A redundant drive type three-degree-of-freedom heavy load transfer platform

Abstract

The utility model discloses a kind of redundancy drive type three-degree-of-freedom heavy load transfer platform, it is related to heavy load handling equipment technical field, including movable platform, three fixed racks and three parallel subchains;The movable platform is equilateral triangle;Three The fixed racks are evenly arranged around the central normal of the movable platform;Three The parallel subchains are connected between the movable platform and the fixed rack respectively;The utility model is driven by setting three moving pair and three rotary pair.This six drives jointly control three degrees of freedom of movable platform in plane.Because the number of drive is greater than the number of degrees of freedom of movable platform, redundancy drive system is constituted.Through the coordination control of these six drive units, it can be realized that movable platform is in plane large range, high accuracy, high stability heavy load transfer operation.

Description

Technical Field

[0001] This utility model relates to the field of heavy-duty handling equipment technology, and in particular to a redundant drive type three-degree-of-freedom heavy-duty transfer platform. Background Technology

[0002] In modern industrial production, the handling and transfer of heavy-duty materials is a critical process. Currently used heavy-duty transfer platforms mainly suffer from the following problems: First, most platforms only have a single rotational degree of freedom, limiting their transfer range and making it difficult to meet the handling needs under complex working conditions; second, traditional serial mechanisms lack rigidity under heavy loads, easily causing deformation and vibration, affecting handling accuracy; third, while existing parallel mechanisms have higher rigidity, they often have limited working space and exhibit singular configuration problems, affecting motion stability.

[0003] Chinese patent CN201711418392.3 discloses a three-degree-of-freedom parallel mechanism, which, while offering good flexibility, suffers from a single-branch structure that struggles to guarantee stiffness under heavy loads. Chinese patent CN201810329397.7 provides a three-degree-of-freedom parallel mechanism suitable for platform movement, but it cannot achieve rotational motion around the z-axis and has limited load-bearing capacity. Therefore, developing a heavy-duty transport platform that combines a large workspace, high stiffness, and stability is of significant practical importance. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a redundant drive three-degree-of-freedom heavy-duty transfer platform with reasonable structure, high rigidity, stable motion, and large transfer range.

[0005] To achieve the above objectives, this utility model provides a redundant-drive three-degree-of-freedom heavy-duty transfer platform, comprising a moving platform, three fixed frames, and three parallel branches; the moving platform is in the shape of an equilateral triangle; the three fixed frames are evenly arranged around the central normal of the moving platform; the three parallel branches are respectively connected between the moving platform and the fixed frames; each parallel branch includes a vertical T-shaped rod, a telescopic mechanism, and a rotating rod; one end of the vertical T-shaped rod is hinged to the moving platform; one end of the telescopic mechanism is hinged to the vertical T-shaped rod, and the other end of the telescopic mechanism is hinged to the corresponding fixed frame; one end of the rotating rod is hinged to the vertical T-shaped rod, and the other end of the rotating rod is hinged to the corresponding fixed frame.

[0006] Preferably, the telescopic mechanism is a hydraulic cylinder or an electric push rod.

[0007] Preferably, the vertical T-shaped rod includes a main rod and two mounting ears disposed on both sides of the main rod. The end of the main rod is hinged to the moving platform, and the two mounting ears are respectively hinged to the piston rod end of the telescopic mechanism and one end of the rotating rod.

[0008] Preferably, the fixed frame is provided with two rotating shafts, and a first fisheye connector and a second fisheye connector are respectively connected to the two rotating shafts. The first fisheye connector and the second fisheye connector are respectively hinged to the cylinder end of the telescopic mechanism and the other end of the rotating rod.

[0009] Preferably, the three fixed frames are arranged at the three corners of the moving platform.

[0010] Preferably, the rotating rod is arranged parallel to the telescopic mechanism.

[0011] Compared with related technologies, the redundant drive-type three-degree-of-freedom heavy-duty transfer platform provided by this utility model has the following beneficial effects:

[0012] This invention provides a redundant-drive three-degree-of-freedom heavy-duty transfer platform, which employs three prismatic joint drives and three revolute joint drives. These six drives collectively control the three degrees of freedom of the moving platform within a plane. Since the number of drives exceeds the number of degrees of freedom of the moving platform, a redundant drive system is formed. Redundant drives effectively improve the force distribution of the mechanism, avoid singular configurations during motion, and thus significantly enhance the platform's stiffness, load-bearing capacity, and motion stability. By coordinating the control of these six drive units, the moving platform can achieve large-scale, high-precision, and highly stable heavy-duty transfer operations within a plane.

