjusting component, the adjusting rack and the upper adjusting component, the adjusting motor 1 in the lower adjusting component drives the adjusting gear to rotate and moves it on the adjusting rack, driving a group of adjusting rods 1 in the upper adjusting component to move, and a group of adjusting motors 2 drives a single group of adjusting rods 1 to rotate, and changes the angle between the adjusting rod 1 and the adjusting rod 2 and the adjusting rod 2 and the connecting seat in linkage with the adjusting rod 2, and the lower end of the adjusting rod and the upper end of the adjusting rod 2 can be disassembled, which can increase the free adjustment range, and by adding the main body of the mechanism and installing the limiter to one side of the adjusting slide rail, the lower adjusting component can be restricted in internal and external adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 The figure is a schematic diagram of the overall structure of a multi-degree-of-freedom parallel mechanism of the present utility model.

[0016] Figure 2 The figure is a structural diagram of the main body of a multi-degree-of-freedom parallel mechanism of the utility model.

[0017] Figure 3 The present invention is a schematic structural diagram of a multi-degree-of-freedom parallel mechanism in which the main body of the mechanism is free of limiting components.

[0018] Figure 4 The utility model is a structural schematic diagram of a limit member in a multi-degree-of-freedom parallel mechanism.

[0019] Figure 5 The figure is a schematic structural diagram of an upper adjustment component in a multi-degree-of-freedom parallel mechanism of the present invention.

[0020] Figure 6 The utility model is a structural schematic diagram of a lower adjustment component in a multi-degree-of-freedom parallel mechanism.

[0021] In the figure, 100-mechanism body, 101-fixed platform seat, 102-adjustable slide rail, 103-mounting slot, 104-fixed threaded hole, 105-limiting member;

[0022] 200-lower adjustment component, 201-adjustment slider, 202-adjustment gear, 203-adjustment motor 2;

[0023] 300-adjustment rack;

[0024] 400-upper adjustment assembly, 401-bearing seat, 402-connecting seat, 403-adjusting rod 2, 404-pin shaft, 405-adjusting rod 1, 406-rotation slot, 407-connecting hole, 408-connecting threaded hole;

[0025] 105a-fixed plate, 105b-limiting plate. DETAILED DESCRIPTION

[0026] 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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0027] See also Figures 1 to 6 The utility model provides a technical solution: a multi-degree-of-freedom parallel mechanism, comprising: a mechanism body 100, a lower adjustment component 200, an adjustment rack 300 and an upper adjustment component 400, wherein the lower end of the mechanism body 100 is provided with a fixed platform seat 101;

[0028] Four sets of adjustment rails 102 are fixedly connected to the upper surface of the fixed platform seat 101 for assisting the movement and adjustment of the lower adjustment assembly 200. The lower adjustment assembly 200 is arranged above the adjustment rails 102. A mounting groove 103 for mounting the adjustment rack 300 is opened on the side surface of one end of each set of adjustment rails 102.

[0029] An adjustment rack 300 is installed on the inner side of the mounting groove 103 by bolt connection. An upper adjustment component 400 is provided above the lower adjustment component 200 for improving the adjustment freedom. The lower end of the upper adjustment component 400 is provided with four groups of adjustment rods 405 for adjustment.

[0030] A rotation groove 406 is provided on the outer side surface of the upper end of the adjusting rod 1 405, and the inner side of the rotating groove 406 is connected to the adjusting rod 2 403 through a rotating shaft. The upper end of the upper adjusting component 400 is provided with a bearing seat 401 for connecting to the moving platform.

[0031] A fixing seat is fixedly connected to the lower surface of the supporting seat 401, and four groups of connecting seats 402 for connecting to the adjusting rod 2 403 are fixedly connected to the outside of the fixing seat. The connecting seat 402 and the adjusting rod 2 403 are connected and fixed by a pin shaft 404. The upper end of the adjusting rod 2 403 can rotate between the connecting seat 402 to perform auxiliary adjustment of the supporting seat 401, and the upper end of the adjusting rod 2 403 can be disassembled.

[0032] A connecting hole 407 is provided on the lower surface of the lower end of the adjusting rod 405 . The lower end of the lower adjusting assembly 200 is provided with an adjusting slider 201 , which is movably engaged with the adjusting rail 102 .

[0033] A connecting platform is fixedly connected to the top of the adjusting slider 201, and an adjusting motor 203 is provided on the inner side of the connecting platform. A connecting threaded hole 408 is provided on the outer side surface of the upper end of the adjusting motor 203 and the outer side surface of the lower end of the adjusting rod 1 405. The upper end of the adjusting motor 203 and the connecting hole 407 are fitted together and fixed by screwing a bolt into the connecting threaded hole 408, so that the adjusting motor 203 can drive the adjusting rod 1 405 to rotate and thus be freely adjusted, and the lower end of the adjusting rod 1 405 can be disassembled.

[0034] An adjusting motor 1 is provided on the inner side of one end of the adjusting slider 201 , and an adjusting gear 202 is connected to the outer side of a lower end of the adjusting motor. The adjusting gear 202 is meshed with the adjusting rack 300 .

