CN102672714B - High rigidity and high precision five-coordinate parallel power head - Google Patents

Abstract

The invention discloses a high-rigidity and high-precision five-coordinate parallel power head, which includes a fixed frame, a first hinge is connected in a central opening, a driven branch is connected to the first hinge through a second hinge, and the first to fifth active branches are respectively It is connected with the fixed frame through the third to seventh hinges; a movable platform including the first platform and the second platform is arranged under the fixed frame, and the lower end of the driven branch chain is fixedly connected with the top wall of the first platform, and the first active The lower end of the inner tube of the branch chain is rotationally connected to the first platform through the eighth hinge, the second and third active branch chains are respectively connected to the ninth and tenth hinges, and the fourth and fifth active branch chains are rotationally connected to the eleventh and twelfth hinges , when the fourth and fifth active branch chains are driven with different input values, the fifth rotating shaft can rotate around the A axis. When the second and third active branch chains have different input values, the third rotating shaft and the lower platform will rotate around the C axis. This mechanism can not only realize the positioning movement of one translation and two rotations, but also realize the attitude adjustment around the A/C axis. .

Description

High rigidity and high precision five-coordinate parallel power head

technical field

The invention relates to a robot, in particular to a space parallel robot capable of realizing the operation function of five degrees of freedom.

Background technique

According to patents US4732525 and ZL200510015095.5, it is known that the existing multi-coordinate manipulators are generally implemented in the form of a hybrid structure with a few degrees of freedom parallel mechanism supplemented by a positioning head. Among them, the parallel mechanism with few degrees of freedom realizes the positioning of the moving platform of the mechanism by adjusting the servo motor installed on the active branch chain, and the positioning head realizes the posture positioning of the end effector by adjusting the servo motor installed on the double swing head. The existing five-degree-of-freedom parallel manipulator is a two-rotation and one-level parallel mechanism supplemented by an A/C double-oscillating head hybrid structure. The shortcomings of this type of manipulator are: A/C double-oscillating heads are installed with servo motors, reducers and other equipment. Excessive weight affects the fast-forwarding capability and dynamic performance of the mechanism; the load-bearing capacity of the mechanism is entirely borne by the branch chain of the parallel mechanism with few degrees of freedom, and the load-carrying capacity is poor, which is not conducive to the pursuit of high stiffness/mass ratio of the mechanism.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a high-rigidity and high-precision five-coordinate parallel connection with good fast-forward capability and dynamic performance, high stiffness/mass ratio, high positioning accuracy and repeat positioning accuracy, and advantageous feed direction. Power Head.