[0013] This utility model provides a redundant drive-type three-degree-of-freedom heavy-duty transfer platform. The fisheye joint provides multi-degree-of-freedom articulation, which can adapt to complex motion requirements and reduce motion constraints. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the parallel branch structure of this utility model.

[0016] The following are the labels in the diagram: 1. Moving platform; 2. Vertical T-shaped rod; 3. Telescopic mechanism; 4. Rotating rod; 5. Fixed frame; 21. Mounting lug; 31. Cylinder body; 32. Piston rod; 51. U-shaped steel; 52. Rotating shaft; 53. First fisheye joint; 54. Second fisheye joint. Detailed Implementation

[0017] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. The specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this utility model.

[0018] Example 1

[0019] like Figure 1 As shown, this utility model provides a redundant driven three-degree-of-freedom heavy-duty transfer platform, the core of which includes a moving platform 1, three fixed frames 5 and three parallel branches with identical structures.

[0020] The moving platform 1 is constructed as a rigid plate or frame structure in the shape of an equilateral triangle, which provides good isotropy and stability. Three fixed frames 5 serve as the fixed foundation for the entire platform and are evenly arranged around the central normal of the moving platform 1. In this embodiment, the three fixed frames 5 are located at the three vertices of a virtual equilateral triangle, making the overall structure symmetrical and stable.

[0021] The three parallel branches are respectively connected between the moving platform 1 and the fixed frame 5, and each branch is connected to a corner of the moving platform 1 and the nearest fixed frame 5.

[0022] like Figure 2 Each parallel branch includes a vertical T-shaped rod 2, a telescopic mechanism 3, and a rotating rod 4.

[0023] One end of the vertical T-shaped rod 2 is hinged to the moving platform 1. Specifically, the hinge point is located near the corner of the moving platform 1, allowing the vertical T-shaped rod 2 to rotate around the hinge point.

[0024] One end of the telescopic mechanism 3 is hinged to the vertical T-shaped rod 2, and the other end is hinged to the corresponding fixed frame 5. In this embodiment, the telescopic mechanism 3 is preferably a hydraulic cylinder, which includes a cylinder body 31 and a reciprocating piston rod 32.

[0025] The rotating rod 4 is arranged parallel to the telescopic mechanism 3. The rotating rod 4 is a rigid rod, one end of which is hinged to the vertical T-shaped rod 2 and driven by a motor, and the other end of which is hinged to the corresponding fixed frame 5. The telescopic mechanism 3 and the rotating rod 4 together form a virtual quadrilateral mechanism, which ensures the stability of the parallel chain movement and greatly improves the stiffness and load-bearing capacity of the parallel chain.

[0026] More specifically, such as Figure 2As shown, the vertical T-shaped rod 2 includes a main rod and two mounting ears 21 disposed on both sides of the main rod. The end of the main rod is hinged to the moving platform 1 through a fixed shaft and standard components such as elastic retaining rings, forming a rotating pair. The two mounting ears 21 are located on both sides of the main rod, one of which is hinged to the end of the piston rod 32 of the telescopic mechanism 3, and the other is hinged to one end of the rotating rod 4.

[0027] Furthermore, the fixed frame 5 is provided with two rotating shafts 52. These two rotating shafts 52 are rotatably mounted in the slots of the U-shaped steel 51 of the fixed frame 5. A first fisheye connector 53 and a second fisheye connector 54 are respectively connected to the two rotating shafts 52. The first fisheye connector 53 is hinged to the end of the cylinder 31 of the telescopic mechanism 3, and the second fisheye connector 54 is hinged to the other end of the rotating rod 4. The fisheye connectors provide a spherical kinematic pair, which can effectively absorb spatial angular deviations generated during installation and movement, ensuring smooth movement of the mechanism.

[0028] Working process and principle:

[0029] The platform has six drive sources: the telescopic movement of three telescopic mechanisms 3 (driven by three prismatic pairs) and the active rotation of three rotating rods 4 (driven by three revolute pairs). These six drives together control the three degrees of freedom of the platform 1 in the plane (translation along the X and Y axes and rotation about the Z axis).

