CN102615641B - Five-degree-of-freedom parallel power head - Google Patents
Five-degree-of-freedom parallel power head Download PDFInfo
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- CN102615641B CN102615641B CN201210083569.XA CN201210083569A CN102615641B CN 102615641 B CN102615641 B CN 102615641B CN 201210083569 A CN201210083569 A CN 201210083569A CN 102615641 B CN102615641 B CN 102615641B
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Abstract
The invention discloses a five-degree-of-freedom parallel power head, which comprises a holder. A central hole is arranged in the center of a base of the holder, and a first hinge with two rotational degrees of freedom is arranged in the central hole. The first hinge is connected with a driven branch chain through a sliding pair, a first kinematic chain, a second kinematic chain and a third kinematic chain are evenly distributed on the periphery of the driven branch chain and fixedly connected onto the holder, a movable platform is arranged below the holder and comprises an upper platform and a lower platform which are rotatably connected with each other through a bearing, the lower end of the driven branch chain is fixedly connected with the upper platform, the lower end of the first kinematic chain is rotatably connected with the upper platform through a fourth hinge with three rotational degrees of freedom, and the second kinematic chain and the third kinematic chain are connected onto the upper platform through the same connecting structure. The five-degree-of-freedom parallel power head is fast in response speed, fine in dynamic performance and large in rigidity-to-mass ratio.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel robot of realizing five coordinate operation functions.
Background technology
Known according to patent US4732525, ZL200510015095.5, existing multi-coordinate manipulator, its way of realization is generally the hybrid connected structure form that lower-mobility parallel institution is aided with positioning head.Multi-axis machining ability comprises the location, position of moving platform and the attitude location of end effector.Wherein, the location, position of mechanism's moving platform is realized by lower-mobility parallel institution, and the servomotor being mainly arranged in active branched chain by adjusting is carried out; The attitude location of end effector is realized by positioning head (as A/C Double swing head), and the servomotor being arranged on Double swing head by adjusting is carried out.
The deficiency of this type of manipulator is: positioning head is installed servomotor and decelerator etc., and weight is excessive, affects responding ability and the dynamic property of mechanism, and mechanism's rigidity quality is smaller, and integral rigidity is difficult to ensure card.
Summary of the invention
The present invention provides a kind of five degree of freedom unit head in parallel for solving the technical problem existing in known technology, and fast response time, the dynamic property of this unit head are good, rigidity mass ratio is large.
The technical scheme that the present invention takes for the technical problem existing in solution known technology is: a kind of five degree of freedom unit head in parallel, comprise fixed mount, there is a central openings in the central authorities of described fixed mount base, are provided with first hinge with double rotation freedom degrees in described central openings; Described the first hinge is connected with driven side chain by moving sets, around described driven side chain, be provided with first, second, and third uniform kinematic chain, described first, second, and third kinematic chain is fixed on described fixed mount, described the first kinematic chain comprises the first active branched chain, the second kinematic chain comprises second and the 3rd active branched chain, the 3rd kinematic chain comprises the 4th and the 5th active branched chain, and the structure of described first, second, third, fourth and fifth active branched chain is identical;
Described each active branched chain includes the wallboard being fixedly connected with fixed mount, in described wallboard upper end, servomotor is installed, described driven by servomotor the first ball-screw, on described the first ball-screw, be connected with the first nut, described the first nut is fixed in contiguous block, described contiguous block is slidably connected on guide rail, and described guide rail is fixed on described wallboard, and described contiguous block is connected with follower lever upper end by the 3rd hinge with two rotational freedoms, the below of described fixed mount is provided with a moving platform, and described moving platform comprises upper mounting plate and two parts of lower platform, described upper mounting plate and described lower platform are rotatedly connected by bearing, the lower