The high-rigidity and high-precision five-coordinate parallel power head of the present invention includes a fixed frame, a central opening in the center of the fixed frame, and a first hinge with two rotational degrees of freedom is connected in the central opening, and the first hinge is connected to the central opening. A hinge includes an outer ring and an inner ring, the outer ring is rotationally connected with the inner wall of the central opening through the outer ring shaft, the inner ring is rotationally connected with the outer ring through the inner ring shaft, and the outer ring shaft is connected with the inner ring shaft The axis has an included angle, and a driven branch chain is slidingly connected with the inner ring of the first hinge along the axial direction of the driven branch chain through a second hinge with one degree of freedom of movement, and the first active branch chain serves as the first kinematic chain , the second and third active branch chains are used as the second kinematic chain, the fourth and fifth active branch chains are used as the third kinematic chain, and the first, second, third, fourth and fifth active branch chains pass through the The third, fourth, fifth, sixth and seventh hinges are connected to the fixed frame, the first active branch chain is located in the third hinge arranged in the first opening of the fixed frame, and the second and third active branch chains They are respectively located in the fourth and fifth hinges arranged in the second opening of the fixing frame, and the fourth and fifth active branch chains are respectively located in the sixth and seventh hinges arranged in the third opening of the fixing frame. The 3rd, 4th, 5th, 6th and 7th hinge respectively comprise hinge circle, and described hinge circle is connected with fixed frame by hinge circle rotating shaft rotation, and described first, second, third, fourth and the first The five active branch chains all include an outer tube, and the outer tube is connected to the hinge circle through the rotation shaft of the outer tube. The hinge ring rotation axis and the outer tube rotation axis have an included angle, and a The inner tube, the outer tube and the inner tube are connected through the second guide rail slider structure, and the inner tube can move along the axis direction of the outer tube under the drive of the driving device; platform, the moving platform includes a first platform and a second platform, the first platform and the second platform are rotationally connected by bearings, the lower end of the driven branch chain is fixedly connected to the top wall of the first platform, and the The lower end of the inner tube of the first active branch chain is rotatably connected to the first platform through the eighth hinge, and the eighth hinge has three rotational degrees of freedom. The ninth and tenth hinges of the degree of freedom of rotation are connected in rotation, and the ninth and tenth hinges are respectively connected in rotation with one rotation shaft of the first cross shaft and the second cross shaft. The other rotating shaft is connected to the coaxial rotation of the first pendulum shaft, the first pendulum shaft is fixedly connected to the first hinge shaft, the axis of the first pendulum shaft and the axis of the first hinge shaft are perpendicular to each other, so The first hinge shaft is rotatably connected to the first hinge seat fixedly connected to the first platform, and the lower ends of the inner tubes of the fourth and fifth active branch chains are rotatably connected to the eleventh and twelfth hinges with one degree of freedom of rotation. , the eleventh and twelfth hinges are connected to the third cross shaft and one rotation shaft of the fourth cross shaft respectively, and the other rotation shafts of the third and fourth cross shafts are respectively coaxial with the second pendulum shaft connected in rotation, the second swing shaft is fixedly connected to the second hinge shaft, the axis of the second swing shaft is perpendicular to the axis of the second hinge shaft, and the second hinge shaft The chain shaft is rotatably connected to the second hinge seat fixedly connected to the first platform, the first platform is rotatably connected to the first and second rotating shafts through bearings, and the first and second rotating shafts are arranged along the axis of the driven branch chain , one end of the first and second hinge shafts is respectively connected to a driving bevel gear arranged in the first platform, the first driving bevel gear meshes with the first driven bevel gear, and the second driving bevel gear meshes with the second driven bevel gear. The driven bevel gear is meshed and matched, and the lower end of the first rotating shaft connected to the first driven bevel gear is connected with the first driving pulley through a key, and the first driving pulley is connected with the first driven belt installed on the third rotating shaft The wheels are connected by a belt, the third rotating shaft is fixedly connected to the second platform, the second rotating shaft connected to the second driven bevel gear is connected to the second driving pulley through a key, and the second driving pulley is connected to the fourth rotating shaft The second driven pulley on the top is connected by a belt, the third driving bevel gear is connected to the lower end of the fourth rotating shaft, the fourth rotating shaft is connected to the second platform in rotation, and the third driving bevel gear is connected to the second platform. The third driven bevel gear mounted on the fifth rotating shaft of the second platform through the bearing meshes and cooperates, and the axes of the first, second, third, and fourth rotating shafts are parallel to each other and mutually vertical set.

The beneficial effect of the high-rigidity and high-precision five-coordinate parallel power head of the present invention is that the mechanism can not only realize the positioning motion of one translation and two rotations, but also realize the attitude adjustment around the A/C axis, effectively reduce the mass of the positioning head, and realize the modular structure design. The kinematic chain adopts the form of double active branch chain, which can increase the overall rigidity of the mechanism, make the mechanism have good dynamic performance, and improve the positioning accuracy and repeat positioning accuracy.

