CN107838908A - A kind of six degree of freedom complex surface machining robot - Google Patents

Abstract

The invention relates to a six-degree-of-freedom complex curved surface processing robot, which belongs to the field of robot mechanics. A six-degree-of-freedom complex surface processing robot, including a frame, a parallel slide rail group 1, a parallel sliding column, a parallel slide rail group 2, a beam, a moving platform, a spindle head, and a parallel connection between the beam and the moving platform with the same The first, second and third branches of the structure; each of the above branches is characterized in that a single slide rail group, two rotating pairs and a universal joint are connected in sequence from the beam to the moving platform, and the axes of the two rotating pairs are parallel . Compared with existing processing machines, the present invention has the advantages of large deflection angle of the spindle head, high working efficiency, high precision, simple structure, easy manufacture and suitable for processing complex curved surfaces, etc., and has good application prospects.

Description

A six-degree-of-freedom complex surface processing robot

technical field

The invention relates to the field of robot mechanics, in particular to a six-degree-of-freedom complex curved surface processing robot.

Background technique

Nowadays, traditional open-loop serial processing machines are generally used in domestic machining and manufacturing. Most of these processing machines have disadvantages such as low processing accuracy, large cumulative errors, and inability to process complex curved surfaces. Developed countries in the world have begun to widely replace traditional processing machines with parallel processing machines. However, domestic research and application on parallel processing machinery is relatively small, which cannot fully meet the existing development requirements; Chinese patent (CN 101850519 A) proposes a parallel machine tool with five degrees of freedom in space; Chinese patent (CN 01221948.7) A vertical parallel machine tool with three translational degrees of freedom is proposed; Chinese patent (CN 1267581A) proposes a three-axis parallel machine tool structure with two-dimensional movement and one-dimensional rotation space; Chinese patent (CN1958229A) proposes a parallel machine tool with five degrees of freedom Serial CNC machine tool; Chinese patent (CN 105234685A) proposes a parallel machine tool configuration based on 3RRRS mechanism; Chinese patent (CN103978393A) proposes a parallel machine tool capable of five-axis machining; A five-axis linkage series-parallel machine tool; however, some of the above-mentioned machine tool structures have limited processing areas, some have complex structures, which are not conducive to processing and manufacturing, and some have small deflection angles, resulting in low processing efficiency and poor surface processing quality of workpieces.

Contents of the invention

In view of the above, it is necessary to provide a six-degree-of-freedom complex surface processing robot with a large actual processing area, a simple structure, easy processing and manufacturing, a large deflection angle of the parallel spindle heads, and convenient control.

The invention relates to a six-degree-of-freedom complex curved surface processing robot, which includes a frame, a first parallel slide rail group, a first ball screw nut pair, a second ball screw nut pair, a parallel sliding column, a third ball screw nut pair, and a ball wire Bar nut pair 4, parallel slide rail group 2, crossbeam, moving platform, spindle head, and the first, second and third branches connected in parallel with the same structure between the crossbeam and the moving platform; each of the above branches includes a ball wire Lever nut pair 5, single slide rail group, nut slide table, rotating pair 1, connecting rod 1, rotating pair 2, connecting rod 2, rotating pair 3, T-bar, rotating pair 4, pedestal; the parallel slide rails Group one includes drive motor, slide bar one, lead screw one, slide bar two, slide bar three, lead screw two, slide bar four; described parallel slide rail group two includes drive motor, slide bar five, lead screw three, Slide bar six, slide bar seven, lead screw four, slide bar eight; described single slide rail group includes drive motor, slide bar nine, lead screw five, slide bar ten; described spindle head includes tool head, rotating pair five , drive motor; described slide bar one is fixedly connected with frame, lead screw one is connected with frame through bearing, and lead screw one is fixedly connected with drive motor rotating shaft, slide bar two is fixedly connected with frame, slide bar three is connected with frame The frame is fixedly connected, the second lead screw is connected with the frame through the bearing, and the second lead screw is fixedly connected with the rotating shaft of the driving motor, and the fourth slide bar is fixedly connected with the frame; the parallel sliding column passes through the ball screw nut pair one and the ball The second lead screw nut pair is connected with the first parallel slide rail group; the fifth slide rod is fixedly connected with the parallel sliding column, the third screw rod is connected with the parallel sliding column through a bearing, and the third lead screw is fixedly connected with the rotating shaft of the drive motor, and the slide bar Sixth is fixedly connected with the parallel sliding column, sliding rod seven is fixedly connected with the parallel sliding column, screw rod four is connected with the parallel sliding column through a bearing, and lead screw four is fixedly connected with the driving motor shaft, and sliding rod eight is fixedly connected with the parallel sliding column; The beam is connected to the parallel slide rail group 2 through the ball screw nut pair 3 and the ball screw nut pair 4; the slide bar 9 is fixedly connected to the beam, and the lead screw 5 is connected to the beam through a bearing, and the lead screw 5 It is fixedly connected with the rotating shaft of the drive motor, and the sliding rod ten is fixedly connected with the beam; the nut slide table is connected with the single slide rail group through the ball screw nut pair five, and the connecting rod one is connected with the nut slide table through the rotating pair one, and the connecting rod The second is connected with the connecting rod 1 through the rotating pair 2, the T-shaped bar is connected with the connecting rod 2 through the rotating pair 3, the pedestal is connected with the T-shaped bar through the rotating pair 4, and the pedestal is fixed on the moving platform; The fifth pair is connected with the moving platform, and the main shaft head is fixedly connected with the rotating shaft of the driving motor; the third ball screw nut pair is perpendicular to the first ball screw nut pair and the second ball screw nut pair; The axis of rotation of the second pair is parallel, and the third pair and the fourth pair form a universal hinge together.