[0030] The specific degrees of freedom can be calculated using the KG criterion, as follows:

[0031]

[0032] Where F is the degree of freedom of the mechanism, λ is the motion parameter, i.e., the order of the motion helix, n is the number of links, g is the number of joints, and f i Let represent the degrees of freedom of the i-th joint.

[0033] Since the number of drives exceeds the number of degrees of freedom of the moving platform 1, a redundant drive system is formed. Redundant drives can effectively improve the force distribution of the mechanism and avoid singular configurations during motion, thereby significantly improving the platform's stiffness, load-bearing capacity, and motion stability. By coordinating and controlling these six drive units, the moving platform 1 can achieve large-scale, high-precision, and high-stability heavy-load transfer operations within a plane.

[0034] Example 2

[0035] The main difference between this embodiment and Embodiment 1 lies in the arrangement of the fixed frame 5.

[0036] In Embodiment 1, three fixed frames 5 are evenly arranged around the center normal of the moving platform 1, forming a standard equilateral triangle. However, in this embodiment, depending on the space constraints of the actual work site or specific process requirements, the three fixed frames 5 can be arranged in an isosceles triangle or other non-equilateral triangle layout. For example, two frames can be arranged closer together, and the other further away. This flexibility allows the present invention to better adapt to different industrial application scenarios. In this embodiment, all other technical features are the same as in Embodiment 1.

[0037] Example 3

[0038] The difference between this embodiment and Embodiment 1 lies in the specific type of the telescopic mechanism 3.

[0039] In Embodiment 1, the telescopic mechanism 3 is a hydraulic cylinder, suitable for heavy-duty applications requiring enormous thrust. In this embodiment, the telescopic mechanism 3 can be replaced with an electric actuator. The electric actuator is driven by a servo motor, offering advantages such as high control precision, fast response speed, cleanliness and environmental friendliness, and ease of integration with digital control systems. It is suitable for applications requiring higher positioning accuracy and automation. This change does not alter the main platform structure; only the type of drive unit needs to be replaced, demonstrating the excellent adaptability of this invention.

[0040] In summary, this utility model provides a heavy-duty transfer platform with high rigidity, strong load-bearing capacity, stable movement, and flexible layout. Any equivalent modifications or substitutions made by those skilled in the art based on the concept of this utility model should be considered as falling within the protection scope of this utility model.

Claims

1. A redundant-drive three-degree-of-freedom heavy-duty transfer platform, characterized in that: The device includes a moving platform, three fixed frames, and three parallel branches. The moving platform is in the shape of an equilateral triangle. The three fixed frames are evenly arranged around the central normal of the moving platform. The three parallel branches are respectively connected between the moving platform and the fixed frames. Each parallel branch includes a vertical T-shaped rod, a telescopic mechanism, and a rotating rod. One end of the vertical T-shaped rod is hinged to the moving platform. One end of the telescopic mechanism is hinged to the vertical T-shaped rod, and the other end of the telescopic mechanism is hinged to the corresponding fixed frame. One end of the rotating rod is hinged to the vertical T-shaped rod, and the other end of the rotating rod is hinged to the corresponding fixed frame.

2. The redundant-drive three-degree-of-freedom heavy-duty transfer platform as described in claim 1, characterized in that: The telescopic mechanism is a hydraulic cylinder or an electric push rod.

3. The redundant-drive three-degree-of-freedom heavy-duty transfer platform as described in claim 1, characterized in that: The vertical T-shaped rod includes a main rod and two mounting ears disposed on both sides of the main rod. The end of the main rod is hinged to the moving platform, and the two mounting ears are respectively hinged to the piston rod end of the telescopic mechanism and one end of the rotating rod.

4. The redundant drive-type three-degree-of-freedom heavy-duty transfer platform as described in claim 1, characterized in that: The fixed frame is provided with two rotating shafts, and a first fisheye connector and a second fisheye connector are respectively connected to the two rotating shafts. The first fisheye connector and the second fisheye connector are respectively hinged to the cylinder end of the telescopic mechanism and the other end of the rotating rod.

5. The redundant-drive three-degree-of-freedom heavy-duty transfer platform as described in claim 1, characterized in that: The three fixed frames are set at the three corners of the moving platform.

6. The redundant drive-type three-degree-of-freedom heavy-duty transfer platform as described in claim 1, characterized in that: The rotating rod is arranged parallel to the telescopic mechanism.

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