end of described driven side chain is fixedly connected with described upper mounting plate, the lower end of described the first active branched chain is rotatedly connected by the 4th hinge and the upper mounting plate with three-rotational-freedom, the lower end of described the second active branched chain is by having the 5th hinge of a rotational freedom and a rotating shaft of the first cross axle is hinged, the lower end of described the 3rd active branched chain is by having the 6th hinge of a rotational freedom and a rotating shaft of the second cross axle is hinged, another rotating shaft of described the first cross axle and the second cross axle is rotatably connected on respectively in the first balance staff, described the first balance staff is fixed on the first hinge axis, described the first hinge axis is connected on the first hinge seat, and described the first hinge seat is fixedly connected on described upper mounting plate, the lower end of described the 4th active branched chain is by having the 7th hinge of a rotational freedom and a rotating shaft of the 3rd cross axle is hinged, the lower end of described the 5th active branched chain is by having the 8th hinge of a rotational freedom and a rotating shaft of the 4th cross axle is hinged, another rotating shaft of described the 3rd cross axle and the 4th cross axle is rotatably connected on respectively in the second balance staff, described the second balance staff is fixed on the second hinge axis, described the second hinge axis is connected on the second hinge seat, and described the second hinge seat is fixedly connected on upper mounting plate, one end of described the first hinge axis is connected with the first drive bevel gear, in described the first drive bevel gear, be engaged with the first driven wheel of differential, described the first driven wheel of differential is fixed in the first rotating shaft, described the first rotating shaft is rotatably connected on described upper mounting plate, in described the first rotating shaft, be connected with the first driving pulley, described the first driving pulley is connected with the first driven pulley by belt, and described the first driven pulley is fixed in the 3rd rotating shaft, and described the 3rd rotating shaft is arranged on lower platform, one end of described the second hinge axis is connected with the second drive bevel gear, in described the second drive bevel gear, be engaged with the second driven wheel of differential, described the second driven wheel of differential is fixed in the second rotating shaft, described the second rotating shaft is rotatably connected on described upper mounting plate, in described the second rotating shaft, be connected with the second driving pulley, described the second driving pulley is connected with the second driven pulley by belt, described the second driven pulley is fixed in the 4th rotating shaft, described the 4th rotating shaft lower end is deep in lower platform through the 3rd rotating shaft, and affixed with the 3rd drive bevel gear, in described the 3rd drive bevel gear, be engaged with the 3rd driven wheel of differential, described the 3rd driven wheel of differential is fixed in the 5th rotating shaft, described the 5th rotating shaft is rotatably connected on lower platform.
Described the first hinge comprises outer ring and inner ring, described inner ring is provided with inner ring rotating shaft outward, and described outer ring is provided with outer ring rotating shaft, and described outer ring is rotationally connected by outer ring rotating shaft and fixed mount, described inner ring is connected with outer ring rotating by inner ring rotating shaft, and the rotating shaft of described outer ring and inner ring rotating shaft are arranged in a crossed manner.
Described the first drive bevel gear is arranged on the inner of the first hinge axis, and described the second drive bevel gear is arranged on the inner of the second hinge axis.
Advantage and good effect that the present invention has are: mechanism can realize five coordinate working abilities, and the setting movement that wherein an existing translation two is rotated has again the attitude adjustment around A and/or C axle, can effectively reduce positioning head quality, realizes Modular Structure Design.Kinematic chain adopts two active branched chain forms can improve mechanism's integral rigidity, guarantee that dynamic properties of mechanism is good, rigidity mass ratio large simultaneously, positioning precision and repetitive positioning accuracy high and there is advantage direction of feed.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 be in the present invention an active branched chain structural representation;
Fig. 4 is the outside drawing of moving platform in the present invention;
Fig. 5 is the internal structure schematic diagram of moving platform in the present invention.