Description of drawings

Fig. 1 is a schematic structural view of the high-rigidity and high-precision five-coordinate parallel power head of the present invention;

Fig. 2 is a top view of the parallel power head shown in Fig. 1;

Fig. 3 is a schematic structural view of the active branch chain of the parallel power head shown in Fig. 1;

Fig. 4 is the exterior view of the moving platform of the parallel power head shown in Fig. 1;

Fig. 5 is a structural diagram of the fourth and fifth active branch chains of the parallel power head shown in Fig. 1 and the connecting parts of the moving platform;

Fig. 6 is the internal structure diagram after the moving platform of the parallel power head shown in Fig. 4 is cut;

Fig. 7 is a schematic structural diagram of an application embodiment of the parallel power heads shown in Fig. 1 .

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

The high-rigidity and high-precision five-coordinate parallel power head shown in the attached figure consists of a fixed frame 1, the first, second, third, fourth and fifth active branch chains 2, 3, 4, 5, 6, and driven Branch chain 7, moving platform 8 constitutes. There is a central opening in the center of the fixed frame 1, and a first hinge 9 with two degrees of freedom is connected in the central opening. The first hinge 9 includes an outer ring and an inner ring, and the outer ring is connected to the outer ring through the outer ring shaft. The inner wall of the central opening is rotatably connected, and the inner ring is rotatably connected with the outer ring through the inner ring rotating shaft. The axes of the outer ring rotating shaft and the inner ring rotating shaft are not collinear. The first hinge 9 can also adopt the same movement function other structural forms. The driven branch chain 7 is connected to the inner ring of the first hinge 9 through a second hinge 10 with one degree of freedom of movement, and the second hinge 10 can adopt a slider guide rail structure, that is, it is fixed on the inner ring The first slider is installed to slide and cooperate with the first guide rail fixed on the driven branch chain to realize sliding along the axis direction of the driven branch chain. The second hinge 10 can also adopt other structures with the same movement function form. The first active branch chain 2 serves as the first kinematic chain, the second and third active branch chains 3 and 4 serve as the second kinematic chain, and the fourth and fifth active branch chains 5 and 6 serve as the third kinematic chain. As a preferred manner, the first, second, and third kinematic chains are placed symmetrically with respect to the circumference of the driven branch chain, and the phases between them are 120°. The symmetrical structure can improve the overall rigidity of the mechanism. The first, second, third, fourth and fifth active branch chains 2, 3, 4, 5 and 6 pass through the third, fourth, fifth, sixth and seventh hinges 11, 12 and 13 respectively . In the fourth and fifth hinges 12 and 13 in the second opening of the frame, the fourth and fifth active branch chains 5 and 6 are respectively located at the sixth and seventh hinges 14 and 15 in the third opening of the fixed frame. Inside, the third, fourth, fifth, and sixth hinges 11, 12, 13, 14, and 15 have two rotational degrees of freedom, and the third, fourth, fifth, sixth, and seventh hinges all include hinge ring, the hinge ring is connected to the fixed frame through the hinge ring rotation shaft, each of the active branch chains has the same mechanical structure, and the first, second, third, fourth and fifth active branch chains Both include an outer tube 16, and the outer tube is rotatably connected to the hinge ring through the outer tube shaft. The hinge ring shaft and the outer tube shaft have an included angle, and the included angle is preferably 90 degrees. The third, fourth, fifth, sixth and seventh hinges can also adopt other hinge forms with the same movement function. An inner tube 21 is inserted into the outer tube, and the outer tube and the inner tube are connected through a second guide rail slider structure 22, and the inner tube can move along the axial direction of the outer tube under the drive of the driving device. The drive device preferably includes a servo motor 17 , a reducer 18 , a ball screw 19 and a nut 20 . The servomotor 17 is installed on the top of the outer tube 16, the output shaft of the servomotor 17 is fixedly connected with one end of the ball screw 19 through the reducer 18, and the ball screw 19 is equipped with a screw thread A matching nut 20 is fixedly connected to the inner tube 21 inserted in the outer tube 16 .