The invention also relates to a six-degree-of-freedom complex curved surface processing robot, including a frame, a parallel slide rail group one, a ball screw nut pair one, a ball screw nut pair two, a parallel sliding column, a ball screw nut pair three, ball Lead screw nut pair 4, parallel slide rail group 2, beam, moving platform, parallel spindle head and the first, second and third branches connected in parallel with the same structure between the beam and the moving platform; each of the above branches includes Ball screw nut pair 5, single slide rail group, nut slide table, rotating pair 1, connecting rod 1, rotating pair 2, connecting rod 2, rotating pair 3, T-shaped bar, rotating pair 4; the parallel slide rails Group one includes drive motor, slide bar one, lead screw one, slide bar two, slide bar three, lead screw two, slide bar four; described parallel slide rail group two includes drive motor, slide bar five, lead screw three, Slide bar six, slide bar seven, lead screw four, slide bar eight; described single slide rail group includes drive motor, slide bar nine, lead screw five, slide bar ten; described spindle head includes tool head, rotating pair five , drive motor; described slide bar one is fixedly connected with frame, lead screw one is connected with frame through bearing, and lead screw one is fixedly connected with drive motor rotating shaft, slide bar two is fixedly connected with frame, slide bar three is connected with frame The frame is fixedly connected, the second lead screw is connected with the frame through the bearing, and the second lead screw is fixedly connected with the rotating shaft of the driving motor, and the fourth slide bar is fixedly connected with the frame; the parallel sliding column passes through the ball screw nut pair one and the ball The second lead screw nut pair is connected with the first parallel slide rail group; the fifth slide rod is fixedly connected with the parallel sliding column, the third screw rod is connected with the parallel sliding column through a bearing, and the third lead screw is fixedly connected with the rotating shaft of the drive motor, and the slide bar Sixth is fixedly connected with the parallel sliding column, sliding rod seven is fixedly connected with the parallel sliding column, screw rod four is connected with the parallel sliding column through a bearing, and lead screw four is fixedly connected with the driving motor shaft, and sliding rod eight is fixedly connected with the parallel sliding column; The beam is connected to the parallel slide rail group 2 through the ball screw nut pair 3 and the ball screw nut pair 4; the slide bar 9 is fixedly connected to the beam, and the lead screw 5 is connected to the beam through a bearing, and the lead screw 5 It is fixedly connected with the rotating shaft of the drive motor, and the sliding rod ten is fixedly connected with the beam; the nut slide table is connected with the single slide rail group through the ball screw nut pair five, and the connecting rod one is connected with the nut slide table through the rotating pair one, and the connecting rod The second is connected with the first connecting rod through the second rotating pair, the T-shaped bar is connected with the second connecting rod through the third rotating pair, and the T-shaped bar is connected with the moving platform through the fourth rotating pair; the spindle head is connected with the moving platform through the fifth rotating pair, and The main shaft head is fixedly connected with the rotating shaft of the driving motor; the third ball screw nut pair is perpendicular to the first ball screw nut pair and the second ball screw nut pair; the rotation axes of the first and second rotating pair are parallel.