The specific embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1～Fig. 5, a kind of five degree of freedom unit head in parallel, by fixed mount 1, first, second, third, fourth, the 5th active branched chain 2,3,4,5,6, driven side chain 7, moving platform 8 forms.There is a central openings in the central authorities of described fixed mount 1, are provided with first hinge 9 with double rotation freedom degrees in described central openings, and described the first hinge 9 is connected with driven side chain 7 by moving sets 10.In the present embodiment, described the first hinge 9 comprises outer ring and inner ring, described inner ring is provided with inner ring rotating shaft outward, outside described outer ring, be provided with outer ring rotating shaft, described outer ring is rotationally connected by outer ring rotating shaft and fixed mount, described inner ring is connected with outer ring rotating by inner ring rotating shaft, and the rotating shaft of described outer ring and inner ring rotating shaft are arranged in a crossed manner; Described inner ring is connected with driven side chain 7 by moving sets 10.Described the first active branched chain 2 is the first kinematic chain, second, third active branched chain 3,4 is the second kinematic chain, four, the 5th active branched chain 5,6 is the 3rd kinematic chain, and described first, second, third kinematic chain is distributed on described fixed mount with respect to driven side chain space symmetr.Described first, second, the 3rd, the 4th, the 5th active branched chain 2, 3, 4, 5, 6 have identical version, described each active branched chain includes the wallboard 11 being fixedly connected with fixed mount, in described wallboard upper end, servomotor 12 is installed, described driven by servomotor the first ball-screw 13, on described the first ball-screw 13, be connected with the first nut, described the first nut is fixed in contiguous block 15, described contiguous block 15 is slidably connected on guide rail 14, described guide rail 14 is fixed on described wallboard 11, described contiguous block 15 is connected with follower lever 17 upper ends by the 3rd hinge 16 with two rotational freedoms, described the 3rd hinge 16 can adopt the versions such as Hooke's hinge.
The below of described fixed mount 1 is provided with a moving platform 8, comprises upper mounting plate 18 and lower platform 19, and described upper mounting plate 18 is rotatedly connected by bearing with described lower platform 19.The lower end of described driven side chain 7 is fixedly connected with described upper mounting plate 18.Described the first active branched chain 2 is rotatedly connected with upper mounting plate by the 4th hinge 20, and described the 4th hinge has three rotational freedoms, can adopt Hooke's hinge to be aided with the form such as the axis of rotation, spherical hinge.The lower end of described the second active branched chain 3 is by having the 5th hinge 21 of a rotational freedom and a rotating shaft of the first cross axle 23 is hinged, the lower end of described the 3rd active branched chain 4 is by having the 6th hinge 22 of a rotational freedom and a rotating shaft of the second cross axle 24 is hinged, another rotating shaft of described the first cross axle 23 and the second cross axle 24 is rotatably connected on respectively in the first balance staff 25, described the first balance staff 25 is fixed on the first hinge axis 26, described the first hinge axis 26 is rotatably connected on the first hinge seat 27, described the first hinge seat 27 is fixedly connected on described upper mounting plate 18,
Described the 4th, the 5th active branched chain is identical with being connected of upper mounting plate with connection and the 3rd, the 4th active branched chain of upper mounting plate.The lower end of described the 4th active branched chain 5 is by having the 7th hinge 28 of a rotational freedom and a rotating shaft of the 3rd cross axle 30 is hinged, the lower end of described the 5th active branched chain 6 is by having the 8th hinge 29 of a rotational freedom and a rotating shaft of the 4th cross axle 31 is hinged, another rotating shaft of described the 3rd cross axle 30 and the 4th cross axle 31 is rotatably connected on respectively in the second balance staff 32, described the second balance staff 32 is fixed on the second hinge axis 33, described the second hinge axis 33 is rotatably connected on the second hinge seat 34, described the second hinge seat 34 is fixedly connected on upper mounting plate 18, described first, the second hinge axis 26, one end of 33 separately be arranged on first in upper mounting plate, the second drive bevel gear 37, 38 are connected, in described the first drive bevel gear 37, be engaged with the first driven wheel of differential 39, described the first driven wheel of differential 39 is fixed in the first rotating shaft 35, described the first rotating shaft 35 is rotatably connected on described upper mounting plate 18, in described the first rotating shaft 35, be connected with the first driving pulley 40, described the first driving pulley 40 is connected with the first driven pulley 42 by belt, described the first driven pulley 42 is fixed in the 3rd rotating shaft 41, described the 3rd rotating shaft 41 is arranged on lower platform 19, one end of described the second hinge axis 33 is connected with the second drive bevel gear 38, in described the second drive bevel gear 38, be engaged with the second driven wheel of differential 43, described the second driven wheel of differential 43 is fixed in the second rotating shaft 36, described the second rotating shaft 36 is rotatably connected on described upper mounting plate 18, in described the second rotating shaft 36, be connected with the second driving pulley 44, described the second driving pulley 44 is connected with the second driven pulley 46 by belt, described the second driven pulley 46 is fixed in the 4th rotating shaft 45, described the 4th rotating shaft 45 lower ends are deep in lower platform through the 3rd rotating shaft, and affixed with the 3rd drive bevel gear 47, in described the 3rd drive bevel gear 47, be engaged with the 3rd driven wheel of differential 49, described the 3rd driven wheel of differential is fixed in the 5th rotating shaft 48, described the 5th rotating shaft is rotatably connected on lower platform.