A moving platform 8 is arranged below the fixed frame 1, including a first platform 23 and a second platform 24, and the first platform 23 and the second platform 24 are connected in rotation through bearings. The lower end of the driven branch chain 7 is fixedly connected to the top wall of the first platform 23 . The lower end of the inner tube of the first active branch chain 2 is rotatably connected to the first platform 23 through the eighth hinge 25. The eighth hinge 25 has three rotational degrees of freedom, and a Hooke hinge can be used supplemented by a rotation axis, a ball hinge, etc. form. The lower ends of the inner tubes of the second and third active branch chains 3 and 4 are respectively connected in rotation with the ninth and tenth hinges 26 and 27 with one degree of freedom of rotation, and the ninth and tenth hinges 26 and 27 are respectively connected to the One rotation shaft of the first cross shaft 28 and the second cross shaft 29 is rotationally connected, and the other rotation shafts of the first cross shaft 28 and the second cross shaft 29 are respectively connected with the first pendulum shaft 30 on the same axis. A swing shaft 30 is fixedly connected to the first hinge shaft 31, the axis of the first swing shaft 30 is perpendicular to the axis of the first hinge shaft 31, and the first hinge shaft 31 is fixedly connected to the first platform 23 The first hinge seat 32 is rotationally connected. The connection between the fourth and fifth active branch chains 5 , 6 and the first platform 23 is similar to the connection between the second and third active branch chains 3 , 4 and the first platform 23 . The lower ends of the inner tubes of the fourth and fifth active branch chains 5 and 6 are rotationally connected with the eleventh and twelfth hinges 33 and 34 with one degree of freedom of rotation, and the eleventh and twelfth hinges 33 and 34 The third and fourth cross shafts 35, 36 are respectively connected in rotation with one rotation shaft, and the other rotation shafts of the third and fourth cross shafts 35, 36 are respectively connected with the second pendulum shaft 37 coaxial rotation, so The second swing shaft 37 is fixedly connected to the second hinge shaft 38, the axis of the second swing shaft 37 is perpendicular to the axis of the second hinge shaft 38, and the second hinge shaft 38 is fixedly connected to the first platform 23 The second hinge seat 39 is rotationally connected. The first platform 23 is rotatably connected to the first and second rotating shafts 40 and 41 through bearings, and the first and second rotating shafts 40 and 41 are arranged along the axis of the driven branch chain. One end of the first and second hinge shafts 31, 38 is respectively connected to a driving bevel gear 42, 43 arranged in the first platform 23, and each of the driving bevel gears is connected to a driving bevel gear arranged in the first platform respectively. A driven bevel gear 44, 45 is meshed and matched, that is, the first driven bevel gear is meshed with the first driven bevel gear, and the second driven bevel gear is meshed with the second driven bevel gear to connect the first driven bevel gear The lower end of the first rotating shaft 40 of 44 is connected with the first driving pulley 46 by a key, and the first driving pulley 46 is connected with the first driven pulley 48 installed on the third rotating shaft 47 by a belt, and the third rotating shaft 47 It is fixedly connected to the second platform 24. Connect the second driving pulley 49 through a key on the second rotating shaft 41 of the second driven bevel gear 45, and the second driving pulley 49 and the second driven pulley 51 installed on the fourth rotating shaft 50 pass through the belt The third driving bevel gear 52 is connected to the lower end of the fourth rotating shaft 50, and the third driving bevel gear 52 is connected with the third driven bevel gear mounted on the fifth rotating shaft 53 of the second platform through bearings. 54 are meshed and matched. The fourth rotating shaft is rotationally connected with the second platform, and the axes of the first, second, third and fourth rotating shafts 40, 41, 47, 50 are parallel to each other and perpendicular to the fifth rotating shaft 53 .