[0035] See also Figure 1-Figure 3 and Figure 5-Figure 6 , as the first embodiment of the present utility model: first, the user can install the moving platform above the supporting seat 401, and each group of adjusting motors 203 can drive a group of adjusting rods 1 405 to rotate and thus adjust freely. The adjusting rod 1 405 is connected to the adjusting rod 2 403 by a rotating shaft, and the upper end of the adjusting rod 2 403 is connected to the connecting seat 402 by a pin shaft, so that the supporting seat 401 can be adjusted in angle and position during the movement and rotation of the adjusting rod 1 405. Secondly, the adjusting motor 1 can drive the adjusting gear 202 to rotate outside the adjusting rack 300, so that the adjusting slider 201 moves inside and outside the adjusting slide rail 102, and the position of the lower adjusting component 200 is changed. The angle and position auxiliary adjustment are completed through the upper adjusting component 400, and the lower end of the adjusting rod 1 405 and the upper end of the adjusting rod 2 403 can be disassembled, which can increase the free adjustment range.

[0036] A limiter 105 is provided on the outer side of the other end of the adjusting slide rail 102 for limiting the movement of the lower adjusting assembly 200. A fixing plate 105a is provided in the middle position of the internal component of the limiter 105.

[0037] The outer side surfaces of the fixing plate 105a and the other end of the adjusting slide rail 102 are both provided with fixing threaded holes 104. Both ends of the fixing plate 105a are fixedly connected to the limiting plates 105b. The limiting member 105 is fixed to the other end of the adjusting slide rail 102 by bolts. The limiting member 105 is installed on one side of the adjusting slide rail 102, and can limit the inward and outward adjustment of the lower adjusting component 200.

[0038] See also Figures 1-4, as the second embodiment of the present utility model: Based on the above-mentioned first embodiment, in order to limit the movement of the lower adjustment component 20 within the length range of the adjustment slide rail 102, the user can, after the installation of the adjustment rack 300 is completed, fit the limit piece 105 to the side surface of the other end of the installation slide rail 102, and use a bolt to screw into the inner side of the fixing threaded hole 104 to fix the limit piece 105, so that the limit plate 105b is at the inner and outer ends of the adjustment slide rail 102, thereby being able to limit the inner and outer adjustment of the lower adjustment component 200.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom parallel mechanism, comprising: The mechanism body (100), the lower adjustment component (200), the adjustment rack (300) and the upper adjustment component (400) are characterized in that: the lower end of the internal components of the mechanism body (100) is provided with a fixed platform seat (101); Four groups of adjustment rails (102) for assisting the lower adjustment assembly (200) in moving and adjusting are fixedly connected to the upper surface of the fixed platform seat (101), the lower adjustment assembly (200) is provided above the adjustment rails (102), and a mounting groove (103) for mounting an adjustment rack (300) is provided on the side surface of one end of each group of adjustment rails (102); An adjustment rack (300) is installed inside the mounting groove (103) via a bolt connection. An upper adjustment component (400) for increasing the degree of adjustment freedom is provided above the lower adjustment component (200). The lower end of the upper adjustment component (400) is provided with four groups of adjustment rods (405) for adjustment.

2. The multi-degree-of-freedom parallel mechanism according to claim 1, wherein: The outer side surface of the upper end of the adjusting rod 1 (405) is provided with a rotation groove (406), and the inner side of the rotating groove (406) is connected to the adjusting rod 2 (403) via a rotating shaft. The upper end of the internal component of the upper adjusting assembly (400) is provided with a bearing seat (401) for connecting to the moving platform.

3. The multi-degree-of-freedom parallel mechanism according to claim 2, wherein: The lower surface of the bearing seat (401) is fixedly connected to a fixing seat, and the outer side of the fixing seat is fixedly connected to four groups of connecting seats (402) for connecting to the second adjusting rod (403), and the connecting seats (402) and the second adjusting rod (403) are connected and fixed via a pin shaft (404).

4. The multi-degree-of-freedom parallel mechanism according to claim 3, wherein: A connection hole (407) is provided on the lower surface of the lower end of the adjusting rod (405), and an adjusting slider (201) is provided at the lower end of the internal component of the lower adjusting assembly (200), and the adjusting slider (201) and the adjusting slide rail (102) are movably engaged with each other.

5. The multi-degree-of-freedom parallel mechanism according to claim 4, characterized in that: A connecting platform is fixedly connected to the top of the adjusting slider (201), and an adjusting motor 2 (203) is provided inside the connecting platform. The outer side surface of the upper end of the adjusting motor 2 (203) and the outer side surface of the lower end of the adjusting rod 1 (405) are both provided with connecting threaded holes (408). The upper end of the adjusting motor 2 (203) and the connecting hole (407) are engaged with each other and are connected and fixed by screwing a bolt into the connecting threaded hole (408).

6. The multi-degree-of-freedom parallel mechanism according to claim 5, characterized in that: An adjusting motor 1 is provided on the inner side of one end of the adjusting slider (201), and an adjusting gear (202) is connected to the outer side of a lower end of the adjusting motor. The adjusting gear (202) and the adjusting rack (300) are meshed with each other.

7. The multi-degree-of-freedom parallel mechanism according to claim 1, wherein: A limiting member (105) for limiting the movement of the lower adjusting assembly (200) is provided on the outer side of the other end of the adjusting slide rail (102), and a fixing plate (105a) is provided at the middle position of the internal component of the limiting member (105); The outer side surfaces of the fixing plate (105a) and the other end of the adjusting slide rail (102) are both provided with fixing threaded holes (104), both ends of the fixing plate (105a) are fixedly connected to the limiting plates (105b), and the limiting member (105) is fixed to the other end of the adjusting slide rail (102) by bolts.

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