Below in conjunction with each width figure, the present invention is further described:
As depicted in figs. 1 and 2, a kind of five degree of freedom of the present invention unit head in parallel, by fixed mount 1, moving platform 8, first, second, third, fourth, the 5th active branched chain 2,3,4,5,6, driven side chain 7 forms.Wherein, the first active branched chain 2 is the first kinematic chain, and the second active branched chain 3 and the 3rd active branched chain 4 form the second kinematic chain, and the 4th active branched chain 5 and the 5th active branched chain 6 form the 3rd kinematic chain.Driven side chain 7 is positioned at the central openings of fixed mount 1, and first, second, third kinematic chain is arranged on described fixed mount about driven side chain 7 space symmetrs.In described central openings, connect first hinge 9 with the two revolution frees degree, described the first hinge 9 is connected with described driven side chain 7 by moving sets 10.
As shown in Figure 3, described each active branched chain includes wallboard 11, servomotor 12, the first screw-nut structures, the second guide rail slide block structure, contiguous block 15, the three hinges 16 and follower lever 17.Wallboard 11 is fixedly connected on fixed mount, servomotor 12 is arranged on described wallboard one end, described servomotor output shaft is connected with the first ball-screw 13 by shaft coupling, on described wallboard, be provided with the second guide rail 14, on contiguous block 15, fixedly mount the second slide block and the first nut, the first ball-screw 13 and the first nut thread are connected to form the first screw-nut structure, and the second guide rail 14 and the second slide block are slidably connected and form the second guide rail slide block structure.Contiguous block 15 is connected with follower lever 17 by the 3rd hinge 16, and described the 3rd hinge 16 has double rotation freedom degrees, can adopt the versions such as Hooke's hinge.In the present embodiment, contiguous block drives the movement of follower lever all to adopt the type of drive of servomotor-decelerator-ball-screw, but also can adopt hydraulic pressure, the structure such as pneumatic as type of drive.
As shown in Figure 4, moving platform 8 comprises upper mounting plate 18 and 19 two parts of lower platform, and described upper mounting plate 18 is rotatedly connected by bearing with described lower platform 19.The lower end of described driven side chain 7 is fixedly connected with described upper mounting plate 18, and described the first active branched chain 2 is connected with upper mounting plate 18 by the 4th hinge 20, and described the 4th hinge 20 has three rotational freedoms, can adopt Hooke's hinge to be aided with the form such as the axis of rotation, spherical hinge.The lower end of described the second active branched chain 3 is by having the 5th hinge 21 of a rotational freedom and a rotating shaft of the first cross axle 23 is hinged, the lower end of described the 3rd active branched chain 4 is by having the 6th hinge 22 of a rotational freedom and a rotating shaft of the second cross axle 24 is hinged, another rotating shaft of described the first cross axle 23 and the second cross axle 24 is rotatably connected on respectively in the first balance staff 25, described the first balance staff 25 is fixed on the first hinge axis 26, described the first hinge axis 26 is rotatably connected on the first hinge seat 27, described the first hinge seat 27 is fixedly connected on described upper mounting plate 18.