Below in conjunction with each figure, the present invention is further described:

As shown in Figures 1 and 2, the high-rigidity and high-precision five-coordinate parallel power head of the present invention consists of a fixed frame 1, a moving platform 8, and five identical active branch chains 2, 2 and 8 that connect the fixed frame 1 and the moving platform 8 3,4,5,6, driven branch chain 7 forms. Wherein, the first active branch chain 2 is the first kinematic chain, the second active branch chain 3 and the third active branch chain 4 form the second kinematic chain, the fourth active branch chain 5 and the fifth active branch chain 6 form the third movement chain chain. The driven branch chain 7 is located in the central opening of the fixed frame 1, and the first, second and third kinematic chains are placed symmetrically with respect to the circumference of the driven branch chain 8, and the phases between them are 120°. A first hinge 9 with two rotational degrees of freedom is connected in the central opening, and the first hinge 9 is connected with the driven branch chain 7 through a second hinge 10 with one degree of freedom of movement. The first active branch chain 2, the second active branch chain 3, the third active branch chain 4, the fourth active branch chain 5, the fifth active branch chain 6 and the fixed frame 1 pass through the third hinge 11 and the second active branch chain respectively. The four hinges 12, the fifth hinge 13, the sixth hinge 14, and the seventh hinge 15 are connected. The third hinge 11, the fourth hinge 12, the fifth hinge 13, the sixth hinge 14, and the seventh hinge 15 all have two rotational degrees of freedom, and the third, fourth, fifth, sixth and seventh hinges Each includes a hinge ring, and the hinge ring is connected to the fixed frame 1 through the rotation shaft of the hinge ring. The first, second, third, fourth and fifth active branch chains all include an outer tube 16, and the outer The tube is rotatably connected to the hinge ring through the outer tube shaft. The hinge ring shaft and the outer tube shaft have an included angle and are not collinear. The included angle is preferably 90 degrees.

As shown in Figure 3, each of the active branch chains has the same structural form, and the first, second, third, fourth and fifth active branch chains all include an outer tube 16, and the outer tube passes through the outer tube The rotating shaft of the tube is rotatably connected with the hinge ring, the rotating shaft of the hinge ring has an included angle with the rotating shaft of the outer tube, an inner tube 21 is inserted in the outer tube, and the second guide rail passes between the outer tube and the inner tube The slider structure 22 is connected, and the inner tube can move along the axial direction of the outer tube under the drive of the driving device. The drive device preferably includes a servo motor 17 , a reducer 18 , a ball screw 19 and a nut 20 . The servomotor 17 is installed on the top of the outer tube 16, the output shaft of the servomotor 17 is fixedly connected with one end of the ball screw 19 through the reducer 18, and the ball screw 19 is equipped with a screw thread A matching nut 20 is fixedly connected to the inner tube 21 inserted in the outer tube 16 . The inner tube 21 can move along the axial direction of the outer tube. In this embodiment, the inner tubes all adopt the drive mode of servo motor-reducer-ball screw, but hydraulic, pneumatic and other structures can also be used as the drive mode.

As shown in FIG. 4 , the moving platform 8 includes two parts, a first platform 23 and a second platform 24 , and the first platform 23 and the second platform 24 are rotationally connected through bearings. The lower end of the driven branch chain 7 is fixedly connected to the first platform 23, and the first active branch chain 2 is connected to the first platform 23 through the eighth hinge 25, and the eighth hinge 25 has three rotation freedoms. degree, Hooke hinge can be used supplemented by rotation axis, ball hinge and other forms. The lower ends of the second and third active branch chains 3 and 4 are rotationally connected with the ninth and tenth hinges 26 and 27 with one degree of freedom of rotation through bearings, and the ninth and tenth hinges 26 and 27 are respectively connected to the first A cross shaft 28 and a rotating shaft of the second cross shaft 29 are rotationally connected through a bearing, and the other rotating shafts of the first cross shaft 28 and the second cross shaft 29 are respectively connected with the first pendulum shaft 30 through bearing rotation and the axes are on the same axis. On a straight line, the first swing shaft 30 is fixedly connected to the first hinge shaft 31 and the axes are perpendicular to each other, the first hinge shaft 31 is rotationally connected to the first hinge seat 32, and the first hinge seat 32 is fixedly connected to the first hinge seat 32. On a platform 23 .