Compared with prior inventions, the present invention has the following advantages:

(1) Compared with other processing robots, the present invention can process surfaces that are difficult to be processed by general processing robots, and the work is more flexible; the present invention adopts a structural design similar to traditional processing machinery in terms of frame structure and appearance, and can be used without In the case of greatly changing the design of the traditional processing machine frame, a new parallel processing machine can be manufactured by taking corresponding structural improvements. The number of required components is small, the processing and manufacturing difficulty is low, and the control is extremely simple.

(2) The design of the present invention for the arrangement of three parallel branches enables the moving platform to perform processing operations with a larger deflection angle in the working space, which greatly improves the working range of the parallel spindle head and further improves the processing efficiency of the entire processing robot. It provides a simple and feasible solution for fast and high-precision machining of complex curved surfaces.

Description of drawings

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

Fig. 1 is the three-dimensional structure schematic diagram of embodiment 1 and 2 of the present invention;

Fig. 2 is the partial structural representation of embodiment 1 and 2 of the present invention;

Fig. 3 is a partial structural schematic diagram of Embodiment 1 of the present invention;

Fig. 4 is a partial structural diagram of Embodiment 2 of the present invention.

In Figures 1 and 2: 1-frame, 2-parallel column, 3-beam, 4-moving platform, M-drive motor, R-revolving pair, L-slider, BS-screw, H-ball screw Nut pair.

In Fig. 3: 4-moving platform, M-driving motor, R-revolving pair, L-sliding rod, BS-screw, H-ball screw nut pair, 5-nut slide table, 6-connecting rod one, 7 -Connecting rod two, 8-T-shaped rod, 9-pedestal, 10-tool head.

In Fig. 4: 4-moving platform, M-driving motor, R-revolving pair, L-sliding rod, BS-screw, H-ball screw nut pair, 5-nut slide table, 6-connecting rod one, 7 -Connecting rod two, 8-T-shaped bar, 9-tool head.

Detailed ways

Example 1:

As shown in Figure 1, Figure 2 and Figure 3, a six-degree-of-freedom complex curved surface processing robot includes a frame (1), a parallel slide rail group 1, a ball screw nut pair 1 (H1), and a ball screw nut pair Two (H2), parallel sliding column (2), ball screw nut pair three (H3), ball screw nut pair four (H4), parallel slide rail group two, beam (3), moving platform (4), spindle head and the first, second and third branches with the same structure connected in parallel between the beam (3) and the moving platform (4); each of the above branches includes a ball screw nut pair five (H5), a single slide rail Group, nut slide (5), rotating pair 1 (R1), connecting rod 1 (6), rotating pair 2 (R2), connecting rod 2 (7), rotating pair 3 (R3), T-bar (8) , rotating pair four (R4), pedestal (9); described parallel slide rail group one includes drive motor (M), slide bar one (L1), lead screw one (BS1), slide bar two (L2), slide Rod three (L3), lead screw two (BS2), slide bar four (L4); the parallel slide rail group two includes drive motor (M), slide bar five (L5), lead screw three (BS3), slide Bar six (L6), slide bar seven (L7), lead screw four (BS4), slide bar eight (L8); the single slide rail group includes drive motor (M), slide bar nine (L9), lead screw Five (BS5), slide bar ten (L10); said main shaft head includes tool head (10), revolving pair five (R5), drive motor (M); said slide bar one (L1) and frame (1 ) is fixedly connected, screw one (BS1) is connected with the frame (1) through bearings, and screw one (BS1) is fixedly connected with the rotating shaft of the driving motor (M), and the second slide rod (L2) is fixed with the frame (1) The third slide bar (L3) is fixedly connected to the frame (1), the second screw (BS2) is connected to the frame (1) through bearings, and the second screw (BS2) is fixedly connected to the rotating shaft of the driving motor (M). The fourth slide bar (L4) is fixedly connected with the frame (1); the parallel sliding column (2) is connected to the first parallel slide rail group through the first ball screw nut pair (H1) and the second ball screw nut pair (H2). connected; the sliding rod five (L5) is fixedly connected with the parallel sliding column (2), the screw rod three (BS3) is connected with the parallel sliding column (2) through bearings, and the screw screw three (BS3) is connected with the driving motor (M ) shaft is fixedly connected, sliding rod six (L6) is fixedly connected to the parallel sliding column (2), sliding rod seven (L7) is fixedly connected to the parallel sliding column (2), and screw rod four (BS4) is connected to the parallel sliding column ( 2) are connected, and the lead screw four (BS4) is fixedly connected with the rotating shaft of the driving motor (M), and the sliding rod eight (L8) is fixedly connected with the parallel sliding column (2); the beam (3) passes through the ball screw nut pair Three (H3) and ball screw nut pair four (H4) are connected with the parallel slide rail group two; the slide bar nine (L9) is fixedly connected with the crossbeam (3), and the lead screw five (BS5) is connected to the crossbeam ( 3) are connected, and the lead screw five (BS5) is fixedly connected with the rotating shaft of the drive motor (M), and the slide rod ten (L10) is fixedly connected with the beam (3); the nut slide (5) passes through the ball screw nut pair The fifth (H5) is connected with the single slide rail group, the first connecting rod (6) is connected with the nut slide (5) through the first rotating pair (R1), and the second connecting rod (7) is connected with the first connecting rod through the second rotating pair (R2). (6) are connected, the T-bar (8) is connected with the connecting rod two (7) through the rotating pair three (R3), the pedestal (9) is connected with the T-shaped bar (8) through the rotating pair four (R4), and the pedestal (9 ) is fixedly connected on the moving platform (4); the described main shaft head (10) is connected with the moving platform (4) through the rotating pair five (R5), and the main shaft head (10) is fixedly connected with the rotating shaft of the driving motor (M); The third ball screw nut pair (H3) is perpendicular to the first ball screw nut pair (H1) and the second ball screw nut pair (H2); the first rotating pair (R1) and the second rotating pair (R2) The rotation axes of the joints are parallel, and the third rotating pair (R3) and the fourth rotating pair (R4) together form a universal joint. When working, the drive motor (M) drives the lead screw 1 (BS1) and the lead screw 2 (BS2) to move the beam (3) horizontally and laterally in a large range, and the drive motor (M) drives the lead screw 3 (BS3) and Lead screw four (BS4) is used to move the beam (3) up and down in a large range in the vertical direction, and the drive motors of three parallel branches adopt a synchronous control method to move the moving platform (4) forward and backward in a large range horizontally; when approaching the workpiece Finally, the position of the moving platform (4) is adjusted in an independent control mode by the driving motors of the three parallel branches, and then the driving motor (M) drives the tool head (10) for processing.

Example 2:

As shown in Figure 1, Figure 2 and Figure 4, a six-degree-of-freedom complex curved surface processing robot includes a frame (1), a parallel slide rail group 1, a ball screw nut pair 1 (H1), and a ball screw nut pair Two (H2), parallel sliding column (2), ball screw nut pair three (H3), ball screw nut pair four (H4), parallel slide rail group two, beam (3), moving platform (4), parallel The main shaft head and the first, second and third branches connected in parallel between the beam (3) and the moving platform (4) have the same structure; each of the above branches includes a ball screw nut pair five (H5), a single slide Rail group, nut slide (5), rotating pair 1 (R1), connecting rod 1 (6), rotating pair 2 (R2), connecting rod 2 (7), rotating pair 3 (R3), T-bar (8 ), rotating pair four (R4); said parallel slideway group one includes drive motor (M), slide bar one (L1), lead screw one (BS1), slide bar two (L2), slide bar three (L3 ), lead screw two (BS2), slide bar four (L4); said parallel slide rail group two includes drive motor (M), slide bar five (L5), lead screw three (BS3), slide bar six (L6 ), slide bar seven (L7), lead screw four (BS4), slide bar eight (L8); the single slide rail group includes drive motor (M), slide bar nine (L9), lead screw five (BS5) , slide bar ten (L10); described main shaft head comprises tool head (9), revolving pair five (R5), drive motor (M); Described slide bar one (L1) is fixedly connected with frame (1), The first screw (BS1) is connected to the frame (1) through bearings, and the first screw (BS1) is fixedly connected to the rotating shaft of the drive motor (M), the second slide bar (L2) is fixedly connected to the frame (1), and the slide bar The third (L3) is fixedly connected with the frame (1), the second screw (BS2) is connected with the frame (1) through the bearing, and the second screw (BS2) is fixedly connected with the rotating shaft of the driving motor (M), and the four ( L4) is fixedly connected with the frame (1); the parallel sliding column (2) is connected with the parallel slide rail group one through the ball screw nut pair one (H1) and the ball screw nut pair two (H2); The fifth slide bar (L5) is fixedly connected with the parallel sliding column (2), the third screw (BS3) is connected with the parallel sliding column (2) through bearings, and the third screw (BS3) is fixedly connected with the rotating shaft of the drive motor (M) , sliding rod six (L6) is fixedly connected to the parallel sliding column (2), sliding rod seven (L7) is fixedly connected to the parallel sliding column (2), and screw rod four (BS4) is connected to the parallel sliding column (2) through a bearing, And lead screw four (BS4) is fixedly connected with the rotating shaft of drive motor (M), slide bar eight (L8) is fixedly connected with parallel sliding column (2); said beam (3) is connected through ball screw nut pair three (H3) and the ball screw nut pair four (H4) are connected with the parallel slide rail group two; the slide rod nine (L9) is fixedly connected with the beam (3), and the lead screw five (BS5) is connected with the beam (3) through a bearing, And the screw five (BS5) is fixedly connected with the rotating shaft of the driving motor (M), and the slide bar ten (L10) is fixedly connected with the beam (3); the nut slide table (5) passes through the ball screw nut pair five (H5) Connected with the single slide rail group, the first connecting rod (6) is connected with the nut slider (5) through the first rotating pair (R1), and the second connecting rod (7) is connected with the first connecting rod (6) through the second rotating pair (R2) , T-bar (8) links to each other with connecting rod two (7) through rotating pair three (R3), and T-shaped bar (8) links to each other with moving platform (4) through rotating pair four (R4); described main shaft head ( 9) Connect with the moving platform (4) through the rotating pair five (R5), and the main shaft head (9) is fixedly connected with the rotating shaft of the drive motor (M); the ball screw nut pair three (H3) and the ball screw nut The pair one (H1) and the ball screw nut pair two (H2) are vertical; the rotation axes of the first rotation pair (R1) and the second rotation pair (R2) are parallel. When working, the drive motor (M) drives the lead screw 1 (BS1) and the lead screw 2 (BS2) to move the beam (3) horizontally and laterally in a large range, and the drive motor (M) drives the lead screw 3 (BS3) and Lead screw four (BS4) is used to move the beam (3) up and down in a large range in the vertical direction, and the drive motors of three parallel branches adopt a synchronous control method to move the moving platform (4) forward and backward in a large range horizontally; when approaching the workpiece Finally, the position of the moving platform (4) is adjusted in an independent control mode by the driving motors of the three parallel branches, and then the driving motor (M) drives the tool head (9) for processing.

Claims (2)