As shown in Figure 5, described the four, five active branched chain 5,6 is identical with being connected of upper mounting plate 18 with second, third active branched chain 3,4 with the connection of upper mounting plate 18.The lower end of described the 4th active branched chain 5 is by having the 7th hinge 28 of a rotational freedom and a rotating shaft of the 3rd cross axle 30 is hinged, the lower end of described the 5th active branched chain 6 is by having the 8th hinge 29 of a rotational freedom and a rotating shaft of the 4th cross axle 31 is hinged, another rotating shaft of described the 3rd cross axle 31 and the 4th cross axle 31 is rotatably connected on respectively in the second balance staff 32, described the second balance staff 32 is fixed on the second hinge axis 33, described the second hinge axis 33 is rotatably connected on the second hinge seat 34, described the second hinge seat 34 is fixedly connected on upper mounting plate 18.
One end of described the first hinge axis 26 is connected with the first drive bevel gear 37 being arranged in upper mounting plate 18, described upper mounting plate 18 interior along driven side chain axis direction by bearing rotary first rotating shaft 35 that is dynamically connected, described the first rotating shaft 35 is connected with the first driven wheel of differential 39 and the first driving pulley 40 by key.The first driving pulley 40 is connected by belt with the first driven pulley 42, and described the first driven pulley 42 is connected in the 3rd rotating shaft 41 by key, and the 3rd rotating shaft 41 is arranged on lower platform 19.The second kinematic chain, be that the servomotor of second, third active branched chain 3,4 is while having different input value, the first balance staff 25 rotates, drive the first hinge axis 26 around self axis rotation, thereby drive the first drive bevel gear 37 to rotate, reach the first driven wheel of differential 39 by gear engagement, and then reach the first driving pulley 40 by the first rotating shaft 35, thereby the first driven pulley 42 rotates under the effect of belt, drive the 3rd rotating shaft 41 to produce the rotation around C axle with lower platform 19.In order to make structure compacter, in the present embodiment, described the first drive bevel gear 37 is arranged on to the inner of the first hinge axis 26.
One end of described the second hinge axis 33 connects the second drive bevel gear 38 being arranged in upper mounting plate 18 by key, described upper mounting plate 18 interior along driven side chain axis direction by bearing rotary second rotating shaft 36 that is dynamically connected, described the second rotating shaft 36 connects the second driven wheel of differential 43 and the second driving pulley 44 by key.The second driving pulley 44 is connected by belt with the second driven pulley 46, and described the second driven pulley 46 is connected in the 4th rotating shaft 45 by key.Described the 4th rotating shaft 45 lower ends are deep in lower platform through the 3rd rotating shaft, and affixed with the 3rd drive bevel gear 47, the 3rd described drive bevel gear 47 be located at the cooperation that is meshed of the 3rd driven wheel of differential 49 in the 5th rotating shaft 48 of lower platform by bearing bracket stand.The 3rd kinematic chain, the 4th, the 5th active branched chain 5, 6 while having the driving of different input values, the second balance staff 32 rotates, drive the second hinge axis 33 to produce the rotation around self axis, and then drive the second drive bevel gear 38 to rotate, the second drive bevel gear 38 engages with the second driven wheel of differential 43, make to rotate and reach the second rotating shaft 36, the second rotating shaft 36 drives the second driving pulley 44 to rotate, reach the second driven pulley 46 by belt, thereby drive the 4th rotating shaft 45 to rotate, and then rotation is reached to the 3rd drive bevel gear 47, gear engagement causes the 3rd driven wheel of differential 49 to rotate, the 5th rotating shaft 48 can realize the rotation around A axle.In order to make structure compacter, in the present embodiment, described the second drive bevel gear 38 is arranged on to the inner of the second hinge axis 33.