As shown in FIG. 5 and FIG. 6 , the connection between the fourth and fifth active branch chains 5 , 6 and the first platform 23 is similar to the connection between the second and third active branch chains 3 , 4 and the first platform 23 . The lower ends of the fourth and fifth active branch chains 5 and 6 are rotationally connected with the eleventh and twelfth hinges 33 and 34 with one degree of freedom of rotation through bearings, and the eleventh and twelfth hinges 33 and 34 One rotating shaft of the third cross shaft and the fourth cross shaft 35, 36 is connected to each other by bearing rotation, and the other rotation shaft of the third and fourth cross shafts 35, 36 is respectively connected to the second balance shaft 37 by bearing rotation. The axes are on the same straight line, the second swing shaft 37 is fixedly connected to the second hinge shaft 38 and the axes are perpendicular to each other, and the second hinge shaft 38 is rotatably connected to the second hinge base 39 fixedly connected to the first platform 23 .

As shown in Fig. 6, one end of the first hinge shaft 31 is connected with the first driving bevel gear 42 arranged in the first platform 23, and the first platform 23 is rotationally connected along the axial direction of the driven branch chain through a bearing. The first rotating shaft 40 is connected with a first driven bevel gear 44 and a first driving pulley 46 through a key. The first driving pulley 46 is connected to the first driven pulley 48 through a belt, the first driven pulley 48 is connected to the third rotating shaft 47 through a key, and the third rotating shaft 43 is fixedly connected to the second platform 24 . Then the second kinematic chain, that is, when the servo motors of the second and third active branch chains 3 and 4 have different input values, the first pendulum shaft 30 rotates, driving the first hinge shaft to rotate around its own axis, thereby driving the first active branch chain. The rotation of the bevel gear 42 is transmitted to the first driven bevel gear 44 through gear engagement, and then transmitted to the first driving pulley 46 by the first rotating shaft 40, so that the first driven pulley 48 rotates under the action of the belt. Drive the third rotating shaft 47 and the lower platform 24 to rotate around the C axis.

One end of the second hinge shaft 38 is connected to the second driving bevel gear 43 arranged in the first platform 23 through a key, and the first platform 23 is connected to the second rotating shaft 41 by bearing rotation along the axis direction of the driven branch chain. The second rotating shaft 41 is keyed to the second driven bevel gear 45 and the second driving pulley 49 . The second driving pulley 49 is connected to the second driven pulley 51 through a belt, and the second driven pulley 51 is connected to the fourth rotating shaft 50 through a key. The lower end of the fourth rotating shaft 50 is connected with the third driving bevel gear 52, and the third driving bevel gear 52 meshes with the third driven bevel gear 54 mounted on the fifth rotating shaft 53 of the second platform through bearings. Then the third kinematic chain, that is, when the fourth and fifth active branch chains 5 and 6 are driven with different input values, the second pendulum shaft 37 rotates, which drives the second hinge shaft 38 to rotate around its own axis, and then drives the second hinge shaft 38 to rotate around its own axis, thereby driving the first Two driving bevel gears 43 rotate, and the second driving bevel gear 43 meshes with the second driven bevel gear 45, so that the rotation is transmitted to the second rotating shaft 41, and the second rotating shaft 41 drives the second driving pulley 49 to rotate, and is transmitted to the second driving pulley 49 by the belt. The second driven pulley 51 drives the fourth rotating shaft 50 to rotate, and then transmits the rotation to the third driving bevel gear 52. The gear meshing action causes the third driven bevel gear 54 to rotate, and the fifth rotating shaft 53 can realize rotation around A shaft rotation.