1. A six-degree-of-freedom complex surface processing robot, characterized in that it includes a frame, a parallel slide rail group one, a ball screw nut pair one, a ball screw nut pair two, a parallel sliding column, and a ball screw nut pair three , ball screw nut pair 4, parallel slide rail group 2, beam, moving platform, spindle head and the first, second and third branches connected in parallel with the same structure between the beam and the moving platform; each of the above branches Including ball screw nut pair 5, single slide rail group, nut slide table, rotating pair 1, connecting rod 1, rotating pair 2, connecting rod 2, rotating pair 3, T-bar, rotating pair 4, pedestal; Parallel slide rail group one includes drive motor, slide bar one, lead screw one, slide bar two, slide bar three, lead screw two, slide bar four; Described parallel slide rail group two includes drive motor, slide bar five, wire Bar three, slide bar six, slide bar seven, lead screw four, slide bar eight; the single slide rail group includes drive motor, slide bar nine, lead screw five, slide bar ten; described spindle head includes tool head, Revolving pair 5, driving motor; described slide bar one is connected with frame, and leading screw one is connected with frame through bearing, and leading screw one is connected with drive motor rotating shaft, and slide bar two is connected with frame firmly, and sliding Rod three is fixedly connected to the frame, lead screw two is connected to the frame through bearings, and lead screw two is fixedly connected to the rotating shaft of the drive motor, and slide rod four is fixedly connected to the frame; the parallel sliding column is connected through a ball screw nut pair One and ball screw nut pair two are connected to parallel slide rail group one; said slide rod five is fixedly connected to the parallel sliding column, screw three is connected to the parallel sliding column through bearings, and screw three is fixedly connected to the rotating shaft of the driving motor , the sixth slide rod is fixedly connected with the parallel sliding column, the seventh slide rod is fixedly connected with the parallel sliding column, the fourth screw rod is connected with the parallel sliding column through the bearing, and the fourth screw rod is fixedly connected with the rotating shaft of the drive motor, the eighth slide bar is connected with the parallel sliding column fixedly connected; the beam is connected to the parallel slide rail group 2 through the ball screw nut pair 3 and the ball screw nut pair 4; the slide bar 9 is fixedly connected to the beam, and the lead screw 5 is connected to the beam through a bearing, and Lead screw five is fixedly connected to the drive motor shaft, and slide rod ten is fixedly connected to the crossbeam; the nut slide is connected to the single slide rail group through the ball screw nut pair five, and the connecting rod one is connected to the nut slide table through the rotating pair one , the second connecting rod is connected with the first connecting rod through the second rotating pair, the T-shaped bar is connected with the second connecting rod through the third rotating pair, the pedestal is connected with the T-shaped bar through the fourth rotating pair, and the pedestal is fixedly connected on the moving platform; the main shaft The head is connected with the moving platform through the rotating pair five, and the main shaft head is fixedly connected with the rotating shaft of the drive motor; the third ball screw nut pair is perpendicular to the first ball screw nut pair and the second ball screw nut pair; 1. The axes of rotation of the second rotating pair are parallel, and the third and fourth rotating pairs form a universal hinge together. 2. A six-degree-of-freedom complex surface processing robot, characterized in that it includes a frame, a parallel slide rail group one, a ball screw nut pair one, a ball screw nut pair two, a parallel sliding column, and a ball screw nut pair three , ball screw nut pair 4, parallel slide rail group 2, beam, moving platform, parallel spindle head, and the first, second and third branches connected in parallel with the same structure between the beam and the moving platform; each of the above branches Both include ball screw nut pair five, single slide rail group, nut slide table, rotating pair one, connecting rod one, rotating pair two, connecting rod two, rotating pair three, T-shaped bar, rotating pair four; the parallel Slide rail group one includes drive motor, slide bar one, lead screw one, slide bar two, slide bar three, lead screw two, slide bar four; described parallel slide rail group two includes drive motor, slide bar five, lead screw Three, slide bar six, slide bar seven, lead screw four, slide bar eight; the single slide rail group includes drive motor, slide bar nine, lead screw five, slide bar ten; described spindle head includes tool head, rotating Secondary five, driving motor; described slide bar one is connected with frame, and leading screw one is connected with frame through bearing, and leading screw one is connected with driving motor rotating shaft, and slide bar two is connected with frame, and slide bar The third is fixedly connected with the frame, the second screw is connected with the frame through the bearing, and the second screw is fixedly connected with the rotating shaft of the drive motor, and the fourth slide rod is fixedly connected with the frame; the parallel sliding column is connected through the ball screw nut pair one The ball screw nut pair 2 is connected with the parallel slide rail group 1; the slide rod 5 is fixedly connected with the parallel sliding column, the screw rod 3 is connected with the parallel sliding column through a bearing, and the screw screw 3 is fixedly connected with the drive motor shaft. Slider six is fixedly connected to the parallel sliding column, slider seven is fixedly connected to the parallel sliding column, screw rod four is connected to the parallel sliding column through bearings, and lead screw four is fixedly connected to the drive motor shaft, and slide bar eight is fixed to the parallel sliding column. connected; the beam is connected to the parallel slide rail group 2 through ball screw nut pair 3 and ball screw nut pair 4; the slide bar 9 is fixedly connected to the beam, and the screw 5 is connected to the beam through a bearing The rod five is fixedly connected with the drive motor shaft, and the slide rod ten is fixedly connected with the beam; the nut slide is connected with the single slide rail group through the ball screw nut pair five, and the connecting rod one is connected with the nut slide table through the rotation pair one, The second connecting rod is connected with the first connecting rod through the second rotating pair, the T-shaped bar is connected with the second connecting rod through the third rotating pair, and the T-shaped bar is connected with the moving platform through the fourth rotating pair; the spindle head is connected with the moving platform through the fifth rotating pair , and the main shaft head is fixedly connected with the drive motor shaft; the third ball screw nut pair is perpendicular to the first ball screw nut pair and the second ball screw nut pair; the rotation axes of the first rotating pair and the second rotating pair are parallel .