Novel five degree of freedom of the present invention unit head in parallel can be realized the motion of five degree of freedom.Because the contiguous block 15 of first, second, third kinematic chain can move along the first ball-screw axis direction with respect to fixed mount, described contiguous block by have two revolution the frees degree the 3rd hinges 16 be connected with follower lever 17, described first, second, third kinematic chain with have being connected of moving platform three turn round the frees degree; Driven side chain is connected with fixed mount with moving sets by first hinge with double rotation freedom degrees, lower end is fixedly connected with moving platform, therefore moving platform can be realized the motion that a translation two is rotated under the driving of described each kinematic chain servomotor, be that mechanism can arrive the arbitrary position in given working space, realize positioning function.In the time that in the second kinematic chain, the second active branched chain 3 has different input value from the servomotor of the 3rd active branched chain 4, the rotation that two chain ends can be produced reaches lower platform 19 by bevel gear, Timing Belt, realizes the rotation of lower platform 19 around C axle.In the time that in the 3rd kinematic chain, the 4th active branched chain 5 has different input value from the drive unit of the 5th active branched chain 6, the rotation that two chain ends can be produced reaches the 5th rotating shaft 48 by bevel gear, Timing Belt, bevel gear, mechanism realizes the rotation of the 5th rotating shaft around A axle, therefore can realize five degree of freedom motion.
Novel five degree of freedom of the present invention unit head in parallel, the structure that second, third kinematic chain adopts two active branched chain, can realize the setting movement that a translation two is rotated by driving mechanism at faster speed; Can reach behind the position of appointment again, make two active branched chain have different inputs, driving mechanism produces the rotation around A/C axle, realizes attitude adjustment.Thereby positioning head quality can effectively reduce, mechanism's integral rigidity improves, and positioning head positioning precision and repetitive positioning accuracy strengthen, and realizes mechanism's fast forward capability and dynamic property and promotes.
Although by reference to the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, within these all belong to protection scope of the present invention.
Claims (3)
1. a five degree of freedom unit head in parallel, is characterized in that, comprise fixed mount, there is a central openings in the base central authorities of described fixed mount, are provided with first hinge with double rotation freedom degrees in described central openings; Described the first hinge is connected with driven side chain by moving sets, around described driven side chain, be provided with first, second, and third uniform kinematic chain, described first, second, and third kinematic chain is fixed on described fixed mount, described the first kinematic chain comprises the first active branched chain, the second kinematic chain comprises second and the 3rd active branched chain, the 3rd kinematic chain comprises the 4th and the 5th active branched chain, and the structure of described first, second, third, fourth and fifth active branched chain is identical;
Described in each, active branched chain includes the wallboard being fixedly connected with fixed mount, in described wallboard upper end, servomotor is installed, described driven by servomotor the first ball-screw, on described the first ball-screw, be connected with the first nut, described the first nut is fixed in contiguous block, described contiguous block is slidably connected on guide rail, and described guide rail is fixed on described wallboard, and described contiguous block is connected with follower lever upper end by the 3rd hinge with two rotational freedoms;
The below of described fixed mount is provided with a moving platform, and described moving platform comprises upper mounting plate and two parts of lower platform; Described upper mounting plate and described lower platform are rotatedly connected by bearing; The lower end of described driven side chain is fixedly connected with described upper mounting plate; The lower end of described the first active branched chain is rotatedly connected by the 4th hinge and the upper mounting plate with three-rotational-freedom,
The lower end of described the second active branched chain is by having the 5th hinge of a rotational freedom and a rotating shaft of the first cross axle is hinged, the lower end of described the 3rd active branched chain is by having the 6th hinge of a rotational freedom and a rotating shaft of the second cross axle is hinged, another rotating shaft of described the first cross axle and the second cross axle is rotatably connected on respectively in the first balance staff, described the first balance staff is fixed on the first hinge axis, described the first hinge axis is connected on the first hinge seat, the inner of described the first hinge axis is arranged in upper mounting plate, described the first hinge seat is fixedly connected on described upper mounting plate,