The high-rigidity and high-precision five-coordinate parallel power head of the present invention can realize five-degree-of-freedom motion. When the servo motors of the second active branch chain 3 and the third active branch chain 4 in the second kinematic chain have the same input value, and the servo motors of the fourth active branch chain 5 and the fifth active branch chain 6 in the third kinematic chain When having the same input value, since each kinematic chain is connected with the fixed frame by having two rotational degrees of freedom, each kinematic chain can realize axial movement through the screw nut and the second guide rail slider structure, and each kinematic chain The connection between the chain and the moving platform has three degrees of freedom of rotation, and each of the active branch chains has no restraint effect on the moving platform; The second hinge is connected to the fixed frame, and the lower end is fixedly connected to the moving platform, so the driven branch chain has two translational movements and one rotation constraint on the moving platform, so the moving platform can realize space-translational movement and two rotations under the drive of the kinematic chain servo motor Movement, that is, the mechanism can reach any position in a given working space to realize the positioning function. When the servo motors of the second active branch chain 3 and the third active branch chain 4 in the second kinematic chain have different input values, the rotation of the ends of the two branch chains due to misalignment can be transmitted to the second active branch chain through bevel gears and synchronous belts. The platform 24 realizes the rotation of the second platform 24 around the C axis. When the driving devices of the fourth active branch chain 5 and the fifth active branch chain 6 in the third kinematic chain have different input values, the rotation of the ends of the two branch chains due to misalignment can be transmitted through bevel gears, synchronous belts, and bevel gears. To the fifth rotating shaft 53, the rotation of the fifth rotating shaft around the A-axis is realized, so the mechanism can realize five-degree-of-freedom motion.

In the high-rigidity and high-precision five-coordinate parallel power head of the present invention, the second and third kinematic chains adopt the structural form of double active branch chains. The dual active branch chains have the same input and can drive the mechanism to achieve a translational movement and two rotations; the dual active branch chains have different inputs and can drive the mechanism to realize the rotation around the A/C axis, thereby effectively reducing the mass of the positioning head and increasing the mechanism. The overall rigidity improves the positioning accuracy and repeat positioning accuracy of the positioning head, and realizes the fast-forwarding ability and dynamic performance of the mechanism.

An overview of the use of the high-rigidity and high-precision five-coordinate parallel power head of the present invention: as shown in Embodiment 1 of Figure 7, the five-degree-of-freedom parallel robot of the present invention is used as a module and integrated with long-stroke guide rail units in three directions to realize Processing capacity in a larger workspace.

The above description of the present invention is only illustrative rather than restrictive, so the embodiments of the present invention are not limited to the above-mentioned specific embodiments. If a person of ordinary skill in the art is inspired by it, without departing from the gist of the present invention and the protection scope of the claims, other changes or modifications are made, all of which belong to the protection scope of the present invention.

Claims (3)