The lower end of described the 4th active branched chain is by having the 7th hinge of a rotational freedom and a rotating shaft of the 3rd cross axle is hinged, the lower end of described the 5th active branched chain is by having the 8th hinge of a rotational freedom and a rotating shaft of the 4th cross axle is hinged, another rotating shaft of described the 3rd cross axle and the 4th cross axle is rotatably connected on respectively in the second balance staff, described the second balance staff is fixed on the second hinge axis, described the second hinge axis is connected on the second hinge seat, the inner of described the second hinge axis is arranged in upper mounting plate, described the second hinge seat is fixedly connected on upper mounting plate, one end of described the first hinge axis is connected with the first drive bevel gear, in described the first drive bevel gear, be engaged with the first driven wheel of differential, described the first driven wheel of differential is fixed in the first rotating shaft, described the first rotating shaft is rotatably connected on described upper mounting plate, in described the first rotating shaft, be connected with the first driving pulley, described the first driving pulley is connected with the first driven pulley by belt, and described the first driven pulley is fixed in the 3rd rotating shaft, and described the 3rd rotating shaft is arranged on lower platform,
One end of described the second hinge axis is connected with the second drive bevel gear, in described the second drive bevel gear, be engaged with the second driven wheel of differential, described the second driven wheel of differential is fixed in the second rotating shaft, described the second rotating shaft is rotatably connected on described upper mounting plate, in described the second rotating shaft, be connected with the second driving pulley, described the second driving pulley is connected with the second driven pulley by belt, described the second driven pulley is fixed in the 4th rotating shaft, described the 4th rotating shaft lower end is deep in lower platform through the 3rd rotating shaft, and affixed with the 3rd drive bevel gear, in described the 3rd drive bevel gear, be engaged with the 3rd driven wheel of differential, described the 3rd driven wheel of differential is fixed in the 5th rotating shaft, described the 5th rotating shaft is rotatably connected on lower platform.
2. five degree of freedom according to claim 1 unit head in parallel, it is characterized in that: described the first hinge comprises outer ring and inner ring, described inner ring is provided with inner ring rotating shaft outward, described outer ring is provided with outer ring rotating shaft, described outer ring is rotationally connected by the rotating shaft of described outer ring and described fixed mount, described inner ring is connected with described outer ring rotating by described inner ring rotating shaft, and the rotating shaft of described outer ring and described inner ring rotating shaft are arranged in a crossed manner.
3. five degree of freedom according to claim 1 unit head in parallel, is characterized in that: described the first drive bevel gear is arranged on the inner of the first hinge axis, and described the second drive bevel gear is arranged on the inner of the second hinge axis.
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| CN201210083569.XA CN102615641B (en) | 2012-03-27 | 2012-03-27 | Five-degree-of-freedom parallel power head |
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| CN201210083569.XA CN102615641B (en) | 2012-03-27 | 2012-03-27 | Five-degree-of-freedom parallel power head |
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| CN107053144B (en) * | 2017-06-10 | 2023-12-29 | 北京意美德自动化科技有限公司 | Six-degree-of-freedom platform structure |
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| CN112549003A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Five-axis robot moving platform and five-axis robot thereof |
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| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
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| GB2173472A (en) * | 1985-03-30 | 1986-10-15 | English Electric Co Ltd | Manipulator |
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| CN1470359A (en) * | 2003-07-11 | 2004-01-28 | 北京工业大学 | Special five-freedom cutter grinding machine working head for parallel mechanism based mixing mechanism |
| CN101049692A (en) * | 2007-04-20 | 2007-10-10 | 天津大学 | Series parallel robot in five degrees of freedom |
| CN201693552U (en) * | 2010-06-13 | 2011-01-05 | 汕头大学 | Three-degree-of-rotation-freedom parallel robot |
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| CN102615641A (en) | 2012-08-01 |
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