1. high rigidity high-precision five coordinates unit head in parallel, it is characterized in that: comprise fixed mount, there is a central openings in the central authorities of described fixed mount, in described central openings, connect first hinge with the two revolution frees degree, described the first hinge comprises outer ring and inner ring, described outer ring is rotatedly connected by outer ring rotating shaft and central openings inwall, described inner ring is connected with described outer ring rotating by inner ring rotating shaft, the rotating shaft of described outer ring and inner ring shaft axis have angle, a driven side chain is connected along the slippage of driven side chain axis direction phase with described the first hinge inner ring by second hinge with an one-movement-freedom-degree, the first active branched chain is as the first kinematic chain, second, the 3rd active branched chain is as the second kinematic chain, the 4th, the 5th active branched chain is as the 3rd kinematic chain, described first, second, the 3rd, the the 4th and the 5th active branched chain is respectively by the 3rd, the 4th, the 5th, the 6th is connected with described fixed mount with the 7th hinge, the first active branched chain is positioned at the 3rd hinge that is arranged on fixed mount the first perforate, second and the 3rd active branched chain lay respectively at and be arranged on the 4th in fixed mount the second perforate, in the 5th hinge, the the 4th and the 5th active branched chain lays respectively at and is arranged on the 6th in fixed mount the 3rd perforate, in the 7th hinge, the described the 3rd, the 4th, the 5th, the the 6th and the 7th hinge comprises respectively hinge loop, described hinge loop is rotatedly connected by hinge loop rotating shaft and fixed mount, described first, second, the 3rd, the the 4th and the 5th active branched chain includes outer tube, described outer tube is rotatedly connected by outer tube rotating shaft and described hinge loop, described hinge loop rotating shaft and outer tube rotating shaft have angle, in described outer tube, be fitted with inner tube, between described outer tube and inner tube, be connected by the second guide rail slide block structure, described inner tube can move along outer tube axis direction under the driving of drive unit, below described fixed mount, be provided with a moving platform, described moving platform comprises the first platform and the second platform, described the first platform and the second platform are rotatedly connected by bearing, the lower end of described driven side chain is fixedly connected with described the first platform top wall, described the first active branched chain inner tube lower end is rotationally connected by the 8th hinge and the first platform, described the 8th hinge has three rotational freedoms, described second, the inner tube lower end of the 3rd active branched chain respectively with have one revolution the free degree the 9th, the tenth hinge is rotatedly connected, the described the 9th, the tenth hinge respectively with the first cross axle, a rotating shaft of the second cross axle is rotatedly connected, described the first cross axle, another rotating shaft of the second cross axle is rotatedly connected with the first balance staff coaxial line respectively, described the first balance staff is fixedly connected with the first hinge axis, the axis of the axis of described the first balance staff and described the first hinge axis is orthogonal, described the first hinge axis is rotationally connected with the first hinge seat that is fixedly connected on the first platform, the described the 4th, the 5th active branched chain inner tube lower end with have one revolution the free degree the 11, the tenth two hinge is rotatedly connected, the described the 11, the tenth two hinge respectively with the 3rd cross axle, a rotating shaft of the 4th cross axle is rotatedly connected, the described the 3rd, another rotating shaft of the 4th cross axle is rotatedly connected with the second balance staff coaxial line respectively, described the second balance staff is fixedly connected with the second hinge axis, the axis of described the second balance staff is mutually vertical with the axis of the second hinge axis, described the second hinge axis is rotationally connected with the second hinge seat that is fixedly connected on the first platform, in described the first platform, be dynamically connected first by bearing rotary, the second rotating shaft, described first, the second rotating shaft arranges along driven side chain axis direction, described first, one end of the second hinge axis is connected with the drive bevel gear being arranged in the first platform separately, the first drive bevel gear and the first driven wheel of differential engagement fit, the second drive bevel gear and the second driven wheel of differential engagement fit, the the first rotating shaft lower end that connects the first driven wheel of differential is connected with the first driving pulley by key, the first described driving pulley is connected by belt with the first driven pulley being arranged in the 3rd rotating shaft, described the 3rd rotating shaft is fixedly connected on the second platform, connect in the second rotating shaft of the second driven wheel of differential and connect the second driving pulley by key, the second driving pulley is connected by belt with the second driven pulley being arranged in the 4th rotating shaft, be connected with the 3rd drive bevel gear in the 4th described rotating shaft lower end, described the 4th rotating shaft and the second platform are rotatedly connected, the 3rd described drive bevel gear be located at the cooperation that is meshed of the 3rd driven wheel of differential in the 5th rotating shaft of the second platform by bearing bracket stand, described first, second, the third and fourth shaft axis is parallel to each other and is perpendicular to one another setting with the 5th described rotating shaft.

2. high rigidity high-precision five coordinates according to claim 1 unit head in parallel, it is characterized in that: described drive unit comprises the servomotor that is arranged on described outer tube top, the output shaft of described servomotor is fixedly connected with one end of ball-screw by decelerator, on described ball-screw, be equipped with and the nut of its threaded engagement, described nut is fixedly connected with inner tube.

3. high rigidity high-precision five coordinates according to claim 1 and 2 unit head in parallel, is characterized in that: described first, second, and third kinematic chain is placed with respect to driven side chain circumference is symmetrical, and phase place is each other 120 °.

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